From e901fa957909e466a5c144c00c2f7b20f8baf255 Mon Sep 17 00:00:00 2001 From: robinson <18656133516@qq.com> Date: Fri, 3 Jul 2026 04:19:44 +0800 Subject: [PATCH] init --- assets/mujoco/quadcopter.xml | 2 + assets/mujoco/scene.xml | 2 + control.toml | 54 +++ environment.toml | 26 ++ examples/eval_control.py | 320 +++++++++++++++ examples/fly_geometric.py | 121 ++++++ examples/fly_hover.py | 121 ++++++ examples/fly_takeoff_forward.py | 119 ++++++ output/eval_control/circle.png | Bin 0 -> 216119 bytes output/eval_control/summary.png | Bin 0 -> 38040 bytes pyproject.toml | 27 ++ requirements.txt | 6 + src/uavcatch.egg-info/PKG-INFO | 11 + src/uavcatch.egg-info/SOURCES.txt | 17 + src/uavcatch.egg-info/dependency_links.txt | 1 + src/uavcatch.egg-info/requires.txt | 9 + src/uavcatch.egg-info/top_level.txt | 1 + src/uavcatch/__init__.py | 31 ++ .../__pycache__/__init__.cpython-313.pyc | Bin 0 -> 766 bytes .../__pycache__/config.cpython-313.pyc | Bin 0 -> 21629 bytes src/uavcatch/config.py | 382 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.../sim/__pycache__/__init__.cpython-313.pyc | Bin 0 -> 299 bytes .../sim/__pycache__/engine.cpython-313.pyc | Bin 0 -> 5388 bytes .../__pycache__/mujoco_model.cpython-313.pyc | Bin 0 -> 10362 bytes .../__pycache__/mujoco_viz.cpython-313.pyc | Bin 0 -> 8919 bytes src/uavcatch/sim/engine.py | 90 +++++ src/uavcatch/sim/mujoco_model.py | 162 ++++++++ src/uavcatch/sim/mujoco_viz.py | 142 +++++++ .../test_control.cpython-313-pytest-9.1.1.pyc | Bin 0 -> 8291 bytes ...test_dynamics.cpython-313-pytest-9.1.1.pyc | Bin 0 -> 23496 bytes .../test_eval.cpython-313-pytest-9.1.1.pyc | Bin 0 -> 11759 bytes tests/test_control.py | 105 +++++ tests/test_dynamics.py | 183 +++++++++ tests/test_eval.py | 72 ++++ uav.toml | 28 ++ 72 files changed, 3715 insertions(+) create mode 100644 assets/mujoco/quadcopter.xml create mode 100644 assets/mujoco/scene.xml create mode 100644 control.toml create mode 100644 environment.toml create mode 100644 examples/eval_control.py create mode 100644 examples/fly_geometric.py create mode 100644 examples/fly_hover.py create mode 100644 examples/fly_takeoff_forward.py create mode 100644 output/eval_control/circle.png create mode 100644 output/eval_control/summary.png create mode 100644 pyproject.toml create mode 100644 requirements.txt create mode 100644 src/uavcatch.egg-info/PKG-INFO create mode 100644 src/uavcatch.egg-info/SOURCES.txt create mode 100644 src/uavcatch.egg-info/dependency_links.txt create mode 100644 src/uavcatch.egg-info/requires.txt create mode 100644 src/uavcatch.egg-info/top_level.txt create mode 100644 src/uavcatch/__init__.py create mode 100644 src/uavcatch/__pycache__/__init__.cpython-313.pyc create mode 100644 src/uavcatch/__pycache__/config.cpython-313.pyc create mode 100644 src/uavcatch/config.py create mode 100644 src/uavcatch/control/__init__.py create mode 100644 src/uavcatch/control/__pycache__/__init__.cpython-313.pyc create mode 100644 src/uavcatch/control/__pycache__/allocator.cpython-313.pyc create mode 100644 src/uavcatch/control/__pycache__/attitude.cpython-313.pyc create mode 100644 src/uavcatch/control/__pycache__/cascade.cpython-313.pyc create mode 100644 src/uavcatch/control/__pycache__/factory.cpython-313.pyc create mode 100644 src/uavcatch/control/__pycache__/math3d.cpython-313.pyc create mode 100644 src/uavcatch/control/__pycache__/pid.cpython-313.pyc create mode 100644 src/uavcatch/control/__pycache__/position.cpython-313.pyc create mode 100644 src/uavcatch/control/__pycache__/types.cpython-313.pyc create mode 100644 src/uavcatch/control/allocator.py create mode 100644 src/uavcatch/control/attitude.py create mode 100644 src/uavcatch/control/cascade.py create mode 100644 src/uavcatch/control/factory.py create mode 100644 src/uavcatch/control/math3d.py create mode 100644 src/uavcatch/control/pid.py create mode 100644 src/uavcatch/control/position.py create mode 100644 src/uavcatch/control/types.py create mode 100644 src/uavcatch/dynamics/__init__.py create mode 100644 src/uavcatch/dynamics/__pycache__/__init__.cpython-313.pyc create mode 100644 src/uavcatch/dynamics/__pycache__/model.cpython-313.pyc create mode 100644 src/uavcatch/dynamics/__pycache__/state.cpython-313.pyc create mode 100644 src/uavcatch/dynamics/__pycache__/wind.cpython-313.pyc create mode 100644 src/uavcatch/dynamics/model.py create mode 100644 src/uavcatch/dynamics/state.py create mode 100644 src/uavcatch/dynamics/wind.py create mode 100644 src/uavcatch/eval/__init__.py create mode 100644 src/uavcatch/eval/__pycache__/__init__.cpython-313.pyc create mode 100644 src/uavcatch/eval/__pycache__/maneuvers.cpython-313.pyc create mode 100644 src/uavcatch/eval/__pycache__/metrics.cpython-313.pyc create mode 100644 src/uavcatch/eval/__pycache__/plots.cpython-313.pyc create mode 100644 src/uavcatch/eval/__pycache__/recorder.cpython-313.pyc create mode 100644 src/uavcatch/eval/maneuvers.py create mode 100644 src/uavcatch/eval/metrics.py create mode 100644 src/uavcatch/eval/plots.py create mode 100644 src/uavcatch/eval/recorder.py create mode 100644 src/uavcatch/sim/__init__.py create mode 100644 src/uavcatch/sim/__pycache__/__init__.cpython-313.pyc create mode 100644 src/uavcatch/sim/__pycache__/engine.cpython-313.pyc create mode 100644 src/uavcatch/sim/__pycache__/mujoco_model.cpython-313.pyc create mode 100644 src/uavcatch/sim/__pycache__/mujoco_viz.cpython-313.pyc create mode 100644 src/uavcatch/sim/engine.py create mode 100644 src/uavcatch/sim/mujoco_model.py create mode 100644 src/uavcatch/sim/mujoco_viz.py create mode 100644 tests/__pycache__/test_control.cpython-313-pytest-9.1.1.pyc create mode 100644 tests/__pycache__/test_dynamics.cpython-313-pytest-9.1.1.pyc create mode 100644 tests/__pycache__/test_eval.cpython-313-pytest-9.1.1.pyc create mode 100644 tests/test_control.py create mode 100644 tests/test_dynamics.py create mode 100644 tests/test_eval.py create mode 100644 uav.toml diff --git a/assets/mujoco/quadcopter.xml b/assets/mujoco/quadcopter.xml new file mode 100644 index 0000000..a77d5d3 --- /dev/null +++ b/assets/mujoco/quadcopter.xml @@ -0,0 +1,2 @@ +# Static snapshot for reference only. +# Runtime visualization uses procedural MJCF from uavcatch.sim.mujoco_model. diff --git a/assets/mujoco/scene.xml b/assets/mujoco/scene.xml new file mode 100644 index 0000000..a77d5d3 --- /dev/null +++ b/assets/mujoco/scene.xml @@ -0,0 +1,2 @@ +# Static snapshot for reference only. +# Runtime visualization uses procedural MJCF from uavcatch.sim.mujoco_model. diff --git a/control.toml b/control.toml new file mode 100644 index 0000000..4d561f3 --- /dev/null +++ b/control.toml @@ -0,0 +1,54 @@ +[controller] +# linear: 世界系位置 PID + 姿态内环 +# geometric: SE(3) 几何位置控制 + 四元数姿态内环 +mode = "geometric" +max_tilt = 0.35 # rad，仅 linear 外环限幅 + +[position.linear] +kp = 0.8 +ki = 0.2 +kd = 0.9 + +[position.geometric] +kp = 2.5 +ki = 0.4 +kd = 2.0 + +[attitude.linear] +kp = 8.0 +ki = 0.5 +kd = 0.6 + +[attitude.geometric] +kp = 10.0 +ki = 0.8 +kd = 0.8 + +[eval] +initial_height = 2.0 + +[eval.hover] +duration = 8.0 + +[eval.step] +step_time = 2.0 +duration = 12.0 +step_z = 3.0 +step_x = 3.0 +step_y = 2.0 + +[eval.takeoff_forward] +ground_z = 0.0 +hover_z = 2.0 +forward_x = 4.0 +takeoff_time = 3.0 +hover_time = 2.0 +forward_time = 6.0 + +[eval.circle] +ground_z = 0.0 +takeoff_time = 2.0 +radius = 2.5 +height = 2.0 +period = 10.0 +duration = 20.0 diff --git a/environment.toml b/environment.toml new file mode 100644 index 0000000..34c6ca5 --- /dev/null +++ b/environment.toml @@ -0,0 +1,26 @@ +[scene] +# 场景边界（米），以原点为中心 +size_x = 20.0 +size_y = 20.0 +size_z = 10.0 +ground_z = 0.0 + +[physics] +gravity = 9.81 +air_density = 1.225 + +[simulation] +dt = 0.003 +duration = 10.0 +integrator = "rk4" + +[viewer] +enable = true +fps = 60 +camera_distance = 8.0 + +[wind] +# 环境风(世界系, m/s)。drag 基于相对空速 v_rel = 机体速度 - 风速 计算 +velocity = [0.0, 0.0, 0.0] # 恒定风速 [vx, vy, vz] +gust_amplitude = 0.0 # 阵风幅值(m/s)，沿风向叠加正弦扰动 +gust_frequency = 0.0 # 阵风频率(Hz) diff --git a/examples/eval_control.py b/examples/eval_control.py new file mode 100644 index 0000000..c05b4d7 --- /dev/null +++ b/examples/eval_control.py @@ -0,0 +1,320 @@ +#!