Collective tracking control #2469
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| float k2; | ||
| float alpha; | ||
| uint16_t timeout; | ||
| float p_centroid_x; |
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don't forget that you can use the struct FloatVect2 and corresponding math operations from math/pprz_algebra.h and math/pprz_algebra_float.h to have a more compact code.
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I totally forgot about it. I would prefer to do not touch this part of the code since it is working (validated).
I have another algorithm to implement later. I will use these libraries for sure.
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Sure, it makes sense. Especially, to move to another directory the "multi" algorithms (yep, for the next PR). I will write two functionalities more too:
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Do not look at these commits yet. I had to push them from my laptop because I had to stop coding (baby alarm :P). I work from two or three computers, so every push in my local repo shows up here, that is why. Once I finish the changes, I will let you know to review them. Thanks! |
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It seems you need to rebase or merge with master and remove conflicts before I can merge it |
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This code is quite old, and I polished it a bit.
It is the implementation of a tracking algorithm coming from this paper https://arxiv.org/abs/1810.00182 .
I have written some instructions in the wiki https://wiki.paparazziuav.org/wiki/Module/collective_tracking_control
For sure I am missing documentation. To be honest, I forgot exactly all the necessary doc items. So, if you do not mind, just tell me what is missing :P.
The "attached" Python simulation to tune the gains quickly is hardcoded for three aircraft + target. One day I should make it more general... but I believe it is easy to modify it by somebody if (s)he is interested in the algorithm.