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upgrades to optical flow landing module 2 (#2087)

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* fix cov method 2 array initialisation for optical flow landing
* add extra divide by 0 checks
This commit is contained in:
Kirk Scheper
2017-08-17 08:29:37 +02:00
committed by GitHub
parent bc246a26dc
commit a40b69fe2e
8 changed files with 622 additions and 608 deletions
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conf/modules/optical_flow_landing.xml
+16 -13
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@@ -9,8 +9,8 @@
de Croon, G.C.H.E. (2016). Monocular distance estimation with optical flow maneuvers and efference copies: a stability-based strategy. Bioinspiration and Biomimetics, 11(1), 016004.
</description>
<define name="OPTICAL_FLOW_LANDING_AGL_ID" value="ABI_BROADCAST" description="Sender id of the AGL (sonar) ABI message"/>
<section name="OPTICAL_FLOW_LANDING" prefix="OPTICAL_FLOW_LANDING_">
<define name="OFL_AGL_ID" value="ABI_BROADCAST" description="Sender id of the AGL (sonar) ABI message"/>
<section name="OFL" prefix="OFL_">
<define name="PGAIN" value="0.50" description="P gain on height error"/>
<define name="IGAIN" value="0.10" description="I gain on summed height error"/>
<define name="DGAIN" value="0.0" description="D gain on summed height error"/>
@@ -18,29 +18,32 @@
<define name="CONTROL_METHOD" value="2" description="0 = fixed gain control, 1 = adaptive gain control, 2 = exponential control"/>
<define name="COV_METHOD" value="0" description="0 = cov(uz, div), 1 = cov(div_past, div)"/>
<define name="COV_WINDOW_SIZE" value="30" description="Number of time steps for window size for getting the covariance over time."/>
<define name="COV_LANDING_LIMIT" value="2.2" description="Covariance where the vehicle engages final landing procedure."/>
<define name="COV_SETPOINT" value="-0.0075" description="Target Covariance for adaptive gain increment."/>
<define name="LP_CONST" value="0.75" description="Low pass filter constant for divergence input."/>
<define name="ELC_OSCILLATE" value="true" description="Oscillate to find optimum gain before initiating landing."/>
</section>
</doc>
<settings>
<dl_settings>
<dl_settings NAME="OpticalFlowLanding">
<dl_setting var="of_landing_ctrl.nominal_thrust" min="0" step="0.001" max="1" module="ctrl/optical_flow_landing" shortname="nominal_thrust"/>
<dl_setting var="of_landing_ctrl.lp_factor" min="0" step="0.01" max="1" module="ctrl/optical_flow_landing" shortname="lp_factor"/>
<dl_setting var="of_landing_ctrl.lp_const" min="0.005" step="0.005" max="1" module="ctrl/optical_flow_landing" shortname="lp_factor" param="OFL_LP_CONST"/>
<dl_setting var="of_landing_ctrl.divergence_setpoint" min="-1" step="0.01" max="1" module="ctrl/optical_flow_landing" shortname="div sp"/>
<dl_setting var="of_landing_ctrl.cov_set_point" min="-0.50" step="0.0001" max="0.50" module="ctrl/optical_flow_landing" shortname="cov_set_point"/>
<dl_setting var="of_landing_ctrl.cov_limit" min="0" step="0.0001" max="3" module="ctrl/optical_flow_landing" shortname="cov_limit"/>
<dl_setting var="of_landing_ctrl.pgain" min="0" step="0.001" max="6" module="ctrl/optical_flow_landing" shortname="pgain" param="OPTICAL_FLOW_LANDING_PGAIN"/>
