Repository: milosz275/uav-collision-avoidance (language: python)

Issue:
Uniform paths plot scaling
**Problem**
Plots are automatically scaled and don't show real angle between paths.

**Solution**
The grid should be square and ticks scaled uniformly, so that the plots wouldn't be misleading at first glance.



Discussion / hints:

Fix patch:
diff --git a/.gitignore b/.gitignore
index c7b0174..64365db 100644
--- a/.gitignore
+++ b/.gitignore
@@ -171,29 +171,29 @@ logs/
 # Simulation's data simulation-*.csv files and latest simulation except example file
 simulation.csv
 simulation-*.csv
-!simulation-2024-05-31-00-00-37.csv
-!simulation-2024-05-31-12-58-35.csv
+!simulation-2024-06-02-17-52-28.csv
+!simulation-2024-06-02-21-36-15.csv
 
 # Simulation's visualization directories
 path-visual/*
 !path-visual/README.md
-!path-visual/2024-05-31/simulation-00-00-618986396/
-!path-visual/2024-05-31/simulation-00-01-618986396/
-!path-visual/2024-05-31/simulation-00-02-618986396/
-!path-visual/2024-05-31/simulation-00-03-618986396/
-!path-visual/2024-05-31/simulation-00-04-618986396/
-!path-visual/2024-05-31/simulation-00-05-618986396/
-!path-visual/2024-05-31/simulation-00-06-618986396/
-!path-visual/2024-05-31/simulation-00-07-618986396/
-!path-visual/2024-05-31/simulation-00-08-618986396/
-!path-visual/2024-05-31/simulation-00-09-618986396/
-!path-visual/2024-05-31/simulation-00-10-618986396/
-!path-visual/2024-05-31/simulation-00-11-618986396/
-!path-visual/2024-05-31/simulation-00-12-618986396/
-!path-visual/2024-05-31/simulation-00-13-618986396/
-!path-visual/2024-05-31/simulation-00-14-618986396/
-!path-visual/2024-05-31/simulation-00-15-618986396/
-!path-visual/2024-05-31/simulation-00-16-618986396/
-!path-visual/2024-05-31/simulation-00-17-618986396/
-!path-visual/2024-05-31/simulation-00-18-618986396/
-!path-visual/2024-05-31/simulation-00-19-618986396/
+!path-visual/2024-06-02/simulation-00-00-2836571040/
+!path-visual/2024-06-02/simulation-00-01-2836571040/
+!path-visual/2024-06-02/simulation-00-02-2836571040/
+!path-visual/2024-06-02/simulation-00-03-2836571040/
+!path-visual/2024-06-02/simulation-00-04-2836571040/
+!path-visual/2024-06-02/simulation-00-05-2836571040/
+!path-visual/2024-06-02/simulation-00-06-2836571040/
+!path-visual/2024-06-02/simulation-00-07-2836571040/
+!path-visual/2024-06-02/simulation-00-08-2836571040/
+!path-visual/2024-06-02/simulation-00-09-2836571040/
+!path-visual/2024-06-02/simulation-00-10-2836571040/
+!path-visual/2024-06-02/simulation-00-11-2836571040/
+!path-visual/2024-06-02/simulation-00-12-2836571040/
+!path-visual/2024-06-02/simulation-00-13-2836571040/
+!path-visual/2024-06-02/simulation-00-14-2836571040/
+!path-visual/2024-06-02/simulation-00-15-2836571040/
+!path-visual/2024-06-02/simulation-00-16-2836571040/
+!path-visual/2024-06-02/simulation-00-17-2836571040/
+!path-visual/2024-06-02/simulation-00-18-2836571040/
+!path-visual/2024-06-02/simulation-00-19-2836571040/
diff --git a/.vscode/settings.json b/.vscode/settings.json
index 0bf49a4..2c1fa44 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -13,6 +13,8 @@
         "aircrafts",
         "Antialiasing",
         "appendleft",
+        "arrowprops",
+        "arrowstyle",
         "autosummary",
         "bizstyle",
         "Codespaces",
@@ -20,6 +22,7 @@
         "drona",
         "dronów",
         "drony",
+        "facecolor",
         "fccs",
         "filterwarnings",
         "fontsize",
@@ -29,6 +32,7 @@
         "HTOL",
         "Inicjalizuje",
         "Inkrementuje",
+        "labelsize",
         "levelname",
         "libgl",
         "libxcb",
@@ -71,9 +75,13 @@
         "xinerama",
         "xlabel",
         "xlim",
+        "xticks",
+        "xytext",
         "yaxis",
         "ylabel",
         "ylim",
+        "yticks",
         "zainicjalizowanej"
-    ]
+    ],
+    "editor.largeFileOptimizations": false,
 }
diff --git a/README.md b/README.md
index 93ac2dc..c6c49ab 100644
--- a/README.md
+++ b/README.md
@@ -57,11 +57,11 @@ Application is built based on two main object types, simulation and aircraft. Si
 
