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per-UAV parameters

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Kevin Dee
2026-03-03 16:18:07 -08:00
parent 252423eb29
commit fe7b1b2ed3
13 changed files with 171 additions and 83 deletions
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16
aerpaw/results/plotGpsCsvs.m
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@@ -20,7 +20,7 @@ fclose(fID);
lla0 = [str2double(yaml((strfind(yaml, 'lat:') + 4):(strfind(yaml, 'lon:') - 1))), str2double(yaml((strfind(yaml, 'lon:') + 4):(strfind(yaml, 'alt:') - 1))), seaToGroundLevel];
% Paths to logs
gpsCsvs = dir(fullfile("sandbox", "test9", "*.csv"));
gpsCsvs = dir(fullfile("sandbox", "test10", "*.csv"));
G = cell(size(gpsCsvs));
for ii = 1:size(gpsCsvs, 1)
@@ -38,18 +38,13 @@ for ii = 1:size(gpsCsvs, 1)
stopIdx = find(verticalSpeed <= prctile(verticalSpeed, pctThreshold), 1, 'last');
% % Plot whole flight, including setup/cleanup
% startIdx = 1;
% stopIdx = length(verticalSpeed);
startIdx = 1;
stopIdx = length(verticalSpeed);
% Plot recorded trajectory over specified range of indices
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 = [params.objectivePos, 0];
llaObj = enu2lla(objectivePos, lla0, 'flat');
geoplot3(gf, [llaObj(1), llaObj(1)], [llaObj(2), llaObj(2)], [llaObj(3), llaObj(3) + 50], 'LineWidth', 3, "Color", 'y');
% Plot domain
altOffset = 1; % to avoid clipping into the ground when displayed
domain = [lla0; enu2lla(params.domainMax, lla0, 'flat')];
@@ -64,5 +59,10 @@ geoplot3(gf, [domain(2, 1), domain(2, 1)], [domain(2, 2), domain(2, 2)], domain(
floorAlt = params.minAlt;
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) + altOffset + floorAlt, 1, 5), 'LineWidth', 3, 'Color', 'r');
% Plot objective
objectivePos = [params.objectivePos, 0];
llaObj = enu2lla(objectivePos, lla0, 'flat');
geoplot3(gf, [llaObj(1), llaObj(1)], [llaObj(2), llaObj(2)], [llaObj(3), domain(2, 3)], 'LineWidth', 3, "Color", 'y');
% finish
hold(gf, "off");