Controller running pos/att at different frequencies (5ddb0728) · Commits · Ibrahim Ahmed / multirotor

Demo.ipynb

+67 −106

Original line number	Diff line number	Diff line
		%% Cell type:markdown id:d001f534 tags:

		#### Notebook setup

		%% Cell type:code id:be76bd53 tags:

		``` python
		%pip install -e .
		```

		%% Cell type:code id:5a776232 tags:

		``` python
		%reload_ext autoreload
		%autoreload 2
		%matplotlib inline
		import time
		import warnings
		import os, sys
		from copy import deepcopy
		from types import SimpleNamespace

		import matplotlib.pyplot as plt
		import gym
		import numpy as np
		from tqdm.auto import tqdm, trange

		from multirotor.helpers import control_allocation_matrix, DataLog
		from multirotor.vehicle import MotorParams, VehicleParams, PropellerParams, SimulationParams, BatteryParams
		from multirotor.controller import (
		PosController, VelController,
		AttController, RateController,
		AltController, AltRateController,
		Controller
		)
		from multirotor.simulation import Multirotor, Propeller, Motor, Battery
		from multirotor.coords import body_to_inertial, inertial_to_body, direction_cosine_matrix, angular_to_euler_rate
		from multirotor.env import SpeedsMultirotorEnv as LocalOctorotor
		from multirotor.trajectories import Trajectory, GuidedTrajectory
		from multirotor.visualize import plot_datalog
		```

		%% Cell type:code id:421b284b tags:

		``` python
		# Plotting/display parameters
		# https://stackoverflow.com/a/21009774/4591810
		float_formatter = "{:.3f}".format
		np.set_printoptions(formatter={'float_kind':float_formatter})

		SMALL_SIZE = 16
		MEDIUM_SIZE = 16
		BIGGER_SIZE = 20

		plt.rc('font', size=SMALL_SIZE) # controls default text sizes
		plt.rc('axes', titlesize=MEDIUM_SIZE) # fontsize of the axes title
		plt.rc('axes', labelsize=BIGGER_SIZE, titlesize=BIGGER_SIZE) # fontsize of the x and y labels
		plt.rc('xtick', labelsize=MEDIUM_SIZE) # fontsize of the tick labels
		plt.rc('ytick', labelsize=MEDIUM_SIZE) # fontsize of the tick labels
		plt.rc('legend', fontsize=SMALL_SIZE) # legend fontsize
		plt.rc('figure', titlesize=BIGGER_SIZE) # fontsize of the figure title
		```

		%% Cell type:markdown id:9a31149f tags:

		### Parameters

		%% Cell type:code id:1ba2a2fe tags:

		``` python
		# Tarot T18 params
		bp = BatteryParams(max_voltage=22.2)
		mp = MotorParams(
		moment_of_inertia=5e-5,
		# resistance=0.27,
		resistance=0.081,
		k_emf=0.0265,
		# k_motor=0.0932,
		speed_voltage_scaling=0.0347,
		max_current=38.
		)
		pp = PropellerParams(
		moment_of_inertia=1.86e-6,
		use_thrust_constant=True,
		k_thrust=9.8419e-05, # 18-inch propeller
		# k_thrust=5.28847e-05, # 15 inch propeller
		k_drag=1.8503e-06, # 18-inch propeller
		# k_drag=1.34545e-06, # 15-inch propeller
		motor=mp
		)
		vp = VehicleParams(
		propellers=[pp] * 8,
		battery=bp,
		# angles in 45 deg increments, rotated to align with
		# model setup in gazebo sim (not part of this repo)
		angles=np.linspace(0, -2np.pi, num=8, endpoint=False) + 0.375 np.pi,
		distances=np.ones(8) * 0.635,
		clockwise=[-1,1,-1,1,-1,1,-1,1],
		mass=10.66,
		inertia_matrix=np.asarray([
		[0.2206, 0, 0],
		[0, 0.2206, 0.],
		[0, 0, 0.4238]
		])
		)
		sp = SimulationParams(dt=0.001, g=9.81)
		```