 There are eight possible arguments at the moment:
 - default (no arguments) - runs GUI simulation; avoiding collision can be achieved by pressing T, when aircrafts have their safe zones occupied
-- realtime [file_name] [test_index] [collision_avoidance] - runs GUI simulation; file name can be specified and defaults to latest simulation data found; test index can be specified and defaults to 0; collision avoidance can be specified and defaults to off
+- realtime [file_path] [test_index] [collision_avoidance] - runs GUI simulation; file name can be specified and defaults to latest simulation data found; test index can be specified and defaults to 0; collision avoidance can be specified and defaults to off
 - headless - runs physical simulation with ADS-B and collision avoidance algorithm
 - tests [test_number] - runs full tests comparing effectiveness of collision avoidance algorithm, test number defaults to 15
 - ongoing - runs default test number in parallel comparing effectiveness of collision avoidance algorithm continuously till Ctrl+C
-- load [file_name] [test_index] - loads and conducts headless simulation from file when specified, otherwise loads default example test case from data directory [data](/data); test index can be specified and defaults to 0
+- load [file_path] [test_index] - loads and conducts headless simulation from file when specified, otherwise loads default example test case from data directory [data](/data); test index can be specified and defaults to 0
 - help [argument] - prints help message for the app argument; defaults to all arguments list
 - version - prints version of the app
 
diff --git a/README.pl.md b/README.pl.md
index e35f119..2417093 100644
--- a/README.pl.md
+++ b/README.pl.md
@@ -121,7 +121,7 @@ uav-collision-avoidance
 ```
 
 ```bash
-uav-collision-avoidance realtime [nazwa_pliku] [indeks_testu] [unikanie_kolizji]
+uav-collision-avoidance realtime [ścieżka_pliku] [indeks_testu] [unikanie_kolizji]
 ```
 
 ```bash
@@ -137,7 +137,7 @@ uav-collision-avoidance ongoing
 ```
 
 ```bash
-uav-collision-avoidance load [nazwa_pliku] [indeks_testu]
+uav-collision-avoidance load [ścieżka_pliku] [indeks_testu]
 ```
 
 ```bash
diff --git a/data/README.md b/data/README.md
index 336680c..8e36326 100644
--- a/data/README.md
+++ b/data/README.md
@@ -30,5 +30,5 @@ The simulation data is stored in CSV format. Each row in the CSV file represents
 - `simulation.csv`: The latest simulation data file. This file is not created automatically. For having specific simulation data loaded, simply copy wanted simulation data into this file.
 - `simulation-*.csv`: Historical simulation data files, named with the timestamp of the simulation run. These files are not tracked by Git as per the `.gitignore` settings, except for specific examples. 
 
