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RustPhysicsMQ
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start using config gen.py again

This commit is contained in:
franchioping 2026-02-06 14:20:27 +00:00
parent fe6effe50f
commit 26d25f5cbb
21 changed files with 70 additions and 252 deletions
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1
.gitignore vendored
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@ -1,2 +1,3 @@
/target
results/
configurations/final

47
configurations/all.toml
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@ -1,47 +0,0 @@
tickrate = 6000.0
drone_tick_rate = 600
max_thrust = 2.6
max_torque = 0.5
mass = 0.350
# The Stack: First layer computes target speed, second layer computes motor torque
layers = [
# { type = "Angle", max_angle = 0.78, kp = [4.0, 4.0, 4.0], ki = [0.0, 0.0, 0.0], kd = [0.1, 0.1, 0.1] },
{ type = "Rate", max_rate = 3.14, kp = [
0.01,
0.1,
0.01,
], ki = [
0.0,
0.0,
0.0,
], kd = [
0.0,
0.0,
0.0,
] },
]
# + (map[0] * setpoint.x) // Roll
# + (map[1] * setpoint.y) // Yaw
# + (map[2] * setpoint.z); // Pitch
# /*
# * Motor position indices
# * ^ - Front
# * |
# * |
# * 1 --- 0
# * | |
# * | |
# * 2 --- 3
# */
motor_map = [
[-1.0, 1.0, 1.0], # Front Right
[1.0, -1.0, 1.0], # Front Left
[1.0, 1.0, -1.0], # Rear Left
[-1.0, -1.0, -1.0], # Rear Right
]

18
gen.py → configurations/gen.py
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@ -1,11 +1,11 @@
import os
import subprocess
subprocess.run("rm configurations/*.toml", shell=True)
subprocess.run("rm -rf final && mkdir final", shell=True)
MOT_FOLDER = "configurations/mot/"
SIM_FOLDER = "configurations/sim/"
PID_FOLDER = "configurations/pid_cont/"
MOT_FOLDER = "mot/"
SIM_FOLDER = "sim/"
PID_FOLDER = "pid_cont/"
mot_files = os.listdir(MOT_FOLDER)
sim_files = os.listdir(SIM_FOLDER)
@ -22,15 +22,7 @@ for case in prod:
with open(PID_FOLDER + case[2], "r") as f3:
settings = f1.read() + "\n" + f2.read() + "\n" + f3.read()
with open(
"configurations/"
+ "".join(case).replace(".toml", "_").removesuffix("_")
+ ".toml",
"final/" + "".join(case).replace(".toml", "_").removesuffix("_") + ".toml",
"w",
) as f:
f.write(settings)
# cont = open(PID_FOLDER + "low_1.toml").read()
# for i in range(1, 11):
# num = 0.005 * i
# with open(PID_FOLDER + f"low_{i:02d}.toml", "w") as f:
# f.write(cont.replace("0.005", str(num)))

8
configurations/mot/mot_std.toml
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@ -3,3 +3,11 @@ max_thrust = 2.6
max_torque = 0.5
mass = 0.350
time_constant = 0.00
motor_map = [
[-1.0, 1.0, 1.0], # Front Right
[1.0, -1.0, 1.0], # Front Left
[1.0, 1.0, -1.0], # Rear Left
[-1.0, -1.0, -1.0], # Rear Right
]

7
configurations/mot/mot_tc.toml
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@ -3,3 +3,10 @@ max_torque = 0.5
mass = 0.350
time_constant = 0.01
motor_map = [
[-1.0, 1.0, 1.0], # Front Right
[1.0, -1.0, 1.0], # Front Left
[1.0, 1.0, -1.0], # Rear Left
[-1.0, -1.0, -1.0], # Rear Right
]

5
configurations/pid_cont/low_01.toml
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@ -1,5 +0,0 @@
target_rate = 3.141592
proportional_multiplier = [0.005, 0.005, 0.005]
integral_multiplier = [0.0, 0.0, 0.0]
diferential_multiplier = [0.0, 0.0, 0.0]

5
configurations/pid_cont/low_02.toml
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@ -1,5 +0,0 @@
target_rate = 3.141592
proportional_multiplier = [0.01, 0.01, 0.01]
integral_multiplier = [0.0, 0.0, 0.0]
diferential_multiplier = [0.0, 0.0, 0.0]

5
configurations/pid_cont/low_03.toml
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@ -1,5 +0,0 @@
target_rate = 3.141592
proportional_multiplier = [0.015, 0.015, 0.015]
integral_multiplier = [0.0, 0.0, 0.0]
diferential_multiplier = [0.0, 0.0, 0.0]

5
configurations/pid_cont/low_04.toml
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@ -1,5 +0,0 @@
target_rate = 3.141592
proportional_multiplier = [0.02, 0.02, 0.02]
integral_multiplier = [0.0, 0.0, 0.0]
diferential_multiplier = [0.0, 0.0, 0.0]

5
configurations/pid_cont/low_05.toml
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@ -1,5 +0,0 @@
target_rate = 3.141592
proportional_multiplier = [0.025, 0.025, 0.025]
integral_multiplier = [0.0, 0.0, 0.0]
diferential_multiplier = [0.0, 0.0, 0.0]

5
configurations/pid_cont/low_06.toml
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@ -1,5 +0,0 @@
target_rate = 3.141592
proportional_multiplier = [0.03, 0.03, 0.03]
integral_multiplier = [0.0, 0.0, 0.0]
diferential_multiplier = [0.0, 0.0, 0.0]

5
configurations/pid_cont/low_07.toml
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@ -1,5 +0,0 @@
target_rate = 3.141592
proportional_multiplier = [0.035, 0.035, 0.035]
integral_multiplier = [0.0, 0.0, 0.0]
diferential_multiplier = [0.0, 0.0, 0.0]

