1. 28 Jun, 2022 1 commit
    • Ibrahim's avatar
      Position PID tracks velocity; · 5632c5c4
      Ibrahim authored
      control.py: PosController uses velocity vector to make roll/pitch action outputs,
      env.py: Bugfix where state attribute was not updated on calling step,
      simulation.py, vehicle.py: use_thrust_constant made part of PropellerParams instead of argument to Propeller.
  2. 27 Jun, 2022 1 commit
  3. 25 Jun, 2022 1 commit
  4. 22 Jun, 2022 2 commits
  5. 20 Jun, 2022 1 commit
  6. 16 Jun, 2022 2 commits
  7. 26 Apr, 2022 1 commit
  8. 09 Apr, 2022 1 commit
    • Ibrahim's avatar
      Changed coord system, PID controllers exhibiting sensible behavior; · 4cf5fd7e
      Ibrahim authored
      simulation.py: z coord points up in body and inertial frames, rearranging variable indices to match gazebo calculations (pos, vel, orientation, angular rate), propeller reset does not overwrite params, thrust-constant based thrust function.
      physics.py: rearranged state variable indices, changed d(velocity) equations so forces act in correct direction, given pwhich direction is assumed as positive angle. Previously positive torque was causing negative x/y motion due to inverted axes.
      helpers.py: bugfix in calculating control allocation matrix. x-moment is due to y-distances. Approproate signs conventions for positive moments.
      control.py: New iteration of controllers (Att, Alt, Pos, Controller) which work properly when cascaded.
  9. 14 Mar, 2022 1 commit
  10. 21 Feb, 2022 3 commits
  11. 31 Jan, 2022 1 commit
    • Ibrahim's avatar
      Visualization using FuncAnimation(); · 30f2da46
      Ibrahim authored
      helpers: bugfix in vehicle_params_factory where Propeller() class was instantiated instead of PropellerParams().
      simulation: time attribute for tracking simulation progress.
      vehicle: added some placeholder constants for torque/thrust calculations.
      visualize: uses FuncAnimation() and optionally draws body axes on vehicle.
  12. 28 Jan, 2022 1 commit
    • Ibrahim's avatar
      Visualization in jupyter notebook; · e4a103f6
      Ibrahim authored
      Trajectory of multirotor shows only after the loop with all actions is finished. Need to find way to make updates to plot live.
      Errors when plotting outside notebook environment via ssh with x-display. TODO.
  13. 25 Jan, 2022 1 commit
  14. 23 Jan, 2022 1 commit
  15. 15 Jan, 2022 1 commit