Commit 61ddf27d authored by Ibrahim's avatar Ibrahim
Browse files

PID-only control following large trajectories. WIP; 

need to diagnose why inertia matrix . angular acceleration does not work for angular rate controller;
and why angular to euler rates leave residual yaw rate when there is no z rotation
parent 5ddb0728

Demo.ipynb

+79 −21
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.coords import body_to_inertial, inertial_to_body, direction_cosine_matrix, euler_to_angular_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, -2*np.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)

sp = SimulationParams(dt=0.01, 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, max_velocity=5., max_acceleration=3.):

    assert m.simulation.dt <= 0.1, 'Simulation time step too large.'

    pos = PosController(

        1.0, 0., 0., 1., vehicle=m,

        max_velocity=max_velocity, max_acceleration=max_acceleration

    )

    vel = VelController(

        2.0, 1.0, 0.5, 1000., vehicle=m)

    att = AttController(

        [2.6875, 4.5, 4.5],

        0, 0.,

        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], vehicle=m)

        [4., 4., 4.],

        0, 0, # purely P control

        # [0.1655, 0.1655, 0.5],

        # [0.135, 0.135, 0.018],

        # [0.01234, 0.01234, 0.],

        [0.5,0.5,0.5],

        vehicle=m)

    alt = AltController(

        1, 0, 0,

        1, vehicle=m)

    alt_rate = AltRateController(

        5, 0, 0,

        1, vehicle=m)

    ctrl = Controller(

        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(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)

for i in range(200):

    ref = np.asarray([np.pi/18, np.pi/12, 0])

    rate = att.step(ref, m.orientation, m.simulation.dt)

    torque = rat.step(rate, m.euler_rate, m.simulation.dt)

    action = np.clip(torque, 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.plot(log.roll * 180 / np.pi, c='r', label='roll')

plt.plot(log.pitch * 180 / np.pi, c='g', label='pitch')

plt.plot(log.yaw * 180 / np.pi, c='b', label='yaw')

plt.ylabel('Orientation /deg')

plt.legend()

plt.twinx()

plt.plot(log.actions[:,0], ls=':')

plt.plot(log.actions[:,0], ls=':', c='r')

plt.plot(log.actions[:,1], ls=':', c='g')

plt.plot(log.actions[:,2], ls=':', c='b')

plt.ylabel('Torque / Nm')

plt.title('Ref orientation' + str(ref))

```



%% Cell type:code id:a7ad3618 tags:



``` python

m.params.inertia_matrix

```



%% Cell type:code id:f996d427 tags:



``` python

att.err

```



%% Cell type:code id:8b3b2181 tags:



``` python

rat.err

```



%% Cell type:code id:d5b77d12 tags:



``` python

action

```



%% Cell type:code id:3b9a3eba tags:



``` python

euler_to_angular_rate(

    m.euler_rate,

    m.orientation

)

```



%% 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=-2*m.weight, a_max=2*m.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:b60ef8d3 tags:



``` python

# NASA flight test

wp = np.asarray([

    [0.0, 0.0, 30.0],

    [164.0146725649829, -0.019177722744643688, 30.0],

    [165.6418055187678, 111.5351051245816, 30.0],

    [127.3337449710234, 165.73576059611514, 30.0],

    [-187.28170707810204, 170.33217775914818, 45.0],

    [-192.03130502498243, 106.30660058604553, 45.0],

    [115.89920266153058, 100.8644210617058, 30.0],

    [114.81859536317643, 26.80923518165946, 30.0],

    [-21.459931490011513, 32.60508110653609, 30.0]

])

```



%% 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:a98de44f tags:



``` python

def run_sim(env, traj, steps=60_000, disturbance=None):

    ctrl = get_controller(env.vehicle, max_velocity=5.)



