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[WIP] Use new CA topics instead of actuator_controls/outputs #208

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[WIP] Use new CA topics instead of actuator_controls/outputs #208

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models: replace outdated vehicle_angular_acceleration topic with sens…
sfuhrer Nov 23, 2022
129c315
WIP: use new CA topic instead of actuator_outputs/controls
sfuhrer Nov 24, 2022
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11 changes: 3 additions & 8 deletions Tools/parametric_model/configs/quadplane_model.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -174,19 +174,14 @@ dynamics_model_config:
- "accelerometer_m_s2[0]"
- "accelerometer_m_s2[1]"
- "accelerometer_m_s2[2]"
- "gyro_rad[0]"
- "gyro_rad[1]"
- "gyro_rad[2]"
dataframe_name:
- "timestamp"
- "acc_b_x"
- "acc_b_y"
- "acc_b_z"
vehicle_angular_acceleration:
ulog_name:
- "timestamp"
- "xyz[0]"
- "xyz[1]"
- "xyz[2]"
dataframe_name:
- "timestamp"
- "ang_acc_b_x"
- "ang_acc_b_y"
- "ang_acc_b_z"
19 changes: 6 additions & 13 deletions Tools/parametric_model/configs/quadrotor_model.yaml
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Expand Up @@ -91,18 +91,6 @@ dynamics_model_config:
estimate_angular_acceleration: True
data:
required_ulog_topics:
#Use with simulator logs only, disable estimate_angular_acceleration when using
# vehicle_angular_acceleration:
# ulog_name:
# - "timestamp"
# - "xyz[0]"
# - "xyz[1]"
# - "xyz[2]"
# dataframe_name:
# - "timestamp"
# - "ang_acc_b_x"
# - "ang_acc_b_y"
# - "ang_acc_b_z"
actuator_outputs:
id: 0
ulog_name:
Expand Down Expand Up @@ -159,9 +147,14 @@ dynamics_model_config:
- "accelerometer_m_s2[0]"
- "accelerometer_m_s2[1]"
- "accelerometer_m_s2[2]"
- "gyro_rad[0]"
- "gyro_rad[1]"
- "gyro_rad[2]"
dataframe_name:
- "timestamp"
- "acc_b_x"
- "acc_b_y"
- "acc_b_z"

- "ang_acc_b_x"
- "ang_acc_b_y"
- "ang_acc_b_z"
86 changes: 59 additions & 27 deletions Tools/parametric_model/configs/standardplane_model.yaml
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Expand Up @@ -17,7 +17,7 @@ model_config:
- rotor_4:
description: "puller rotor"
rotor_type: "RotorModel"
dataframe_name: "u4"
dataframe_name: "u_motor"
rotor_axis:
- 1
- 0
Expand All @@ -32,19 +32,19 @@ model_config:
wing_:
- control_surface_0:
description: "aileron_right"
dataframe_name: "u6"
dataframe_name: "u_aileron"

- control_surface_1:
description: "aileron_left"
dataframe_name: "u5"
dataframe_name: "u_aileron"

- control_surface_2:
description: "elevator"
dataframe_name: "u7"
dataframe_name: "u_elevator"

- control_surface_3:
description: "rudder"
dataframe_name: "u2"
dataframe_name: "u_rudder"