-Simulation data consisting of 20 tests conducted with 100 `Hz` simulation frequency [simulation-2024-05-31-00-00-37.csv](/data/simulation-2024-05-31-00-00-37.csv).
-Simulation data consisting of 200 tests conducted with 10 `Hz` simulation frequency [simulation-2024-05-31-12-58-35.csv](/data/simulation-2024-05-31-12-58-35.csv).
+Simulation data consisting of 20 tests conducted with 100 `Hz` simulation frequency [simulation-2024-05-31-00-00-37.csv](/data/simulation-2024-06-02-17-52-28.csv).
+Simulation data consisting of 200 tests conducted with 10 `Hz` simulation frequency [simulation-2024-05-31-12-58-35.csv](/data/simulation-2024-06-02-21-36-15.csv).
diff --git a/data/simulation-2024-05-31-00-00-37.csv b/data/simulation-2024-05-31-00-00-37.csv
deleted file mode 100644
index d15319e..0000000
--- a/data/simulation-2024-05-31-00-00-37.csv
+++ /dev/null
@@ -1,21 +0,0 @@
-test_id,aircraft_angle,aircraft_1_init_pos_x,aircraft_1_init_pos_y,aircraft_1_init_pos_z,aircraft_2_init_pos_x,aircraft_2_init_pos_y,aircraft_2_init_pos_z,aircraft_1_init_speed_x,aircraft_1_init_speed_y,aircraft_1_init_speed_z,aircraft_2_init_speed_x,aircraft_2_init_speed_y,aircraft_2_init_speed_z,aircraft_1_init_target_x,aircraft_1_init_target_y,aircraft_1_init_target_z,aircraft_2_init_target_x,aircraft_2_init_target_y,aircraft_2_init_target_z,aircraft_1_final_pos_x_if_no_avoidance,aircraft_1_final_pos_y_if_no_avoidance,aircraft_1_final_pos_z_if_no_avoidance,aircraft_2_final_pos_x_if_no_avoidance,aircraft_2_final_pos_y_if_no_avoidance,aircraft_2_final_pos_z_if_no_avoidance,aircraft_1_final_pos_x_if_avoidance,aircraft_1_final_pos_y_if_avoidance,aircraft_1_final_pos_z_if_avoidance,aircraft_2_final_pos_x_if_avoidance,aircraft_2_final_pos_y_if_avoidance,aircraft_2_final_pos_z_if_avoidance,aircraft_1_final_speed_x_if_no_avoidance,aircraft_1_final_speed_y_if_no_avoidance,aircraft_1_final_speed_z_if_no_avoidance,aircraft_2_final_speed_x_if_no_avoidance,aircraft_2_final_speed_y_if_no_avoidance,aircraft_2_final_speed_z_if_no_avoidance,aircraft_1_final_speed_x_if_avoidance,aircraft_1_final_speed_y_if_avoidance,aircraft_1_final_speed_z_if_avoidance,aircraft_2_final_speed_x_if_avoidance,aircraft_2_final_speed_y_if_avoidance,aircraft_2_final_speed_z_if_avoidance,collision_if_no_avoidance,collision_if_avoidance,minimal_relative_distance_if_no_avoidance,minimal_relative_distance_if_avoidance,miss_distance_at_closest_approach_if_no_avoidance,miss_distance_at_closest_approach_if_avoidance
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diff --git a/data/simulation-2024-05-31-12-58-35.csv b/data/simulation-2024-05-31-12-58-35.csv
deleted file mode 100644
index 3eb6a70..0000000
--- a/data/simulation-2024-05-31-12-58-35.csv
+++ /dev/null
@@ -1,201 +0,0 @@
-test_id,aircraft_angle,aircraft_1_init_pos_x,aircraft_1_init_pos_y,aircraft_1_init_pos_z,aircraft_2_init_pos_x,aircraft_2_init_pos_y,aircraft_2_init_pos_z,aircraft_1_init_speed_x,aircraft_1_init_speed_y,aircraft_1_init_speed_z,aircraft_2_init_speed_x,aircraft_2_init_speed_y,aircraft_2_init_speed_z,aircraft_1_init_target_x,aircraft_1_init_target_y,aircraft_1_init_target_z,aircraft_2_init_target_x,aircraft_2_init_target_y,aircraft_2_init_target_z,aircraft_1_final_pos_x_if_no_avoidance,aircraft_1_final_pos_y_if_no_avoidance,aircraft_1_final_pos_z_if_no_avoidance,aircraft_2_final_pos_x_if_no_avoidance,aircraft_2_final_pos_y_if_no_avoidance,aircraft_2_final_pos_z_if_no_avoidance,aircraft_1_final_pos_x_if_avoidance,aircraft_1_final_pos_y_if_avoidance,aircraft_1_final_pos_z_if_avoidance,aircraft_2_final_pos_x_if_avoidance,aircraft_2_final_pos_y_if_avoidance,aircraft_2_final_pos_z_if_avoidance,aircraft_1_final_speed_x_if_no_avoidance,aircraft_1_final_speed_y_if_no_avoidance,aircraft_1_final_speed_z_if_no_avoidance,aircraft_2_final_speed_x_if_no_avoidance,aircraft_2_final_speed_y_if_no_avoidance,aircraft_2_final_speed_z_if_no_avoidance,aircraft_1_final_speed_x_if_avoidance,aircraft_1_final_speed_y_if_avoidance,aircraft_1_final_speed_z_if_avoidance,aircraft_2_final_speed_x_if_avoidance,aircraft_2_final_speed_y_if_avoidance,aircraft_2_final_speed_z_if_avoidance,collision_if_no_avoidance,collision_if_avoidance,minimal_relative_distance_if_no_avoidance,minimal_relative_distance_if_avoidance,miss_distance_at_closest_approach_if_no_avoidance,miss_distance_at_closest_approach_if_avoidance
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diff --git a/data/simulation-2024-06-02-17-52-28.csv b/data/simulation-2024-06-02-17-52-28.csv
new file mode 100644
index 0000000..78d12bf
--- /dev/null
+++ b/data/simulation-2024-06-02-17-52-28.csv
@@ -0,0 +1,21 @@
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diff --git a/data/simulation-2024-06-02-21-36-15.csv b/data/simulation-2024-06-02-21-36-15.csv
new file mode 100644
index 0000000..d0e9f45
--- /dev/null
+++ b/data/simulation-2024-06-02-21-36-15.csv
@@ -0,0 +1,199 @@
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+![](path-visual-2024-06-02-20-00-45.png)
+![](path-visual-2024-06-02-20-00-57.png)
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+++ b/path-visual/2024-06-02/simulation-00-11-2836571040/README.md
@@ -0,0 +1,2 @@
+![](path-visual-2024-06-02-20-01-05.png)
+![](path-visual-2024-06-02-20-01-38.png)
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diff --git a/path-visual/2024-06-02/simulation-00-12-2836571040/README.md b/path-visual/2024-06-02/simulation-00-12-2836571040/README.md
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--- /dev/null
+++ b/path-visual/2024-06-02/simulation-00-12-2836571040/README.md
@@ -0,0 +1,2 @@
+![](path-visual-2024-06-02-20-01-42.png)
+![](path-visual-2024-06-02-20-01-54.png)
diff --git a/path-visual/2024-06-02/simulation-00-12-2836571040/path-visual-2024-06-02-20-01-42.png b/path-visual/2024-06-02/simulation-00-12-2836571040/path-visual-2024-06-02-20-01-42.png
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diff --git a/path-visual/2024-06-02/simulation-00-13-2836571040/README.md b/path-visual/2024-06-02/simulation-00-13-2836571040/README.md
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--- /dev/null
+++ b/path-visual/2024-06-02/simulation-00-13-2836571040/README.md
@@ -0,0 +1,2 @@
+![](path-visual-2024-06-02-20-01-57.png)
+![](path-visual-2024-06-02-20-02-06.png)
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--- /dev/null
+++ b/path-visual/2024-06-02/simulation-00-14-2836571040/README.md
@@ -0,0 +1,2 @@
+![](path-visual-2024-06-02-20-02-08.png)
+![](path-visual-2024-06-02-20-02-14.png)
diff --git a/path-visual/2024-06-02/simulation-00-14-2836571040/path-visual-2024-06-02-20-02-08.png b/path-visual/2024-06-02/simulation-00-14-2836571040/path-visual-2024-06-02-20-02-08.png
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--- /dev/null
+++ b/path-visual/2024-06-02/simulation-00-15-2836571040/README.md
@@ -0,0 +1,2 @@
+![](path-visual-2024-06-02-20-02-16.png)
+![](path-visual-2024-06-02-20-02-29.png)
diff --git a/path-visual/2024-06-02/simulation-00-15-2836571040/path-visual-2024-06-02-20-02-16.png b/path-visual/2024-06-02/simulation-00-15-2836571040/path-visual-2024-06-02-20-02-16.png
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--- /dev/null
+++ b/path-visual/2024-06-02/simulation-00-16-2836571040/README.md
@@ -0,0 +1,2 @@
+![](path-visual-2024-06-02-20-02-31.png)
+![](path-visual-2024-06-02-20-02-38.png)
diff --git a/path-visual/2024-06-02/simulation-00-16-2836571040/path-visual-2024-06-02-20-02-31.png b/path-visual/2024-06-02/simulation-00-16-2836571040/path-visual-2024-06-02-20-02-31.png
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--- /dev/null
+++ b/path-visual/2024-06-02/simulation-00-17-2836571040/README.md
@@ -0,0 +1,2 @@
+![](path-visual-2024-06-02-20-02-40.png)
+![](path-visual-2024-06-02-20-02-49.png)
diff --git a/path-visual/2024-06-02/simulation-00-17-2836571040/path-visual-2024-06-02-20-02-40.png b/path-visual/2024-06-02/simulation-00-17-2836571040/path-visual-2024-06-02-20-02-40.png
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diff --git a/path-visual/2024-06-02/simulation-00-18-2836571040/README.md b/path-visual/2024-06-02/simulation-00-18-2836571040/README.md
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index 0000000..287e549
--- /dev/null
+++ b/path-visual/2024-06-02/simulation-00-18-2836571040/README.md
@@ -0,0 +1,2 @@
+![](path-visual-2024-06-02-20-02-51.png)
+![](path-visual-2024-06-02-20-03-06.png)
diff --git a/path-visual/2024-06-02/simulation-00-18-2836571040/path-visual-2024-06-02-20-02-51.png b/path-visual/2024-06-02/simulation-00-18-2836571040/path-visual-2024-06-02-20-02-51.png
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diff --git a/path-visual/2024-06-02/simulation-00-19-2836571040/README.md b/path-visual/2024-06-02/simulation-00-19-2836571040/README.md
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index 0000000..84c1434
--- /dev/null
+++ b/path-visual/2024-06-02/simulation-00-19-2836571040/README.md
@@ -0,0 +1,2 @@
+![](path-visual-2024-06-02-20-03-08.png)
+![](path-visual-2024-06-02-21-23-51.png)
diff --git a/path-visual/2024-06-02/simulation-00-19-2836571040/path-visual-2024-06-02-20-03-08.png b/path-visual/2024-06-02/simulation-00-19-2836571040/path-visual-2024-06-02-20-03-08.png
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diff --git a/path-visual/README.md b/path-visual/README.md
index 3313020..056cc23 100644
--- a/path-visual/README.md
+++ b/path-visual/README.md
@@ -24,5 +24,5 @@ These images serve as a visual comparison to assess the effectiveness of the col
 The simulation directories are named sequentially through simulation id 0-9 `simulation-[simulation-id]-[test_id]-[simulation_hash]` and are enclosed by the date directory. Inside each of these directories, you will find:
 
