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

added minimum command spacing log parser and check

Browse Source
This commit is contained in:
Kevin Dee
2026-04-06 18:16:00 -07:00
parent 9564a5707f
commit f3f9ec3db2
5 changed files with 44 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
aerpaw/results/resultsAnalysis.m
+17
View File
@@ -1,6 +1,23 @@
%% Plot AERPAW logs (trajectory, radio)
resultsPath = fullfile(matlab.project.rootProject().RootFolder, "sandbox", "two_around_wall"); % Define path to results copied from AERPAW platform
% Measure intervals between issuing commands from the controller
% (make sure this is ~4-5 seconds at minimum to avoid overwhelming the UAV autopilot)
r = dir(resultsPath);
controllerPath = fullfile(r(startsWith({r.name}, 'controller_')).folder, r(startsWith({r.name}, 'controller_')).name);
controllerPath = dir(controllerPath);
controllerPath = fullfile(controllerPath(endsWith({controllerPath.name}, '_controller_log.txt')).folder, controllerPath(endsWith({controllerPath.name}, '_controller_log.txt')).name);
controller = readControllerLogs(controllerPath);
rpIdx = startsWith(controller.message, "Sent REQUEST_POSITION to client 1");
rpTimes = controller.timestamp(rpIdx);
dt = diff(rpTimes);
dt.Format = "mm:ss.SSS";
fprintf("Minimum command spacing: %2.3f seconds\n", seconds(min(dt)));
fprintf("Maximum command spacing: %2.3f seconds\n", seconds(max(dt)));
fprintf("Mean command spacing: %2.3f seconds\n", seconds(mean(dt)));
fprintf("Median command spacing: %2.3f seconds\n", seconds(median(dt)));
assert(seconds(min(dt)) > 4, "Minimum command spacing questionably short");
% Plot GPS logged data and scenario information (domain, objective, obstacles)
seaToGroundLevel = 110; % measured approximately from USGS national map viewer
plotWholeFlight = true; % do not attempt to automatically trim initial and final positioning and landing from flight plot (buggy)