ACSL-flightstack-winged-accessories

This repository provides accessory files to help process and visualize log file data generated by the ACSL-flightstack-winged.

Repository Content

1. Project Root Directory

The parent folder contains the scripts to help with the groundstation functionality. To make them executable, run the following for each of the scripts:

sudo chmod +x <script-name>.sh

To run the scripts use

./<script-name>.sh

• ssh-drone.sh
  Helps ssh into the drone for tests.

  NOTE:
  Change the username, password, and IP to match your companion computer.

• send-weather.sh
  Runs the Python script that is used to send the weather data from your local WeatherSTEM station.

  NOTE:

  • weatherAPP/config.yaml has the configuration file. You will need to generate your own API key and input the correct URL for your weather station.
  • You might also need to modify the udp_ip according to the companion computer's IP that you set up.
  • You can leave the rest to default, as it was found to work best with our testing.

• get-logs.sh
  Gets the logs from the drone and stores them in flight_log/....

  NOTE:

  • Change the REMOTE_DIR to the correct flight log path on the Odroid.
  • REMOTE_USER and REMOTE_HOST need to match your companion computer's setup as well.

• createWorkspace.m
  This script imports log files and creates a workspace in the MATLAB environment for processing. It serves as the entry point for working with flight data logs.

2. functions

This folder contains all the functions that are used by createWorkspace.m to process the data for the controllers

• process_pid_log.m A sample script that provides an example of processing PID controller-related log data and storing them in the MATLAB workspace, using the input variables in createWorkspace.m.

• process_mrac_pid_log.m A sample script that provides an example of processing MRAC PID controller-related log data and storing them in the MATLAB workspace, using the input variables in createWorkspace.m.

• process_pid_omega_log.m A sample script that provides an example of processing PID OMEGA controller-related log data and storing them in the MATLAB workspace, using the input variables in createWorkspace.m.

3. plotters

This folder contains the MATLAB files used to plot the processed data. To use any of the plotter files, use the navigation bar on the left side of the screen in MATLAB. Navigate to and select the flight_log\<platform>\<YYYY_MM_DD>\<flightrun>\<controller>_log_<flightrun>.mat file. Once the .mat file is loaded, run the function in the plotter files to plot the data.

IMPORTANT: Each plotter is controller specific and needs to match the contoller name in the .mat file.

• plot_data_PID.m A sample script that provides an example of plotting PID controller-related log data stored in the flight_log/ directory, created using the createWorkspace.m script and process_pid_log.m script.

• plot_data_MRAC_PID.m A sample script that provides an example of plotting MRAC PID controller-related log data stored in the flight_log/ directory, created using the createWorkspace.m script and process_mrac_pid_log.m script.

• plot_data_PID_OMEGA.m A sample script that provides an example of plotting PID OMEGA controller-related log data stored in the flight_log/ directory, created using the createWorkspace.m script and process_pid_omega_log.m script.

4. flight_log

This folder contains example log files from flight tests.

• flight_log/qrbp/2024_07_23/flight_run_13_58_09/ contains flight data collected using the MRAC PID control algorithm with MOCAP fusion.

• flight_log/qrbp/2024_07_25/flight_run_21_08_05/ contains flight data collected using the PID OMEGA control algorithm with MOCAP fusion.

• flight_log/qrbp/2024_10_16/flight_run_17_54_17/ contains flight data collected using the PID OMEGA control algorithm with VIO fusion and MOCAP logging.

5. CAD

This folder contains the CAD files for the design of the Quad-Rotor Biplane (QRBP).

---