 ## Example
-![No avoidance](2024-05-31/simulation-00-14-618986396/path-visual-2024-05-31-01-43-07.png)
-![Avoidance](2024-05-31/simulation-00-14-618986396/path-visual-2024-05-31-01-43-16.png)
+![No avoidance](2024-06-02/simulation-00-17-2836571040/path-visual-2024-06-02-20-02-40.png)
+![Avoidance](2024-06-02/simulation-00-17-2836571040/path-visual-2024-06-02-20-02-49.png)
diff --git a/pyproject.toml b/pyproject.toml
index f80ee94..856d8ed 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "uav-collision-avoidance"
-version = "0.8.7"
+version = "0.8.9"
 authors = [
   { name="mldxo", email="miloszmaculewicz@gmail.com" },
 ]
diff --git a/uav_collision_avoidance/main.py b/uav_collision_avoidance/main.py
index 1d32f5a..ae7ec58 100644
--- a/uav_collision_avoidance/main.py
+++ b/uav_collision_avoidance/main.py
@@ -63,17 +63,17 @@ def main(arg = None) -> None:
             if len(get_monitors()) == 0:
                 logging.warning("Launching GUI Application without monitors detected")
             sim = Simulation()
-            if len(args) > 1:
+            if len(args) >= 2:
                 file_path : str = args[1]
                 test_id : int = 0
                 avoid_collisions : bool = False
-                if len(args) >= 2:
-                    test_id = int(args[2])
                 if len(args) >= 3:
-                    avoidance : str = str(args[2])
+                    test_id = int(args[2])
+                if len(args) >= 4:
+                    avoidance : str = str(args[3])
                     if avoidance == "true" or avoidance == "True" or avoidance == "t" or avoidance == "T" or avoidance == "yes" or avoidance == "1":
                         avoid_collisions = True
-                if len(args) > 4:
+                if len(args) >= 5:
                     print(f"Invalid arguments: {args}")
                     logging.warning("Invalid arguments: %s", args)
                 sim.load_simulation_data_from_file(file_path = file_path, test_id = test_id, avoid_collisions = avoid_collisions)
@@ -95,7 +95,7 @@ def main(arg = None) -> None:
             QApplication.shutdown(app)
             sys.exit(0)
         elif args[0] == "load":
-            file_path : str = "data/simulation-2024-05-31-00-00-37.csv"
+            file_path : str = "data/simulation-2024-06-02-17-52-28.csv"
             test_id : int = 0
             if len(args) > 1:
                 file_path = args[1]
@@ -125,7 +125,7 @@ def main(arg = None) -> None:
                 process.join()
         elif args[0] == "help" and len(args) > 1:
             if args[1] == "realtime":
-                print("Usage: uav_collision_avoidance realtime")
+                print("Usage: uav_collision_avoidance realtime [file_path] [test_index] [collision_avoidance]")
                 print("Description: Runs the simulation in real-time with GUI")
                 sys.exit(0)
             elif args[1] == "headless":
@@ -137,7 +137,7 @@ def main(arg = None) -> None:
                 print("Description: Runs the simulation multiple times in headless mode without GUI defaulting to 10 times")
                 sys.exit(0)
             elif args[1] == "load":
-                print("Usage: uav_collision_avoidance load [file_path]")
+                print("Usage: uav_collision_avoidance load [file_path] [test_index]")
                 print("Description: Loads a simulation data file and runs the simulation in headless mode without GUI, defaults to example data file")
                 sys.exit(0)
             elif args[1] == "ongoing":
diff --git a/uav_collision_avoidance/src/simulation/simulation.py b/uav_collision_avoidance/src/simulation/simulation.py
index 99e9fbb..780e2a8 100644
--- a/uav_collision_avoidance/src/simulation/simulation.py
+++ b/uav_collision_avoidance/src/simulation/simulation.py
@@ -3,6 +3,7 @@
 import csv
 import logging
 import datetime
+import numpy as np
 import pandas as pd
 import matplotlib.pyplot as plt
 import matplotlib.patches as mpatches
@@ -11,8 +12,8 @@
 from pathlib import Path
 from typing import List, Tuple
 from numpy import random, ndarray
-from math import dist, sin, cos, radians
 from matplotlib.ticker import MaxNLocator
+from math import dist, sin, cos, radians, sqrt
 