    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])



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



    log.done_logging()

    return log

```



%% Cell type:code id:62689b31 tags:



``` python

env = LocalOctorotor(vehicle=Multirotor(vp, sp))



waypoints = [[0,50,2], [50,50,2], [50,0,2], [25,-25,2]]

# waypoints = [[0,50,2], [50,50,2], [50,0,2], [0,0,2]]

waypoints = wp

# traj = GuidedTrajectory(env.vehicle, waypoints, proximity=2)

traj = Trajectory(env.vehicle, waypoints, proximity=2, resolution=None)

log = run_sim(env, traj)

log = run_sim(env, traj, steps=60_000, disturbance=None)

```



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



``` python

# Currents

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

# Voltages

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: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

+6 −12
Original line number Diff line number Diff line
@@ -204,7 +204,7 @@ class PosController(PIDController): 
        ])

        ref_velocity = rot @ velocity

        ref_velocity_mag = np.linalg.norm(ref_velocity)

        ref_velocity_unit = ref_velocity / ref_velocity_mag

        ref_velocity_unit = ref_velocity / (ref_velocity_mag + 1e-6)

        self.action = ref_velocity_unit * min(ref_velocity_mag, self.max_velocity)

        return self.action
@@ -285,7 +285,7 @@ class AttController(PIDController): 
            self.err_p = velocity

        else:

            velocity = super().step(reference=reference, measurement=measurement, dt=dt)

        self.action = velocity

        self.action = velocity # Euler rate

        return self.action
@@ -319,15 +319,15 @@ class RateController(PIDController): 
        ref = euler_to_angular_rate(reference, self.vehicle.orientation)

        # ref = reference

        # actual change in angular velocity

        # mea = euler_to_angular_rate(measurement, self.vehicle.orientation)

        mea = measurement

        mea = euler_to_angular_rate(measurement, self.vehicle.orientation)

        # mea = measurement

        # prescribed change in velocity i.e. angular acc

        acceleration = np.clip(

            super().step(reference=ref, measurement=mea, dt=dt),

            -self.max_acceleration, self.max_acceleration

        )

        # torque = moment of inertia . angular_acceleration

        self.action = self.vehicle.params.inertia_matrix.dot(acceleration)

        # self.action = self.vehicle.params.inertia_matrix.dot(acceleration)

        return self.action
@@ -465,12 +465,6 @@ class Controller: 
        self, reference: np.ndarray, measurement=None, ref_is_error: bool=False,

        feed_forward_velocity: np.ndarray=None

    ):

        # if self.n % self.interval_n != 0:

        #     self.n += 1

        #     return self.action

        # If the reference argument is the relative error, and not the absolute

        # value. Using the relationship error = reference - measurement to

        # get absolute reference values

        if ref_is_error:

            error = reference

            ref_xy = self.vehicle.position[:2] + error[:2]
@@ -498,7 +492,7 @@ class Controller: 
            self._pitch_roll = self.ctrl_v.step(self._ref_vel, self.vehicle.velocity[:2], dt=dt)

            ref_orientation = np.asarray([self._pitch_roll[1], self._pitch_roll[0], ref_yaw])

            ref_rate = self.ctrl_a.step(ref_orientation, self.vehicle.orientation, dt=dt)

            self.torques = self.ctrl_r.step(ref_rate, self.vehicle.angular_rate, dt=dt)

            self.torques = self.ctrl_r.step(ref_rate, self.vehicle.euler_rate, dt=dt)



        self.action = np.asarray([*self.thrust, *self.torques])

        self.n += 1

multirotor/coords.py

+1 −1
Original line number Diff line number Diff line
@@ -71,7 +71,7 @@ def angular_to_euler_rate( 
) -> np.ndarray:

    roll, pitch, yaw = orientation

    p, q, r = angular_velocity

    roll_rate = p + q * tan(pitch) * (q * sin(roll) + r * cos(roll))

    roll_rate = p + tan(pitch) * (q * sin(roll) + r * cos(roll))

    pitch_rate = q * cos(roll) - r * sin(roll)

    yaw_rate = (q * sin(roll) + r * cos(roll)) / cos(pitch)

    return np.asarray([roll_rate, pitch_rate, yaw_rate])