-
Notifications
You must be signed in to change notification settings - Fork 1.1k
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
Collective tracking control #2469
Collective tracking control #2469
Conversation
float k2; | ||
float alpha; | ||
uint16_t timeout; | ||
float p_centroid_x; |
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
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.
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
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.
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:
|
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! |
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
Looks fine. Don't forget to make a PR to move the file in multi directory when you have the time.
It seems you need to rebase or merge with master and remove conflicts before I can merge it |
f6b9a77
to
5c25bce
Compare
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
looks fine
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.