kdee/miSim
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

new scenario

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

38
aerpaw/config/client3.yaml
View File

@@ -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
View File

@@ -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 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
View File

@@ -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
View File

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

2
aerpaw/results/resultsAnalysis.m
View File

@@ -1,5 +1,5 @@
%% Plot AERPAW logs (trajectory, radio) %% 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) % Plot GPS logged data and scenario information (domain, objective, obstacles)
seaToGroundLevel = 110; % measured approximately from USGS national map viewer seaToGroundLevel = 110; % measured approximately from USGS national map viewer

2
resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/YoWkWDdbwwiRDjC6Inll7Thh1K8d.xml Normal file
View File

@@ -0,0 +1,2 @@
<?xml version="1.0" encoding="UTF-8"?>
<Info Ref="aerpaw/scripts" Type="Relative"/>

2
resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/YoWkWDdbwwiRDjC6Inll7Thh1K8p.xml Normal file
View File

@@ -0,0 +1,2 @@
<?xml version="1.0" encoding="UTF-8"?>
<Info location="6402cbb5-c767-4c8b-bd7c-b2d7cf1055fc" type="Reference"/>

0
resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/hUjTM8Yelb7ggxXFg7nBPm4NKQod.xml → resources/project/Gnz6T47dAsmf4YcBHB3EkpeZeYA/p7b0T5lVDU-D8JiROZNSX56qOhcd.xml
View File

2
resources/project/Gnz6T47dAsmf4YcBHB3EkpeZeYA/p7b0T5lVDU-D8JiROZNSX56qOhcp.xml Normal file
View File

@@ -0,0 +1,2 @@
<?xml version="1.0" encoding="UTF-8"?>
<Info location="scripts" type="File"/>

0
resources/project/vmVRNnXTZxyEiUtNp09z8POG4ww/s1FGL5Sd2djlHMPxH7Uz8GEn55cd.xml → resources/project/p7b0T5lVDU-D8JiROZNSX56qOhc/7zvVfoOGOecwrnesPxOvEZRcJNYd.xml
View File

2
resources/project/p7b0T5lVDU-D8JiROZNSX56qOhc/7zvVfoOGOecwrnesPxOvEZRcJNYp.xml Normal file
View File

@@ -0,0 +1,2 @@
<?xml version="1.0" encoding="UTF-8"?>
<Info location="startexperiment_controller.sh" type="File"/>

2
resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/hUjTM8Yelb7ggxXFg7nBPm4NKQop.xml → resources/project/p7b0T5lVDU-D8JiROZNSX56qOhc/LU7BdyAbq1VWsP1tcW099qs0_cYd.xml
View File

@@ -1,2 +1,2 @@
<?xml version="1.0" encoding="UTF-8"?> <?xml version="1.0" encoding="UTF-8"?>
<Info location="t1.zip" type="File"/> <Info/>

2
resources/project/p7b0T5lVDU-D8JiROZNSX56qOhc/LU7BdyAbq1VWsP1tcW099qs0_cYp.xml Normal file
View File

@@ -0,0 +1,2 @@
<?xml version="1.0" encoding="UTF-8"?>
<Info location="startRadio.sh" type="File"/>

2
resources/project/p7b0T5lVDU-D8JiROZNSX56qOhc/M4B1x4nVEuLmUODrHewQHG0CDHsd.xml Normal file
View File

@@ -0,0 +1,2 @@
<?xml version="1.0" encoding="UTF-8"?>
<Info/>

2
resources/project/p7b0T5lVDU-D8JiROZNSX56qOhc/M4B1x4nVEuLmUODrHewQHG0CDHsp.xml Normal file
View File

@@ -0,0 +1,2 @@
<?xml version="1.0" encoding="UTF-8"?>
<Info location="1" type="DIR_SIGNIFIER"/>

2
resources/project/p7b0T5lVDU-D8JiROZNSX56qOhc/Wf9PEeTALvEX83cew4fZfavy2ewd.xml Normal file
View File

@@ -0,0 +1,2 @@
<?xml version="1.0" encoding="UTF-8"?>
<Info/>

2
resources/project/p7b0T5lVDU-D8JiROZNSX56qOhc/Wf9PEeTALvEX83cew4fZfavy2ewp.xml Normal file
View File

@@ -0,0 +1,2 @@
<?xml version="1.0" encoding="UTF-8"?>
<Info location="startexperiment.sh" type="File"/>

2
resources/project/p7b0T5lVDU-D8JiROZNSX56qOhc/bRP3MIwZ4PcWx9PloJbVyWC00JAd.xml Normal file
View File

@@ -0,0 +1,2 @@
<?xml version="1.0" encoding="UTF-8"?>
<Info/>

2
resources/project/p7b0T5lVDU-D8JiROZNSX56qOhc/bRP3MIwZ4PcWx9PloJbVyWC00JAp.xml Normal file
View File

@@ -0,0 +1,2 @@
<?xml version="1.0" encoding="UTF-8"?>
<Info location="startVehicle.sh" type="File"/>

2
resources/project/p7b0T5lVDU-D8JiROZNSX56qOhc/oczvKa9PTzIQRYD1e6ccXbiMz_wd.xml Normal file
View File

@@ -0,0 +1,2 @@
<?xml version="1.0" encoding="UTF-8"?>
<Info/>

2
resources/project/p7b0T5lVDU-D8JiROZNSX56qOhc/oczvKa9PTzIQRYD1e6ccXbiMz_wp.xml Normal file
View File

@@ -0,0 +1,2 @@
<?xml version="1.0" encoding="UTF-8"?>
<Info location="startVehicle_controller.sh" type="File"/>

2
resources/project/vmVRNnXTZxyEiUtNp09z8POG4ww/s1FGL5Sd2djlHMPxH7Uz8GEn55cp.xml
View File

@@ -1,2 +0,0 @@
<?xml version="1.0" encoding="UTF-8"?>
<Info location="scenario_2uavs.csv" type="File"/>