 from PySide6.QtCore import QThread, QTime
 from PySide6.QtGui import QCloseEvent, QVector3D
@@ -224,14 +225,14 @@ def run_headless(self, avoid_collisions : bool = False, aircrafts : List[Aircraf
             assert len(self.aircrafts) > 0
         simulation_data : SimulationData = SimulationData()
         simulation_data.aircraft_angle = aircraft_angle
-        simulation_data.aircraft_1_initial_position = copy(self.aircrafts[0].vehicle.position)
-        simulation_data.aircraft_2_initial_position = copy(self.aircrafts[1].vehicle.position)
-        simulation_data.aircraft_1_initial_speed = copy(self.aircrafts[0].vehicle.speed)
-        simulation_data.aircraft_2_initial_speed = copy(self.aircrafts[1].vehicle.speed)
-        simulation_data.aircraft_1_initial_target = copy(self.aircrafts[0].fcc.destination)
-        simulation_data.aircraft_2_initial_target = copy(self.aircrafts[1].fcc.destination)
-        simulation_data.aircraft_1_initial_roll_angle = copy(self.aircrafts[0].vehicle.roll_angle)
-        simulation_data.aircraft_2_initial_roll_angle = copy(self.aircrafts[1].vehicle.roll_angle)
+        simulation_data.aircraft_1_initial_position = copy(self.aircrafts[0].initial_position)
+        simulation_data.aircraft_2_initial_position = copy(self.aircrafts[1].initial_position)
+        simulation_data.aircraft_1_initial_speed = copy(self.aircrafts[0].initial_speed)
+        simulation_data.aircraft_2_initial_speed = copy(self.aircrafts[1].initial_speed)
+        simulation_data.aircraft_1_initial_target = copy(self.aircrafts[0].initial_target)
+        simulation_data.aircraft_2_initial_target = copy(self.aircrafts[1].initial_target)
+        simulation_data.aircraft_1_initial_roll_angle = copy(self.aircrafts[0].initial_roll_angle)
+        simulation_data.aircraft_2_initial_roll_angle = copy(self.aircrafts[1].initial_roll_angle)
         simulation_data.collision = False
 
