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new scenario

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This commit is contained in:
Kevin Dee
2026-03-11 17:13:09 -07:00
parent 97e34264dd
commit b4cd7613ec
22 changed files with 30 additions and 46 deletions
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38
aerpaw/config/client3.yaml
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@@ -1,38 +0,0 @@
# AERPAW UAV (Client) Configuration
# Unique 0-indexed UAV identifier (each UAV must have a distinct value)
uav_id: 2
# TDM (Time-Division Multiplexing) radio settings
# All UAVs share a common frequency; each transmits only during its time slot.
# Slot assignment uses wall-clock modular arithmetic (GPS/NTP synced).
tdm:
slot_duration: 0.5 # seconds per slot
guard_interval: 0.05 # seconds of silence at slot boundaries
# ENU coordinate system origin (AERPAW Lake Wheeler Road Field)
origin:
lat: 35.72595214250436
lon: -78.69917609299937
alt: 0.0 # Alt=0 means ENU z directly becomes target altitude above home
# Environment-specific settings
environments:
local:
# MAVLink connection for SITL simulation (UDP)
mavlink:
ip: "127.0.0.1"
port: 14550
# Controller server address
controller:
ip: "127.0.0.1"
port: 5000
testbed:
# AERPAW testbed: E-VM listens, MAVLink Filter connects TO us (UDP)
mavlink:
ip: "192.168.32.26"
port: 14550
# Controller runs on host machine (192.168.109.1 from E-VM perspective)
controller:
ip: "192.168.109.1"
port: 5000

2
aerpaw/config/scenario.csv
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@@ -1,2 +1,2 @@
timestep, maxIter, minAlt, discretizationStep, protectedRange, initialStepSize, barrierGain, barrierExponent, collisionRadius, comRange, alphaDist, betaDist, alphaTilt, betaTilt, domainMin, domainMax, objectivePos, objectiveVar, sensorPerformanceMinimum, initialPositions, numObstacles, obstacleMin, obstacleMax
5, 100, 30.0, 0.1, 2.0, 3.0, 100, 3, "6.0, 6.0, 6.0", "20.0, 20.0, 20.0", "80.0, 80.0, 80.0", "0.25, 0.25, 0.25", "5.0, 5.0, 5.0", "0.1, 0.1, 0.1", "0.0, 0.0, 0.0", "80.0, 80.0, 80.0", "55.0, 55.0", "40, 25, 25, 40", 0.15, "15.0, 10.0, 40.0, 5.0, 10.0, 45.0, 27.5, 5.0, 45.0", 1, "1.0, 25.0, 0.0", "30.0, 30.0, 50.0"
5, 100, 30.0, 0.1, 2.0, 2.0, 100, 3, "5.0, 5.0", "25.0, 25.0", "80.0, 80.0", "0.25, 0.25", "5.0, 5.0", "0.1, 0.1", "0.0, 0.0, 0.0", "80.0, 80.0, 80.0", "55.0, 55.0", "40, 25, 25, 40", 0.15, "15.0, 10.0, 40.0, 5.0, 10.0, 45.0", 1, "1.0, 25.0, 0.0", "30.0, 30.0, 50.0"
1 timestep maxIter minAlt discretizationStep protectedRange initialStepSize barrierGain barrierExponent collisionRadius comRange alphaDist betaDist alphaTilt betaTilt domainMin domainMax objectivePos objectiveVar sensorPerformanceMinimum initialPositions numObstacles obstacleMin obstacleMax
2 5 100 30.0 0.1 2.0 3.0 2.0 100 3 6.0, 6.0, 6.0 5.0, 5.0 20.0, 20.0, 20.0 25.0, 25.0 80.0, 80.0, 80.0 80.0, 80.0 0.25, 0.25, 0.25 0.25, 0.25 5.0, 5.0, 5.0 5.0, 5.0 0.1, 0.1, 0.1 0.1, 0.1 0.0, 0.0, 0.0 80.0, 80.0, 80.0 55.0, 55.0 40, 25, 25, 40 0.15 15.0, 10.0, 40.0, 5.0, 10.0, 45.0, 27.5, 5.0, 45.0 15.0, 10.0, 40.0, 5.0, 10.0, 45.0 1 1.0, 25.0, 0.0 30.0, 30.0, 50.0

2
aerpaw/config/scenario_2uavs.csv
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@@ -1,2 +0,0 @@
timestep, maxIter, minAlt, discretizationStep, protectedRange, initialStepSize, barrierGain, barrierExponent, collisionRadius, comRange, alphaDist, betaDist, alphaTilt, betaTilt, domainMin, domainMax, objectivePos, objectiveVar, sensorPerformanceMinimum, initialPositions, numObstacles, obstacleMin, obstacleMax
5, 100, 30.0, 0.1, 2.0, 3.0, 100, 3, "6.0, 6.0", "20.0, 20.0", "80.0, 80.0", "0.25, 0.25", "5.0, 5.0", "0.1, 0.1", "0.0, 0.0, 0.0", "80.0, 80.0, 80.0", "55.0, 55.0", "40, 25, 25, 40", 0.15, "15.0, 10.0, 40.0, 5.0, 10.0, 45.0", 1, "1.0, 25.0, 0.0", "30.0, 30.0, 50.0"
1 timestep maxIter minAlt discretizationStep protectedRange initialStepSize barrierGain barrierExponent collisionRadius comRange alphaDist betaDist alphaTilt betaTilt domainMin domainMax objectivePos objectiveVar sensorPerformanceMinimum initialPositions numObstacles obstacleMin obstacleMax
2 5 100 30.0 0.1 2.0 3.0 100 3 6.0, 6.0 20.0, 20.0 80.0, 80.0 0.25, 0.25 5.0, 5.0 0.1, 0.1 0.0, 0.0, 0.0 80.0, 80.0, 80.0 55.0, 55.0 40, 25, 25, 40 0.15 15.0, 10.0, 40.0, 5.0, 10.0, 45.0 1 1.0, 25.0, 0.0 30.0, 30.0, 50.0

2
aerpaw/controller.coderprj
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@@ -1099,7 +1099,7 @@
</Artifacts>
<BuildFolder type="coderapp.internal.util.mfz.FileSpec"/>
<Success>true</Success>
<Timestamp>2026-03-11T12:22:00</Timestamp>
<Timestamp>2026-03-11T17:11:03</Timestamp>
</MainBuildResult>
</coderapp.internal.mlc.mfz.MatlabCoderProjectState>
</MF0>

2
aerpaw/results/resultsAnalysis.m
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@@ -1,5 +1,5 @@
%% Plot AERPAW logs (trajectory, radio)
resultsPath = fullfile(matlab.project.rootProject().RootFolder, "sandbox", "three_around_wall_2uavs"); % Define path to results copied from AERPAW platform
resultsPath = fullfile(matlab.project.rootProject().RootFolder, "sandbox", "two_around_wall"); % Define path to results copied from AERPAW platform
% Plot GPS logged data and scenario information (domain, objective, obstacles)
seaToGroundLevel = 110; % measured approximately from USGS national map viewer