/usr/bin/env python3 + +"""Control system performance evaluation: maneuvers + time-domain metrics.""" + + + +from __future__ import annotations + + + +import argparse + +import sys + +from pathlib import Path + + + +import numpy as np + + + +ROOT = Path(__file__).resolve().parents[1] + +if str(ROOT) not in sys.path: + + sys.path.insert(0, str(ROOT / "src")) + + + +from uavcatch.config import load_control_config, load_environment_config, load_uav_config + +from uavcatch.control import TrackingController + +from uavcatch.control.factory import build_cascaded_controller + +from uavcatch.eval import ( + + SimRecorder, + + default_maneuver_suite, + + evaluate_maneuver, + + plot_maneuver_report, + + plot_summary_comparison, + +) + +from uavcatch.eval.maneuvers import ManeuverSpec + +from uavcatch.sim.engine import SimEngine + + + + + +def parse_args() -> argparse.Namespace: + + parser = argparse.ArgumentParser(description="Evaluate cascaded flight controller performance") + + parser.add_argument("--environment", type=Path, default=ROOT / "environment.toml") + + parser.add_argument("--uav", type=Path, default=ROOT / "uav.toml") + + parser.add_argument("--control", type=Path, default=ROOT / "control.toml") + + parser.add_argument( + + "--output", + + type=Path, + + default=ROOT / "output" / "eval_control", + + help="Directory for plots", + + ) + + parser.add_argument("--show", action="store_true", help="Show matplotlib windows") + + parser.add_argument( + + "--maneuver", + + type=str, + + default="all", + + help="Run one maneuver by name, or 'all'", + + ) + + return parser.parse_args() + + + + + +def run_maneuver( + + spec: ManeuverSpec, + + env_cfg, + + uav_cfg, + + control_cfg, + +) -> tuple[dict[str, np.ndarray], object]: + + env_cfg.simulation.duration = spec.duration + + if spec.initial_position is not None: + + uav_cfg.initial.position = list(spec.initial_position) + + engine = SimEngine(env_cfg=env_cfg, uav_cfg=uav_cfg) + + engine.reset() + + + + init = spec.target_fn(0.0) + + if hasattr(init, "position"): + + init_pos, init_vel = init.position, init.velocity + + else: + + init_pos, init_vel = np.asarray(init), np.zeros(3) + + + + controller = build_cascaded_controller( + + control_cfg, + + engine.dynamics, + + uav_cfg, + + target_position=init_pos, + + target_velocity=init_vel, + + ) + + controller.reset() + + tracker = TrackingController( + + controller=controller, + + target_fn=spec.target_fn, + + yaw_fn=spec.yaw_fn, + + accel_fn=spec.accel_fn, + + ) + + + + recorder = SimRecorder() + + + + def on_step(state, t, omega): + + tgt_pos, tgt_vel = recorder.resolve_target(spec.target_fn, t) + + recorder.record(t, state, tgt_pos, tgt_vel, omega) + + + + engine.run(tracker, duration=spec.duration, on_step=on_step) + + return recorder.as_arrays(), engine + + + + + +def print_metrics_table(metrics_list: list) -> None: + + print("\n" + "=" * 72) + + print(f"{'Maneuver':<22} {'Mode':<10} {'RMSE3D':>8} {'MaxErr':>8} {'Sat%':>6}") + + print("-" * 72) + + for m in metrics_list: + + print( + + f"{m.name:<22} {m.mode:<10} " + + f"{m.tracking.rmse_3d:8.4f} {m.tracking.max_error_3d:8.4f} " + + f"{m.control.saturation_ratio * 100:6.1f}" + + ) + + print("=" * 72) + + for m in metrics_list: + + if m.step is not None: + + rise = f"{m.step.rise_time:.3f}s" if m.step.rise_time is not None else "N/A" + + settle = f"{m.step.settling_time:.3f}s" if m.step.settling_time is not None else "N/A" + + print( + + f" [{m.name}] step {m.step.axis}: rise={rise}, settle={settle}, " + + f"overshoot={m.step.overshoot_pct:.1f}%, ss_err={m.step.steady_state_error:.4f} m" + + ) + + + + + +def main() -> int: + + args = parse_args() + + env_cfg = load_environment_config(args.environment) + + uav_cfg = load_uav_config(args.uav) + + control_cfg = load_control_config(args.control) + + uav_cfg.initial.position = [0.0, 0.0, control_cfg.eval.initial_height] + + uav_cfg.initial.velocity = [0.0, 0.0, 0.0] + + + + suite = default_maneuver_suite(control_cfg.eval) + + if args.maneuver != "all": + + suite = [s for s in suite if s.name == args.maneuver] + + if not suite: + + names = ", ".join(s.name for s in default_maneuver_suite(control_cfg.eval)) + + print(f"Unknown maneuver '{args.maneuver}'. Available: {names}") + + return 1 + + + + mode = control_cfg.controller.mode + + print(f"Controller mode: {mode} (from {args.control})") + + + + all_metrics = [] + + for spec in suite: + + print(f"Running: {spec.name} - {spec.description}") + + data, engine = run_maneuver(spec, env_cfg, uav_cfg, control_cfg) + + metrics = evaluate_maneuver( + + spec, + + data, + + omega_max=uav_cfg.rotor.omega_max, + + mode=mode, + + ) + + all_metrics.append(metrics) + + + + out_file = args.output / f"{spec.name}.png" + + plot_maneuver_report(data, metrics, save_path=out_file, show=args.show) + + import matplotlib.pyplot as plt + + plt.close("all") + + print(f" -> saved {out_file}") + + + + summary_path = args.output / "summary.png" + + plot_summary_comparison(all_metrics, save_path=summary_path, show=args.show) + + print(f"\nSummary plot: {summary_path}") + + print_metrics_table(all_metrics) + + return 0 + + + + + +if __name__ == "__main__": + + raise SystemExit(main()) + diff --git a/examples/fly_geometric.py b/examples/fly_geometric.py new file mode 100644 index 0000000..0c9a1ff --- /dev/null +++ b/examples/fly_geometric.py @@ -0,0 +1,121 @@ +#!/usr/bin/env python3 +"""SE(3) geometric control demo: circular trajectory tracking.""" + +from __future__ import annotations + +import argparse +import sys +from pathlib import Path + +import numpy as np + +ROOT = Path(__file__).resolve().parents[1] +if str(ROOT) not in sys.path: + sys.path.insert(0, str(ROOT / "src")) + +from uavcatch.config import load_control_config, load_environment_config, load_uav_config +from uavcatch.control import TrackingController, circle_trajectory +from uavcatch.control.factory import build_cascaded_controller +from uavcatch.dynamics.state import QuadState +from uavcatch.sim.engine import SimEngine +from uavcatch.sim.mujoco_viz import MuJoCoViewer + + +def parse_args() -> argparse.Namespace: + parser = argparse.ArgumentParser( + description="Geometric SE(3) circular trajectory tracking demo", + ) + parser.add_argument("--environment", type=Path, default=ROOT / "environment.toml") + parser.add_argument("--uav", type=Path, default=ROOT / "uav.toml") + parser.add_argument("--control", type=Path, default=ROOT / "control.toml") + parser.add_argument("--radius", type=float, default=3.0, help="Circle radius (m)") + parser.add_argument("--height", type=float, default=2.0, help="Flight height (m)") + parser.add_argument("--period", type=float, default=12.0, help="One lap period (s)") + parser.add_argument("--duration", type=float, default=24.0, help="Simulation duration (s)") + parser.add_argument("--no-viewer", action="store_true") + parser.add_argument( + "--speed", + type=float, + default=1.0, + help="Playback speed (1.0 = real time, <1 slow motion)", + ) + return parser.parse_args() + + +def main() -> int: + args = parse_args() + env_cfg = load_environment_config(args.environment) + uav_cfg = load_uav_config(args.uav) + control_cfg = load_control_config(args.control) + env_cfg.simulation.duration = args.duration + + if control_cfg.controller.mode != "geometric": + print( + f"Warning: control.toml mode is '{control_cfg.controller.mode}'; " + "circle tracking works best with mode = \"geometric\"." + ) + + engine = SimEngine(env_cfg=env_cfg, uav_cfg=uav_cfg) + engine.reset() + + center = np.array([0.0, 0.0, 0.0], dtype=np.float64) + pos_fn, yaw_fn, accel_fn = circle_trajectory( + center=center, + radius=args.radius, + height=args.height, + period=args.period, + ) + init_target = pos_fn(0.0) + controller = build_cascaded_controller( + control_cfg, + engine.dynamics, + uav_cfg, + target_position=init_target.position, + target_velocity=init_target.velocity, + target_yaw=float(yaw_fn(0.0)), + ) + tracker = TrackingController( + controller=controller, + target_fn=pos_fn, + yaw_fn=yaw_fn, + accel_fn=accel_fn, + ) + + duration = args.duration + dt = env_cfg.simulation.dt + use_viewer = env_cfg.viewer.enable and not args.no_viewer + + if use_viewer: + with MuJoCoViewer(env_cfg, uav_cfg=uav_cfg) as viewer: + def on_step(state: QuadState, t: float, omega: np.ndarray) -> None: + viewer.render_realtime(state, omega, dt, speed=args.speed) + if not viewer.is_running(): + raise KeyboardInterrupt + + try: + engine.run(tracker, duration=duration, on_step=on_step) + except KeyboardInterrupt: + pass + else: + engine.run(tracker, duration=duration) + + final = engine.state + final_target = pos_fn(duration) + pos_err = float(np.linalg.norm(final.position - final_target.position)) + print(f"Simulation finished at t={engine.time:.2f}s") + print(f"Final position: {final.position}") + print(f"Target position: {final_target.position}") + print(f"Position error: {pos_err:.4f} m") + print(f"Final velocity: {final.velocity}") + + if pos_err > 1.0: + print("Warning: circular tracking error exceeds 1.0 m") + return 1 + return 0 + + +if __name__ == "__main__": + try: + raise SystemExit(main()) + except KeyboardInterrupt: + raise SystemExit(130) from None diff --git a/examples/fly_hover.py b/examples/fly_hover.py new file mode 100644 index 0000000..1f1e126 --- /dev/null +++ b/examples/fly_hover.py @@ -0,0 +1,121 @@ +#!