		%% Cell type:markdown id:17f3b34d tags:

		### Multirotor

		%% Cell type:markdown id:0505e4f6 tags:

		#### Motor

		%% Cell type:code id:b3128c10 tags:

		``` python
		%matplotlib inline
		# Plot motor speeds as a function of time and input voltage signal
		plt.figure(figsize=(8,8))
		motor = Motor(mp, sp)
		for signal in [2, 4, 6, 8, 10, 12, 14, 16, 18, 20]:
		speeds = []
		motor.reset()
		for i in range(200):
		speeds.append(motor.step(signal))
		plt.plot(speeds, label='%dV' % signal)
		plt.legend(ncol=2)
		plt.ylabel('Speed rad/s')
		plt.xlabel('Time /ms')
		```

		%% Cell type:code id:42ebfb97 tags:

		``` python
		from multirotor.helpers import learn_speed_voltage_scaling

		def make_motor_fn(params, sp):
		from copy import deepcopy
		params = deepcopy(params)
		params.speed_voltage_scaling = 1.
		def motor_step(signal):
		m = Motor(params, sp)
		for i in range(100):
		s = m.step(signal)
		return s
		return motor_step

		print('Voltage = %.5f * speed' % (learn_speed_voltage_scaling(make_motor_fn(mp, sp))))
		```

		%% Cell type:markdown id:6fb2f5c9 tags:

		#### Propeller

		%% Cell type:code id:1669687b tags:

		``` python
		%matplotlib inline
		# Plot propeller speed by numerically solving the thrust equation,
		# if accurate propeller measurements are given in params
		pp_ = deepcopy(pp)
		pp_.use_thrust_constant = False # Set to true to just use k_thrust
		prop = Propeller(pp_, sp)
		plt.figure(figsize=(8,8))
		speeds = np.linspace(0, 600, num=100)
		for a in np.linspace(0, 10, 10, endpoint=False):
		thrusts = []
		for s in speeds:
		thrusts.append(prop.thrust(s, np.asarray([0, 0, a])))
		plt.plot(speeds, thrusts, label='%.1f m/s' % a)
		plt.xlabel('Speed rad/s')
		plt.ylabel('Thrust /N')
		plt.title('Thrust with airspeed')
		plt.legend(ncol=2)
		```

		%% Cell type:markdown id:e7bb489d tags:

		#### Vehicle

		%% Cell type:code id:ecc23e14 tags:

		``` python
		# Combine propeller/motor/vehicle to get vehicle.
		# Take off simulation
		m = Multirotor(vp, sp)
		log = DataLog(vehicle=m) # convenient logging class
		m.reset()
		m.state *= 0 # set to zero, reset() sets random values
		action = m.allocate_control(
		thrust=m.weight * 1.1,
		torques=np.asarray([0, 0, 0])
		)
		for i in range(500):
		m.step_speeds(action)
		log.log()
		log.done_logging()
		plt.plot(log.z)
		```

		%% Cell type:markdown id:2c6535f4 tags:

		### PID Controller

		%% Cell type:code id:33984887 tags:

		``` python
		# From PID parameters file
		def get_controller(m: Multirotor):
		def get_controller(m: Multirotor, max_velocity=5., max_acceleration=3.):
		assert m.simulation.dt <= 0.1, 'Simulation time step too large.'
		pos = PosController(
		1.0, 0., 0., 1., dt=m.simulation.dt, vehicle=m)
		1.0, 0., 0., 1., vehicle=m,
		max_velocity=max_velocity, max_acceleration=max_acceleration
		)
		vel = VelController(
		2.0, 1.0, 0.5, 1000., dt=m.simulation.dt, vehicle=m)
		2.0, 1.0, 0.5, 1000., vehicle=m)
		att = AttController(
		[2.6875, 4.5, 4.5],
		0, 0.,
		1., dt=m.simulation.dt, vehicle=m)
		1., vehicle=m)
		rat = RateController(
		[0.1655, 0.1655, 0.5],
		[0.135, 0.135, 0.018],
		[0.01234, 0.01234, 0.],
		[0.5,0.5,0.5], dt=m.simulation.dt, vehicle=m)
		[0.5,0.5,0.5], vehicle=m)
		alt = AltController(
		1, 0, 0,
		1, dt=m.simulation.dt, vehicle=m)
		1, vehicle=m)
		alt_rate = AltRateController(
		5, 0, 0,
		1, dt=m.simulation.dt, vehicle=m)
		1, vehicle=m)
		ctrl = Controller(
		pos, vel, att, rat, alt, alt_rate
		pos, vel, att, rat, alt, alt_rate,
		interval_p=0.1, interval_a=0.01, interval_z=0.1
		)
		return ctrl
		```

		%% Cell type:code id:d21d73fe tags:

		``` python
		%matplotlib inline
		m = Multirotor(vp, sp)
		ctrl = get_controller(m)
		log = DataLog(controller=ctrl)
		for i in range(100):
		action = ctrl.step((1,1,1,0))
		log = DataLog(vehicle=m, controller=ctrl)
		for i in range(500):
		action = ctrl.step((0.01,0.1,1,0))
		dynamics = np.zeros(6, m.dtype)
		dynamics[2] = action[0]
		dynamics[3:] = action[1:]
		# no allocation or motor simulation,
		# requested dynamics are fulfilled:
		m.step_dynamics(dynamics)
		log.log()
		log.done_logging()

		plt.plot(log.actions[:,0], ls=':', label='thrust')
		lines = plt.gca().lines
		plt.twinx()
		for s, axis in zip(log.actions.T[1:], ('x','y','z')):
		plt.plot(s, label=axis + '-torque')
		plt.legend(handles=plt.gca().lines + lines)
		```

		%% Cell type:markdown id:cfbc9c25 tags:

		#### Attitude Angle Controller

		%% Cell type:code id:f012e1f8 tags:

		``` python
		m = Multirotor(vp, sp)
		fz = m.weight
		att = get_controller(m).ctrl_a
		log = DataLog(vehicle=m, controller=att, other_vars=('err',))
		for i in range(5000):
		ref = np.asarray([np.pi/18, 0, 0])
		# action is prescribed euler rate
		action = att.step(ref, m.orientation)
		# action = np.clip(action, a_min=-0.1, a_max=0.1)
		m.step_dynamics(np.asarray([0, 0, 0, *action]))
		log.log(err=att.err_p[0])
		log._actions[-1] = action
		log.done_logging()

		plt.plot(log.roll * 180 / np.pi)
		plt.twinx()
		plt.plot(log.actions[:,0], ls=':', label='Rate rad/s')
		```

		%% Cell type:markdown id:fdbd88c1 tags:

		#### Attitude Rate Controller

		%% Cell type:code id:9cc3b317 tags:

		``` python
		m = Multirotor(vp, sp)
		fz = m.weight
		ctrl = get_controller(m)
		rat = ctrl.ctrl_r
		att = ctrl.ctrl_a
		log = DataLog(vehicle=m, controller=rat, other_vars=('err',))
		for i in range(5000):
		ref = np.asarray([np.pi/18, 0, 0])
		rate = att.step(ref, m.orientation)
		action = rat.step(rate, m.euler_rate)
		action = np.clip(action, a_min=-0.1, a_max=0.1)
		m.step_dynamics(np.asarray([0, 0, 0, *action]))
		log.log(err=rat.err_p[0])
		log._actions[-1] = action
		log.done_logging()

		plt.plot(log.roll * 180 / np.pi)
		plt.twinx()
		plt.plot(log.actions[:,0], ls=':')
		```

