DeepcController.yaml 3.8 KB
Newer Older
1
2
3
4
5
6
7
8
9
10
# ------------------------------------------------------
# PARAMTERS FOR THE LANDING MANOEUVRE

# Height change for the landing move-down
landing_move_down_end_height_setpoint:  0.2
landing_move_down_end_height_threshold: 0.05
# The time for: landing move-down
landing_move_down_time_max: 2.0

# The thrust for landing spin motors
11
landing_spin_motors_thrust: 10000.0
12
# The time for: landing spin motors
13
landing_spin_motors_time: 0
14
15
16
17
18
19
20
21
22

# IMPORTANT NOTE: the times above should NOT be set
# to zero because this will cause a divide by zero
# crash.


# ------------------------------------------------------
# PARAMTERS THAT ARE STANDARD FOR A "CONTROLLER SERVICE"

elokdae's avatar
elokdae committed
23
# Mass of the crazyflie, in grams
24
mass : 28
25
26

# Frequency of the controller, in hertz
27
control_frequency : 25.0
28
29
30
31
32
33
34
35
36
37

# Quadratic motor regression equation (a0, a1, a2)
motorPoly : [5.484560e-4, 1.032633e-6, 2.130295e-11]

# The min and max for saturating 16 bit thrust commands
command_sixteenbit_min : 1000
command_sixteenbit_max : 60000

# The default setpoint, the ordering is (x,y,z,yaw),
# with unit [meters,meters,meters,radians]
38
default_setpoint : [0.0, 0.0, 0.4, 0.0]
39
40
41
42
43
44
45
46

# Boolean indiciating whether the "Debug Message" of this agent should be published or not
shouldPublishDebugMessage : false

# Boolean indiciating whether the debugging ROS_INFO_STREAM should be displayed or not
shouldDisplayDebugInfo : false

# The LQR Controller parameters for rate mode
47
48
49
50
51
gainMatrixThrust_NineStateVector    :  [ 0.00, 0.00, 0.45, 0.00, 0.00, 0.17, 0.00, 0.00, 0.00]
gainMatrixRollRate                  :  [ 0.00,-2.79, 0.00, 0.00, -1.83, 0.00, 5.91, 0.00, 0.00]
gainMatrixPitchRate                 :  [ 2.79, 0.00, 0.00, 1.83, 0.00, 0.00, 0.00, 5.91, 0.00]
gainMatrixYawRate                   :  [ 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 2.97]

52
53
54
55
56
57
58
59
60
61
62
63
64
# Data folder location, relative to HOME path
dataFolder : /work/D-FaLL-System/Deepc_data/

# CSV data files location, relative to dataFolder
outputFolder : output/
thrustExcSignalFile : thrust_exc_signal.csv
rollRateExcSignalFile : rollRate_exc_signal.csv
pitchRateExcSignalFile : pitchRate_exc_signal.csv
yawRateExcSignalFile : yawRate_exc_signal.csv

# Log files folder location, relative to dataFolder
logFolder : log/

65
# Thrust excitation magnitude, in grams
66
thrustExcAmp : 10.0
elokdae's avatar
elokdae committed
67

68
# Roll rate excitation magnitude, in deg/s
elokdae's avatar
elokdae committed
69
rollRateExcAmp : 60.0
elokdae's avatar
elokdae committed
70

71
# Pitch rate excitation magnitude, in deg/s
elokdae's avatar
elokdae committed
72
pitchRateExcAmp : 60.0
elokdae's avatar
elokdae committed
73

74
# Yaw rate excitation magnitude, in deg/s
75
yawRateExcAmp : 60.0
elokdae's avatar
elokdae committed
76

77
# Excitation start time, in s. Used to collect steady-state data before excitation
78
exc_start_time : 0.0
elokdae's avatar
elokdae committed
79

80
# EVERYTHING DEEPC
elokdae's avatar
elokdae committed
81

82
# Flag that indicates whether to use roll and pitch angle measurements in Deepc
83
Deepc_measure_roll_pitch : false
84

85
# Flag that activates yaw control through Deepc
86
Deepc_yaw_control : false
87
88

# Tini in discrete time steps
89
Tini : 6
90
91

# Prediction horizon in discrete time steps
92
N : 25
93
94

# Output cost matrix diagonal entries (x, y, z, x_dot, y_dot, z_dot, roll, pitch, yaw)
95
Q : [40.0, 40.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 10.0]
96

97
# Input cost matrix diagonal entries (thrust, rollRate, pitchRate, yawRate)
98
R : [4.0, 4.0, 4.0, 1.0]
99
100

# Terminal output cost matrix diagonal entries (x, y, z, x_dot, y_dot, z_dot, roll, pitch, yaw)
101
P : [657.21, 657.21, 657.21, 96.92, 96.92, 0.47, 629.60, 629.60, 84.21]
102
103

# Regularization parameters
104
105
lambda2_g : 0.001
lambda2_s : 100000000.0
106
107
108
109
110
111

# Output constraints (x, y, z, x_dot, y_dot, z_dot, roll, pitch, yaw)
output_min : [-4.0, -4.0, -4.0, -100, -100, -100, -0.5236, -0.5236, -0.5236]
output_max : [4.0, 4.0, 4.0, 100, 100, 100, 0.5236, 0.5236, 0.5236]

# Input constraints (thurst, rollRate, pitchRate, yawRate)
112
113
input_min : [0.0, -1.5708, -1.5708, -1.5708]
input_max : [0.4791, 1.5708, 1.5708, 1.5708]
114

115
116
117
118
119
# Optimization parameters
opt_sparse : true
opt_verbose : false

# Parameters specific to Gurobi
120
grb_LogToFile : false
121
grb_presolve_at_setup : true