/usr/bin/env python3 +"""Hover demo: PID-controlled single quadcopter in MuJoCo viewer.""" + +from __future__ import annotations + +import argparse +import sys +from pathlib import Path + +import numpy as np + +ROOT = Path(__file__).resolve().parents[1] +if str(ROOT) not in sys.path: + sys.path.insert(0, str(ROOT / "src")) + +from uavcatch.config import load_control_config, load_environment_config, load_uav_config +from uavcatch.control.pid import HoverPIDController +from uavcatch.dynamics.state import QuadState +from uavcatch.sim.engine import SimEngine +from uavcatch.sim.mujoco_viz import MuJoCoViewer + + +def parse_args() -> argparse.Namespace: + parser = argparse.ArgumentParser(description="Single-UAV hover simulation demo") + parser.add_argument( + "--environment", + type=Path, + default=ROOT / "environment.toml", + help="Path to environment.toml", + ) + parser.add_argument( + "--uav", + type=Path, + default=ROOT / "uav.toml", + help="Path to uav.toml", + ) + parser.add_argument( + "--control", + type=Path, + default=ROOT / "control.toml", + help="Path to control.toml", + ) + parser.add_argument( + "--target-z", + type=float, + default=2.0, + help="Target hover height (m)", + ) + parser.add_argument( + "--no-viewer", + action="store_true", + help="Run without MuJoCo viewer", + ) + parser.add_argument( + "--speed", + type=float, + default=1.0, + help="Playback speed (1.0 = real time, <1 slow motion)", + ) + return parser.parse_args() + + +def main() -> int: + args = parse_args() + env_cfg = load_environment_config(args.environment) + uav_cfg = load_uav_config(args.uav) + control_cfg = load_control_config(args.control) + engine = SimEngine(env_cfg=env_cfg, uav_cfg=uav_cfg) + engine.reset() + + target = np.array([0.0, 0.0, args.target_z], dtype=np.float64) + controller = HoverPIDController( + dynamics=engine.dynamics, + uav_cfg=uav_cfg, + target_position=target, + control_cfg=control_cfg, + ) + + duration = env_cfg.simulation.duration + dt = env_cfg.simulation.dt + use_viewer = env_cfg.viewer.enable and not args.no_viewer + + if use_viewer: + with MuJoCoViewer(env_cfg, uav_cfg=uav_cfg) as viewer: + last_state: QuadState | None = None + last_omega: np.ndarray | None = None + + def on_step(state: QuadState, t: float, omega: np.ndarray) -> None: + nonlocal last_state, last_omega + last_state = state + last_omega = omega + viewer.render_realtime(state, omega, dt, speed=args.speed) + if not viewer.is_running(): + raise KeyboardInterrupt + + try: + history = engine.run(controller, duration=duration, on_step=on_step) + except KeyboardInterrupt: + history = [] + else: + history = engine.run(controller, duration=duration) + + final = engine.state + pos_err = np.linalg.norm(final.position - target) + print(f"Simulation finished at t={engine.time:.2f}s") + print(f"Final position: {final.position}") + print(f"Target position: {target}") + print(f"Position error: {pos_err:.4f} m") + print(f"Final velocity: {final.velocity}") + + if pos_err > 0.1: + print("Warning: position error exceeds 0.1 m threshold") + return 1 + return 0 + + +if __name__ == "__main__": + try: + raise SystemExit(main()) + except KeyboardInterrupt: + raise SystemExit(130) from None diff --git a/examples/fly_takeoff_forward.py b/examples/fly_takeoff_forward.py new file mode 100644 index 0000000..d65559a --- /dev/null +++ b/examples/fly_takeoff_forward.py @@ -0,0 +1,119 @@ +#!/usr/bin/env python3 +"""Take off from ground, hover, then fly forward along +X.""" + +from __future__ import annotations + +import argparse +import sys +from pathlib import Path + +import numpy as np + +ROOT = Path(__file__).resolve().parents[1] +if str(ROOT) not in sys.path: + sys.path.insert(0, str(ROOT / "src")) + +from uavcatch.config import load_control_config, load_environment_config, load_uav_config +from uavcatch.control.pid import ( + HoverPIDController, + TrackingPIDController, + phased_takeoff_hover_forward, +) +from uavcatch.dynamics.state import QuadState +from uavcatch.sim.engine import SimEngine +from uavcatch.sim.mujoco_viz import MuJoCoViewer + + +def parse_args() -> argparse.Namespace: + parser = argparse.ArgumentParser( + description="Ground takeoff -> hover -> forward flight demo", + ) + parser.add_argument("--environment", type=Path, default=ROOT / "environment.toml") + parser.add_argument("--uav", type=Path, default=ROOT / "uav.toml") + parser.add_argument("--control", type=Path, default=ROOT / "control.toml") + parser.add_argument("--hover-z", type=float, default=2.0, help="Hover height (m)") + parser.add_argument("--forward-x", type=float, default=5.0, help="Forward distance (m)") + parser.add_argument("--takeoff-time", type=float, default=4.0, help="Takeoff phase (s)") + parser.add_argument("--hover-time", type=float, default=3.0, help="Hover phase (s)") + parser.add_argument("--forward-time", type=float, default=8.0, help="Forward phase (s)") + parser.add_argument("--no-viewer", action="store_true") + parser.add_argument( + "--speed", + type=float, + default=1.0, + help="Playback speed (1.0 = real time, <1 slow motion)", + ) + return parser.parse_args() + + +def main() -> int: + args = parse_args() + env_cfg = load_environment_config(args.environment) + uav_cfg = load_uav_config(args.uav) + control_cfg = load_control_config(args.control) + + ground_z = env_cfg.scene.ground_z + uav_cfg.initial.position = [0.0, 0.0, ground_z + 0.05] + uav_cfg.initial.velocity = [0.0, 0.0, 0.0] + uav_cfg.initial.attitude_euler = [0.0, 0.0, 0.0] + uav_cfg.initial.angular_rate = [0.0, 0.0, 0.0] + + duration = args.takeoff_time + args.hover_time + args.forward_time + env_cfg.simulation.duration = duration + + engine = SimEngine(env_cfg=env_cfg, uav_cfg=uav_cfg) + engine.reset() + + target_fn = phased_takeoff_hover_forward( + ground_z=ground_z, + hover_z=args.hover_z, + forward_x=args.forward_x, + takeoff_duration=args.takeoff_time, + hover_duration=args.hover_time, + forward_duration=args.forward_time, + ) + hover_pid = HoverPIDController( + dynamics=engine.dynamics, + uav_cfg=uav_cfg, + target_position=target_fn(0.0).position, + control_cfg=control_cfg, + ) + controller = TrackingPIDController(pid=hover_pid, target_fn=target_fn) + + final_target = target_fn(duration).position + dt = env_cfg.simulation.dt + use_viewer = env_cfg.viewer.enable and not args.no_viewer + + if use_viewer: + with MuJoCoViewer(env_cfg, uav_cfg=uav_cfg) as viewer: + def on_step(state: QuadState, t: float, omega: np.ndarray) -> None: + viewer.render_realtime(state, omega, dt, speed=args.speed) + if not viewer.is_running(): + raise KeyboardInterrupt + + try: + engine.run(controller, duration=duration, on_step=on_step) + except KeyboardInterrupt: + pass + else: + engine.run(controller, duration=duration) + + final = engine.state + pos_err = np.linalg.norm(final.position - final_target) + print(f"Simulation finished at t={engine.time:.2f}s") + print(f"Final position: {final.position}") + print(f"Expected target: {final_target}") + print(f"Position error: {pos_err:.4f} m") + print(f"Final velocity: {final.velocity}") + + if pos_err > 0.5: + print("Warning: final tracking error exceeds 0.5 m") + return 1 + return 0 + + +if __name__ == "__main__": + try: + raise SystemExit(main()) + except KeyboardInterrupt: + raise SystemExit(130) from None diff --git a/output/eval_control/circle.png b/output/eval_control/circle.png new file mode 100644 index 0000000000000000000000000000000000000000..37eb5622efb3117d87f9847002ffc9ce7c567063 GIT binary patch literal 216119 zcmeFZWmHvd`!Bi(kuGVF5CH`wBqbFQ6r_|+k?u|@1qmr>5D*a&0qO285fG7Xkd{u# zbIs>{$Fs-&a6X+q&e$LRYYYb}E9Si8x_))95M@PK0$dtg6beP~=%Mrz6zWnW3WYg| zjRpU6Sv*?;euy|f&~$!kXX@-`=xBmcFm$%JwsW?