add: modify project param

control.toml

@@ -5,7 +5,7 @@ mode = "geometric"
 max_tilt = 0.35  # rad，仅 linear 外环限幅
 
 [position.linear]
-kp = 0.8
+kp = 8.8
 ki = 0.2
 kd = 0.9
 

examples/eval_control.py

@@ -42,6 +42,8 @@ from uavcatch.eval import (
 
   evaluate_maneuver,
 
+  plot_control_performance,
+
   plot_maneuver_report,
 
   plot_summary_comparison,
@@ -290,13 +292,23 @@ def main() -> int:
 
     out_file = args.output / f"{spec.name}.png"
 
-    plot_maneuver_report(data, metrics, save_path=out_file, show=args.show)
+    plot_maneuver_report(data, metrics, save_path=out_file, show=args.show, show_actuator=False)
+
+    ctrl_file = args.output / f"{spec.name}_control.png"
+    plot_control_performance(
+      data,
+      metrics,
+      omega_max=uav_cfg.rotor.omega_max,
+      save_path=ctrl_file,
+      show=args.show,
+    )
 
     import matplotlib.pyplot as plt
 
     plt.close("all")
 
     print(f"  -> saved {out_file}")
+    print(f"  -> saved {ctrl_file}")
 
 
 

src/uavcatch/eval/__init__.py

@@ -4,7 +4,7 @@ from __future__ import annotations
 
 from uavcatch.eval.maneuvers import ManeuverSpec, default_maneuver_suite
 from uavcatch.eval.metrics import ManeuverMetrics, evaluate_maneuver
-from uavcatch.eval.plots import plot_maneuver_report, plot_summary_comparison
+from uavcatch.eval.plots import plot_control_performance, plot_maneuver_report, plot_summary_comparison
 from uavcatch.eval.recorder import SimRecorder
 
 __all__ = [
@@ -13,6 +13,7 @@ __all__ = [
   "SimRecorder",
   "default_maneuver_suite",
   "evaluate_maneuver",
+  "plot_control_performance",
   "plot_maneuver_report",
   "plot_summary_comparison",
 ]

src/uavcatch/eval/plots.py

@@ -15,17 +15,17 @@ def plot_maneuver_report(
   metrics: ManeuverMetrics,
   save_path: Path | None = None,
   show: bool = False,
+  show_actuator: bool = True,
 ) -> plt.Figure:
   time = data["time"]
   pos = data["position"]
   target = data["target_position"]
   err = data["tracking_error"]
-  euler = np.degrees(data["euler"])
-  omega = data["omega"]
 
-  fig = plt.figure(figsize=(12, 10))
+  nrows = 4 if show_actuator else 3
+  fig = plt.figure(figsize=(12, 10 if show_actuator else 8))
   fig.suptitle(f"{metrics.name}  [{metrics.mode}] - {metrics.description}", fontsize=11)
-  gs = fig.add_gridspec(4, 3, hspace=0.35, wspace=0.28)
+  gs = fig.add_gridspec(nrows, 3, hspace=0.35, wspace=0.28)
 
   labels = ("x", "y", "z")
   colors = ("#2563eb", "#16a34a", "#dc2626")
@@ -48,24 +48,29 @@ def plot_maneuver_report(
     ax.set_xlabel("Time (s)")
     ax.grid(alpha=0.3)
 
-  ax_att = fig.add_subplot(gs[2, 0])
-  att_labels = ("roll", "pitch", "yaw")
-  for i, (lab, c) in enumerate(zip(att_labels, colors)):
-    ax_att.plot(time, euler[:, i], color=c, linewidth=1.2, label=lab)
-  ax_att.set_ylabel("Attitude (deg)")
-  ax_att.set_xlabel("Time (s)")
-  ax_att.legend(fontsize=8)
-  ax_att.grid(alpha=0.3)
+  if show_actuator:
+    euler = np.degrees(data["euler"])
+    omega = data["omega"]
 
-  ax_om = fig.add_subplot(gs[2, 1:])
-  for i in range(omega.shape[1]):
-    ax_om.plot(time, omega[:, i], linewidth=1.0, alpha=0.85, label=f"m{i + 1}")
-  ax_om.set_ylabel("Motor ω (rad/s)")
-  ax_om.set_xlabel("Time (s)")
-  ax_om.legend(fontsize=7, ncol=2)
-  ax_om.grid(alpha=0.3)
+    ax_att = fig.add_subplot(gs[2, 0])
+    att_labels = ("roll", "pitch", "yaw")
+    for i, (lab, c) in enumerate(zip(att_labels, colors)):
+      ax_att.plot(time, euler[:, i], color=c, linewidth=1.2, label=lab)
+    ax_att.set_ylabel("Attitude (deg)")
+    ax_att.set_xlabel("Time (s)")
+    ax_att.legend(fontsize=8)
+    ax_att.grid(alpha=0.3)
 