         self.state = SimulationState(SimulationSettings(), is_realtime = False, avoid_collisions = avoid_collisions)
@@ -294,15 +295,35 @@ def generate_test_aircrafts(self) -> List[Tuple[List[Aircraft], float]]:
         for angle in test_random_collision_course_differences:
             aircraft_init_height : float = random.uniform(test_minimal_altitude, test_maximal_altitude)
             aircraft_target_height : float = random.uniform(test_minimal_altitude, test_maximal_altitude)
-            test_collision_target_projected : QVector3D = QVector3D(0, 0, aircraft_init_height)
             aircraft_absolute_speed : float = random.uniform(test_minimal_speed, test_maximal_speed)
-            sin_value : float = sin(radians(angle))
-            cos_value : float = cos(radians(angle))
+            
+            if angle < 90.0:
+                sin_value : float = sin(radians(angle))
+                cos_value : float = cos(radians(angle))
+            elif angle > 90.0:
+                sin_value = sin(radians(180 - angle))
+                cos_value = cos(radians(180 - angle))
+            
+            if sin_value == 0.0:
+                continue
             if abs(sin_value) < test_minimal_trigonometric_value:
                 continue
             if abs(cos_value) < test_minimal_trigonometric_value:
                 continue
-            distance_to_collision : float = test_start_aircrafts_relative_distance / sin_value # projected onto 2d plane
+            
+            distance_to_collision : float = 0.0
+            if 90 - angle > 0.001: # acute angled triangle
+                distance_to_collision = sqrt((test_start_aircrafts_relative_distance ** 2) / (2 * (1 - cos_value))) / 1.0
+                logging.info("Distance to collision: %f", distance_to_collision)
+            elif abs(90 - angle) < 0.001: # right angled triangle
+                distance_to_collision = test_start_aircrafts_relative_distance / sqrt(2)
+                logging.info("Distance to collision: %f, right angle", distance_to_collision)
+            elif 90 - angle < -0.001: # obtuse angled triangle
+                distance_to_collision = sqrt((test_start_aircrafts_relative_distance ** 2) / (2 * (1 + cos_value))) / 1.0
+                logging.info("Distance to collision: %f", distance_to_collision)
+            else:
+                logging.error("Invalid angle value: %f", angle)
+                continue
 
             aircraft_1_position : QVector3D = QVector3D(
                 0,
@@ -316,7 +337,6 @@ def generate_test_aircrafts(self) -> List[Tuple[List[Aircraft], float]]:
                 0,
                 aircraft_absolute_speed,
                 0)
-            assert abs(dist(aircraft_1_position.toTuple(), test_collision_target_projected.toTuple()) - distance_to_collision) < 0.1
             assert abs(aircraft_1_speed.length() - aircraft_absolute_speed) < 0.1
             
             # rotate angle to get circle equation
@@ -335,9 +355,15 @@ def generate_test_aircrafts(self) -> List[Tuple[List[Aircraft], float]]:
                 aircraft_absolute_speed * sin_value,
                 aircraft_1_speed.z())
 
-            assert abs(dist(aircraft_2_position.toTuple(), test_collision_target_projected.toTuple()) - distance_to_collision) < 0.1
             assert abs(aircraft_2_speed.length() - aircraft_absolute_speed) < 0.1
 
+            calculated_relative_distance_projected : float = dist(aircraft_1_position.toTuple(), aircraft_2_position.toTuple())
+            calculated_relative_distance : float = aircraft_1_position.distanceToPoint(aircraft_2_position)
+            logging.info("Relative distance between aircrafts: %fm (3D %fm) with angle: %f", calculated_relative_distance_projected, calculated_relative_distance, angle)
+            assert abs(aircraft_1_position.distanceToPoint(aircraft_2_position) - test_start_aircrafts_relative_distance) < test_start_aircrafts_relative_distance / 2 # for 10 km, actual 15 km is accepted
+            if abs(90 - angle) < 0.001:
+                assert abs(distance_to_collision - test_start_aircrafts_relative_distance / sqrt(2)) < 0.1
+            
             aircrafts : List[Aircraft] = [
                 Aircraft(
                     aircraft_id = 0,
@@ -426,12 +452,12 @@ def generate_consistent_list_of_aircraft_lists(self) -> List[Tuple[List[Aircraft
                 aircraft_id = 0,
                 position = QVector3D(0, -20_000, 1000),
                 speed = QVector3D(0, 100, 0),
-                initial_target = QVector3D(test_average_aircraft_size / 4.0, 2_000_000 + test_average_aircraft_size / 4.0, 1000)),
+                initial_target = QVector3D(test_average_aircraft_size * 3, 2_000_000 + test_average_aircraft_size * 3, 1000)),
             Aircraft(
                 aircraft_id = 1,
                 position = QVector3D(0, -10_000, 1000),
                 speed = QVector3D(0, 50, 0),
-                initial_target = QVector3D(-test_average_aircraft_size / 4.0, 2_000_000 - test_average_aircraft_size / 4.0, 1000))
+                initial_target = QVector3D(-test_average_aircraft_size * 3, 2_000_000 - test_average_aircraft_size * 3, 1000))
         ]
         list_of_lists.append([aircrafts, 0.001])
         aircrafts = [ # full angle collision, equal speeds
@@ -439,12 +465,12 @@ def generate_consistent_list_of_aircraft_lists(self) -> List[Tuple[List[Aircraft
                 aircraft_id = 0,
                 position = QVector3D(0, -5000, 1000),
                 speed = QVector3D(0, 50, 0),
-                initial_target = QVector3D(test_average_aircraft_size / 4.0, 500_000 + test_average_aircraft_size / 4.0, 1000)),
+                initial_target = QVector3D(test_average_aircraft_size * 3, 500_000 + test_average_aircraft_size * 3, 1000)),
             Aircraft(
                 aircraft_id = 1,
                 position = QVector3D(0, 5000, 1000),
                 speed = QVector3D(0, -50, 0),
-                initial_target = QVector3D(-test_average_aircraft_size / 4.0, -500_000 - test_average_aircraft_size / 4.0, 1000))
+                initial_target = QVector3D(-test_average_aircraft_size * 3, -500_000 - test_average_aircraft_size * 3, 1000))
         ]
         list_of_lists.append([aircrafts, 180.001])
         aircrafts = [ # full angle collision
@@ -452,12 +478,12 @@ def generate_consistent_list_of_aircraft_lists(self) -> List[Tuple[List[Aircraft
                 aircraft_id = 0,
                 position = QVector3D(0, -5000, 1000),
                 speed = QVector3D(0, 50, 0),
-                initial_target = QVector3D(test_average_aircraft_size / 4.0, 500_000 + test_average_aircraft_size / 4.0, 1000)),
+                initial_target = QVector3D(test_average_aircraft_size * 3, 500_000 + test_average_aircraft_size * 3, 1000)),
             Aircraft(
                 aircraft_id = 1,
                 position = QVector3D(0, 10000, 1000),
                 speed = QVector3D(0, -100, 0),
-                initial_target = QVector3D(-test_average_aircraft_size / 4.0, -500_000 - test_average_aircraft_size / 4.0, 1000))
+                initial_target = QVector3D(-test_average_aircraft_size * 3, -500_000 - test_average_aircraft_size * 3, 1000))
         ]
         list_of_lists.append([aircrafts, 180.001])
         return list_of_lists
@@ -579,7 +605,7 @@ def run_tests(self, begin_with_default_set : bool = True, test_number : int = 20
             print("Test " + str(i) + " - no collision avoidance")
             logging.info("Test %d - no collision avoidance", i)
             aircraft_tuple : List[List[Aircraft], float] = list_of_lists[i]
-            aircrafts : List[Aircraft] = aircraft_tuple[0]
+            aircrafts : List[Aircraft] = copy(aircraft_tuple[0])
             angle : float = aircraft_tuple[1]
             print("Current test pair aircrafts count: ", len(aircrafts))
             simulation_data_no_avoidance : SimulationData = self.run_headless(
@@ -593,6 +619,7 @@ def run_tests(self, begin_with_default_set : bool = True, test_number : int = 20
 
