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Commit f69dd556 authored by elokdae's avatar elokdae
Browse files

Implemented PRBS on top of Deepc

parent 1ce23f0a
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This diff is collapsed.
......@@ -311,14 +311,18 @@ void DeepcControllerTab::setpointChangedCallback(const dfall_pkg::SetpointWithHe
ui->label_current_state->setText("LQR");
break;
case DEEPC_CONTROLLER_STATE_EXCITATION:
ui->label_current_state->setText("Excitation");
case DEEPC_CONTROLLER_STATE_EXCITATION_LQR:
ui->label_current_state->setText("Excitation LQR");
break;
case DEEPC_CONTROLLER_STATE_DEEPC:
ui->label_current_state->setText("Deepc");
break;
case DEEPC_CONTROLLER_STATE_EXCITATION_DEEPC:
ui->label_current_state->setText("Excitation Deepc");
break;
case DEEPC_CONTROLLER_STATE_LANDING_MOVE_DOWN:
ui->label_current_state->setText("Landing, move down");
break;
......
......@@ -46,10 +46,11 @@
// TO IDENITFY THE STATE OF THE DEEPC CONTROLLER
#define DEEPC_CONTROLLER_STATE_LQR 11
#define DEEPC_CONTROLLER_STATE_EXCITATION 12
#define DEEPC_CONTROLLER_STATE_DEEPC 13
#define DEEPC_CONTROLLER_STATE_STANDBY 99
#define DEEPC_CONTROLLER_STATE_LQR 11
#define DEEPC_CONTROLLER_STATE_EXCITATION_LQR 12
#define DEEPC_CONTROLLER_STATE_DEEPC 13
#define DEEPC_CONTROLLER_STATE_EXCITATION_DEEPC 14
#define DEEPC_CONTROLLER_STATE_STANDBY 99
// > The sequence of states for a LANDING manoeuvre
#define DEEPC_CONTROLLER_STATE_LANDING_MOVE_DOWN 21
......
......@@ -261,10 +261,11 @@ float yaml_exc_start_time = 0.0;
bool yaml_Deepc_measure_roll_pitch = true;
// Flag that activates yaw control through Deepc
bool yaml_Deepc_yaw_control = true;
// Prediction horizon in discrete time steps
int yaml_N = 25;
int s_yaml_N = yaml_N;
// Tini in discrete time steps
int s_yaml_Tini = 3;
// Prediction horizon in discrete time steps
int s_yaml_N = 25;
// Output cost matrix diagonal entries (x, y, z, x_dot, y_dot, z_dot, roll, pitch, yaw)
vector<float> s_yaml_Q = {40.0, 40.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 10.0};
// Input cost matrix diagonal entries (thurst, rollRate, pitchRate, yawRate)
......@@ -587,8 +588,9 @@ void Deepc_gs_inversion_thread_main();
bool calculateControlOutput(Controller::Request &request, Controller::Response &response);
void computeResponse_for_standby(Controller::Request &request, Controller::Response &response);
void computeResponse_for_LQR(Controller::Request &request, Controller::Response &response);
void computeResponse_for_excitation(Controller::Request &request, Controller::Response &response);
void computeResponse_for_excitation_LQR(Controller::Request &request, Controller::Response &response);
void computeResponse_for_Deepc(Controller::Request &request, Controller::Response &response);
void computeResponse_for_excitation_Deepc(Controller::Request &request, Controller::Response &response);
void computeResponse_for_landing_move_down(Controller::Request &request, Controller::Response &response);
void computeResponse_for_landing_spin_motors(Controller::Request &request, Controller::Response &response);
void calculateControlOutput_viaLQR(Controller::Request &request, control_output &output);
......
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