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communications constraint improvements, experiment 1 design

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This commit is contained in:
Kevin Dee
2026-03-11 12:02:17 -07:00
parent b09f882369
commit ea034dd748
10 changed files with 134 additions and 17 deletions
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8
aerpaw/config/client1.yaml
View File

@@ -12,8 +12,8 @@ tdm:
# ENU coordinate system origin (AERPAW Lake Wheeler Road Field)
origin:
lat: 35.72550610629396
lon: -78.70019657805574
lat: 35.72595214250436
lon: -78.69917609299937
alt: 0.0 # Alt=0 means ENU z directly becomes target altitude above home
# Environment-specific settings
environments:
@@ -32,7 +32,7 @@ environments:
mavlink:
ip: "192.168.32.26"
port: 14550
# Controller runs on host machine (192.168.122.1 from E-VM perspective)
# Controller runs on host machine (192.168.109.1 from E-VM perspective)
controller:
ip: "192.168.122.1"
ip: "192.168.109.1"
port: 5000

8
aerpaw/config/client2.yaml
View File

@@ -12,8 +12,8 @@ tdm:
# ENU coordinate system origin (AERPAW Lake Wheeler Road Field)
origin:
lat: 35.72550610629396
lon: -78.70019657805574
lat: 35.72595214250436
lon: -78.69917609299937
alt: 0.0 # Alt=0 means ENU z directly becomes target altitude above home
# Environment-specific settings
environments:
@@ -32,7 +32,7 @@ environments:
mavlink:
ip: "192.168.32.26"
port: 14550
# Controller runs on host machine (192.168.122.1 from E-VM perspective)
# Controller runs on host machine (192.168.109.1 from E-VM perspective)
controller:
ip: "192.168.122.1"
ip: "192.168.109.1"
port: 5000

38
aerpaw/config/client3.yaml Normal file
View File

@@ -0,0 +1,38 @@
# 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
5, 120, 30.0, 0.1, 1.0, 2.0, 100, 3, "3.0, 3.0", "30.0, 30.0", "80.0, 80.0", "0.25, 0.25", "5.0, 5.0", "0.1, 0.1", "0.0, 0.0, 0.0", "50.0, 50.0, 80.0", "35.0, 35.0", "10, 5, 5, 10", 0.15, "5.0, 10.0, 45.0, 15.0, 10.0, 35.0", 1, "2.0, 15.0, 0.0", "25.0, 25.0, 50.0"
5, 150, 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", "65.0, 65.0", "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"
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 5 120 150 30.0 0.1 1.0 2.0 2.0 3.0 100 3 3.0, 3.0 6.0, 6.0, 6.0 30.0, 30.0 20.0, 20.0, 20.0 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 50.0, 50.0, 80.0 80.0, 80.0, 80.0 35.0, 35.0 65.0, 65.0 10, 5, 5, 10 40, 25, 25, 40 0.15 5.0, 10.0, 45.0, 15.0, 10.0, 35.0 15.0, 10.0, 40.0, 5.0, 10.0, 45.0, 27.5, 5.0, 45.0 1 2.0, 15.0, 0.0 1.0, 25.0, 0.0 25.0, 25.0, 50.0 30.0, 30.0, 50.0

7
aerpaw/controller.coderprj
View File

@@ -133,6 +133,11 @@
<Size type="coderapp.internal.codertype.Dimension"/>
<Size type="coderapp.internal.codertype.Dimension"/>
</Types>
<Types id="27" type="coderapp.internal.codertype.PrimitiveType">
<ClassName>int32</ClassName>
<Size type="coderapp.internal.codertype.Dimension"/>
<Size type="coderapp.internal.codertype.Dimension"/>
</Types>
</Types>
</coderapp.internal.interface.project.Interface>
</MF0>
@@ -1094,7 +1099,7 @@
</Artifacts>
<BuildFolder type="coderapp.internal.util.mfz.FileSpec"/>
<Success>true</Success>
<Timestamp>2026-03-03T19:58:03</Timestamp>
<Timestamp>2026-03-11T11:45:17</Timestamp>
</MainBuildResult>
</coderapp.internal.mlc.mfz.MatlabCoderProjectState>
</MF0>