5
configurations/pid_cont/low_08.toml
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@ -1,5 +0,0 @@
target_rate = 3.141592
proportional_multiplier = [0.04, 0.04, 0.04]
integral_multiplier = [0.0, 0.0, 0.0]
diferential_multiplier = [0.0, 0.0, 0.0]

5
configurations/pid_cont/low_09.toml
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@ -1,5 +0,0 @@
target_rate = 3.141592
proportional_multiplier = [0.045, 0.045, 0.045]
integral_multiplier = [0.0, 0.0, 0.0]
diferential_multiplier = [0.0, 0.0, 0.0]

5
configurations/pid_cont/low_10.toml
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@ -1,5 +0,0 @@
target_rate = 3.141592
proportional_multiplier = [0.05, 0.05, 0.05]
integral_multiplier = [0.0, 0.0, 0.0]
diferential_multiplier = [0.0, 0.0, 0.0]

16
configurations/pid_cont/rate_01.toml Normal file
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@ -0,0 +1,16 @@
layers = [
{ type = "Rate", max_rate = 3.14, kp = [
0.01,
0.1,
0.01,
], ki = [
0.0,
0.0,
0.0,
], kd = [
0.0,
0.0,
0.0,
] },
]

16
configurations/pid_cont/rate_02.toml Normal file
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@ -0,0 +1,16 @@
layers = [
{ type = "Rate", max_rate = 3.14, kp = [
0.02,
0.2,
0.02,
], ki = [
0.0,
0.0,
0.0,
], kd = [
0.0,
0.0,
0.0,
] },
]

16
configurations/pid_cont/rate_03.toml Normal file
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@ -0,0 +1,16 @@
layers = [
{ type = "Rate", max_rate = 3.14, kp = [
0.02,
0.2,
0.02,
], ki = [
0.0,
0.0,
0.0,
], kd = [
0.0,
0.0,
0.0,
] },
]

47
configurations/pitch.toml
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@ -1,47 +0,0 @@
tickrate = 6000.0
drone_tick_rate = 600
max_thrust = 2.6
max_torque = 0.5
mass = 0.350
# The Stack: First layer computes target speed, second layer computes motor torque
layers = [
# { type = "Angle", max_angle = 0.78, kp = [4.0, 4.0, 4.0], ki = [0.0, 0.0, 0.0], kd = [0.1, 0.1, 0.1] },
{ type = "Rate", max_rate = 3.14, kp = [
0.0,
0.0,
0.01,
], ki = [
0.0,
0.0,
0.0,
], kd = [
0.0,
0.0,
0.0,
] },
]
# + (map[0] * setpoint.x) // Roll
# + (map[1] * setpoint.y) // Yaw
# + (map[2] * setpoint.z); // Pitch
# /*
# * Motor position indices
# * ^ - Front
# * |
# * |
# * 1 --- 0
# * | |
# * | |
# * 2 --- 3
# */
motor_map = [
[-1.0, 1.0, 1.0], # Front Right
[1.0, -1.0, 1.0], # Front Left
[1.0, 1.0, -1.0], # Rear Left
[-1.0, -1.0, -1.0], # Rear Right
]

47
configurations/roll.toml
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@ -1,47 +0,0 @@
tickrate = 6000.0
drone_tick_rate = 600
max_thrust = 2.6
max_torque = 0.5
mass = 0.350
# The Stack: First layer computes target speed, second layer computes motor torque
layers = [
# { type = "Angle", max_angle = 0.78, kp = [4.0, 4.0, 4.0], ki = [0.0, 0.0, 0.0], kd = [0.1, 0.1, 0.1] },
{ type = "Rate", max_rate = 3.14, kp = [
0.01,
0.0,
0.0,
], ki = [
0.0,
0.0,
0.0,
], kd = [
0.0,
0.0,
0.0,
] },
]
# + (map[0] * setpoint.x) // Roll
# + (map[1] * setpoint.y) // Yaw
# + (map[2] * setpoint.z); // Pitch
# /*
# * Motor position indices
# * ^ - Front
# * |
# * |
# * 1 --- 0
# * | |
# * | |
# * 2 --- 3
# */
motor_map = [
[-1.0, 1.0, 1.0], # Front Right
[1.0, -1.0, 1.0], # Front Left
[1.0, 1.0, -1.0], # Rear Left
[-1.0, -1.0, -1.0], # Rear Right
]

47
configurations/yaw.toml
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@ -1,47 +0,0 @@
tickrate = 6000.0
drone_tick_rate = 600
max_thrust = 2.6
max_torque = 2.0
mass = 0.350
# The Stack: First layer computes target speed, second layer computes motor torque
layers = [
# { type = "Angle", max_angle = 0.78, kp = [4.0, 4.0, 4.0], ki = [0.0, 0.0, 0.0], kd = [0.1, 0.1, 0.1] },
{ type = "Rate", max_rate = 3.14, kp = [
0.0,
0.01,
0.0,
], ki = [
0.0,
0.0,
0.0,
], kd = [
0.0,
0.0,
0.0,
] },
]
# + (map[0] * setpoint.x) // Roll
# + (map[1] * setpoint.y) // Yaw
# + (map[2] * setpoint.z); // Pitch
# /*
# * Motor position indices
# * ^ - Front
# * |
# * |
# * 1 --- 0
# * | |
# * | |
# * 2 --- 3
# */
motor_map = [
[-1.0, 1.0, 1.0], # Front Right
[1.0, -1.0, 1.0], # Front Left
[1.0, 1.0, -1.0], # Rear Left
[-1.0, -1.0, -1.0], # Rear Right
]