&c+Ti*;^<^yXUoUM%frRP$!PBE zZ0{t(&297VGq~&=&A4M7H67tyaO@vyIiXPG!N?!9*5SJ!P-rOBBk6mp?kRsJ-JDei 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+requires-python = ">=3.10" +dependencies = [ + "numpy>=1.24", + "mujoco>=3.0", + "scipy>=1.10", + "matplotlib>=3.7", + "tomli>=2.0.1; python_version < '3.11'", +] + +[project.optional-dependencies] +dev = [ + "pytest>=7.0", +] + +[tool.setuptools.packages.find] +where = ["src"] + +[tool.pytest.ini_options] +testpaths = ["tests"] diff --git a/requirements.txt b/requirements.txt new file mode 100644 index 0000000..783dfa7 --- /dev/null +++ b/requirements.txt @@ -0,0 +1,6 @@ +numpy>=1.24 +mujoco>=3.0 +scipy>=1.10 +matplotlib>=3.7 +tomli>=2.0.1; python_version < '3.11' +pytest>=7.0 diff --git a/src/uavcatch.egg-info/PKG-INFO b/src/uavcatch.egg-info/PKG-INFO new file mode 100644 index 0000000..5d77f39 --- /dev/null +++ b/src/uavcatch.egg-info/PKG-INFO @@ -0,0 +1,11 @@ +Metadata-Version: 2.4 +Name: uavcatch +Version: 0.1.0 +Summary: Multi-UAV pursuit simulation with explicit quadcopter dynamics +Requires-Python: >=3.10 +Requires-Dist: numpy>=1.24 +Requires-Dist: mujoco>=3.0 +Requires-Dist: scipy>=1.10 +Requires-Dist: tomli>=2.0.1; python_version < "3.11" +Provides-Extra: dev +Requires-Dist: pytest>=7.0; extra == "dev" diff --git a/src/uavcatch.egg-info/SOURCES.txt b/src/uavcatch.egg-info/SOURCES.txt new file mode 100644 index 0000000..10482f8 --- /dev/null +++ b/src/uavcatch.egg-info/SOURCES.txt @@ -0,0 +1,17 @@ +pyproject.toml +src/uavcatch/__init__.py +src/uavcatch/config.py +src/uavcatch.egg-info/PKG-INFO +src/uavcatch.egg-info/SOURCES.txt +src/uavcatch.egg-info/dependency_links.txt +src/uavcatch.egg-info/requires.txt +src/uavcatch.egg-info/top_level.txt +src/uavcatch/control/__init__.py +src/uavcatch/control/pid.py +src/uavcatch/dynamics/__init__.py +src/uavcatch/dynamics/model.py +src/uavcatch/dynamics/state.py +src/uavcatch/sim/__init__.py +src/uavcatch/sim/engine.py +src/uavcatch/sim/mujoco_viz.py +tests/test_dynamics.py \ No newline at end of file diff --git a/src/uavcatch.egg-info/dependency_links.txt b/src/uavcatch.egg-info/dependency_links.txt new file mode 100644 index 0000000..8b13789 --- /dev/null +++ b/src/uavcatch.egg-info/dependency_links.txt @@ -0,0 +1 @@ + diff --git a/src/uavcatch.egg-info/requires.txt b/src/uavcatch.egg-info/requires.txt new file mode 100644 index 0000000..0a89b41 --- /dev/null +++ b/src/uavcatch.egg-info/requires.txt @@ -0,0 +1,9 @@ +numpy>=1.24 +mujoco>=3.0 +scipy>=1.10 + +[:python_version < "3.11"] +tomli>=2.0.1 + +[dev] +pytest>=7.0 diff --git a/src/uavcatch.egg-info/top_level.txt b/src/uavcatch.egg-info/top_level.txt new file mode 100644 index 0000000..6cfa3d5 --- /dev/null +++ b/src/uavcatch.egg-info/top_level.txt @@ -0,0 +1 @@ +uavcatch diff --git a/src/uavcatch/__init__.py b/src/uavcatch/__init__.py new file mode 100644 index 0000000..6197fab --- /dev/null +++ b/src/uavcatch/__init__.py @@ -0,0 +1,31 @@ +"""UAVCatch: multi-UAV pursuit simulation with explicit quadcopter dynamics.""" + +from __future__ import annotations + +from uavcatch.config import ( + ControlConfig, + EnvironmentConfig, + UavConfig, + load_control_config, + load_environment_config, + load_uav_config, +) +from uavcatch.dynamics import QuadDynamics, QuadState, WindModel +from uavcatch.sim import MuJoCoViewer, SimEngine + +__version__ = "0.1.0" + +__all__ = [ + "ControlConfig", + "EnvironmentConfig", + "UavConfig", + "QuadDynamics", + "QuadState", + "WindModel", + "SimEngine", + "MuJoCoViewer", + "load_control_config", + "load_environment_config", + "load_uav_config", + "__version__", +] diff --git a/src/uavcatch/__pycache__/__init__.cpython-313.pyc b/src/uavcatch/__pycache__/__init__.cpython-313.pyc new file mode 100644 index 0000000000000000000000000000000000000000..423ad19d4dd20b75b8fe1e76f8c6a2ffea9e1899 GIT binary patch literal 766 zcmZ8f&u`N(6t>f}X_}-zn9#&6;ueXOah(ui>UzM{hNf!cQpt)Euk)1J`SfQEMMm1uCP3ll54QLPt9MXg)alx(X_NYZX@Q4pS2_UF)^--I2phLRQ z)w}_{r)cb)Vt6oZM(*vav%~X2TqKtV;jGLGzNdLOFCi~^5$0Uy;(|*NUi0EIWbft~ zPjumJ8K;Sy7YxGmM#M9o{{(j_xtC@8)zE{3^)dw23!rw 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sys +from dataclasses import dataclass, field +from pathlib import Path +from typing import Any, Literal + +IntegratorKind = Literal["euler", "rk4"] +RotorLayout = Literal["x", "plus"] +ControlMode = Literal["linear", "geometric"] + + +def _load_toml(path: Path) -> dict[str, Any]: + data = path.read_bytes() + if sys.version_info >= (3, 11): + import tomllib + + return tomllib.loads(data.decode("utf-8")) + import tomli + + return tomli.loads(data.decode("utf-8")) + + +@dataclass +class SceneConfig: + size_x: float = 20.0 + size_y: float = 20.0 + size_z: float = 10.0 + ground_z: float = 0.0 + + +@dataclass +class PhysicsConfig: + gravity: float = 9.81 + air_density: float = 1.225 + + +@dataclass +class SimulationConfig: + dt: float = 0.002 + duration: float = 10.0 + integrator: IntegratorKind = "rk4" + + +@dataclass +class ViewerConfig: + enable: bool = True + fps: int = 60 + camera_distance: float = 8.0 + + +@dataclass +class WindConfig: + """Ambient wind field (world frame).""" + + velocity: list[float] = field(default_factory=lambda: [0.0, 0.0, 0.0]) + gust_amplitude: float = 0.0 + gust_frequency: float = 0.0 + + +@dataclass +class EnvironmentConfig: + scene: SceneConfig = field(default_factory=SceneConfig) + physics: PhysicsConfig = field(default_factory=PhysicsConfig) + simulation: SimulationConfig = field(default_factory=SimulationConfig) + viewer: ViewerConfig = field(default_factory=ViewerConfig) + wind: WindConfig = field(default_factory=WindConfig) + + @classmethod + def from_dict(cls, data: dict[str, Any]) -> EnvironmentConfig: + return EnvironmentConfig( + scene=_parse_scene(data.get("scene", {})), + physics=_parse_physics(data.get("physics", {})), + simulation=_parse_simulation(data.get("simulation", {})), + viewer=_parse_viewer(data.get("viewer", {})), + wind=_parse_wind(data.get("wind", {})), + ) + + +@dataclass +class BodyConfig: + mass: float = 1.0 + arm_length: float = 0.25 + Ixx: float = 0.01 + Iyy: float = 0.01 + Izz: float = 0.02 + + +@dataclass +class RotorConfig: + kf: float = 8.11e-6 + km: float = 2.03e-7 + omega_min: float = 0.0 + omega_max: float = 838.0 + layout: RotorLayout = "x" + + +@dataclass +class InitialConfig: + position: list[float] = field(default_factory=lambda: [0.0, 0.0, 1.0]) + velocity: list[float] = field(default_factory=lambda: [0.0, 0.0, 0.0]) + attitude_euler: list[float] = field(default_factory=lambda: [0.0, 0.0, 0.0]) + angular_rate: list[float] = field(default_factory=lambda: [0.0, 0.0, 0.0]) + + +@dataclass +class DragConfig: + """Aerodynamic drag acting on the air-relative velocity. + + Total translational drag force (world frame): + F = -linear * v_rel - 0.5 * rho * cd * area * |v_rel| * v_rel + where v_rel = v_body - v_wind, rho = physics.air_density. + """ + + linear: float = 0.0 + angular: float = 0.05 + cd: float = 0.8 + area: float = 0.1 + + +@dataclass +class UavConfig: + body: BodyConfig = field(default_factory=BodyConfig) + rotor: RotorConfig = field(default_factory=RotorConfig) + initial: InitialConfig = field(default_factory=InitialConfig) + drag: DragConfig = field(default_factory=DragConfig) + + @classmethod + def from_dict(cls, data: dict[str, Any]) -> UavConfig: + return UavConfig( + body=_parse_body(data.get("body", {})), + rotor=_parse_rotor(data.get("rotor", {})), + initial=_parse_initial(data.get("initial", {})), + drag=_parse_drag(data.get("drag", {})), + ) + + +def _parse_scene(d: dict[str, Any]) -> SceneConfig: + return SceneConfig( + size_x=float(d.get("size_x", 20.0)), + size_y=float(d.get("size_y", 20.0)), + size_z=float(d.get("size_z", 10.0)), + ground_z=float(d.get("ground_z", 0.0)), + ) + + +def _parse_physics(d: dict[str, Any]) -> PhysicsConfig: + return PhysicsConfig( + gravity=float(d.get("gravity", 9.81)), + air_density=float(d.get("air_density", 1.225)), + ) + + +def _parse_simulation(d: dict[str, Any]) -> SimulationConfig: + integrator = d.get("integrator", "rk4") + if integrator not in ("euler", "rk4"): + integrator = "rk4" + return SimulationConfig( + dt=float(d.get("dt", 0.002)), + duration=float(d.get("duration", 10.0)), + integrator=integrator, + ) + + +def _parse_viewer(d: dict[str, Any]) -> ViewerConfig: + return ViewerConfig( + enable=bool(d.get("enable", True)), + fps=int(d.get("fps", 60)), + camera_distance=float(d.get("camera_distance", 8.0)), + ) + + +def _parse_wind(d: dict[str, Any]) -> WindConfig: + velocity = list(d.get("velocity", [0.0, 0.0, 0.0])) + return WindConfig( + velocity=[float(v) for v in velocity], + gust_amplitude=float(d.get("gust_amplitude", 0.0)), + gust_frequency=float(d.get("gust_frequency", 0.0)), + ) + + +def _parse_body(d: dict[str, Any]) -> BodyConfig: + return BodyConfig( + mass=float(d.get("mass", 1.0)), + arm_length=float(d.get("arm_length", 0.25)), + Ixx=float(d.get("Ixx", 0.01)), + Iyy=float(d.get("Iyy", 0.01)), + Izz=float(d.get("Izz", 0.02)), + ) + + +def _parse_rotor(d: dict[str, Any]) -> RotorConfig: + layout = d.get("layout", "x") + if layout not in ("x", "plus"): + layout = "x" + return RotorConfig( + kf=float(d.get("kf", 3.16e-10)), + km=float(d.get("km", 7.94e-12)), + omega_min=float(d.get("omega_min", 0.0)), + omega_max=float(d.get("omega_max", 838.0)), + layout=layout, + ) + + +def _parse_initial(d: dict[str, Any]) -> InitialConfig: + return InitialConfig( + position=list(d.get("position", [0.0, 0.0, 1.0])), + velocity=list(d.get("velocity", [0.0, 0.0, 0.0])), + attitude_euler=list(d.get("attitude_euler", [0.0, 0.0, 0.0])), + angular_rate=list(d.get("angular_rate", [0.0, 0.0, 0.0])), + ) + + +def _parse_drag(d: dict[str, Any]) -> DragConfig: + return DragConfig( + linear=float(d.get("linear", 0.0)), + angular=float(d.get("angular", 0.05)), + cd=float(d.get("cd", 0.8)), + area=float(d.get("area", 0.1)), + ) + + +def load_environment_config(path: str | Path = "environment.toml") -> EnvironmentConfig: + config_path = Path(path) + if not config_path.is_file(): + raise