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Flying a Quadrotor with Unkown Actuators and Sensor Configuration

To reproduce the figures from the data logged during the experiment of our IMAV 2024 paper "Flying a Quadrotor with Unkown Actuators and Sensor Configuration", run the commands below.

NOTE: Only tested on Ubuntu 22.04.

Steps to reproduce Simulation

Build container (this also compiles the correct version of indiflight)

docker build . -t pyndiflight-imav2024 -f Simulation/sil-githash.Dockerfile    \
    --build-arg COMMIT=b165ae127                                               \
    --build-arg BUILD_CONFIG=Documentation/Papers/IMAV2024/IndiflightConfig.mk

Run container with the python simulation configuration. Open http://localhost:5000:

docker run -it -p 5000:5000                                                \
    -v ./Documentation/Papers/IMAV2024/simOveractuated.py:/sim.py          \
    -v ./Documentation/Papers/IMAV2024/IndiflightProfile.txt:/profile.txt  \
    pyndiflight-imav2024 --sil-log --throw --learn

Copy logs from most recently run container:

docker cp $(docker ps -alq):/logs/. ./logs-simulation

Steps to reproduce plots from dataset or simulation output

Create a new python venv, just to be sure about dependencies

python -m venv ~/.indiflight-venv
source ~/.indiflight-venv/bin/activate

Install dependencies:

pip install --upgrade pip
pip install -r LogAnalysis/indiflightLogTools/requirements.txt
pip install sympy

Download the dataset http://doi.org/10.4121/0530be90-cc6c-4029-9774-670657882906 on some location on your machine.

Generate plots (they will appear in Documentation/Papers/IMAV2024/figures):

python3 Documentation/Papers/IMAV2024/generateFigures.py /path/to/dataset

NOTE: the original plots were generated with "text.usetex": True, but that requires a Latex installation. For portability, this is turned off by default here. NOTE: running this will create cache files of the data, so they can be imported faster in the future. To delete the cache, run python3 -c "from LogAnalysis.indiflightLogTools import IndiflightLog; IndiflightLog.clearCache()"