Hello, everyone.
I find that the ActuatorMotors.msg represents normalized thrust. I know the whole controller is unitless. But if I calculate motor speed (rad/s), then how can I convert it into the format of ActuatorMotors.msg?
If you look in the neural controller RescaleActions function. It converts rps into ActuatorMotors, so you can convert rad/s into rps and reuse that formula
Haha, what a coincidence! Shower is me. Indeed, it can be done this way. I didn’t think of doing it like this when we communicated via email before. Have you tested the Neural Control Mode on quadrotors with different wheelbases? How is the generalization effect?
I guessed from the profile picture, hehe. I don’t know what you mean by different wheelbases, but if you mean different motor/propeller combinations then I did just a little bit. I tested on two different platforms, the LMF and the X500, but the X500 broke during testing, so never got to test it properly. But I did train two separate networks, but in sim I could interchange the networks as long as the thrust coefficient was adjusted in the parameters
OK, I think that the thrust and body rates output by the model may more be better.
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