Hardware Implementation of DATT : Deep Adaptive Trajectory Tracking for Quadrotor control

Training code : https://github.com/KevinHuang8/DATT

Installation

Follow the steps given in https://crazyswarm.readthedocs.io/en/latest/installation.html

In step 6, replace the github repository they provided with the current repository i.e.

# STEP 6 : 
git clone https://github.com/Rwik2000/crazyswarm_DATT

Crazyflie ID

In uw_cf.py on Line 656, make sure you enter the cfname as "cf[id]". The [id] is the id you set for the crazyflie in the config file that is used in the launch file i.e. custom_crazyflies.yaml

Drone Learning

• DATT -> https://github.com/Rwik2000/crazyswarm_DATT/tree/main/ros_ws/src/crazyswarm/scripts/run_DATT

Connecting with DATT repo

Add the parent folder of DATT repo to PYTHONPATH

export PYTHONPATH="<parent path of DATT>"

Sample run code

DATT

cd <path to `run_DATT`>

# Sim
python3 uw_cf.py --config experiments/DATT/<fname>.yaml --quadsim -v true 

# Real
python3 uw_cf.py --config experiments/DATT/<fname>.yaml

Things to do

• [ ] Support for RMA
• [ ] Support for L1 adaptive control
• [ ] Code cleanup