# - control_surface_4:
# description: "flaps"
Expand Down Expand Up @@ -110,31 +110,61 @@ dynamics_model_config:
estimate_angular_acceleration: False
data:
required_ulog_topics:
actuator_outputs:
vehicle_thrust_setpoint:
ulog_name:
- "timestamp"
- "output[2]" # Rudder
# - "output[3]" # Flaps
- "output[4]" # motor
- "output[5]" # left aileron
- "output[6]" # right aileron
- "output[7]" # elevator
- "xyz[0]" # thrust in x
dataframe_name:
- "timestamp"
- "u2"
# - "u3"
- "u4"
- "u5"
- "u6"
- "u7"
- "u_motor"
actuator_type:
- "timestamp"
- "control_surface"
# - "control_surface"
- "motor"
vehicle_torque_setpoint:
ulog_name:
- "timestamp"
- "xyz[0]" # torque in x
- "xyz[1]" # torque in y
- "xyz[2]" # torque in z
dataframe_name:
- "timestamp"
- "u_aileron"
- "u_elevator"
- "u_rudder"
actuator_type:
- "timestamp"
- "control_surface"
- "control_surface"
- "control_surface"
# actuator_motors:
# ulog_name:
# - "timestamp"
# - "control[0]"
# dataframe_name:
# - "timestamp"
# - "u_motor"
# actuator_type:
# - "timestamp"
# - "motor"
# actuator_servos:
# ulog_name:
# - "timestamp"
# - "control[0]"
# - "control[1]"
# - "control[2]"
# - "control[3]"
# dataframe_name:
# - "timestamp"
# - "u_aileron_left"
# - "u_aileron_right"
# - "u_elevator_new"
# - "u_rudder_new"
# actuator_type:
# - "timestamp"
# - "control_surface"
# - "control_surface"
# - "control_surface"
# - "control_surface"
vehicle_local_position:
ulog_name:
- "timestamp"
Expand Down Expand Up @@ -171,19 +201,21 @@ dynamics_model_config:
- "accelerometer_m_s2[0]"
- "accelerometer_m_s2[1]"
- "accelerometer_m_s2[2]"
- "gyro_rad[0]"
- "gyro_rad[1]"
- "gyro_rad[2]"
dataframe_name:
- "timestamp"
- "acc_b_x"
- "acc_b_y"
- "acc_b_z"
vehicle_angular_acceleration:
- "ang_acc_b_x"
- "ang_acc_b_y"
- "ang_acc_b_z"
vehicle_land_detected:
ulog_name:
- "timestamp"
- "xyz[0]"
- "xyz[1]"
- "xyz[2]"
- "landed"
dataframe_name:
- "timestamp"
- "ang_acc_b_x"
- "ang_acc_b_y"
- "ang_acc_b_z"
- "landed"
2 changes: 1 addition & 1 deletion Tools/parametric_model/src/models/dynamics_model.py
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Expand Up @@ -86,7 +86,7 @@ def __init__(self, config_dict):

def prepare_regression_matrices(self):
if "V_air_body_x" not in self.data_df:
self.normalize_actuators()
# self.normalize_actuators()
self.compute_airspeed_from_groundspeed(["vx", "vy", "vz"])

# Rotor features
Expand Down
4 changes: 1 addition & 3 deletions Tools/parametric_model/src/tools/data_handler.py
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Expand Up @@ -162,9 +162,7 @@ def compute_resampled_dataframe(self, ulog):
else:
curr_df = pandas_from_topic(ulog, [topic_type])

if topic_type == "actuator_outputs":
fts = compute_flight_time(curr_df)
elif topic_type == "actuator_controls_0":
if topic_type == "vehicle_land_detected":
fts = compute_flight_time(curr_df)

curr_df = curr_df[topic_dict["ulog_name"]]
Expand Down
25 changes: 13 additions & 12 deletions Tools/parametric_model/src/tools/dataframe_tools.py
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Expand Up @@ -41,22 +41,23 @@
from src.tools.ulog_tools import pandas_from_topic
from src.tools.quat_utils import slerp

# pre normalization thresholds
PWM_THRESHOLD = 1000
ACTUATOR_CONTROLS_THRESHOLD = -0.2


def compute_flight_time(act_df, pwm_threshold=None, control_threshold=None):
"""This function computes the flight time by a simple thresholding of actuator outputs or control values.
This works usually well for logs from the simulator or mission flights. But in some cases the assumption of an actuator output staying higher than the trsehhold for the hole flight might not be valid."""
"""This function computes the flight time by:
Option 1: listen to vehicle_land_detected/landed
Option 2: user defined start/end time stamp (micro seconds)
"""

if pwm_threshold is None:
pwm_threshold = PWM_THRESHOLD
# # Option 1:
# print("act_df: ", act_df)
# act_df_crp = act_df[act_df.iloc[:, 4] < 1] # take part where landed is 0
# print("act_df_crp after selection: ", act_df_crp)

if control_threshold is None:
control_threshold = ACTUATOR_CONTROLS_THRESHOLD
act_df_crp = act_df[act_df.iloc[:, 2] > pwm_threshold]
act_df_crp = act_df[act_df.iloc[:, 4] > pwm_threshold]
# Option 2:
# print("act_df: ", act_df)
act_df_crp = act_df[act_df.iloc[:, 0] > 405000000]
act_df_crp = act_df_crp[act_df_crp.iloc[:, 0] < 430000000]
# print("act_df_crp after selection: ", act_df_crp)

t_start = act_df_crp.iloc[1, 0]
t_end = act_df_crp.iloc[(act_df_crp.shape[0]-1), 0]
Expand Down