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more graceful method of moving UAVs to initial states in AERPAW without collision

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This commit is contained in:
Kevin Dee
2026-04-01 22:02:38 -07:00
parent 7a3fcbd4dc
commit ac09a59c00
2 changed files with 25 additions and 2 deletions
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aerpaw/controller.coderprj
+1 -1
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@@ -708,7 +708,7 @@
</Artifacts> </Artifacts>
<BuildFolder type="coderapp.internal.util.mfz.FileSpec"/> <BuildFolder type="coderapp.internal.util.mfz.FileSpec"/>
<Success>true</Success> <Success>true</Success>
<Timestamp>2026-04-01T20:44:04</Timestamp> <Timestamp>2026-04-01T21:59:22</Timestamp>
</MainBuildResult> </MainBuildResult>
</coderapp.internal.mlc.mfz.MatlabCoderProjectState> </coderapp.internal.mlc.mfz.MatlabCoderProjectState>
</MF0> </MF0>
aerpaw/controller.m
+24 -1
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@@ -7,7 +7,8 @@ coder.extrinsic('disp', 'readScenarioCsv');
% Maximum clients supported (one initial position per UAV) % Maximum clients supported (one initial position per UAV)
MAX_CLIENTS = 4; MAX_CLIENTS = 4;
MAX_TARGETS = MAX_CLIENTS; % Two waypoints per UAV: altitude-staggered transit + final position
MAX_TARGETS = MAX_CLIENTS * 2;
% Allocate targets array (MAX_TARGETS x 3) % Allocate targets array (MAX_TARGETS x 3)
targets = zeros(MAX_TARGETS, 3); targets = zeros(MAX_TARGETS, 3);
@@ -33,6 +34,28 @@ else
numWaypoints = totalLoaded / int32(numClients); numWaypoints = totalLoaded / int32(numClients);
end end
% In the compiled path, inject altitude-staggered transit waypoints so UAVs
% are vertically separated while flying horizontally to their start positions.
% ArduPilot reaches target altitude before horizontal movement, so UAV i is at
% altitude (TRANSIT_ALT_BASE + (i-1)*TRANSIT_ALT_STEP) throughout its transit,
% preventing collisions regardless of horizontal path geometry.
% TRANSIT_ALT_STEP must exceed 2 * max(collisionRadius).
% Waypoint 1: each UAV flies to (finalX, finalY) at its unique transit altitude.
% Waypoint 2: each UAV adjusts to its actual target altitude.
if ~coder.target('MATLAB')
TRANSIT_ALT_BASE = 25.0; % must match drone.takeoff() altitude in uav_runner.py
TRANSIT_ALT_STEP = 12.1; % vertical separation per UAV (m); must exceed 2*collisionRadius
for ii = double(totalLoaded):-1:1
transitRow = (ii - 1) * 2 + 1;
finalRow = (ii - 1) * 2 + 2;
finalPos = targets(ii, :);
transitAlt = TRANSIT_ALT_BASE + (ii - 1) * TRANSIT_ALT_STEP;
targets(finalRow, :) = finalPos;
targets(transitRow, :) = [finalPos(1), finalPos(2), transitAlt];
end
numWaypoints = int32(2);
end
% Load guidance scenario from CSV (parameters for guidance_step) % Load guidance scenario from CSV (parameters for guidance_step)
NUM_SCENARIO_PARAMS = 45; NUM_SCENARIO_PARAMS = 45;
MAX_OBSTACLES_CTRL = int32(8); MAX_OBSTACLES_CTRL = int32(8);