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wil3 / neuroflight

Next Generation Flight Controller Firmware
https://wfk.io/neuroflight/
GNU General Public License v3.0
229 stars 45 forks source link

Error Band #2

Closed DroneMesh closed 5 years ago

DroneMesh commented 5 years ago

Hi Wil,

This is great work that you are doing here. I have a question regarding your paper on minimizing motor output oscillations. You talk about the error band that once the quad is in the error band it runs the equation Beta Sigma.

I have setup it up as follows the sum of all the axis errors squared and converted to a negative. After this I have set up my error band as -12 is that close to what you mention.

Thank you

wil3 commented 5 years ago

Hi @DroneMesh, the error band isn't strictly defined, you can have it as a percentage of the target angular velocity or a fixed value. Its just another parameter in this case for reward shaping.