12
aerpaw/radio/updateScripts.sh
View File

@@ -1,7 +1,15 @@
#!/bin/bash
# Drop in replacements for channel sounder scripts
cp startchannelsounderRXGRC.sh /root/Profiles/ProfileScripts/Radio/Helpers/.
cp startchannelsounderTXGRC.sh /root/Profiles/ProfileScripts/Radio/Helpers/.
cp CSwSNRRX.py /root/Profiles/SDR_control/Channel_Sounderv3/.
cp CSwSNRTX.py /root/Profiles/SDR_control/Channel_Sounderv3/.
cp CSwSNRTX.py /root/Profiles/SDR_control/Channel_Sounderv3/.
# Replace start scripts
cp ../scripts/startexperiment.sh /root/.
cp ../scripts/startRadio.sh /root/Profiles/ProfileScripts/Radio/.
cp ../scripts/startVehicle.sh /root/Profiles/ProfileScripts/Vehicle/.
echo "REMEMBER! Manually edit startexperiment.sh to point to the correct client.yaml"
echo "REMEMBER! Manually copy startexperiment_controller.sh to startexperiment.sh on the fixed node"

11
aerpaw/scripts/startVehicle_controller.sh Executable file
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@@ -0,0 +1,11 @@
#!/bin/bash
cd /root/miSim/aerpaw
# Compile controller
/bin/bash compile.sh
# Run controller
./build/controller_app
cd -

3
aerpaw/scripts/startexperiment.sh
View File

@@ -40,12 +40,9 @@ export LOG_PREFIX="$(date +%Y-%m-%d_%H_%M_%S)"
export TX_FREQ=3.32e9
export RX_FREQ=3.32e9
export PROFILE_DIR=$AERPAW_REPO"/AHN/E-VM/Profile_software"
cd $PROFILE_DIR"/ProfileScripts"
./Radio/startRadio.sh
#./Traffic/startTraffic.sh
./Vehicle/startVehicle.sh

47
aerpaw/scripts/startexperiment_controller.sh Executable file
View File

@@ -0,0 +1,47 @@
#!/bin/bash
/root/stopexperiment.sh
source /root/.ap-set-experiment-env.sh
source /root/.bashrc
export AERPAW_REPO=${AERPAW_REPO:-/root/AERPAW-Dev}
export AERPAW_PYTHON=${AERPAW_PYTHON:-python3}
export PYTHONPATH=/usr/local/lib/python3/dist-packages/
export EXP_NUMBER=${EXP_NUMBER:-1}
if [ "$AP_EXPENV_THIS_CONTAINER_NODE_VEHICLE" == "vehicle_uav" ]; then
export VEHICLE_TYPE=drone
elif [ "$AP_EXPENV_THIS_CONTAINER_NODE_VEHICLE" == "vehicle_ugv" ]; then
export VEHICLE_TYPE=rover
else
export VEHICLE_TYPE=none
fi
if [ "$AP_EXPENV_SESSION_ENV" == "Virtual" ]; then
export LAUNCH_MODE=EMULATION
elif [ "$AP_EXPENV_SESSION_ENV" == "Testbed" ]; then
export LAUNCH_MODE=TESTBED
else
export LAUNCH_MODE=none
fi
# prepare results directory
export RESULTS_DIR_TIMESTAMP=$(date +%Y-%m-%d_%H_%M_%S)
export RESULTS_DIR="/root/Results/controller_${RESULTS_DIR_TIMESTAMP}"
mkdir -p "$RESULTS_DIR"
export TS_FORMAT="${TS_FORMAT:-'[%Y-%m-%d %H:%M:%.S]'}"
export LOG_PREFIX="$(date +%Y-%m-%d_%H_%M_%S)"
export TX_FREQ=3.32e9
export RX_FREQ=3.32e9
export PROFILE_DIR=$AERPAW_REPO"/AHN/E-VM/Profile_software"
cd $PROFILE_DIR"/ProfileScripts"
screen -S controller -dm \
bash -c "stdbuf -oL -eL ./Vehicle/startVehicle.sh \
| ts $TS_FORMAT \
| tee $RESULTS_DIR/$LOG_PREFIX\_controller_log.txt"
schedule_stop.sh 30