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PX4 / PX4-Autopilot

PX4 Autopilot Software
https://px4.io
BSD 3-Clause "New" or "Revised" License
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Framework for algorithm prototyping scripts and testing #11051

Open MaEtUgR opened 5 years ago

MaEtUgR commented 5 years ago

Hey @bresch, I really like the way you started out with these prototype scripts for algorithms here: https://github.com/Auterion/Flight_Control_Prototyping_Scripts They allow for quick testing, visualization and provide reference values for unit testing the C++ implementation. All of this can be seen for example here: https://github.com/PX4/Firmware/pull/10962

Motivation

  1. Cooperation on Prototyping So far I mostly used Matlab to prototype my calculations. The scripts were due to very limited reproducibility not worth sharing. Recently I took the time to learn how to achieve the same using scientific python libraries. This has a lot of advantages from license over setup size to flexibility in terms of Python's language power and general compatibility to the open-source environment.
  2. Algorithm enhancement There are control cases for which I want to keep improving the practical results. The cases can often easily be reconstructed in such a script and then resolved.
  3. Testing Modularize the C++ implementations into libraries and provide a variety of unit tests to verify uncommon cases and make sure they don't break. I so far only did this by hand, hardcoding some conditions, running the PX4 simulation and seeing if the result is expected.
  4. Documentation simple interactive example scripts and visualizations seem like a very useful way to demonstrate how it all works.

Action

FYI @bkueng

stale[bot] commented 5 years ago

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.

stale[bot] commented 5 years ago

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.

stale[bot] commented 5 years ago

Closing as stale.

stale[bot] commented 4 years ago

This issue has been automatically marked as stale because it has not had recent activity. Thank you for your contributions.

stale[bot] commented 4 years ago

This issue has been automatically marked as stale because it has not had recent activity. Thank you for your contributions.