thrust_model

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 the mapping from normalized thrust signal to collective acceleration.

ThrustModelConfig 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

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.

方法：

名称	描述
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

reset() -> None

Reset the estimator state to its hover-based initialization.

collective_acc_to_signal

collective_acc_to_signal(desired_collective_acc: float) -> float

Convert desired total collective acceleration into a normalized signal.

record_signal

record_signal(signal: float, now_sec: float) -> None

Record a published thrust signal for delayed model estimation.

update_estimate

update_estimate(measured_collective_acc: float, now_sec: float) -> bool

Update the model using delayed acceleration feedback.