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* Add tflm to px4 with module - Add TensorFlow Lite Micro(TFLM) as a library in px4 - Make a module that uses neural network inference for control, which uses TFLM for inference - Make board config files for PX4 with neural module * Added neural flight mode * Add posibility to read of inference times * Fix comments from review: - Switch ssh link to https link in submodule - Remove mc_nn_control from startup * Add tflm to px4 with module - Add TensorFlow Lite Micro(TFLM) as a library in px4 - Make a module that uses neural network inference for control, which uses TFLM for inference - Make board config files for PX4 with neural module * Added neural flight mode * Add posibility to read of inference times * Remove auto start * Add logging from neural control module * Fix automatic startup to only be when module is included * Switch to flight mode registration * Add docs * Change min/max/coeff to actual parameters * add figures to neural network docs * Switch to e2e network * Remove toolchain changes and replace with instructions in docs * Get ready for merge after toolchain upgrade * switch back to submodule * Try to figure out cmake * Get CI working with new toolchain * Remove fork dependency * Finalize PR * fix toolchain inclusion * Fix ctype_base.h include * Cleanup includes for TFLM * Remove redundant std * Update FW module names in board files * Fix docs * Remove cstdlib copy * Copy header from nuttx * Prettier, markup, layout * NeuralControl.msg - update uorb comments to current standard * Add description to neural topic * Fix typo * Typo * TFLM and Module utitlities * Neural networks top level * Update docs * Add manual control * Update docs * Revert the manual control attempt * Update docs/en/advanced/nn_module_utilities.md * Add posibility to set trajectory setpoint with manual control --------- Co-authored-by: Pedro Roque <padr@kth.se> Co-authored-by: Hamish Willee <hamishwillee@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>
14 lines
519 B
Plaintext
14 lines
519 B
Plaintext
# Neural control
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#
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# Debugging topic for the Neural controller, logs the inputs and output vectors of the neural network, and the time it takes to run
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# Publisher: mc_nn_control
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# Subscriber: logger
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uint64 timestamp # [us] Time since system start
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float32[15] observation # Observation vector (pos error (3), att (6d), lin vel (3), ang vel (3))
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float32[4] network_output # Output from neural network
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int32 controller_time # [us] Time spent from input to output
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int32 inference_time # [us] Time spent for NN inference
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