		%% Cell type:markdown id:6370aa80 tags:

		#### Altitude Controller

		%% Cell type:code id:5fcd0d24 tags:

		``` python
		m = Multirotor(vp, sp)
		ctrl = get_controller(m)
		alt = ctrl.ctrl_z
		alt_rate = ctrl.ctrl_vz
		log = DataLog(vehicle=m, controller=alt, other_vars=('thrust',))
		for i in range(5000):
		ref = np.asarray([1.])
		rate = alt.step(ref, m.position[2:])
		action = alt_rate.step(rate, m.world_velocity[2:])
		action = np.clip(action, a_min=-2m.weight, a_max=2m.weight)
		m.step_dynamics(np.asarray([0, 0, action[0], 0,0,0]))
		log.log(thrust=action)
		#log._actions[-1] = action
		log.done_logging()

		plt.plot(log.actions.squeeze())
		plt.twinx()
		plt.plot(log.z, ls=':')
		```

		%% Cell type:markdown id:f4278c17 tags:

		#### Position Controller

		%% Cell type:code id:91ae8919 tags:

		``` python
		m = Multirotor(vp, sp)
		ctrl = get_controller(m)
		pos = ctrl.ctrl_p
		vel = ctrl.ctrl_v
		rat = ctrl.ctrl_r
		att = ctrl.ctrl_a
		log = DataLog(vehicle=m, controller=pos, other_vars=('err', 'att_actions'))
		for i in range(5000):
		ref = np.asarray([1.,0.])
		velocity = pos.step(ref, m.position[:2])
		angles = vel.step(velocity, m.velocity[:2])[::-1]
		rate = att.step(np.asarray([*angles, 0]), m.orientation)
		action = rat.step(rate, m.euler_rate)
		action = np.clip(action, a_min=-0.1, a_max=0.1)
		m.step_dynamics(np.asarray([0, 0, m.weight, *action]))
		log.log(err=pos.err_p[0], att_actions=action)
		log.done_logging()

		plt.plot(log.position[:,0])
		plt.plot(log.err)
		# plt.plot(log.position[:,1])
		plt.twinx()
		plt.plot(log.actions[:,0] * 180 / np.pi, ls=':')
		plt.plot(log.pitch * 180 / np.pi, ls='-.')
		# plt.plot(log.actions[:,0] * 180 / np.pi, ls=':')
		```

		%% Cell type:markdown id:9eb34672 tags:

		### Simulation

		%% Cell type:code id:f5f52df4 tags:

		``` python
		def wind(t, m, nominal=False):
		if nominal:
		return np.zeros(3)
		w_inertial = np.asarray([5 * np.sin(t * 2 * np.pi / 4000), 0, 0])
		dcm = direction_cosine_matrix(*m.orientation)
		return inertial_to_body(w_inertial, dcm)
		```

		%% Cell type:code id:d60f1ca5 tags:

		``` python
		from pyscurve import plot_trajectory
		```