             print("Test " + str(i) + " - collision avoidance")
             logging.info("Test %d - collision avoidance", i)
+            aircrafts = copy(aircraft_tuple[0])
             simulation_data_avoidance : SimulationData = self.run_headless(
                 avoid_collisions = True,
                 aircrafts = aircrafts,
@@ -601,6 +628,25 @@ def run_tests(self, begin_with_default_set : bool = True, test_number : int = 20
             if not simulation_data_avoidance.collision:
                 logging.info("Test %d - collision avoidance - no collision detected, success ✔️", i)
             self.state = None
+            
+            assert simulation_data_no_avoidance.aircraft_1_initial_position.x() == simulation_data_avoidance.aircraft_1_initial_position.x()
+            assert simulation_data_no_avoidance.aircraft_1_initial_position.y() == simulation_data_avoidance.aircraft_1_initial_position.y()
+            assert simulation_data_no_avoidance.aircraft_1_initial_position.z() == simulation_data_avoidance.aircraft_1_initial_position.z()
+            assert simulation_data_no_avoidance.aircraft_2_initial_position.x() == simulation_data_avoidance.aircraft_2_initial_position.x()
+            assert simulation_data_no_avoidance.aircraft_2_initial_position.y() == simulation_data_avoidance.aircraft_2_initial_position.y()
+            assert simulation_data_no_avoidance.aircraft_2_initial_position.z() == simulation_data_avoidance.aircraft_2_initial_position.z()
+            assert simulation_data_no_avoidance.aircraft_1_initial_speed.x() == simulation_data_avoidance.aircraft_1_initial_speed.x()
+            assert simulation_data_no_avoidance.aircraft_1_initial_speed.y() == simulation_data_avoidance.aircraft_1_initial_speed.y()
+            assert simulation_data_no_avoidance.aircraft_1_initial_speed.z() == simulation_data_avoidance.aircraft_1_initial_speed.z()
+            assert simulation_data_no_avoidance.aircraft_2_initial_speed.x() == simulation_data_avoidance.aircraft_2_initial_speed.x()
+            assert simulation_data_no_avoidance.aircraft_2_initial_speed.y() == simulation_data_avoidance.aircraft_2_initial_speed.y()
+            assert simulation_data_no_avoidance.aircraft_2_initial_speed.z() == simulation_data_avoidance.aircraft_2_initial_speed.z()
+            assert simulation_data_no_avoidance.aircraft_1_initial_target.x() == simulation_data_avoidance.aircraft_1_initial_target.x()
+            assert simulation_data_no_avoidance.aircraft_1_initial_target.y() == simulation_data_avoidance.aircraft_1_initial_target.y()
+            assert simulation_data_no_avoidance.aircraft_1_initial_target.z() == simulation_data_avoidance.aircraft_1_initial_target.z()
+            assert simulation_data_no_avoidance.aircraft_2_initial_target.x() == simulation_data_avoidance.aircraft_2_initial_target.x()
+            assert simulation_data_no_avoidance.aircraft_2_initial_target.y() == simulation_data_avoidance.aircraft_2_initial_target.y()
+            assert simulation_data_no_avoidance.aircraft_2_initial_target.z() == simulation_data_avoidance.aircraft_2_initial_target.z()
 
             writer.writerow([
                 i,
@@ -818,7 +864,7 @@ def remove_aircraft(self, aircraft : Aircraft) -> None:
 
     def setup_aircrafts(self, aircrafts : List[Aircraft]) -> None:
         """Sets up aircrafts list"""
-        del self.__aircrafts
+        self.__aircrafts = None
         self.__aircrafts = aircrafts
 
     def setup_debug_aircrafts(self, test_case : int = 0) -> None:
@@ -1043,24 +1089,28 @@ def export_visited_locations(self, simulation_data : SimulationData | None = Non
                     writer.writerow([("{:.2f}".format(position.x())),("{:.2f}".format(position.y())),("{:.2f}".format(position.z()))])
                     
             df = pd.read_csv(f"{file_name}.csv")
-            plt.scatter(df["x"], df["y"], color=colors[i % len(colors)], s = 2)
-            plt.plot(df["x"], df["y"], color=colors[i % len(colors)])
+            x_points = np.array(df["x"])
+            y_points = np.array(df["y"])
+            plt.scatter(x_points, y_points, color=colors[i % len(colors)], s = 2)
+            plt.plot(x_points, y_points, color=colors[i % len(colors)])
 
