Tilt rotor model

.gitmodules

@@ -1,3 +1,3 @@
-[submodule "Tools/visual_dataframe_selector"]
-	path = Tools/visual_dataframe_selector
+[submodule "Tools/parametric_model/visual_dataframe_selector"]
+	path = Tools/parametric_model/visual_dataframe_selector
 	url = https://github.com/manumerous/visual_dataframe_selector

Makefile

@@ -4,12 +4,14 @@ version?=latest
 registry?=ethzasl/data-driven-dynamics
 model?=quadrotor_model
 log?=${root_dir}/resources/${model}.ulg
+data_selection?=False
 
 submodulesupdate:
 	git submodule update --init --recursive
 
 install-dependencies:
 	pip3 install -r Tools/parametric_model/requirements.txt
+	pip3 install -r Tools/parametric_model/visual_dataframe_selector/requirements.txt
 
 docker-build:
 	docker build -f docker/Dockerfile --tag ${registry}:${version} .
@@ -24,4 +26,5 @@ docker-run:
 	docker run -it --rm -e DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix ${registry}:${version} /bin/bash
 
 estimate-model:
-	python3 Tools/parametric_model/generate_parametric_model.py --model ${model} ${log}
+	python3 Tools/parametric_model/generate_parametric_model.py --model ${model} ${log} --data_selection ${data_selection}
+

README.md

@@ -29,6 +29,7 @@ source ~/.bashrc
 The use the parametric model structure you need to install python 3.8 and the needed python libraries. It is strongly advised to install the pip packages in a [virtual enviroment](https://docs.python.org/3/tutorial/venv.html) setup for this project.
 
 Update submodules:
+
 ```
 make submodulesupdate
 ```
@@ -70,23 +71,25 @@ source setup.bash
 Generate the parametric model using a log file (ulog or csv):
 
 ```
-python3 Tools/parametric_model/generate_parametric_model model log_file
+python3 Tools/parametric_model/generate_parametric_model --model <model> --data_selection <True/False> log_file
 ```
 
-Or more simply from the root of the repository
+Or more simply using the make command:
 
 ```
-make estimate-model [model=<modeltype>] [log=<log path>]
+make estimate-model [model=<modeltype>] [data_selection=<True/False>] [log=<log path>]
 ```
 
-Hereby the arguments model and log_file can be used to specify the model and the log files respectively. As an example you could use the reference log_files:
+Hereby the arguments model and log_file can be used to specify the model and the log files respectively. The data_selection argument is optional (per default False) and can be used to visually select a subportion of the data before running the model estimation.
+
+As an example you could use the reference log_files:
 
 ```
-python Tools/parametric_model/generate_parametric_model.py --model quad_plane_model resources/simple_quadplane_model.ulg
+make estimate-model model=quad_plane_model log=resources/simple_quadplane_model.ulg
 ```
 
 ```
-python3 Tools/parametric_model/generate_parametric_model.py --model quad_plane_model resources/simple_quadplane_model.csv
+make estimate-model model=quad_plane_model log=resources/simple_quadplane_model.csv
 ```
 
 Current model choices are:
@@ -95,6 +98,10 @@ Current model choices are:
 
 - quad_plane_model
 
+- delta_quad_plane_model
+
+- tilt_wing_model
+
 The results of the model estimation will be saved into the Tools/parametric_model/results folder as a yaml file.
 
 ## Testing the functionality of Parametric model

Tools/__init__.py

@@ -0,0 +1,2 @@
+from . import parametric_model
+from . import visual_dataframe_selector

Tools/parametric_model/__init__.py

@@ -1,2 +1,3 @@
 from . import src
 from . import tests
+from . import visual_dataframe_selector

Tools/parametric_model/generate_parametric_model.py

@@ -1,16 +1,32 @@
 
+
 __author__ = "Manuel Galliker"
 __maintainer__ = "Manuel Galliker"
 __license__ = "BSD 3"
 
-
-from src.models import QuadRotorModel, QuadPlaneModel, DeltaQuadPlaneModel
+import os
+import sys
+import inspect
+from src.models import QuadRotorModel, QuadPlaneModel, DeltaQuadPlaneModel, TiltWingModel
 import argparse
 