		%% Cell type:code id:a98de44f tags:

		``` python
		env = LocalOctorotor(vehicle=Multirotor(vp, sp))
		def run_sim(env, traj, steps=60_000, disturbance=None):
		ctrl = get_controller(env.vehicle, max_velocity=5.)

		waypoints = [[0,50,2], [50,50,2], [50,0,2], [25,-25,2]]
		traj = GuidedTrajectory(env.vehicle, waypoints, proximity=2)
		# traj = Trajectory(env.vehicle, waypoints, proximity=2, resolution=None)
		log = DataLog(env.vehicle, ctrl,
		other_vars=('speeds','target', 'alloc_errs', 'att_err',
		'rate_target', 'att_target',
		'leash', 'currents', 'voltages'))
		disturb_force, disturb_torque = 0., 0
		for i, (pos, feed_forward_vel) in tqdm(
		enumerate(traj), leave=False, total=steps
		):
		if i==steps: break
		# Generate reference for controller
		ref = np.asarray([*pos, 0.])
		# Get prescribed dynamics for system as thrust and torques
		dynamics = ctrl.step(ref, feed_forward_velocity=feed_forward_vel)
		thrust, torques = dynamics[0], dynamics[1:]
		# Allocate control: Convert dynamics into motor rad/s
		action = env.vehicle.allocate_control(thrust, torques)
		# get any disturbances
		if disturbance is not None:
		disturb_force, disturb_torque = disturbance(i, env.vehicle)
		# Send speeds to environment
		state, *_ = env.step(
		action, disturb_forces=disturb_force, disturb_torques=disturb_torque
		)
		alloc_errs = np.asarray([thrust, torques]) - env.vehicle.alloc @ action*2

		log.log(speeds=action, target=pos, alloc_errs=alloc_errs,
		leash=ctrl.ctrl_p.leash,
		att_err=ctrl.ctrl_a.err,
		att_target = ctrl.ctrl_v.action[::-1],
		rate_target=ctrl.ctrl_a.action,
		currents=[p.motor.current for p in env.vehicle.propellers],
		voltages=[p.motor.voltage for p in env.vehicle.propellers])

		ctrl = get_controller(env.vehicle)
		if np.any(np.abs(env.vehicle.orientation[:2]) > np.pi/6): break

		errs = SimpleNamespace()
		errs.pos = SimpleNamespace()
		errs.pos.p, errs.pos.i, errs.pos.d = [], [], []
		errs.att = SimpleNamespace()
		errs.att.p, errs.att.i, errs.att.d = [], [], []

		log = DataLog(env.vehicle, ctrl,
		other_vars=('speeds','target', 'alloc_errs',
		'ctrl_p', 'leash', 'err_p', 'ff_vel',
		'currents', 'voltages'))

		for i, (pos, feed_forward_vel) in tqdm(enumerate(traj), leave=False, total=60000):
		if i==1000: break
		# Generate reference for controller
		ref = np.asarray([*pos, 0.])
		# Get prescribed dynamics for system as thrust and torques
		dynamics = ctrl.step(ref, feed_forward_velocity=feed_forward_vel)
		thrust, torques = dynamics[0], dynamics[1:]
		# Allocate control: Convert dynamics into motor rad/s
		action = env.vehicle.allocate_control(thrust, torques)
		# get any disturbances
		wind_force = wind(i, env.vehicle, nominal=False)
		# Send speeds to environment
		state, *_ = env.step(
		action, disturb_forces=wind_force, disturb_torques=0
		)
		log.done_logging()
		return log
		```

		for (c, e) in zip((ctrl.ctrl_p, ctrl.ctrl_a), (errs.pos, errs.att)):
		e.p.append(c.err_p)
		e.i.append(c.err_i)
		e.d.append(c.err_d)
		alloc_errs = np.asarray([thrust, torques]) - env.vehicle.alloc @ action*2

		log.log(speeds=action, target=pos, alloc_errs=alloc_errs,
		ctrl_p=ctrl.ctrl_p.action, leash=ctrl.ctrl_p.leash,
		err_p=ctrl.ctrl_p.err, ff_vel=feed_forward_vel,
		currents=[p.motor.current_average(env.vehicle.battery.params.max_voltage) for p in env.vehicle.propellers],
		voltages=[p.motor.voltage for p in env.vehicle.propellers])
		%% Cell type:code id:62689b31 tags:

		if np.any(np.abs(env.vehicle.orientation[:2]) > np.pi/6): break
		``` python
		env = LocalOctorotor(vehicle=Multirotor(vp, sp))

		log.done_logging()
		waypoints = [[0,50,2], [50,50,2], [50,0,2], [25,-25,2]]
		# traj = GuidedTrajectory(env.vehicle, waypoints, proximity=2)
		traj = Trajectory(env.vehicle, waypoints, proximity=2, resolution=None)
		log = run_sim(env, traj)
		```

