We present a collection of supplementary materials for our work, which appeared at SEAMS 2023.  Please navigate to the "TAAS" page through the menu to view supplementary materials for the extension of this paper, which  has been submitted to TAAS.

The work in this paper was primarily funded under USA National Aeronautics and Space Administration (NASA) Grant Number: 80NSSC21M0185 and the National Science Foundation (NSF) CNS-1931962 and CCF-1909688. Any opinions, findings, and conclusions or recommendations expressed in this material are those of the author(s) and do not necessarily reflect the views of the National Aeronautics and Space Administration or the National Science Foundation. We thank A. Nicolellis for help collecting data for a preliminary study.

Complete results for one-hop configuration testing in RQ1 and RQ2:

Covering arrays  used for pairwise configuration testing in RQ1 and RQ2:

In Figure 2, we show a series of flight paths exhibiting different behaviors. We have included the complete flight logs for those examples here.

a) Default configuration:

b) Completes flight, but noisy:

c) Fails to complete takeoff:

d) Fails to reach all waypoints:

In Figure 6, we highlighted a dangerous flight behavior that we observed in some of our runs where the sUAS rapidly ascended vertically, which we were able to mitigate using the loiter and land-in-place adaptations. We have included links for the logs which exhibited this behavior here:

https://review.px4.io/plot_app?log=ce821803-1878-42af-a4ca-a468d3c5d0c8

https://review.px4.io/plot_app?log=f5328614-5a79-4a94-bdef-e4426d4c7665

https://review.px4.io/plot_app?log=746ee98c-b913-47ea-9ffa-fb65cdffac95

https://review.px4.io/plot_app?log=de7694b8-2862-4306-a8b2-2f6027eece4e

https://review.px4.io/plot_app?log=145b5588-9381-4f56-9905-148f1e6e8436

https://review.px4.io/plot_app?log=52b33a77-3554-441e-ac4c-ec64e65d71e4

https://review.px4.io/plot_app?log=d5d0bf6d-e773-423b-b502-3d1ea34d37a1