 
+def str2bool(v):
+    if isinstance(v, bool):
+        return v
+    if v.lower() in ('yes', 'true', 't', 'y', '1'):
+        return True
+    elif v.lower() in ('no', 'false', 'f', 'n', '0'):
+        return False
+    else:
+        raise argparse.ArgumentTypeError('Boolean value expected.')
+
+
 def start_model_estimation(arg_list):
     rel_ulog_path = arg_list.log_path
     model = arg_list.model
+    data_selection_enabled = arg_list.data_selection
+    print("Visual Data selection enabled: ", data_selection_enabled)
 
     if (model == "quadrotor_model"):
         model = QuadRotorModel(rel_ulog_path)
@@ -21,9 +37,15 @@ def start_model_estimation(arg_list):
     elif (model == "delta_quad_plane_model"):
         model = DeltaQuadPlaneModel(rel_ulog_path)
 
+    elif (model == "tilt_wing_model"):
+        model = TiltWingModel(rel_ulog_path)
+
     else:
         print("no valid model selected")
 
+    if data_selection_enabled:
+        model.visually_select_data()
+
     model.estimate_model()
     model.plot_model_predicitons()
 
@@ -35,8 +57,10 @@ def start_model_estimation(arg_list):
         description='Estimate dynamics model from flight log.')
     parser.add_argument('--model', metavar='model', type=str,
                         default='quadrotor_model',
-                        help='Parametric Model Type [quadrotor_model, quad_plane_model]')
+                        help='Parametric Model Type [quadrotor_model, quad_plane_model, delta_quad_plane_model, tilt_wing_model]')
     parser.add_argument('log_path', metavar='log_path', type=str,
+                        help='The path of the log to process relative to the project directory.')
+    parser.add_argument('--data_selection', metavar='data_selection', type=str2bool, default=False,
                         help='the path of the log to process relative to the project directory.')
     arg_list = parser.parse_args()
     start_model_estimation(arg_list)

Tools/parametric_model/src/models/__init__.py

@@ -16,3 +16,5 @@
 from .quadrotor_model import QuadRotorModel
 from . import model_config
 from . model_config import ModelConfig
+from . import tilt_wing_model
+from . tilt_wing_model import TiltWingModel

Tools/parametric_model/src/models/aerodynamic_models/__init__.py

@@ -4,9 +4,8 @@
 __maintainer__ = "Manuel Galliker"
 __license__ = "BSD 3"
 
-from . import aero_model_AAE
+
 from .aero_model_AAE import AeroModelAAE
-from . import aero_model_Delta
 from .aero_model_Delta import AeroModelDelta
-from . import simple_drag_model
 from .simple_drag_model import SimpleDragModel
+from .tilt_wing_section_aero_model import TiltWingSection

Tools/parametric_model/src/models/aerodynamic_models/aero_model_AAE.py

@@ -5,7 +5,7 @@
 import math
 import numpy as np
 
-from ...tools import cropped_sym_sigmoid
+from src.tools.math_tools import cropped_sym_sigmoid
 from scipy.spatial.transform import Rotation
 from progress.bar import Bar
 
@@ -41,7 +41,7 @@ def compute_main_wing_feature(self, v_airspeed, angle_of_attack):
             if abs(AoA) > stall_angle: cropped_sym_sigmoid(AoA) = 1
         """
         v_xz = math.sqrt(v_airspeed[0]**2 + v_airspeed[2]**2)
-        F_xz_aero_frame = np.zeros((3, 7))
+        F_xz_aero_frame = np.zeros((3, 8))
 
