68 lines
3.4 KiB
Matlab
68 lines
3.4 KiB
Matlab
% Plot setup
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f = uifigure;
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gf = geoglobe(f);
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hold(gf, "on");
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c = ["g", "b", "m", "c"]; % plotting colors
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% paths
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scenarioCsv = fullfile("aerpaw", "config", "scenario.csv");
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% configured data
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params = readScenarioCsv(scenarioCsv);
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% coordinate system constants
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seaToGroundLevel = 110; % meters, measured approximately from USGS national map viewer
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fID = fopen(fullfile("aerpaw", "config", "client.yaml"), 'r');
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yaml = fscanf(fID, '%s');
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fclose(fID);
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% origin (LLA)
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lla0 = [str2double(yaml((strfind(yaml, 'lat:') + 4):(strfind(yaml, 'lon:') - 1))), str2double(yaml((strfind(yaml, 'lon:') + 4):(strfind(yaml, 'alt:') - 1))), seaToGroundLevel];
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% Paths to logs
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gpsCsvs = dir(fullfile("sandbox", "test9", "*.csv"));
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G = cell(size(gpsCsvs));
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for ii = 1:size(gpsCsvs, 1)
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% Read CSV
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G{ii} = readGpsCsv(fullfile(gpsCsvs(ii).folder, gpsCsvs(ii).name));
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% Find when algorithm begins/ends (using ENU altitude rate change)
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enuTraj = lla2enu([G{ii}.Latitude, G{ii}.Longitude, G{ii}.Altitude], lla0, 'flat');
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verticalSpeed = movmean(abs(diff(G{ii}.Altitude)), [10, 0]);
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% Automatically detect start/stop of algorithm flight (ignore takeoff, setup, return to liftoff, landing segments of flight)
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pctThreshold = 60; % pctThreshold may need adjusting depending on your flight
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startIdx = find(verticalSpeed <= prctile(verticalSpeed, pctThreshold), 1, 'first');
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stopIdx = find(verticalSpeed <= prctile(verticalSpeed, pctThreshold), 1, 'last');
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% % Plot whole flight, including setup/cleanup
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% startIdx = 1;
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% stopIdx = length(verticalSpeed);
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% Plot recorded trajectory over specified range of indices
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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);
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end
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% Plot objective
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objectivePos = [params.objectivePos, 0];
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llaObj = enu2lla(objectivePos, lla0, 'flat');
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geoplot3(gf, [llaObj(1), llaObj(1)], [llaObj(2), llaObj(2)], [llaObj(3), llaObj(3) + 50], 'LineWidth', 3, "Color", 'y');
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% Plot domain
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altOffset = 1; % to avoid clipping into the ground when displayed
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domain = [lla0; enu2lla(params.domainMax, lla0, 'flat')];
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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, 1, 5), 'LineWidth', 3, 'Color', 'k');
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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(2, 3) + altOffset, 1, 5), 'LineWidth', 3, 'Color', 'k');
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geoplot3(gf, [domain(1, 1), domain(1, 1)], [domain(1, 2), domain(1, 2)], domain(:, 3) + altOffset, 'LineWidth', 3, 'Color', 'k');
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geoplot3(gf, [domain(2, 1), domain(2, 1)], [domain(1, 2), domain(1, 2)], domain(:, 3) + altOffset, 'LineWidth', 3, 'Color', 'k');
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geoplot3(gf, [domain(1, 1), domain(1, 1)], [domain(2, 2), domain(2, 2)], domain(:, 3) + altOffset, 'LineWidth', 3, 'Color', 'k');
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geoplot3(gf, [domain(2, 1), domain(2, 1)], [domain(2, 2), domain(2, 2)], domain(:, 3) + altOffset, 'LineWidth', 3, 'Color', 'k');
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% Plot floor (minimum altitude constraint)
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floorAlt = params.minAlt;
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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');
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% finish
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hold(gf, "off"); |