PX4Ctrl-style thrust-signal model and online estimator for sim2real runtimes.
类：
| 名称 | 描述 |
|---|---|
ThrustModelConfig |
Configuration for the runtime thrust-signal model. |
ThrustModel |
Estimate a quadratic thrust curve's collective-acceleration scale. |
dataclass
ThrustModelConfig(hover_signal: float = 0.5, curve_factor: float = 0.6, 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.
方法：
| 名称 | 描述 |
|---|---|
__post_init__ |
Validate the normalized quadratic thrust-curve factor. |
__post_init__() -> None
Validate the normalized quadratic thrust-curve factor.
ThrustModel(hover_collective_acc: float, config: ThrustModelConfig | None = None)
Estimate a quadratic thrust curve's collective-acceleration scale.
Initialize the thrust model estimator from runtime config.
方法：
| 名称 | 描述 |
|---|---|
signal_to_relative_thrust |
Map a normalized motor signal through the calibrated thrust curve. |
reset |
Reset the estimator state to its hover-based initialization. |
collective_acc_to_signal |
Invert the thrust curve for a desired collective acceleration. |
record_signal |
Record a published thrust signal for delayed model estimation. |
update_estimate |
Update the model using delayed acceleration feedback. |
signal_to_relative_thrust(signal: float) -> float
Map a normalized motor signal through the calibrated thrust curve.
reset() -> None
Reset the estimator state to its hover-based initialization.
collective_acc_to_signal(desired_collective_acc: float) -> float
Invert the thrust curve for a desired collective acceleration.
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.