         # Compute Drag force coeffiecients:
         F_xz_aero_frame[0, 0] = -(
@@ -51,16 +51,16 @@ def compute_main_wing_feature(self, v_airspeed, angle_of_attack):
         F_xz_aero_frame[0, 2] = -(
             1 - cropped_sym_sigmoid(angle_of_attack, x_offset=self.stall_angle, scale_fac=self.sig_scale_fac))*angle_of_attack**2*v_xz**2
         F_xz_aero_frame[0, 3] = -(cropped_sym_sigmoid(angle_of_attack,
-                                  x_offset=self.stall_angle, scale_fac=self.sig_scale_fac))*math.sin(angle_of_attack)*v_xz**2
-
+                                  x_offset=self.stall_angle, scale_fac=self.sig_scale_fac))*(1 - math.sin(angle_of_attack)**2)*v_xz**2
+        F_xz_aero_frame[0, 4] = -(cropped_sym_sigmoid(angle_of_attack,
+                                  x_offset=self.stall_angle, scale_fac=self.sig_scale_fac))*(math.sin(angle_of_attack)**2)*v_xz**2
         # Compute Lift force coefficients:
-        F_xz_aero_frame[2, 4] = -(
-            1 - cropped_sym_sigmoid(angle_of_attack, x_offset=self.stall_angle, scale_fac=self.sig_scale_fac))*angle_of_attack*v_xz**2
         F_xz_aero_frame[2, 5] = -(
+            1 - cropped_sym_sigmoid(angle_of_attack, x_offset=self.stall_angle, scale_fac=self.sig_scale_fac))*angle_of_attack*v_xz**2
+        F_xz_aero_frame[2, 6] = -(
             1 - cropped_sym_sigmoid(angle_of_attack, x_offset=self.stall_angle, scale_fac=self.sig_scale_fac))*v_xz**2
-        F_xz_aero_frame[2, 6] = -2 * \
-            cropped_sym_sigmoid(angle_of_attack, x_offset=self.stall_angle, scale_fac=self.sig_scale_fac) \
-            * math.sin(angle_of_attack)*math.cos(angle_of_attack)*v_xz**2
+        F_xz_aero_frame[2, 7] = -cropped_sym_sigmoid(angle_of_attack, x_offset=self.stall_angle, scale_fac=self.sig_scale_fac) \
+            * math.sin(2*angle_of_attack)*v_xz**2
 
         # Transorm from stability axis frame to body FRD frame
         R_aero_to_body = Rotation.from_rotvec(
@@ -138,13 +138,9 @@ def compute_aero_features(self, v_airspeed_mat, angle_of_attack_vec, flap_comman
             X_aero = np.vstack((X_aero, X_curr))
             aero_features_bar.next()
         aero_features_bar.finish()
-        wing_coef_list = ["c_d_wing_xz_offset", "c_d_wing_xz_lin", "c_d_wing_xz_quad", "c_d_wing_xz_stall",
+        wing_coef_list = ["c_d_wing_xz_offset", "c_d_wing_xz_lin", "c_d_wing_xz_quad", "c_d_wing_xz_stall_min", "c_d_wing_xz_stall_90_deg",
                           "c_l_wing_xz_offset", "c_l_wing_xz_lin", "c_l_wing_xz_stall", "c_d_wing_y_offset"]
         flap_coef_list = ["c_d_ail_lin",
                           "c_d_ail_quad", "c_d_ele_lin", "c_d_ele_quad", "c_l_ele_lin"]
         aero_coef_list = wing_coef_list + flap_coef_list
         return X_aero, aero_coef_list
-
-
-if __name__ == "__main__":
-    linearPlateAeroModel = AeroModelAAE(20.0)

Tools/parametric_model/src/models/aerodynamic_models/aero_model_Delta.py

@@ -5,7 +5,7 @@
 import math
 import numpy as np
 
-from ...tools import cropped_sym_sigmoid
+from src.tools.math_tools import cropped_sym_sigmoid
 from scipy.spatial.transform import Rotation
 from progress.bar import Bar
 
@@ -41,7 +41,7 @@ def compute_main_wing_feature(self, v_airspeed, angle_of_attack):
             if abs(AoA) > stall_angle: cropped_sym_sigmoid(AoA) = 1
         """
         v_xz = math.sqrt(v_airspeed[0]**2 + v_airspeed[2]**2)
-        F_xz_aero_frame = np.zeros((3, 7))
+        F_xz_aero_frame = np.zeros((3, 8))
 
