addded configs, input recording next

analyze.py

@@ -23,7 +23,7 @@ print(f"\nLoading: {csv_path}\n")
 df = pd.read_csv(csv_path)
 
 # -------- Plot target vs current --------
-for coord in ["x", "y", "z"]:
+for coord in ["x"]:
     plt.figure()
     plt.plot(df["time"], df[f"target_{coord}"], label=f"target_{coord}")
     plt.plot(df["time"], df[f"current_{coord}"], label=f"current_{coord}")
@@ -42,15 +42,15 @@ for coord in ["x", "y", "z"]:
     plt.show()
 
 # -------- Plot error --------
-plt.figure()
+# plt.figure()
-plt.plot(df["time"], df["error_x"], label="error_x")
+# plt.plot(df["time"], df["error_x"], label="error_x")
-plt.plot(df["time"], df["error_y"], label="error_y")
+# plt.plot(df["time"], df["error_y"], label="error_y")
-plt.plot(df["time"], df["error_z"], label="error_z")
+# plt.plot(df["time"], df["error_z"], label="error_z")
-
+#
-plt.xlabel("Time (s)")
+# plt.xlabel("Time (s)")
-plt.ylabel("Error")
+# plt.ylabel("Error")
-plt.title(f"PID Error — {csv_path.name}")
+# plt.title(f"PID Error — {csv_path.name}")
-plt.legend(loc="upper right")
+# plt.legend(loc="upper right")
-plt.grid(True)
+# plt.grid(True)
-plt.show()
+# plt.show()
 

configurations/PID_med+.toml

@@ -0,0 +1,13 @@
+tickrate = 60000.0
+drone_tick_rate = 600
+
+target_rate = 3.141592
+
+proportional_multiplier = [0.10, 2.0, 0.10]
+integral_multiplier = [0.0000001, 0.00000001, 0.0000001]
+diferential_multiplier = [0.0000001, 0.0000001, 0.0000001]
+
+max_thrust = 2.6
+max_torque = 0.5
+mass = 0.350
+

configurations/PI_med+.toml

@@ -0,0 +1,13 @@
+tickrate = 60000.0
+drone_tick_rate = 600
+
+target_rate = 3.141592
+
+proportional_multiplier = [0.10, 2.0, 0.10]
+integral_multiplier = [0.0000001, 0.00000001, 0.0000001]
+diferential_multiplier = [0.0, 0.0, 0.0]
+
+max_thrust = 2.6
+max_torque = 0.5
+mass = 0.350
+

configurations/proportional_high.toml

@@ -0,0 +1,13 @@
+tickrate = 60000.0
+drone_tick_rate = 600
+
+target_rate = 3.141592
+
+proportional_multiplier = [0.17, 2.0, 0.17]
+integral_multiplier = [0.0, 0.0, 0.0]
+diferential_multiplier = [0.0, 0.0, 0.0]
+
+max_thrust = 2.6
+max_torque = 0.5
+mass = 0.350
+

configurations/proportional_med+++.toml

@@ -0,0 +1,13 @@
+tickrate = 60000.0
+drone_tick_rate = 600
+
+target_rate = 3.141592
+
+proportional_multiplier = [0.15, 2.0, 0.15]
+integral_multiplier = [0.0, 0.0, 0.0]
+diferential_multiplier = [0.0, 0.0, 0.0]
+
+max_thrust = 2.6
+max_torque = 0.5
+mass = 0.350
+

configurations/proportional_med++.toml

@@ -0,0 +1,13 @@
+tickrate = 60000.0
+drone_tick_rate = 600
+
+target_rate = 3.141592
+
+proportional_multiplier = [0.12, 2.0, 0.12]
+integral_multiplier = [0.0, 0.0, 0.0]
+diferential_multiplier = [0.0, 0.0, 0.0]
+
+max_thrust = 2.6
+max_torque = 0.5
+mass = 0.350
+

configurations/proportional_med+.toml

@@ -0,0 +1,13 @@
+tickrate = 60000.0
+drone_tick_rate = 600
+
+target_rate = 3.141592
+
+proportional_multiplier = [0.11, 2.0, 0.11]
+integral_multiplier = [0.0, 0.0, 0.0]
+diferential_multiplier = [0.0, 0.0, 0.0]
+
+max_thrust = 2.6
+max_torque = 0.5
+mass = 0.350
+

configurations/proportional_med.toml

@@ -0,0 +1,13 @@
+tickrate = 60000.0
+drone_tick_rate = 600
+
+target_rate = 3.141592
+
+proportional_multiplier = [0.1, 2.0, 0.1]
+integral_multiplier = [0.0, 0.0, 0.0]
+diferential_multiplier = [0.0, 0.0, 0.0]
+
+max_thrust = 2.6
+max_torque = 0.5
+mass = 0.350
+