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Commit 5de8fd06 authored by elokdae's avatar elokdae
Browse files

Collected data for Figure 8 tracking LQR & offset-free DeePC

parent 6dc437ab
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This diff is collapsed.
......@@ -45,7 +45,7 @@ shouldDisplayDebugInfo : false
# The LQR Controller parameters for rate mode
# 25Hz Gains
gainMatrixThrust_NineStateVector : [ 0.00, 0.00, 0.45, 0.00, 0.00, 0.17, 0.00, 0.00, 0.00]
gainMatrixThrust_NineStateVector : [ 0.00, 0.00, 0.44, 0.00, 0.00, 0.16, 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]
......@@ -114,9 +114,11 @@ R : [160.0, 4.0, 4.0, 2.0]
# Terminal output cost matrix diagonal entries (x, y, z, x_dot, y_dot, z_dot, roll, pitch, yaw)
P : [657.21, 657.21, 355.26, 96.92, 96.92, 18.77, 629.60, 629.60, 244.50]
#P : [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
# Regularization parameters
lambda2_g : 600.0
#lambda2_g : 600.0
lambda2_g : 0.001
lambda2_s : 100000000.0
# Output constraints (x, y, z, x_dot, y_dot, z_dot, roll, pitch, yaw)
......@@ -131,7 +133,7 @@ input_max : [0.4791, 1.5708, 1.5708, 1.5708]
solver : osqp
opt_sparse : true
opt_verbose : false
opt_steady_state : false # Available in sparse formulation only, ignored otherwise
opt_steady_state : true # Available in sparse formulation only, ignored otherwise
# Parameters specific to Gurobi
grb_LogToFile : false
......
......@@ -1202,7 +1202,7 @@ void update_uini_yini(Controller::Request &request, control_output &output)
// Get u_data from file
MatrixXf get_u_data()
{
MatrixXf u_data_in = read_csv(d_dataFolder + "/output/m_u_data.csv");
MatrixXf u_data_in = read_csv(d_dataFolder + "/u_data.csv");
if (u_data_in.size() <= 0)
{
clear_setupDeepc_success_flag();
......@@ -1224,7 +1224,7 @@ MatrixXf get_u_data()
// Get y_data from file
MatrixXf get_y_data()
{
MatrixXf y_data_in = read_csv(d_dataFolder + "/output/m_y_data.csv");
MatrixXf y_data_in = read_csv(d_dataFolder + "/y_data.csv");
if (y_data_in.size() <= 0)
{
clear_setupDeepc_success_flag();
......@@ -2691,13 +2691,26 @@ void computeResponse_for_Deepc(Controller::Request &request, Controller::Respons
m_Deepc_cycles_since_solve = 0;
}
if (use_LQR)
// Set reference for LQR controller in case it is used
m_setpoint_for_controller[0] = m_setpoint[0];
m_setpoint_for_controller[1] = m_setpoint[1];
m_setpoint_for_controller[2] = m_setpoint[2];
m_setpoint_for_controller[3] = m_setpoint[3];
// Add 'Figure 8' (found here: "https://gamedev.stackexchange.com/questions/43691/how-can-i-move-an-object-in-an-infinity-or-figure-8-trajectory", as "Lemniscate of Bernoulli")
// Note that this computation is repeated in the DeePC thread to update reference in optimization problem
if (m_changing_ref_enable)
{
m_setpoint_for_controller[0] = m_setpoint[0];
m_setpoint_for_controller[1] = m_setpoint[1];
m_setpoint_for_controller[2] = m_setpoint[2];
m_setpoint_for_controller[3] = m_setpoint[3];
float figure_8_scale = 2 / (3 - cos(2 * m_figure_8_frequency_rad * (m_time_in_seconds - PI/2))) * yaml_figure_8_amplitude;
m_setpoint_for_controller[0] += figure_8_scale * cos(m_figure_8_frequency_rad * (m_time_in_seconds - PI/2));
m_setpoint_for_controller[1] += figure_8_scale * sin(2 * m_figure_8_frequency_rad * (m_time_in_seconds - PI/2)) / 2;
m_setpoint_for_controller[2] += yaml_z_sine_amplitude * sin(m_z_sine_frequency_rad * m_time_in_seconds);
m_time_in_seconds += m_control_deltaT;
}
if (use_LQR)
{
// Call the LQR control function
calculateControlOutput_viaLQR(request, output);
}
......@@ -2756,12 +2769,11 @@ void computeResponse_for_Deepc(Controller::Request &request, Controller::Respons
m_y_data_Deepc(m_dataIndex_Deepc,4) = request.ownCrazyflie.pitch;
m_y_data_Deepc(m_dataIndex_Deepc,5) = request.ownCrazyflie.yaw;
// Reference data
m_r_data_Deepc(m_dataIndex_Deepc,0) = m_setpoint[0];
m_r_data_Deepc(m_dataIndex_Deepc,1) = m_setpoint[1];
m_r_data_Deepc(m_dataIndex_Deepc,2) = m_setpoint[2];
m_r_data_Deepc(m_dataIndex_Deepc,3) = m_setpoint[3];
m_r_data_Deepc(m_dataIndex_Deepc,0) = m_setpoint_for_controller[0];
m_r_data_Deepc(m_dataIndex_Deepc,1) = m_setpoint_for_controller[1];
m_r_data_Deepc(m_dataIndex_Deepc,2) = m_setpoint_for_controller[2];
m_r_data_Deepc(m_dataIndex_Deepc,3) = m_setpoint_for_controller[3];
m_dataIndex_Deepc++;
}
......
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