FileNotFoundError(f"Environment config not found: {config_path}") + return EnvironmentConfig.from_dict(_load_toml(config_path)) + + +def load_uav_config(path: str | Path = "uav.toml") -> UavConfig: + config_path = Path(path) + if not config_path.is_file(): + raise FileNotFoundError(f"UAV config not found: {config_path}") + return UavConfig.from_dict(_load_toml(config_path)) + + +@dataclass +class GainsConfig: + kp: float = 0.8 + ki: float = 0.2 + kd: float = 0.9 + + +@dataclass +class ControllerSection: + mode: ControlMode = "linear" + max_tilt: float = 0.35 + + +@dataclass +class EvalHoverConfig: + duration: float = 8.0 + + +@dataclass +class EvalStepConfig: + step_time: float = 2.0 + duration: float = 12.0 + step_z: float = 3.0 + step_x: float = 3.0 + step_y: float = 2.0 + + +@dataclass +class EvalTakeoffForwardConfig: + ground_z: float = 0.0 + hover_z: float = 2.0 + forward_x: float = 4.0 + takeoff_time: float = 3.0 + hover_time: float = 2.0 + forward_time: float = 6.0 + + +@dataclass +class EvalCircleConfig: + ground_z: float = 0.0 + takeoff_time: float = 2.0 + radius: float = 2.5 + height: float = 2.0 + period: float = 10.0 + duration: float = 20.0 + + +@dataclass +class EvalConfig: + initial_height: float = 2.0 + hover: EvalHoverConfig = field(default_factory=EvalHoverConfig) + step: EvalStepConfig = field(default_factory=EvalStepConfig) + takeoff_forward: EvalTakeoffForwardConfig = field(default_factory=EvalTakeoffForwardConfig) + circle: EvalCircleConfig = field(default_factory=EvalCircleConfig) + + +@dataclass +class ControlConfig: + controller: ControllerSection = field(default_factory=ControllerSection) + position_linear: GainsConfig = field(default_factory=lambda: GainsConfig(kp=0.8, ki=0.2, kd=0.9)) + position_geometric: GainsConfig = field( + default_factory=lambda: GainsConfig(kp=2.5, ki=0.4, kd=2.0) + ) + attitude_linear: GainsConfig = field( + default_factory=lambda: GainsConfig(kp=8.0, ki=0.5, kd=0.6) + ) + attitude_geometric: GainsConfig = field( + default_factory=lambda: GainsConfig(kp=10.0, ki=0.8, kd=0.8) + ) + eval: EvalConfig = field(default_factory=EvalConfig) + + @classmethod + def from_dict(cls, data: dict[str, Any]) -> ControlConfig: + return ControlConfig( + controller=_parse_controller(data.get("controller", {})), + position_linear=_parse_gains(data.get("position", {}).get("linear", {}), 0.8, 0.2, 0.9), + position_geometric=_parse_gains( + data.get("position", {}).get("geometric", {}), 2.5, 0.4, 2.0 + ), + attitude_linear=_parse_gains(data.get("attitude", {}).get("linear", {}), 8.0, 0.5, 0.6), + attitude_geometric=_parse_gains( + data.get("attitude", {}).get("geometric", {}), 10.0, 0.8, 0.8 + ), + eval=_parse_eval(data.get("eval", {})), + ) + + +def _parse_gains(d: dict[str, Any], kp: float, ki: float, kd: float) -> GainsConfig: + return GainsConfig( + kp=float(d.get("kp", kp)), + ki=float(d.get("ki", ki)), + kd=float(d.get("kd", kd)), + ) + + +def _parse_controller(d: dict[str, Any]) -> ControllerSection: + mode = d.get("mode", "linear") + if mode not in ("linear", "geometric"): + mode = "linear" + return ControllerSection( + mode=mode, + max_tilt=float(d.get("max_tilt", 0.35)), + ) + + +def _parse_eval(d: dict[str, Any]) -> EvalConfig: + hover_d = d.get("hover", {}) + step_d = d.get("step", {}) + takeoff_d = d.get("takeoff_forward", {}) + circle_d = d.get("circle", {}) + return EvalConfig( + initial_height=float(d.get("initial_height", 2.0)), + hover=EvalHoverConfig(duration=float(hover_d.get("duration", 8.0))), + step=EvalStepConfig( + step_time=float(step_d.get("step_time", 2.0)), + duration=float(step_d.get("duration", 12.0)), + step_z=float(step_d.get("step_z", 3.0)), + step_x=float(step_d.get("step_x", 3.0)), + step_y=float(step_d.get("step_y", 2.0)), + ), + takeoff_forward=EvalTakeoffForwardConfig( + ground_z=float(takeoff_d.get("ground_z", 0.0)), + hover_z=float(takeoff_d.get("hover_z", 2.0)), + forward_x=float(takeoff_d.get("forward_x", 4.0)), + takeoff_time=float(takeoff_d.get("takeoff_time", 3.0)), + hover_time=float(takeoff_d.get("hover_time", 2.0)), + forward_time=float(takeoff_d.get("forward_time", 6.0)), + ), + circle=EvalCircleConfig( + ground_z=float(circle_d.get("ground_z", 0.0)), + takeoff_time=float(circle_d.get("takeoff_time", 2.0)), + radius=float(circle_d.get("radius", 2.5)), + height=float(circle_d.get("height", 2.0)), + period=float(circle_d.get("period", 10.0)), + duration=float(circle_d.get("duration", 20.0)), + ), + ) + + +def load_control_config(path: str | Path = "control.toml") -> ControlConfig: + config_path = Path(path) + if not config_path.is_file(): + raise FileNotFoundError(f"Control config not found: {config_path}") + return ControlConfig.from_dict(_load_toml(config_path)) diff --git a/src/uavcatch/control/__init__.py b/src/uavcatch/control/__init__.py new file mode 100644 index 0000000..35ad3c8 --- /dev/null +++ b/src/uavcatch/control/__init__.py @@ -0,0 +1,30 @@ +from uavcatch.control.allocator import ControlAllocator +from uavcatch.control.attitude import AttitudeController +from uavcatch.control.cascade import CascadedController, TrackingController +from uavcatch.control.factory import build_cascaded_controller +from uavcatch.control.pid import ( + HoverPIDController, + TrackingPIDController, + circle_trajectory, + phased_takeoff_hover_forward, + smoothstep, +) +from uavcatch.control.position import GeometricPositionController, LinearPositionController +from uavcatch.control.types import PIDGains, PhaseTarget + +__all__ = [ + "ControlAllocator", + "AttitudeController", + "CascadedController", + "TrackingController", + "build_cascaded_controller", + "GeometricPositionController", + "LinearPositionController", + "HoverPIDController", + "TrackingPIDController", + "PIDGains", + "PhaseTarget", + "circle_trajectory", + "phased_takeoff_hover_forward", + "smoothstep", +] diff --git a/src/uavcatch/control/__pycache__/__init__.cpython-313.pyc b/src/uavcatch/control/__pycache__/__init__.cpython-313.pyc new file mode 100644 index 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None: + self._mixing_matrix = np.array( + [ + [1.0, 1.0, 1.0, 1.0], + [0.0, -1.0, 0.0, 1.0], + [-1.0, 0.0, 1.0, 0.0], + [1.0, -1.0, 1.0, -1.0], + ], + dtype=np.float64, + ) + + def allocate(self, thrust: float, torque: np.ndarray) -> np.ndarray: + kf = self.uav_cfg.rotor.kf + km = self.uav_cfg.rotor.km + arm = self.uav_cfg.body.arm_length + tx, ty, tz = np.asarray(torque, dtype=np.float64) + + if self.uav_cfg.rotor.layout == "plus": + tx, ty = ty, tx + + rhs = np.array( + [thrust / kf, tx / (kf * arm), ty / (kf * arm), tz / km], + dtype=np.float64, + ) + sq = np.linalg.solve(self._mixing_matrix, rhs) + max_sq = self.uav_cfg.rotor.omega_max ** 2 + sq = np.clip(sq, 0.0, max_sq) + return np.sqrt(sq) diff --git a/src/uavcatch/control/attitude.py b/src/uavcatch/control/attitude.py new file mode 100644 index 0000000..007a884 --- /dev/null +++ b/src/uavcatch/control/attitude.py @@ -0,0 +1,46 @@ +"""Quaternion-based attitude controller.""" + +from __future__ import annotations + +from dataclasses import dataclass, field + +import numpy as np + +from uavcatch.control.math3d import quaternion_attitude_error +from uavcatch.control.types import AttitudeCommand, PIDGains +from uavcatch.dynamics.state import QuadState, normalize_quaternion + + +@dataclass +class AttitudeController: + """Inner-loop attitude control using quaternion error and PID.""" + + gains: PIDGains = field(default_factory=lambda: PIDGains(kp=8.0, ki=0.5, kd=0.6)) + _integral: np.ndarray = field(default_factory=lambda: np.zeros(3, dtype=np.float64)) + _integral_limit: float = 0.5 + + def reset(self) -> None: + self._integral[:] = 0.0 + + def compute( + self, + state: QuadState, + desired_quaternion: np.ndarray, + desired_angular_rate: np.ndarray | None = None, + dt: float = 0.002, + ) -> AttitudeCommand: + q_des = normalize_quaternion(desired_quaternion) + e_att = quaternion_attitude_error(q_des, state.quaternion) + self._integral += e_att * dt + self._integral = np.clip(self._integral, -self._integral_limit, self._integral_limit) + + if desired_angular_rate is None: + desired_angular_rate = np.zeros(3, dtype=np.float64) + rate_err = state.angular_rate - desired_angular_rate + + torque = ( + -self.gains.kp * e_att + + self.gains.ki * self._integral + - self.gains.kd * rate_err + ) + return AttitudeCommand(torque=torque.astype(np.float64)) diff --git a/src/uavcatch/control/cascade.py b/src/uavcatch/control/cascade.py new file mode 100644 index 0000000..221225c --- /dev/null +++ b/src/uavcatch/control/cascade.py @@ -0,0 +1,148 @@ +"""Cascaded 6-DOF flight controller.""" + +from __future__ import annotations + +from dataclasses import dataclass, field +from typing import Literal + +import numpy as np + +from uavcatch.config import UavConfig +from uavcatch.control.allocator import ControlAllocator +from uavcatch.control.attitude import AttitudeController +from uavcatch.control.position import GeometricPositionController, LinearPositionController +from uavcatch.control.types import PIDGains, PhaseTarget, TargetFn +from uavcatch.dynamics.model import QuadDynamics +from uavcatch.dynamics.state import QuadState + +PositionMode = Literal["linear", "geometric"] + + +@dataclass +class CascadedController: + """Modular cascade: position -> attitude (quaternion) -> motor allocation.""" + + dynamics: QuadDynamics + uav_cfg: UavConfig + mode: PositionMode = "linear" + target_position: np.ndarray = field(default_factory=lambda: np.zeros(3)) + target_velocity: np.ndarray = field(default_factory=lambda: np.zeros(3)) + target_yaw: float = 0.0 + target_acceleration: np.ndarray | None = None + pos_gains: PIDGains = field( + default_factory=lambda: PIDGains(kp=0.8, ki=0.2, kd=0.9) + ) + att_gains: PIDGains = field( + default_factory=lambda: PIDGains(kp=8.0, ki=0.5, kd=0.6) + ) + max_tilt: float = 0.35 + allocator: ControlAllocator = field(init=False) + attitude: AttitudeController = field(init=False) + _position_linear: LinearPositionController = field(init=False) + _position_geometric: GeometricPositionController = field(init=False) + + def __post_init__(self) -> None: + mass = self.uav_cfg.body.mass + gravity = self.dynamics.env_cfg.physics.gravity + max_thrust = 4.0 * self.uav_cfg.rotor.kf * self.uav_cfg.rotor.omega_max ** 2 + self.allocator = ControlAllocator(self.uav_cfg) + self.attitude = AttitudeController(gains=self.att_gains) + self._position_linear = LinearPositionController( + mass=mass, + gravity=gravity, + max_thrust=max_thrust, + gains=self.pos_gains, + max_tilt=self.max_tilt, + ) + self._position_geometric = GeometricPositionController( + mass=mass, + gravity=gravity, + max_thrust=max_thrust, + gains=self.pos_gains, + ) + + def reset(self) -> None: + self.attitude.reset() + self._position_linear.reset() + self._position_geometric.reset() + + def __call__(self, state: QuadState, t: float) -> np.ndarray: + del t + dt = self.dynamics.env_cfg.simulation.dt + return self.compute(state, dt) + + def compute(self, state: QuadState, dt: float | None = None) -> np.ndarray: + if dt is None: + dt = self.dynamics.env_cfg.simulation.dt + + if self.mode == "geometric": + pos_cmd = self._position_geometric.compute( + state, + self.target_position, + self.target_velocity, + self.target_yaw, + dt, + target_acceleration=self.target_acceleration, + ) + else: + pos_cmd = self._position_linear.compute( + state, + self.target_position, + self.target_velocity, + self.target_yaw, + dt, + ) + + att_cmd = self.attitude.compute( + state, + pos_cmd.desired_quaternion, + pos_cmd.desired_angular_rate, + dt, + ) + omega = self.allocator.allocate(pos_cmd.thrust, att_cmd.torque) + return self.dynamics.clip_omega(omega) + + +@dataclass +class TrackingController: + """Time-varying setpoint wrapper for CascadedController.""" + + controller: CascadedController + target_fn: TargetFn + yaw_fn: TargetFn | None = None + accel_fn: TargetFn | None = None + _prev_t: float = field(default=-1.0, init=False) + _prev_pos: np.ndarray | None = field(default=None, init=False) + + def __call__(self, state: QuadState, t: float) -> np.ndarray: + target = self.target_fn(t) + if isinstance(target, PhaseTarget): + pos = np.asarray(target.position, dtype=np.float64) + vel = np.asarray(target.velocity, dtype=np.float64) + else: + pos = np.asarray(target, dtype=np.float64) + vel = self._estimate_target_velocity(pos, t) + + self.controller.target_position = pos + self.controller.target_velocity = vel + if self.yaw_fn is not None: + yaw = self.yaw_fn(t) + self.controller.target_yaw = float(yaw if np.isscalar(yaw) else yaw[0]) + if self.accel_fn is not None: + accel = self.accel_fn(t) + self.controller.target_acceleration = np.asarray(accel, dtype=np.float64) + else: + self.controller.target_acceleration = None + + return self.controller(state, t) + + def _estimate_target_velocity(self, pos: np.ndarray, t: float) -> np.ndarray: + if self._prev_pos is None or self._prev_t < 0.0: + self._prev_pos = pos.copy() + self._prev_t = t + return np.zeros(3, dtype=np.float64) + dt = max(t - self._prev_t, 1e-9) + vel = (pos - self._prev_pos) / dt + self._prev_pos = pos.copy() + self._prev_t = t + return vel.astype(np.float64) diff --git a/src/uavcatch/control/factory.py b/src/uavcatch/control/factory.py new file mode 100644 index 0000000..807da5e --- /dev/null +++ b/src/uavcatch/control/factory.py @@ -0,0 +1,49 @@ +"""Build controllers from control.toml configuration.""" + +from __future__ import annotations + +import numpy as np + +from uavcatch.config import ControlConfig, UavConfig +from uavcatch.control.cascade import CascadedController +from uavcatch.control.types import PIDGains +from uavcatch.dynamics.model import QuadDynamics + + +def gains_from_control(control_cfg: ControlConfig) -> tuple[PIDGains, PIDGains]: + if control_cfg.controller.mode == "geometric": + pos = control_cfg.position_geometric + att = control_cfg.attitude_geometric + else: + pos = control_cfg.position_linear + att = control_cfg.attitude_linear + return ( + PIDGains(kp=pos.kp, ki=pos.ki, kd=pos.kd), + PIDGains(kp=att.kp, ki=att.ki, kd=att.kd), + ) + + +def build_cascaded_controller( + control_cfg: ControlConfig, + dynamics: QuadDynamics, + uav_cfg: UavConfig, + target_position: np.ndarray, + target_velocity: np.ndarray | None = None, + target_yaw: float = 0.0, +) -> CascadedController: + pos_gains, att_gains = gains_from_control(control_cfg) + return CascadedController( + dynamics=dynamics, + uav_cfg=uav_cfg, + mode=control_cfg.controller.mode, + target_position=np.asarray(target_position, dtype=np.float64), + target_velocity=( + np.zeros(3, dtype=np.float64) + if target_velocity is None + else np.asarray(target_velocity, dtype=np.float64) + ), + target_yaw=target_yaw, + pos_gains=pos_gains, + att_gains=att_gains, + max_tilt=control_cfg.controller.max_tilt, + ) diff --git a/src/uavcatch/control/math3d.py b/src/uavcatch/control/math3d.py new file mode 100644 index 0000000..77f5983 --- /dev/null +++ b/src/uavcatch/control/math3d.py @@ -0,0 +1,98 @@ +"""Quaternion and rotation helpers for control.""" + +from __future__ import annotations + +import numpy as np + +from uavcatch.dynamics.state import euler_to_quaternion, normalize_quaternion + + +def quaternion_conjugate(q: np.ndarray) -> np.ndarray: + q = np.asarray(q, dtype=np.float64) + return np.array([q[0], -q[1], -q[2], -q[3]], dtype=np.float64) + + +def quaternion_multiply(q1: np.ndarray, q2: np.ndarray) -> np.ndarray: + w1, x1, y1, z1 = q1 + w2, x2, y2, z2 = q2 + return normalize_quaternion( + np.array( + [ + w1 * w2 - x1 * x2 - y1 * y2 - z1 * z2, + w1 * x2 + x1 * w2 + y1 * z2 - z1 * y2, + w1 * y2 - x1 * z2 + y1 * w2 + z1 * x2, + w1 * z2 + x1 * y2 - y1 * x2 + z1 * w2, + ], + dtype=np.float64, + ) + ) + + +def quaternion_from_yaw(yaw: float) -> np.ndarray: + return euler_to_quaternion(0.0, 0.0, yaw) + + +def rotation_matrix_to_quaternion(R: np.ndarray) -> np.ndarray: + """Convert body-to-world rotation matrix to quaternion [w, x, y, z].""" + R = np.asarray(R, dtype=np.float64) + trace = float(np.trace(R)) + if trace > 0.0: + s = np.sqrt(trace + 1.0) * 2.0 + w = 0.25 * s + x = (R[2, 1] - R[1, 2]) / s + y = (R[0, 2] - R[2, 0]) / s + z = (R[1, 0] - R[0, 1]) / s + elif R[0, 0] > R[1, 1] and R[0, 0] > R[2, 2]: + s = np.sqrt(1.0 + R[0, 0] - R[1, 1] - R[2, 2]) * 2.0 + w = (R[2, 1] - R[1, 2]) / s + x = 0.25 * s + y = (R[0, 1] + R[1, 0]) / s + z = (R[0, 2] + R[2, 0]) / s + elif R[1, 1] > R[2, 2]: + s = np.sqrt(1.0 + R[1, 1] - R[0, 0] - R[2, 2]) * 2.0 + w = (R[0, 2] - R[2, 0]) / s + x = (R[0, 1] + R[1, 0]) / s + y = 0.25 * s + z = (R[1, 2] + R[2, 1]) / s + else: + s = np.sqrt(1.0 + R[2, 2] - R[0, 0] - R[1, 1]) * 2.0 + w = (R[1, 0] - R[0, 1]) / s + x = (R[0, 2] + R[2, 0]) / s + y = (R[1, 2] + R[2, 1]) / s + z = 0.25 * s + return normalize_quaternion(np.array([w, x, y, z], dtype=np.float64)) + + +def desired_attitude_from_thrust_and_yaw( + thrust_direction_world: np.ndarray, + yaw: float, +) -> np.ndarray: + """Build desired body attitude quaternion from thrust axis and yaw.""" + z_b = np.asarray(thrust_direction_world, dtype=np.float64) + norm = np.linalg.norm(z_b) + if norm < 1e-9: + z_b = np.array([0.0, 0.0, 1.0], dtype=np.float64) + else: + z_b = z_b / norm + + x_c = np.array([np.cos(yaw), np.sin(yaw), 0.0], dtype=np.float64) + y_b = np.cross(z_b, x_c) + y_norm = np.linalg.norm(y_b) + if y_norm < 1e-6: + x_c = np.array([1.0, 0.0, 0.0], dtype=np.float64) + y_b = np.cross(z_b, x_c) + y_norm = np.linalg.norm(y_b) + y_b = y_b / y_norm + x_b = np.cross(y_b, z_b) + R = np.column_stack([x_b, y_b, z_b]) + return rotation_matrix_to_quaternion(R) + + +def