diff --git a/src/main/flight/neural_controllers/neural_network.c b/src/main/flight/neural_controllers/neural_network.c index d2748e861aa..f9d45095fec 100644 --- a/src/main/flight/neural_controllers/neural_network.c +++ b/src/main/flight/neural_controllers/neural_network.c @@ -3,156 +3,156 @@ #include const float weights_fc1[] = { -0.2481759637594223, -0.16873912513256073, -0.04719028249382973, 0.2455446720123291, -0.017740873619914055, 0.4584560692310333, -0.24030540883541107, 0.28240811824798584, 0.5582749843597412, 0.07677196711301804, -0.025625241920351982, 0.0027848053723573685, 0.4542292058467865, 0.18944022059440613, -0.15846021473407745, -0.3736439049243927, -0.20201906561851501, 0.15802516043186188, -0.06970049440860748, 0.05508147180080414, -0.20510824024677277, -0.1302649825811386, -0.10064832866191864, 0.0123903788626194, -0.163323774933815, 0.16871094703674316, 0.056261152029037476, 0.024225817993283272, 0.2658732235431671, 0.1308968961238861, -0.1972121149301529, 0.1444912999868393, -0.13906317949295044, -0.19869089126586914, 0.19789011776447296, 0.42008909583091736, -0.015138166025280952, -0.364749550819397, -0.14572034776210785, -0.5905432105064392, -0.8200255036354065, 0.20713339745998383, -0.06224386394023895, 0.13419964909553528, -0.011156930588185787, 0.13980960845947266, 0.22523656487464905, -0.01276055071502924, 0.17298004031181335, -0.08092645555734634, -0.08174192905426025, 0.03658837452530861, -0.15879540145397186, 0.04872482642531395, -0.337899386882782, 0.05939719080924988, 0.0978853777050972, 0.1470852643251419, 0.09118422120809555, 0.4988005459308624, -0.8240137100219727, -0.28134438395500183, 0.1868089735507965, 0.08578842133283615, 0.08785893023014069, -0.29008713364601135, -0.029971342533826828, -0.08857963979244232, 0.32792115211486816, -0.16590943932533264, 0.12223990261554718, -0.020946292206645012, 0.14793720841407776, 0.060325756669044495, 0.36917832493782043, 0.1601354032754898, -0.2316371500492096, 0.2188161015510559, 0.2618556618690491, -0.2109118402004242, --0.1605280041694641, 0.18618205189704895, -0.23955084383487701, -0.0012809562031179667, 0.13050594925880432, -0.14748002588748932, -0.11482652276754379, 0.5182403326034546, 0.2970579266548157, 0.15527035295963287, -0.007550851907581091, -0.09274405986070633, -0.1683964878320694, 0.1650158017873764, -0.008211960084736347, 0.36929482221603394, 0.3821156919002533, -0.05296770855784416, -0.08443185687065125, -0.1311803162097931, -0.05338042974472046, 0.18775446712970734, -0.11885086447000504, 0.12413793057203293, 0.21366062760353088, -0.12454895675182343, 0.1591028869152069, -0.4324856996536255, 0.09342934936285019, 0.0008748998516239226, 0.002469953615218401, 0.05569925904273987, -0.018098626285791397, 0.17154893279075623, 0.25291481614112854, -0.05937003344297409, -0.3145780861377716, -0.6255508065223694, -0.11334481090307236, -0.3202854096889496, -0.19396160542964935, -0.5736648440361023, 0.4200412631034851, 0.2186187207698822, 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-0.23838824033737183, 0.01153196394443512, 0.005531772039830685, 0.17447255551815033, -0.43299737572669983, 0.19149638712406158, -0.12700769305229187, -0.23284894227981567, -0.20425552129745483, 0.10442712157964706, -0.6039331555366516, 0.5026198625564575, 0.04112020134925842, 0.4924207627773285, -0.18049758672714233, 0.06432218849658966, -0.1175118014216423, --0.5833244323730469, -0.007839849218726158, 1.65336275100708, -0.15663714706897736, -0.04209176078438759, 0.576759397983551, -0.17095445096492767, 0.16317693889141083, 0.6159337759017944, -0.14329852163791656, -0.1001887321472168, 0.27141281962394714, -0.06996899843215942, 0.23512375354766846, 0.36094194650650024, -0.20398283004760742, 0.05303199216723442, -0.05292091518640518, 0.12324611842632294, -0.0741438940167427, --0.1829332858324051, 0.14580556750297546, -0.17225012183189392, -0.04550132900476456, 0.034879833459854126, -0.004898669198155403, 0.3297910690307617, 0.10667946934700012, -0.0006226625991985202, 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0.08845671266317368, -0.2961461544036865, -0.019965386018157005, -0.08217242360115051 }; const float biases_fc3[] = { --0.06544005870819092, -0.0470941886305809, 0.05064229667186737, -0.17421497404575348 +-0.2390146106481552, -0.08971074223518372, 0.1488119512796402, 0.34457486867904663 }; void nn_linear(const float* weights, const float* biases, const float* input, int in_features, int out_features, float* output) { diff --git a/src/main/flight/neural_controllers/nn_controller.c b/src/main/flight/neural_controllers/nn_controller.c index 255b56386b4..ab5b123ca8b 100644 --- a/src/main/flight/neural_controllers/nn_controller.c +++ b/src/main/flight/neural_controllers/nn_controller.c @@ -5,10 +5,10 @@ bool deterministic = false; const float output_std[4] = { - 0.12200331687927246, - 0.11606775224208832, - 0.1304798573255539, - 0.12664185464382172, + 0.05490165203809738, + 0.06841440498828888, + 0.06858721375465393, + 0.062027767300605774, }; const float gate_pos[NUM_GATES][3] = {