-        x_range : float = x_maximum - x_minimum
-        y_range : float = y_maximum - y_minimum
-        if x_range != 0:
-            plt.xlim(x_minimum - x_range / 2, x_maximum + x_range / 2)
-        if y_range != 0:    
-            plt.ylim(y_minimum - y_range / 2, y_maximum + y_range / 2)
+        x_range : float = abs(x_maximum - x_minimum)
+        y_range : float = abs(y_maximum - y_minimum)
+        y_range_min = y_minimum - y_range * 0.4
+        y_range_max = y_maximum + y_range * 0.4
+        y_range_abs = abs(y_range_max - y_range_min)
+        if y_range_min != y_range_max:
+            plt.ylim(y_range_min - y_range_abs / 2, y_range_max + y_range_abs / 2)
 
         if simulation_data is not None:
             aircraft_1_init = [simulation_data.aircraft_1_initial_position.x(), simulation_data.aircraft_1_initial_position.y()]
             aircraft_2_init = [simulation_data.aircraft_2_initial_position.x(), simulation_data.aircraft_2_initial_position.y()]
-            plt.text(aircraft_1_init[0] + 0.05 * x_range, aircraft_1_init[1] - 0.05 * y_range, "Initial position\nof Aircraft 1", color = colors[0 % len(colors)], fontsize = 9, ha = "left")
-            plt.text(aircraft_2_init[0] + 0.05 * x_range, aircraft_2_init[1] - 0.05 * y_range, "Initial position\nof Aircraft 2", color = colors[1 % len(colors)], fontsize = 9, ha = "left")
+            plt.annotate("Initial position\nof Aircraft 1", color = colors[0 % len(colors)], xy=(aircraft_1_init[0], aircraft_1_init[1]), xytext=(aircraft_1_init[0] + 0.25 * x_range, aircraft_1_init[1] + 0.05 * y_range), arrowprops=dict(facecolor="black", arrowstyle="->"))
+            plt.annotate("Initial position\nof Aircraft 2", color = colors[1 % len(colors)], xy=(aircraft_2_init[0], aircraft_2_init[1]), xytext=(aircraft_2_init[0] + 0.25 * x_range, aircraft_2_init[1] + 0.05 * y_range), arrowprops=dict(facecolor="black", arrowstyle="->"))
             if simulation_data.collision:
                 aircraft_final = [simulation_data.aircraft_1_final_position.x(), simulation_data.aircraft_1_final_position.y()]
-                plt.text(aircraft_final[0] + 0.05 * x_range, aircraft_final[1] - 0.05 * y_range, "Collision", color = "r", fontsize = 9, ha = "left")
+                plt.annotate("Collision", color="red", xy=(aircraft_final[0], aircraft_final[1]), xytext=(aircraft_final[0] + 0.25 * x_range, aircraft_final[1] + 0.05 * y_range), arrowprops=dict(facecolor="red", arrowstyle="->"))
+                plt.scatter(aircraft_final[0], aircraft_final[1], color="red", s=10)
             angle_patch = mpatches.Patch(
                 color = "none",
                 label = "Init angle: " + "{:.3f}".format(simulation_data.aircraft_angle))
@@ -1069,11 +1119,16 @@ def export_visited_locations(self, simulation_data : SimulationData | None = Non
                 label = "Min relative dist: " + "{:.3f}".format(simulation_data.minimal_relative_distance))
             plt.legend(handles=[angle_patch, min_relative_dist_patch])
         
+        y_ticks = plt.gca().get_yticks()
+        plt.gca().set_xticks(y_ticks)
+        plt.xticks(fontsize=7)
+        plt.yticks(fontsize=7)
+        plt.gca().set_aspect("equal", adjustable="box")
         plt.savefig(f"{simulation_path}/path-visual-{export_time}.png")
         plt.close()
         
-        with open(f"{simulation_path}/README.md", 'a+') as readme_file:
-            readme_file.write(f'![](path-visual-{export_time}.png)\n')
+        with open(f"{simulation_path}/README.md", "a+") as readme_file:
+            readme_file.write(f"![](path-visual-{export_time}.png)\n")
     
     def closeEvent(self, event: QCloseEvent) -> None:
         """Qt method performed on the main window close event"""


Test patch:
diff --git a/tests/test_headless.py b/tests/test_headless.py
index b7b2bb0..482685b 100644
--- a/tests/test_headless.py
+++ b/tests/test_headless.py
@@ -9,7 +9,7 @@ def test_headless():
             main("headless")
         assert e.value.code == 0
 
-test_path : str = "data/simulation-2024-05-31-00-00-37.csv"
+test_path : str = "data/simulation-2024-06-02-17-52-28.csv"
 lowest_frequency_tested : int = 10
 highest_frequency_tested : int = 100