iros-2021

# Simulation data from the PPRZ logs The original files are in the directory [simulation1](../simulation1). The mission was the original agricultural survey with Paparazzi autopilot and Opterra fixed-wing UAV (credit goes to **Amit** Ferenz Appel and **Hector** Garcia de Marina). Files here have been cut to the actual survey. You can find how to interpret the data here, so next time you don't forget; as you always do. ## Files ### [path_sim.csv](path_sim.csv). Data were sampled at 1 sec, we started at 680.732 and finished at 999.732. Contains 3 columns: 1. the x related to origin. The [max,min] is x = [-123,85]. 2. the y, y = [-66,221]. 3. the z, z = [10.18,23.37]. ### [max_qos_tees.csv](max_qos_tees.csv). Data from simulation of the algorithm with epsilon = 1. The QoS is max all the time and the energy is derived from the throttle (approximated). To generate: * call Matlab script, * select 'Energy', * order is default, * characteristic time is default, * sensor energy data are [pprz_throttle.csv](../simulation1/pprz_throttle.csv), * column is 3, * time step 500 ms, * computational model and mission specification are default, * select OP3, * epsilon is 1. Contains 4 columns: 1. time (sec). The [max,min] is = [.5,320]. 2. data from sensor = [29.368,40.381]. 3. estimated data [29.65,40.381]. 4. zero column (just for gnuplot) ### [est_vs_joules.csv](est_vs_joules.csv) Data which correlates when the estimation has stopped in seconds and how the energy evolves from that point on, against the actual measured energy. Contains 3 columns: 1. time (sec). The [max,min] is = [.5,320]. 2. data from sensor = [19297,24635]. 3. data from sensor, constant 22334.