		%% Cell type:code id:2d1b0058 tags:

		``` python
		plt.plot(log.currents, ls=':')
		plt.ylabel('Motor current /A')
		plt.xlabel('Time /ms')
		plt.title('Individual motor currents')
		```

		%% Cell type:code id:f0aa49e1 tags:

		``` python
		plt.plot(log.voltages, ls=':')
		plt.ylim(0, 30)
		plt.ylabel('Motor voltage /A')
		plt.xlabel('Time /ms')
		plt.title('Voltages')
		```

		%% Cell type:code id:5d64dbce tags:

		``` python
		plot_trajectory(traj.trajs[-1], dt=0.1)
		```

		%% Cell type:code id:81a8043e tags:

		``` python
		%matplotlib inline
		plt.figure(figsize=(21,10.5))
		plot_grid = (3,3)
		plt.subplot(*plot_grid,1)

		n = len(log)

		plt.plot(log.x, label='x', c='r')
		plt.plot(log.target[:, 0], c='r', ls=':')
		plt.plot(log.y, label='y', c='g')
		plt.plot(log.target[:, 1], c='g', ls=':')
		plt.plot(log.z, label='z', c='b')
		lines = plt.gca().lines[::2]
		plt.ylabel('Position /m')
		plt.twinx()
		plt.plot(log.roll * (180 / np.pi), label='roll', c='c', ls=':')
		plt.plot(log.pitch * (180 / np.pi), label='pitch', c='m', ls=':')
		plt.plot(log.yaw * (180 / np.pi), label='yaw', c='y', ls=':')
		plt.ylabel('Orientation /deg')
		plt.legend(handles=plt.gca().lines + lines, ncol=2)
		plt.title('Position and Orientation')

		plt.subplot(*plot_grid,2)
		for i in range(log.speeds.shape[1]):
		l, = plt.plot(log.speeds[:,i], label='prop %d' % i)
		# plt.plot(speeds[:,i], c=l.get_c())
		lines = plt.gca().lines
		plt.legend(handles=lines, ncol=2)
		plt.title('Motor speeds /RPM')


		plt.subplot(*plot_grid,3)
		v_world = np.zeros_like(log.velocity)
		for i, (v, o) in enumerate(zip(log.velocity, log.orientation)):
		dcm = direction_cosine_matrix(*o)
		v_world[i] = body_to_inertial(v, dcm)
		for i, c, a in zip(range(3), 'rgb', 'xyz'):
		plt.plot(v_world[:,i], label='Velocity %s' % a, c=c)
		# plt.plot(velocities[:,i], label='Velocity %s' % a, c=c)
		plt.legend()
		plt.title('Velocities')

		plt.subplot(*plot_grid,4)
		plt.title('Controller allocated dynamics')
		l = plt.plot(log.actions[:,0], label='Ctrl Thrust')
		plt.ylabel('Force /N')
		plt.twinx()
		for i, c, a in zip(range(3), 'rgb', 'xyz'):
		plt.plot(log.actions[:,1+i], label='Ctrl Torque %s' % a, c=c)
		plt.ylabel('Torque /Nm')
		plt.legend(handles=plt.gca().lines + l, ncol=2)

		plt.subplot(*plot_grid,5)
		lines = plt.plot(log.alloc_errs[:, 0], label='Thrust err', c='b')
		plt.ylabel('Thrust /N')
		plt.twinx()
		plt.plot(log.alloc_errs[:, 1], label='Torque x err', ls=':')
		plt.plot(log.alloc_errs[:, 2], label='Torque y err', ls=':')
		plt.plot(log.alloc_errs[:, 3], label='Torque z err', ls=':')
		plt.legend(handles = plt.gca().lines + lines, ncol=2)
		plt.ylabel('Torque /Nm')
		plt.title('Allocation Errors')

		plt.subplot(*plot_grid,6)
		plt.plot(log.target[:,0], log.target[:,1], label='Prescribed traj')
		plt.plot(log.x, log.y, label='Actual traj', ls=':')
		plt.gca().set_aspect('equal', 'box')
		plt.title('XY positions /m')
		plt.legend()

		plt.tight_layout()
		```

