PX4Ctrl-style thrust-signal model and online estimator for sim2real runtimes.
Classes:
| Name | Description |
|---|---|
ThrustModelConfig |
Configuration for the runtime thrust-signal model. |
ThrustModel |
Estimate the mapping from normalized thrust signal to collective acceleration. |
dataclass
ThrustModelConfig(hover_signal: float = 0.5, rho2: float = 0.998, initial_covariance: float = 1000000.0, min_delay_s: float = 0.035, max_delay_s: float = 0.045, max_history: int = 100)
Configuration for the runtime thrust-signal model.
ThrustModel(hover_collective_acc: float, config: ThrustModelConfig | None = None)
Estimate the mapping from normalized thrust signal to collective acceleration.
Initialize the thrust model estimator from runtime config.
Methods:
| Name | Description |
|---|---|
reset |
Reset the estimator state to its hover-based initialization. |
collective_acc_to_signal |
Convert desired total collective acceleration into a normalized signal. |
record_signal |
Record a published thrust signal for delayed model estimation. |
update_estimate |
Update the model using delayed acceleration feedback. |
reset() -> None
Reset the estimator state to its hover-based initialization.
collective_acc_to_signal(desired_collective_acc: float) -> float
Convert desired total collective acceleration into a normalized signal.
record_signal(signal: float, now_sec: float) -> None
Record a published thrust signal for delayed model estimation.
update_estimate(measured_collective_acc: float, now_sec: float) -> bool
Update the model using delayed acceleration feedback.