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moved origin to get more space from geofence

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Kevin Dee
2026-03-02 12:15:01 -08:00
parent 387d6aea56
commit e40d2e4614
16 changed files with 64 additions and 10 deletions
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32
aerpaw/results/plotGpsCsvs.m
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@@ -4,11 +4,12 @@ gf = geoglobe(f);
hold(gf, "on");
c = ["r", "g", "b", "m", "c", "y", "k"]; % plotting colors
seaToGroundLevel = 110; % meters, measured approximately from USGS national map viewer
lla0 = [35.72550610629396, -78.70019657805574, seaToGroundLevel]; % origin (LLA)
% Paths to logs
gpsCsvs = fullfile ("sandbox", "test2", ...
["GPS_DATA_0c8d904aa159_2026-02-27_20:52:33.csv"; ...
"GPS_DATA_8e4f52dac04d_2026-02-27_20:52:33.csv"; ...
gpsCsvs = fullfile ("sandbox", "test4", ...
["GPS_DATA_0c8d904aa159_2026-03-02_14:42:51.csv"; ...
"GPS_DATA_8e4f52dac04d_2026-03-02_14:42:52.csv"; ...
]);
G = cell(size(gpsCsvs));
@@ -16,8 +17,31 @@ for ii = 1:size(gpsCsvs, 1)
% Read CSV
G{ii} = readGpsCsv(gpsCsvs(ii));
% Find when algorithm begins/ends (using ENU altitude)
enuTraj = lla2enu([G{ii}.Latitude, G{ii}.Longitude, G{ii}.Altitude], lla0, 'flat');
verticalSpeed = movmean(abs(diff(G{ii}.Altitude)), [10, 0]);
startIdx = find(verticalSpeed <= prctile(verticalSpeed, 25), 1, 'first');
stopIdx = find(verticalSpeed <= prctile(verticalSpeed, 10), 1, 'last');
% startIdx = 1;
% stopIdx = length(verticalSpeed);
speed = vecnorm(diff(enuTraj), 2, 2);
meanSpeed = movmean(speed, [10, 0]);
% Plot recorded trajectory
geoplot3(gf, G{ii}.Latitude, G{ii}.Longitude, G{ii}.Altitude + seaToGroundLevel, c(mod(ii, length(c))), 'LineWidth', 2, "MarkerSize", 5);
geoplot3(gf, G{ii}.Latitude(startIdx:stopIdx), G{ii}.Longitude(startIdx:stopIdx), G{ii}.Altitude(startIdx:stopIdx) + seaToGroundLevel, c(mod(ii, length(c))), 'LineWidth', 2, "MarkerSize", 5);
end
% Plot objective
objectivePos = [35, 35, 0];
llaObj = enu2lla(objectivePos, lla0, 'flat');
geoplot3(gf, [llaObj(1), llaObj(1)], [llaObj(2), llaObj(2)], [llaObj(3), llaObj(3) + 50], 'LineWidth', 3);
% Plot domain
domain = [lla0; enu2lla([50, 50, 100], lla0, 'flat')];
geoplot3(gf, [domain(1, 1), domain(2, 1), domain(2, 1), domain(1, 1), domain(1, 1)], [domain(1, 2), domain(1, 2), domain(2, 2), domain(2, 2), domain(1, 2)], repmat(domain(1, 3) + 10, 1, 5), 'LineWidth', 3);
hold(gf, "off");