<dl_setting var="of_landing_ctrl.igain" min="0" step="0.001" max="1" module="ctrl/optical_flow_landing" shortname="igain" param="OPTICAL_FLOW_LANDING_IGAIN"/>
<dl_setting var="of_landing_ctrl.dgain" min="0" step="0.1" max="6" module="ctrl/optical_flow_landing" shortname="dgain" param="OPTICAL_FLOW_LANDING_DGAIN"/>
<dl_setting var="of_landing_ctrl.VISION_METHOD" min="0" step="1" max="1" module="ctrl/optical_flow_landing" shortname="VISION_METHOD" param="OPTICAL_FLOW_LANDING_VISION_METHOD"/>
<dl_setting var="of_landing_ctrl.CONTROL_METHOD" min="0" step="1" max="2" module="ctrl/optical_flow_landing" shortname="CONTROL_METHOD" param="OPTICAL_FLOW_LANDING_CONTROL_METHOD"/>
<dl_setting var="of_landing_ctrl.COV_METHOD" min="0" step="1" max="1" module="ctrl/optical_flow_landing" shortname="COV_METHOD" param="OPTICAL_FLOW_LANDING_COV_METHOD"/>
<dl_setting var="of_landing_ctrl.cov_set_point" min="-6" step="0.0001" max="6" module="ctrl/optical_flow_landing" shortname="cov_set_point" param="OFL_COV_SETPOINT"/>
<dl_setting var="of_landing_ctrl.cov_limit" min="0" step="0.0001" max="6" module="ctrl/optical_flow_landing" shortname="cov_limit" param="OFL_COV_LANDING_LIMIT"/>
<dl_setting var="of_landing_ctrl.pgain" min="0" step="0.001" max="6" module="ctrl/optical_flow_landing" shortname="pgain" param="OFL_PGAIN"/>
<dl_setting var="of_landing_ctrl.igain" min="0" step="0.001" max="1" module="ctrl/optical_flow_landing" shortname="igain" param="OFL_IGAIN"/>
<dl_setting var="of_landing_ctrl.dgain" min="0" step="0.1" max="6" module="ctrl/optical_flow_landing" shortname="dgain" param="OFL_DGAIN"/>
<dl_setting var="of_landing_ctrl.VISION_METHOD" min="0" step="1" max="1" values="Ground truth|Online" module="ctrl/optical_flow_landing" shortname="VISION_METHOD" param="OFL_VISION_METHOD"/>
<dl_setting var="of_landing_ctrl.CONTROL_METHOD" min="0" step="1" max="2" values="Simple|Adaptive|Exp" module="ctrl/optical_flow_landing" shortname="CONTROL_METHOD" param="OFL_CONTROL_METHOD"/>
<dl_setting var="of_landing_ctrl.COV_METHOD" min="0" step="1" max="1" values="Div-Thrust|Div-Shift div" module="ctrl/optical_flow_landing" shortname="COV_METHOD" param="OFL_COV_METHOD"/>
<dl_setting var="of_landing_ctrl.delay_steps" min="0" step="1" max="60" module="ctrl/optical_flow_landing" shortname="delay_steps"/>
<dl_setting var="of_landing_ctrl.window_size" min="5" step="5" max="100" module="ctrl/optical_flow_landing" shortname="window_size"/>
<dl_setting var="of_landing_ctrl.pgain_adaptive" min="0" step="0.1" max="20.0" module="ctrl/optical_flow_landing" shortname="pgain_adaptive"/>
<dl_setting var="of_landing_ctrl.igain_adaptive" min="0" step="0.01" max="1.0" module="ctrl/optical_flow_landing" shortname="igain_adaptive"/>
<dl_setting var="of_landing_ctrl.dgain_adaptive" min="0" step="0.01" max="5.0" module="ctrl/optical_flow_landing" shortname="dgain_adaptive"/>
<dl_setting var="of_landing_ctrl.reduction_factor_elc" min="0.1" step="0.01" max="3.0" module="ctrl/optical_flow_landing" shortname="reduction_factor_elc"/>
<dl_setting var="of_landing_ctrl.div_factor" min="-3.0" step="0.01" max="3.0" module="ctrl/optical_flow_landing" shortname="div_factor"/>
<dl_setting var="of_landing_ctrl.elc_oscillate" min="0" step="1" max="1" values="FALSE|TRUE" module="ctrl/optical_flow_landing" shortname="oscillate" param="OFL_ELC_OSCILLATE"/>
</dl_settings>
</dl_settings>
</settings>