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Simulation and testing problem (inconsistent behavior) #198
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Thank you for reporting this issue. :) We are happy to help you and to further improve the pipeline. |
quadrotor_model.zip |
Should I open any different log file setting from pixhawk parameters on my quad? Or standart log files are enough? |
@AEGEAN99 Could you also share the full log displayed on your terminal? |
of course here my termina when training:
` |
@AEGEAN99 Could you try with the "LinearRegressor" Instead of the "QPOptimiser"?
also might help if you updte to latest master |
Actually I dont know how to change optimizer. Should I download the latest master PX4-Autopilot? Or should I install the version in your repo? |
@AEGEAN99 Sorry I modified my initial response. No, the latest master of this repo |
okay I am trying now |
@AEGEAN99 The plots remind me of a problem that I fixed a while ago: #193 Probably worth checking if the version you are using has the changes included |
This happens much more slower crash.mp4 |
@AEGEAN99 Ah, now it is working. Could you try
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with linearRegressor? |
@AEGEAN99 Yes, it is basically just swapping the log |
It is working but has small oscillations like vibration good.mp4n |
@AEGEAN99 Yes, so this means that it has successfully estimated the dynamics. I am not sure why the vehicle is oscillating, but probably coming from the fact that the moment parameter estimation is not perfect. |
But when I try the quadrotor_model.csv it agin crashes |
What should I do for my own log files |
@AEGEAN99 Yes, because it does not contain enough information - as you can see in the logs there is no angular excitation of the system and the system is unable to successfully estimate the correct parameters Same for your own logs - You need a log that has enough information to estimate the parameters. @manumerous Probably we should remove the degenerate logs? |
Thanks for taking over Jay! Yes I agree with you. I will quickly make a PR and put the trajectory log as our default log. That is indeed confusing. Furthermore I think this issue points towards the fact that we need to improve the user feedback on the estimated parameters. @AEGEAN99 as Jay already pointed out estimating the angular dynamics is usually harder than the linear ones. Can you try to fly some maneuvers where you have a lot of angular acceleration and try the pipeline again? |
Adressed in #199 |
Thank you so much!! I will try flying the drone next weeks and update this comment. I hope that works. Thank you for your all effort)))))) |
Thanks for reporting! |
Hello,
I am having a problem with simulating the model on Gazebo. When I try to take off the drone take-offs successfully but soon it starts to oscillate then gets out of control and crashes. I tried both my own log files and the example default log file supplied from the data-driven-dynamics repo. I am sending command take-off from qgroundcontrol.
Thank you)))
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