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ethz-asl / data-driven-dynamics

Data Driven Dynamics Modeling for Aerial Vehicles
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Unified Rotor feature calculation and separate moment and force estimation #67

Closed manumerous closed 3 years ago

manumerous commented 3 years ago

Overview

Before adding still another model i decided to quickly unify the rotor feature calculation to keep law & order and help with the development of the new model. Furthermore, I think it is helpful to being able to choose to only estimate forces or estimate both in the config file to focus on forces at the moment, but keep the options open for the future.

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Commit Description

In this commit the calculation of the rotor features was moved to a method in the dynamics model and is therefore now unified between all the models. The user can configure rotor groups in the config file of his model. Hereby, all rotors from the same group are assumed to be physically (motor, prop, voltage, ect.) equal and will share all coefficients as determined by the parametric model.

Furthermore, i decided to allow the user to configure whether forces, moments or both are estimated by the algorithm. This was combined with the changes mentioned above since the rotor force and moment features share a significant part of the computation. In particular both need to compute the airplow parallel and perpendicular to the rotor axis for each timestamp. With the current implementation those computations are shared when both are activated which results in much faster performance for large datasets.

manumerous commented 3 years ago

I think overall these changes are good smile

Just remove the pycache from being included in the commit?

Thanks for pointing that out. They are gone and now added to the .gitignore file. So we should not have that problem again.