         # Compute Drag force coeffiecients:
         F_xz_aero_frame[0, 0] = -(
@@ -51,16 +51,17 @@ def compute_main_wing_feature(self, v_airspeed, angle_of_attack):
         F_xz_aero_frame[0, 2] = -(
             1 - cropped_sym_sigmoid(angle_of_attack, x_offset=self.stall_angle, scale_fac=self.sig_scale_fac))*angle_of_attack**2*v_xz**2
         F_xz_aero_frame[0, 3] = -(cropped_sym_sigmoid(angle_of_attack,
-                                  x_offset=self.stall_angle, scale_fac=self.sig_scale_fac))*math.sin(angle_of_attack)*v_xz**2
+                                  x_offset=self.stall_angle, scale_fac=self.sig_scale_fac))*(1 - math.sin(angle_of_attack)**2)*v_xz**2
+        F_xz_aero_frame[0, 4] = -(cropped_sym_sigmoid(angle_of_attack,
+                                  x_offset=self.stall_angle, scale_fac=self.sig_scale_fac))*(math.sin(angle_of_attack)**2)*v_xz**2
 
         # Compute Lift force coefficients:
-        F_xz_aero_frame[2, 4] = -(
-            1 - cropped_sym_sigmoid(angle_of_attack, x_offset=self.stall_angle, scale_fac=self.sig_scale_fac))*angle_of_attack*v_xz**2
         F_xz_aero_frame[2, 5] = -(
+            1 - cropped_sym_sigmoid(angle_of_attack, x_offset=self.stall_angle, scale_fac=self.sig_scale_fac))*angle_of_attack*v_xz**2
+        F_xz_aero_frame[2, 6] = -(
             1 - cropped_sym_sigmoid(angle_of_attack, x_offset=self.stall_angle, scale_fac=self.sig_scale_fac))*v_xz**2
-        F_xz_aero_frame[2, 6] = -2 * \
-            cropped_sym_sigmoid(angle_of_attack, x_offset=self.stall_angle, scale_fac=self.sig_scale_fac) \
-            * math.sin(angle_of_attack)*math.cos(angle_of_attack)*v_xz**2
+        F_xz_aero_frame[2, 7] = -cropped_sym_sigmoid(angle_of_attack, x_offset=self.stall_angle, scale_fac=self.sig_scale_fac) \
+            * math.sin(2*angle_of_attack)*v_xz**2
 
         # Transorm from stability axis frame to body FRD frame
         R_aero_to_body = Rotation.from_rotvec(
@@ -134,13 +135,9 @@ def compute_aero_features(self, v_airspeed_mat, angle_of_attack_vec, flap_comman
             X_aero = np.vstack((X_aero, X_curr))
             aero_features_bar.next()
         aero_features_bar.finish()
-        wing_coef_list = ["c_d_wing_xz_offset", "c_d_wing_xz_lin", "c_d_wing_xz_quad", "c_d_wing_xz_stall",
+        wing_coef_list = ["c_d_wing_xz_offset", "c_d_wing_xz_lin", "c_d_wing_xz_quad", "c_d_wing_xz_stall_min", "c_d_wing_xz_stall_90_deg",
                           "c_l_wing_xz_offset", "c_l_wing_xz_lin", "c_l_wing_xz_stall", "c_d_wing_y_offset"]
         flap_coef_list = ["c_d_ail_lin",
                           "c_d_ail_quad", "c_d_ele_lin", "c_d_ele_quad", "c_l_ele_lin"]
         aero_coef_list = wing_coef_list + flap_coef_list
         return X_aero, aero_coef_list
-
-
-if __name__ == "__main__":
-    linearPlateAeroModel = AeroModelDelta(20.0)

Tools/parametric_model/src/models/aerodynamic_models/simple_drag_model.py

@@ -5,7 +5,7 @@
 import math
 import numpy as np
 
-from ...tools import sym_sigmoid
+from src.tools.math_tools import sym_sigmoid
 from scipy.spatial.transform import Rotation
 
 
@@ -81,7 +81,3 @@ def compute_aero_features(self, v_airspeed_mat, angle_of_attack_vec):
         fuselage_coef_list = ["c_d_wing_xy_offset", "c_d_wing_xy_lin", "c_d_wing_xy_quad", "c_d_wing_xy_stall",
                               "c_d_wing_y_offset"]
         return X_aero, fuselage_coef_list
-
-
-if __name__ == "__main__":
-    simpleDragModelModel = SimpleDragModel(35.0)