		%% Cell type:code id:c17d8b15 tags:

		``` python
		%matplotlib inline
		for e in (errs.pos, errs.att):
		e.p = np.asarray(e.p)
		e.i = np.asarray(e.i)
		e.d = np.asarray(e.d)
		lines = []
		plt.figure(figsize=(21,24))
		plt.subplot(6,1,1)
		plt.plot(errs.pos.p[:,0], label='Pos-x P', c='r', ls='-')
		plt.plot(errs.pos.p[:,1], label='Pos-y P', c='g', ls='-')
		lines += plt.gca().lines
		plt.title('Position P errors')
		plt.subplot(6,1, 2)
		plt.plot(errs.pos.i[:, 0], label='Pos-x I', c='r', ls=':')
		plt.plot(errs.pos.i[:, 1], label='Pos-y I', c='g', ls=':')
		lines += plt.gca().lines
		plt.title('Position I errors')
		plt.subplot(6,1, 3)
		plt.plot(errs.pos.d[:, 0], label='Pos-x D', c='r', ls='-.')
		plt.plot(errs.pos.d[:, 1], label='Pos-y D', c='g', ls='-.')
		lines += plt.gca().lines
		plt.legend(handles=lines)
		plt.title('Position D errors')
		lines = []
		plt.subplot(6,1,4)
		plt.plot(errs.att.p[:,0], label='Att-x P', c='r', ls='-')
		plt.plot(errs.att.p[:,1], label='Att-y P', c='g', ls='-')
		lines += plt.gca().lines
		plt.title('Attitude P errors')
		plt.subplot(6,1, 5)
		plt.plot(errs.att.i[:, 0], label='Att-x I', c='r', ls=':')
		plt.plot(errs.att.i[:, 1], label='Att-y I', c='g', ls=':')
		lines += plt.gca().lines
		plt.title('Attitude I errors')
		plt.subplot(6,1, 6)
		plt.plot(errs.att.d[:, 0], label='Att-x D', c='r', ls='-.')
		plt.plot(errs.att.d[:, 1], label='Att-y D', c='g', ls='-.')
		lines += plt.gca().lines
		plt.legend(handles=lines)
		plt.title('Attitude D errors')
		```

		%% Cell type:code id:d9d99572 tags:

		``` python
		%matplotlib notebook
		fig = plt.figure()
		xlim = ylim = zlim = (np.min(log.position), np.max(log.position))
		ax = fig.add_subplot(projection='3d', xlim=xlim, ylim=ylim, zlim=zlim)
		ax.set_xlabel('x')
		ax.set_ylabel('y')
		ax.set_zlabel('z')
		ax.plot(log.x, log.y, log.z)
		```

multirotor/controller/pid.py

+93 −60

File changed.

Preview size limit exceeded, changes collapsed.

multirotor/helpers.py

+12 −0

Original line number	Diff line number	Diff line
		@@ -243,6 +243,10 @@ class DataLog:
		The Multirotor to track, by default None
		controller : Controller, optional
		The controller instance to track, by default None
		other_vars : Iterable[str]
		A list of names representing other variables to log. The names
		become attributes of this class and can be called as DataLog.NAME.
		By default None.
		"""
		return self.track(vehicle, controller, other_vars)

