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https://github.com/PX4/PX4-Autopilot.git
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db2c6b2abe
* moving raptor bump compiles and raptor mode appears hovering with RAPTOR seems to work Using Raptor to execute offboard commands works (using multirobot f03825a5795a77c5a095f799eeb8e0b646fe7176 to feed the trajectory_setpoint). Requires more testing simplified rotmat runtime inference frequency multiple arming request response reflects actual readiness adjusting to fit IMU gyro ratemax relaxing control timing warning thresholds for SITL Using mode registration to signal if offboard commands should be forwarded to trajectory_setpoint instead of just hardcoding vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_OFFBOARD adopting new "request_offboard_setpoint" in raptor module replace offboard seems good mc_raptor: overwrite offboard parameter separate raptor config addendum Raptor off by default RAPTOR readme Loading raptor checkpoint from tar works. check if load was successful refactoring: cutting out the pure C interface to allow direct testing of the policy input/output behavior from the file, without fully loading it into memory first adapter not needed anymore ripping out test observation mode (not used in a long time) fixing warnings bump RLtools to fix the remaining warnings Loading RAPTOR checkpoint from sdcard seems to work on FMU-6C embedding Raptor policy into flash works again also printing checkpoint name when using the embedded policy cleaner handling of the checkpoint name back to reading from file ripping out visual odometry checks cleaner more debug but no success bump rlt bump pre next rebase we can publish the no angvel update because we latch onto it with the scheduled work item anyways this kind of runs on the 6c still bad SIH almost flying saving stale traj setpoint yaw new error. timestamp not the problem anymore bump rlt; SIH works with executor shaping up bumping blob (include tar checkpoint) cleaning up fixing formatting update readme * moving raptor bump compiles and raptor mode appears hovering with RAPTOR seems to work Using Raptor to execute offboard commands works (using multirobot f03825a5795a77c5a095f799eeb8e0b646fe7176 to feed the trajectory_setpoint). Requires more testing simplified rotmat runtime inference frequency multiple arming request response reflects actual readiness adjusting to fit IMU gyro ratemax relaxing control timing warning thresholds for SITL Using mode registration to signal if offboard commands should be forwarded to trajectory_setpoint instead of just hardcoding vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_OFFBOARD adopting new "request_offboard_setpoint" in raptor module replace offboard seems good mc_raptor: overwrite offboard parameter separate raptor config addendum Raptor off by default RAPTOR readme Loading raptor checkpoint from tar works. check if load was successful refactoring: cutting out the pure C interface to allow direct testing of the policy input/output behavior from the file, without fully loading it into memory first adapter not needed anymore ripping out test observation mode (not used in a long time) fixing warnings bump RLtools to fix the remaining warnings Loading RAPTOR checkpoint from sdcard seems to work on FMU-6C embedding Raptor policy into flash works again also printing checkpoint name when using the embedded policy cleaner handling of the checkpoint name back to reading from file ripping out visual odometry checks cleaner more debug but no success bump rlt bump pre next rebase we can publish the no angvel update because we latch onto it with the scheduled work item anyways this kind of runs on the 6c still bad SIH almost flying saving stale traj setpoint yaw new error. timestamp not the problem anymore bump rlt; SIH works with executor shaping up bumping blob (include tar checkpoint) cleaning up fixing formatting update readme updating gitignore * fixing format and declaring submodules as cmake dependencies * adding uORB message documentation * fixing comment alignment * Adding option to restrict mc_raptor to not listen to the trajectory_setpoint (use the position and yaw at activation time as reference instead) * bump RLtools; relax timing thresholds and adding real world readme * smooth traj tracking performance * Measuring trajectory_setpoint timing (providing stats in raptor_status); reverting accidental .gitignore modification * More ideomatic way of setting the path to the policy checkpoint * Reset trajectory_setpoint on raptor mode activation * Adding internal trajectory generation (feeding trajectory_setpoint over Mavlink is too noisy). Quite agile trajectory tracking, good performance * stable flight * Update msg/versioned/RaptorInput.msg Co-authored-by: Hamish Willee <hamishwillee@gmail.com> * adopting message formatting conventions * sort raptor.px4board * Archiving RegisterExtComponentRequestV1.msg * Add message versioning for VehicleStatus v2 and RegisterExtComponentRequest v2 * fixing formatting * making internal reference configurable via command * RAPTOR docs wip * raptor internal reference documentation * Finishing RAPTOR docs first draft * adding logging instructions * Fixing missing command documentation test error * fixing format * adding motor layout warning * raptor minimal subedit - prettier, images etc * Improve intro * Fix up Neural_Networks version * Mentioning "Adaptive" in the RAPTOR documentation's title * Adding clarifications about the internal reference trajectory generator * Removing "foundation policy" wording * Fixing new-line check * Removing redundant (evident through directory hierarchy) raptor_ from filenames * Unifying Neural Network docs (mc_nn_control and mc_raptor) under the "Neural Network" topic * Fix to standard structure * Making the distinction between mc_nn_control and mc_raptor more clear and fixing the comparison table * Removing trajectory_setpoint forwarding flag from external mode registration request and from the vehicle status * Trivial layout and wording fixes * fixing docs error --------- Co-authored-by: Hamish Willee <hamishwillee@gmail.com>