-  ax_txt = fig.add_subplot(gs[3, :])
+    ax_om = fig.add_subplot(gs[2, 1:])
+    for i in range(omega.shape[1]):
+      ax_om.plot(time, omega[:, i], linewidth=1.0, alpha=0.85, label=f"m{i + 1}")
+    ax_om.set_ylabel("Motor ω (rad/s)")
+    ax_om.set_xlabel("Time (s)")
+    ax_om.legend(fontsize=7, ncol=2)
+    ax_om.grid(alpha=0.3)
+
+  txt_row = 3 if show_actuator else 2
+  ax_txt = fig.add_subplot(gs[txt_row, :])
   ax_txt.axis("off")
   lines = [
     f"3D RMSE = {metrics.tracking.rmse_3d:.4f} m   |   Max error = {metrics.tracking.max_error_3d:.4f} m",
@@ -91,6 +96,68 @@ def plot_maneuver_report(
   return fig
 
 
+def plot_control_performance(
+  data: dict[str, np.ndarray],
+  metrics: ManeuverMetrics,
+  omega_max: float | None = None,
+  save_path: Path | None = None,
+  show: bool = False,
+) -> plt.Figure:
+  """Supplementary figure focused on velocity tracking and motor control."""
+  time = data["time"]
+  vel = data["velocity"]
+  tgt_vel = data["target_velocity"]
+  omega = data["omega"]
+  vel_err = tgt_vel - vel
+
+  fig = plt.figure(figsize=(12, 9))
+  fig.suptitle(f"{metrics.name} — Control Performance", fontsize=11, fontweight="bold")
+  gs = fig.add_gridspec(3, 3, hspace=0.35, wspace=0.28)
+
+  labels = ("x", "y", "z")
+  colors = ("#2563eb", "#16a34a", "#dc2626")
+
+  # --- Velocity tracking ---
+  ax_vel = fig.add_subplot(gs[0, :])
+  for i, (lab, c) in enumerate(zip(labels, colors)):
+    ax_vel.plot(time, tgt_vel[:, i], "--", color=c, alpha=0.5, linewidth=1.0, label=f"{lab} ref")
+    ax_vel.plot(time, vel[:, i], "-", color=c, linewidth=1.5, label=f"{lab} act")
+  ax_vel.set_ylabel("Velocity (m/s)")
+  ax_vel.set_xlabel("Time (s)")
+  ax_vel.legend(loc="upper right", ncol=3, fontsize=8)
+  ax_vel.grid(alpha=0.3)
+
+  # --- Velocity error per axis ---
+  for i, (lab, c) in enumerate(zip(labels, colors)):
+    ax = fig.add_subplot(gs[1, i])
+    ax.plot(time, vel_err[:, i], color=c, linewidth=1.3)
+    ax.axhline(0.0, color="k", linewidth=0.6, alpha=0.4)
+    rmse = float(np.sqrt(np.mean(vel_err[:, i] ** 2)))
+    ax.set_title(f"Vel Error {lab}  RMSE={rmse:.3f} m/s")
+    ax.set_ylabel("Error (m/s)")
+    ax.set_xlabel("Time (s)")
+    ax.grid(alpha=0.3)
+
+  # --- Motor speeds ---
+  ax_om = fig.add_subplot(gs[2, :])
+  for i in range(omega.shape[1]):
+    ax_om.plot(time, omega[:, i], linewidth=1.0, alpha=0.85, label=f"m{i + 1}")
+  if omega_max is not None:
+    ax_om.axhline(omega_max, color="red", linewidth=0.8, linestyle="--", alpha=0.6, label=f"ω_max={omega_max:.0f}")
+  ax_om.set_ylabel("Motor ω (rad/s)")
+  ax_om.set_xlabel("Time (s)")
+  ax_om.legend(fontsize=7, ncol=4)
+  ax_om.grid(alpha=0.3)
+
+  if save_path is not None:
+    save_path.parent.mkdir(parents=True, exist_ok=True)
+    fig.savefig(save_path, dpi=140, bbox_inches="tight")
+
+  if show:
+    plt.show()
+  return fig
+
+
 def plot_summary_comparison(
   all_metrics: list[ManeuverMetrics],
   save_path: Path | None = None,