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ethz-asl / data-driven-dynamics

Data Driven Dynamics Modeling for Aerial Vehicles
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Quad plane improvements and Cleanup of YAML Result Files #36

Closed manumerous closed 3 years ago

manumerous commented 3 years ago

Adapted the Model structure so every Model has it's own folder. This way we can add test logs, results and tests to each model to keep track of the progress made. Currently there are no automated tests yet.

A baseline result for both the simple_quadrotor_model and the quad_plane_model were added.

The PR also contains a few model improvements from the last PR which was rebased.

Jaeyoung-Lim commented 3 years ago

Can we also centralize where all the test logs and model parameters are located?

Separating these in directories I think doesn't make so much sense. Artifacts should not be mixed with code

Jaeyoung-Lim commented 3 years ago

There seems to be something off in the transformations, since the imu measurement trends are completely different from what we are using. @manumerous This might be a hint on your side force measurements you mentioned

Body transformed local acceleration image

IMU measurements image

Jaeyoung-Lim commented 3 years ago

@tstastny Added the log files from what we discussed

Jaeyoung-Lim commented 3 years ago

@manumerous I have made some changes in the structure of the PR, and switched the logfile where I moved the vehicle with a joystick to make everything more observable.