		@@ -271,6 +275,8 @@ class DataLog:
		self.states = None
		self._actions = []
		self.actions = None
		self.times = None
		self._times = []
		self._args = () if other_vars is None else other_vars
		for arg in self._args:
		setattr(self, arg, None)
		@@ -290,6 +296,7 @@ class DataLog:
		self._arrayed = False
		if self.vehicle is not None:
		self._states.append(self.vehicle.state)
		self._times.append(self.vehicle.t)
		if self.controller is not None:
		self._actions.append(self.controller.action)
		for key, value in kwargs.items():
		@@ -316,6 +323,7 @@ class DataLog:
		if not self._arrayed:
		self.states = np.asarray(self._states)
		self.actions = np.asarray(self._actions)
		self.times = np.asarray(self._times)
		for arg in self._args:
		setattr(self, arg, np.asarray(getattr(self, '_' + arg)))
		self._arrayed = True
		@@ -328,6 +336,10 @@ class DataLog:
		return len(self._states)


		@property
		def t(self):
		self._make_arrays()
		return self.times
		@property
		def position(self):
		self._make_arrays()

multirotor/simulation.py

+2 −2

Original line number	Diff line number	Diff line
		@@ -368,7 +368,7 @@ class Multirotor:

		@property
		def current_average(self) -> float:
		"""Duty-cucle adjusted currrent draw from battery."""
		"""Duty-cycle adjusted currrent draw from battery."""
		peak_voltage = self.battery.params.max_voltage
		currents = np.asarray([p.motor.current for p in self.propellers])
		voltages = np.asarray([p.motor.voltage for p in self.propellers])
		@@ -557,7 +557,7 @@ class Multirotor:
		)[-1]
		self.state = np.around(self.state, 4)
		for u_, prop in zip(u, self.propellers):
		prop.step(u_)
		prop.step(u_, max_voltage=self.battery.voltage)
		self.battery.step()
		return self.state

multirotor/trajectories.py

+7 −13

Original line number	Diff line number	Diff line
		@@ -110,39 +110,29 @@ class Trajectory:


		def __iter__(self):
		self._points, self._durations = self.generate_trajectory(self.vehicle.position)
		self._points = self.generate_trajectory(self.vehicle.position)
		if self.proximity is not None:
		for i in range(len(self)):
		while np.linalg.norm((self.vehicle.position - self[i])) >= self.proximity:
		yield self[i], None
		for _ in range(self._durations[i] - 1):
		yield self[i], None
		else:
		for i in range(len(self)):
		for _ in range(self._durations[i]):
		yield self[i], None


		def generate_trajectory(self, curr_pos=None):
		if curr_pos is not None:
		points = [curr_pos, *self.points]
		durations = [1 if len(p)==3 else p[-1] for p in points]
		points = np.asarray([p[:3] for p in points])
		if self.resolution is not None:
		_points = []
		_durations = []
		for i, (p1, p2) in enumerate(zip(points[:-1], points[1:])):
		dist = np.linalg.norm(p2 - p1)
		num = int(dist / self.resolution) + 1
		_points.extend(np.linspace(p1, p2, num=num, endpoint=True))
		dur = np.ones(num, dtype=int)
		dur[0] = durations[i]
		_durations.extend(dur)
		_durations[-1] = durations[-1]
		else:
		_points = points
		_durations = durations
		return _points, _durations
		return _points


		def add_waypoint(self, point: np.ndarray):
		@@ -153,6 +143,10 @@ class Trajectory:
		pass


		def reached(self, wp: np.ndarray) -> bool:
		return np.linalg.norm(self.vehicle.position - wp) <= self.proximity



		class GuidedTrajectory:
		# Guided mode call stack overview
		@@ -161,7 +155,7 @@ class GuidedTrajectory:
		# https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_Math/control.cpp#L286

		def __init__(self, vehicle: Multirotor, waypoints: Iterable[np.ndarray],
		interval: int=10, proximity: float=2., max_velocity: float=5., max_acceleration: float=3.,
		interval: int=10, proximity: float=2., max_velocity: float=7., max_acceleration: float=3.,
		max_jerk: float=100, turn_factor: float=(1/np.sqrt(2))) -> None:
		self.vehicle = vehicle
		self.waypoints = np.asarray(waypoints)

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