Code

Autotuner#21

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bsutherland333 wants to merge 53 commits intomainrosflight/rosplane:mainfrom 10-autotune-for-rosplanerosflight/rosplane:10-autotune-for-rosplaneCopy head branch name to clipboard

+1,157-20

Commits

Commits on Mar 12, 2024

• began working on autotune node

  bsutherland333

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• added numpy to rosdep

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Commits on Mar 14, 2024

• got autotune calling signal_generator service

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• added optimizer class for autotune

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Commits on Mar 15, 2024

• added optimization routine and stubbed out optimization class

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Commits on Mar 19, 2024

• Added first attempt at linesearch and optimization parameters

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Commits on Mar 20, 2024

• moved functions over to optimizer

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Commits on Mar 22, 2024

• additional work on changing the optimizer for ROS

  josephward

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• fixed a small oversight

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Commits on Mar 23, 2024

• got autotune settings params for autopilot

  bsutherland333

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• modified interface functions between autotune and optimizer

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• got autotune receiving service call results during service

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• got params setting and gettings

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Commits on Mar 25, 2024

• added gain queue, for testing multiple gains easier

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• got autotune running with queue

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Commits on Mar 26, 2024

• implemented error calculation

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• added return to orbit state

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• added option for continuous tuning

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• fixed a couple bugs around optimization termination

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• wrote plot_util for visualizing function landscape

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Commits on Apr 2, 2024

• misc tweaks to tuning package

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• got autotune setting signal generator commands

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• added launch files for remaining autopilots

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• misc tweaks to plot_util.py

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• Removed several unneeded functions to consolidate them. Added new optimizerstate into functions.

  josephward

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• added autopilot override enable/disable

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• fixed error where autopilot override was ignored

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Commits on Apr 3, 2024

• wrote some readme documentation for the autotuner

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• Added conjugate gradient algo, and converted line search to work with the autotuner

  josephward

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• Merge branch '10-autotune-for-rosplane' of https://github.com/rosflight/rosplane into 10-autotune-for-rosplane

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Commits on Apr 8, 2024

• wrote standalone tester for optimizer

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• added plotter to optimization_tester

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• Print statement changes, currently looking at why there are issues with current point not being a numpy array.

  josephward

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• set pitch to zero when tuning airspeed

  bsutherland333

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• wrapped lines at 100, replaced hard-coded value with parameter

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• began debugging optimizer

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• Changed gradient function to work with jacobian, added extra gains to acccount for working with jacobian, at bracketing with bugfixing.

  josephward

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Commits on Apr 9, 2024

• Added different parameter options for different gains. If there are other options we want to change based on the gains, we can add them there as well.

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Commits on Apr 10, 2024

• got bracketing working

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• got pinpoint working, completing inital optimizer

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• Correct optimization param names to line up with optimizer

  josephward

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• Added additional state comment for during flight with minor adjustment to init.

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Commits on Apr 11, 2024

• added simulated roll function

  bsutherland333

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• added additional end condition and alpha updating

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• fixed error in FakeRollController

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• fixed it for real this time

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• misc value tweaks

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• replaced optimizer with momentum & damping method

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Commits on Apr 12, 2024

• got final optimization working?

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• update autotune gains based on roll surragate

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• fixed bug with get_optimization_status

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Commits on Apr 16, 2024

• Spelling error

  josephward

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Commits on May 17, 2024

• misc changes

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