quaternion_attitude_error(q_des: np.ndarray, q: np.ndarray) -> np.ndarray: + """Rotation error vector (body frame) from desired/current quaternions.""" + q_des = normalize_quaternion(q_des) + q = normalize_quaternion(q) + q_e = quaternion_multiply(quaternion_conjugate(q_des), q) + if q_e[0] < 0.0: + q_e = -q_e + return (2.0 * np.sign(q_e[0]) * q_e[1:4]).astype(np.float64) diff --git a/src/uavcatch/control/pid.py b/src/uavcatch/control/pid.py new file mode 100644 index 0000000..e10e6e5 --- /dev/null +++ b/src/uavcatch/control/pid.py @@ -0,0 +1,208 @@ +"""Trajectory helpers and backward-compatible controller aliases.""" + +from __future__ import annotations + +import math +from collections.abc import Callable + +import numpy as np + +from uavcatch.config import UavConfig, ControlConfig +from uavcatch.control.cascade import CascadedController, TrackingController +from uavcatch.control.factory import build_cascaded_controller, gains_from_control +from uavcatch.control.types import PhaseTarget, PIDGains, TargetFn +from uavcatch.dynamics.model import QuadDynamics +from uavcatch.dynamics.state import QuadState + + +def smoothstep(u: float) -> float: + u = float(np.clip(u, 0.0, 1.0)) + return u * u * (3.0 - 2.0 * u) + + +def smoothstep_deriv(u: float) -> float: + u = float(np.clip(u, 0.0, 1.0)) + return 6.0 * u * (1.0 - u) + + +def phased_takeoff_hover_forward( + ground_z: float, + hover_z: float, + forward_x: float, + takeoff_duration: float, + hover_duration: float, + forward_duration: float, + ground_clearance: float = 0.05, +) -> TargetFn: + """Build setpoint: ground -> hover -> move along +X.""" + t1 = takeoff_duration + t2 = t1 + hover_duration + start_z = ground_z + ground_clearance + + def target_at(t: float) -> PhaseTarget: + if t < t1: + u = smoothstep(t / max(t1, 1e-9)) + z = start_z + u * (hover_z - start_z) + vz = (hover_z - start_z) * smoothstep_deriv(t / max(t1, 1e-9)) / max(t1, 1e-9) + return PhaseTarget( + position=np.array([0.0, 0.0, z], dtype=np.float64), + velocity=np.array([0.0, 0.0, vz], dtype=np.float64), + ) + if t < t2: + return PhaseTarget( + position=np.array([0.0, 0.0, hover_z], dtype=np.float64), + velocity=np.zeros(3, dtype=np.float64), + ) + u = (t - t2) / max(forward_duration, 1e-9) + s = smoothstep(u) + ds = smoothstep_deriv(u) / max(forward_duration, 1e-9) + return PhaseTarget( + position=np.array([forward_x * s, 0.0, hover_z], dtype=np.float64), + velocity=np.array([forward_x * ds, 0.0, 0.0], dtype=np.float64), + ) + + return target_at + + +def circle_trajectory( + center: np.ndarray, + radius: float, + height: float, + period: float, + clockwise: bool = False, +) -> tuple[TargetFn, TargetFn, TargetFn]: + """Return position, yaw, and feedforward acceleration callbacks for a circle.""" + center = np.asarray(center, dtype=np.float64) + omega = 2.0 * math.pi / max(period, 1e-9) + sign = -1.0 if clockwise else 1.0 + + def position_at(t: float) -> PhaseTarget: + angle = sign * omega * t + c = math.cos(angle) + s = math.sin(angle) + pos = center + np.array([radius * c, radius * s, height], dtype=np.float64) + vel = np.array( + [-sign * radius * omega * s, sign * radius * omega * c, 0.0], + dtype=np.float64, + ) + return PhaseTarget(position=pos, velocity=vel) + + def yaw_at(t: float) -> float: + angle = sign * omega * t + tangent = np.array( + [-sign * math.sin(angle), sign * math.cos(angle)], + dtype=np.float64, + ) + return float(math.atan2(tangent[1], tangent[0])) + + def accel_at(t: float) -> np.ndarray: + angle = sign * omega * t + c = math.cos(angle) + s = math.sin(angle) + centripetal = -(omega ** 2) * radius + return np.array([centripetal * c, centripetal * s, 0.0], dtype=np.float64) + + return position_at, yaw_at, accel_at + + +def circle_trajectory_with_takeoff( + center: np.ndarray, + radius: float, + height: float, + period: float, + takeoff_time: float, + ground_z: float = 0.0, + ground_clearance: float = 0.05, + clockwise: bool = False, +) -> tuple[TargetFn, TargetFn, TargetFn]: + """Take off from ground, then track a horizontal circle.""" + pos_fn, yaw_fn, accel_fn = circle_trajectory( + center=center, + radius=radius, + height=height, + period=period, + clockwise=clockwise, + ) + center = np.asarray(center, dtype=np.float64) + start_z = ground_z + ground_clearance + start_pos = np.array([center[0], center[1], start_z], dtype=np.float64) + circle_entry = pos_fn(0.0) + entry_pos = np.asarray(circle_entry.position, dtype=np.float64) + entry_yaw = float(yaw_fn(0.0)) + t_takeoff = max(takeoff_time, 1e-9) + + def position_at(t: float) -> PhaseTarget: + if t < t_takeoff: + u = t / t_takeoff + s = smoothstep(u) + ds = smoothstep_deriv(u) / t_takeoff + pos = start_pos + s * (entry_pos - start_pos) + vel = ds * (entry_pos - start_pos) + return PhaseTarget(position=pos, velocity=vel) + return pos_fn(t - t_takeoff) + + def yaw_at(t: float) -> float: + if t < t_takeoff: + return entry_yaw + return yaw_fn(t - t_takeoff) + + def accel_at(t: float) -> np.ndarray: + if t < t_takeoff: + return np.zeros(3, dtype=np.float64) + return accel_fn(t - t_takeoff) + + return position_at, yaw_at, accel_at + + +class HoverPIDController(CascadedController): + """Backward-compatible alias for cascaded hover control.""" + + def __init__( + self, + dynamics: QuadDynamics, + uav_cfg: UavConfig, + target_position: np.ndarray, + target_velocity: np.ndarray | None = None, + control_cfg: ControlConfig | None = None, + pos_gains: PIDGains | None = None, + att_gains: PIDGains | None = None, + yaw_gains: PIDGains | None = None, + ) -> None: + del yaw_gains + if control_cfg is not None: + pos_g, att_g = gains_from_control(control_cfg) + super().__init__( + dynamics=dynamics, + uav_cfg=uav_cfg, + mode=control_cfg.controller.mode, + target_position=np.asarray(target_position, dtype=np.float64), + target_velocity=( + np.zeros(3, dtype=np.float64) + if target_velocity is None + else np.asarray(target_velocity, dtype=np.float64) + ), + pos_gains=pos_g, + att_gains=att_g, + max_tilt=control_cfg.controller.max_tilt, + ) + return + super().__init__( + dynamics=dynamics, + uav_cfg=uav_cfg, + mode="linear", + target_position=np.asarray(target_position, dtype=np.float64), + target_velocity=( + np.zeros(3, dtype=np.float64) + if target_velocity is None + else np.asarray(target_velocity, dtype=np.float64) + ), + pos_gains=pos_gains or PIDGains(kp=0.8, ki=0.2, kd=0.9), + att_gains=att_gains or PIDGains(kp=8.0, ki=0.5, kd=0.6), + ) + + +class TrackingPIDController(TrackingController): + """Backward-compatible alias for time-varying linear cascade.""" + + def __init__(self, pid: HoverPIDController, target_fn: TargetFn) -> None: + super().__init__(controller=pid, target_fn=target_fn) diff --git a/src/uavcatch/control/position.py b/src/uavcatch/control/position.py new file mode 100644 index 0000000..ff3673b --- /dev/null +++ b/src/uavcatch/control/position.py @@ -0,0 +1,100 @@ +"""Outer-loop position controllers (linear and SE(3) geometric).""" + +from __future__ import annotations + +from dataclasses import dataclass, field + +import numpy as np + +from uavcatch.control.math3d import desired_attitude_from_thrust_and_yaw +from uavcatch.control.types import PIDGains, PositionCommand +from uavcatch.dynamics.state import QuadState, euler_to_quaternion + + +@dataclass +class LinearPositionController: + """Small-angle position controller (legacy / hover-friendly).""" + + mass: float + gravity: float + max_thrust: float + gains: PIDGains = field(default_factory=lambda: PIDGains(kp=0.8, ki=0.2, kd=0.9)) + max_tilt: float = 0.35 + _integral: np.ndarray = field(default_factory=lambda: np.zeros(3, dtype=np.float64)) + _integral_limit: float = 3.0 + + def reset(self) -> None: + self._integral[:] = 0.0 + + def compute( + self, + state: QuadState, + target_position: np.ndarray, + target_velocity: np.ndarray, + target_yaw: float, + dt: float, + ) -> PositionCommand: + pos_err = target_position - state.position + vel_err = target_velocity - state.velocity + self._integral += pos_err * dt + self._integral = np.clip(self._integral, -self._integral_limit, self._integral_limit) + + ax = self.gains.kp * pos_err[0] + self.gains.kd * vel_err[0] + ay = self.gains.kp * pos_err[1] + self.gains.kd * vel_err[1] + desired_pitch = float(np.clip(ax / self.gravity, -self.max_tilt, self.max_tilt)) + desired_roll = float(np.clip(-ay / self.gravity, -self.max_tilt, self.max_tilt)) + q_des = euler_to_quaternion(desired_roll, desired_pitch, target_yaw) + + thrust = self.mass * ( + self.gravity + + self.gains.kp * pos_err[2] + + self.gains.ki * self._integral[2] + + self.gains.kd * vel_err[2] + ) + thrust = float(np.clip(thrust, 0.1 * self.mass * self.gravity, self.max_thrust)) + return PositionCommand(thrust=thrust, desired_quaternion=q_des) + + +@dataclass +class GeometricPositionController: + """SE(3) geometric position controller (Lee et al. style).""" + + mass: float + gravity: float + max_thrust: float + gains: PIDGains = field(default_factory=lambda: PIDGains(kp=2.5, ki=0.4, kd=2.0)) + _integral: np.ndarray = field(default_factory=lambda: np.zeros(3, dtype=np.float64)) + _integral_limit: float = 2.0 + + def reset(self) -> None: + self._integral[:] = 0.0 + + def compute( + self, + state: QuadState, + target_position: np.ndarray, + target_velocity: np.ndarray, + target_yaw: float, + dt: float, + target_acceleration: np.ndarray | None = None, + ) -> PositionCommand: + pos_err = target_position - state.position + vel_err = target_velocity - state.velocity + self._integral += pos_err * dt + self._integral = np.clip(self._integral, -self._integral_limit, self._integral_limit) + + a_cmd = ( + self.gains.kp * pos_err + + self.gains.kd * vel_err + + self.gains.ki * self._integral + ) + if target_acceleration is not None: + a_cmd = a_cmd + np.asarray(target_acceleration, dtype=np.float64) + a_cmd[2] += self.gravity + + thrust = self.mass * float(np.linalg.norm(a_cmd)) + thrust = float(np.clip(thrust, 0.1 * self.mass * self.gravity, self.max_thrust)) + + z_b_des = a_cmd / max(np.linalg.norm(a_cmd), 1e-9) + q_des = desired_attitude_from_thrust_and_yaw(z_b_des, target_yaw) + return PositionCommand(thrust=thrust, desired_quaternion=q_des) diff --git a/src/uavcatch/control/types.py b/src/uavcatch/control/types.py new file mode 100644 index 0000000..d320905 --- /dev/null +++ b/src/uavcatch/control/types.py @@ -0,0 +1,42 @@ +"""Shared control types.""" + +from __future__ import annotations + +from collections.abc import Callable +from dataclasses import dataclass, field + +import numpy as np + + +@dataclass +class PIDGains: + kp: float + ki: float + kd: float + + +@dataclass +class PhaseTarget: + position: np.ndarray + velocity: np.ndarray + + +TargetFn = Callable[[float], np.ndarray | PhaseTarget] + + +@dataclass +class PositionCommand: + """Output of the position / outer-loop controller.""" + + thrust: float + desired_quaternion: np.ndarray + desired_angular_rate: np.ndarray = field( + default_factory=lambda: np.zeros(3, dtype=np.float64) + ) + + +@dataclass +class AttitudeCommand: + """Output of the attitude / inner-loop controller.""" + + torque: np.ndarray diff --git a/src/uavcatch/dynamics/__init__.py b/src/uavcatch/dynamics/__init__.py new file mode 100644 index 0000000..6f49cb9 --- /dev/null +++ b/src/uavcatch/dynamics/__init__.py @@ -0,0 +1,5 @@ +from uavcatch.dynamics.model import QuadDynamics +from uavcatch.dynamics.state import QuadState +from uavcatch.dynamics.wind import WindModel + +__all__ = ["QuadDynamics", "QuadState", "WindModel"] diff --git a/src/uavcatch/dynamics/__pycache__/__init__.cpython-313.pyc b/src/uavcatch/dynamics/__pycache__/__init__.cpython-313.pyc new file mode 100644 index 0000000000000000000000000000000000000000..e3e9dc0112121bbce6cf1cec6ccf02a87b4f7444 GIT binary patch literal 367 zcmey&%ge<81P{GkvyKDl#~=<2FhLog4S?f;i!s zc`3g6DXBS{K*N9cSdyHfmjX3FFBha3tQ4DUG00r78MnkR z^_BxI1Dkz|Jw84$Cnr9BCBtW+RSdUGU94gXit@8klS^Vk9mAYKcE%JJCC9)FiGevF zCO$qhFS8^*Uaz3?7KaVcIi)$Nc165EQy77`SQtorU}j`wyvty4mqGU~gU%x^lScL; HZlE{-$w*}1 literal 0 HcmV?d00001 diff --git a/src/uavcatch/dynamics/__pycache__/model.cpython-313.pyc b/src/uavcatch/dynamics/__pycache__/model.cpython-313.pyc new file mode 100644 index 0000000000000000000000000000000000000000..e32fe69c6dd29390043b8052bb94244b3e9df8bc GIT binary patch literal 10157 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__init__(self, env_cfg: EnvironmentConfig, uav_cfg: UavConfig) -> None: + self.env_cfg = env_cfg + self.uav_cfg = uav_cfg + self._mass = uav_cfg.body.mass + self._arm = uav_cfg.body.arm_length + self._kf = uav_cfg.rotor.kf + self._km = uav_cfg.rotor.km + self._layout = uav_cfg.rotor.layout + self._gravity = env_cfg.physics.gravity + self._inertia = np.diag( + [uav_cfg.body.Ixx, uav_cfg.body.Iyy, uav_cfg.body.Izz] + ).astype(np.float64) + self._inertia_inv = np.linalg.inv(self._inertia) + self._linear_drag = uav_cfg.drag.linear + self._angular_drag = uav_cfg.drag.angular + # Quadratic aerodynamic drag coefficient: 0.5 * rho * Cd * A + self._quad_drag = 0.5 * env_cfg.physics.air_density * uav_cfg.drag.cd * uav_cfg.drag.area + self._wind = WindModel.from_config(env_cfg.wind) + self._integrator = env_cfg.simulation.integrator + + def clip_omega(self, omega: np.ndarray) -> np.ndarray: + omega = np.asarray(omega, dtype=np.float64) + return np.clip(omega, self.uav_cfg.rotor.omega_min, self.uav_cfg.rotor.omega_max) + + def hover_omega(self) -> float: + """Per-rotor angular speed for approximate hover.""" + thrust_per_rotor = self._mass * self._gravity / 4.0 + return float(np.sqrt(max(thrust_per_rotor / self._kf, 0.0))) + + def rotor_forces_and_torques(self, omega: np.ndarray) -> tuple[float, np.ndarray]: + """Map rotor speeds to total thrust and body torques.""" + omega = self.clip_omega(omega) + thrusts = self._kf * omega * omega + total_thrust = float(np.sum(thrusts)) + + w1, w2, w3, w4 = omega + if self._layout == "x": + tau_x = self._kf * self._arm * (w4 * w4 - w2 * w2) + tau_y = self._kf * self._arm * (w3 * w3 - w1 * w1) + else: + tau_x = self._kf * self._arm * (w3 * w3 - w1 * w1) + tau_y = self._kf * self._arm * (w4 * w4 - w2 * w2) + tau_z = self._km * (w1 * w1 - w2 * w2 + w3 * w3 - w4 * w4) + return total_thrust, np.array([tau_x, tau_y, tau_z], dtype=np.float64) + + def aerodynamic_force(self, velocity: np.ndarray, wind_velocity: np.ndarray) -> np.ndarray: + """Drag force (world frame) on the air-relative velocity. + + F = -linear * v_rel - 0.5 * rho * Cd * A * |v_rel| * v_rel + """ + v_rel = velocity - wind_velocity + force = np.zeros(3, dtype=np.float64) + if self._linear_drag > 0.0: + force -= self._linear_drag * v_rel + if self._quad_drag > 0.0: + speed = float(np.linalg.norm(v_rel)) + if speed > 0.0: + force -= self._quad_drag * speed * v_rel + return force + + def derivatives( + self, + state: QuadState, + omega: np.ndarray, + wind_velocity: np.ndarray | None = None, + ) -> np.ndarray: + """Compute time derivative of the 13-D state vector.""" + thrust, torque = self.rotor_forces_and_torques(omega) + q = normalize_quaternion(state.quaternion) + R = quaternion_to_rotation_matrix(q) + body_thrust = np.array([0.0, 0.0, thrust], dtype=np.float64) + gravity = np.array([0.0, 0.0, -self._gravity], dtype=np.float64) + + if wind_velocity is None: + wind_velocity = np.zeros(3, dtype=np.float64) + drag_force = self.aerodynamic_force(state.velocity, wind_velocity) + accel = (R @ body_thrust) / self._mass + gravity + drag_force / self._mass + + p_dot = state.velocity + v_dot = accel + + w, x, y, z = q + p, q_rate, r = state.angular_rate + q_dot = 0.5 * np.array( + [ + -x * p - y * q_rate - z * r, + w * p + y * r - z * q_rate, + w * q_rate - x * r + z * p, + w * r + x * q_rate - y * p, + ], + dtype=np.float64, + ) + + omega_body = state.angular_rate + gyro = np.cross(omega_body, self._inertia @ omega_body) + omega_dot = self._inertia_inv @ (torque - gyro) + if self._angular_drag > 0.0: + omega_dot -= self._angular_drag * omega_body + + return np.concatenate([p_dot, v_dot, q_dot, omega_dot]) + + def step(self, state: QuadState, omega: np.ndarray, dt: float, t: float = 0.0) -> QuadState: + # Wind is held constant across the step (and RK4 substeps); dt is small. + wind = self._wind.sample(t) + if self._integrator == "euler": + return self._step_euler(state, omega, dt, wind) + return self._step_rk4(state, omega, dt, wind) + + def _step_euler( + self, state: QuadState, omega: np.ndarray, dt: float, wind: np.ndarray + ) -> QuadState: + x = state.as_vector() + dx = self.derivatives(state, omega, wind) + x_next = x + dt * dx + x_next[6:10] = normalize_quaternion(x_next[6:10]) + return QuadState.from_vector(x_next) + + def _step_rk4( + self, state: QuadState, omega: np.ndarray, dt: float, wind: np.ndarray + ) -> QuadState: + x = state.as_vector() + + def f(x_vec: np.ndarray) -> np.ndarray: + return self.derivatives(QuadState.from_vector(x_vec), omega, wind) + + k1 = f(x) + k2 = f(x + 0.5 * dt * k1) + k3 = f(x + 0.5 * dt * k2) + k4 = f(x + dt * k3) + x_next = x + (dt / 6.0) * (k1 + 2.0 * k2 + 2.0 * k3 + k4) + x_next[6:10] = normalize_quaternion(x_next[6:10]) + return QuadState.from_vector(x_next) diff --git a/src/uavcatch/dynamics/state.py b/src/uavcatch/dynamics/state.py new file mode 100644 index 0000000..6a7ea04 --- /dev/null +++ b/src/uavcatch/dynamics/state.py @@ -0,0 +1,110 @@ +"""Quadcopter state representation.""" + +from __future__ import annotations + +from dataclasses import dataclass + +import numpy as np + + +def euler_to_quaternion(roll: float, pitch: float, yaw: float) -> np.ndarray: + """Convert ZYX Euler angles to quaternion [w, x, y, z].""" + cr, sr = np.cos(roll * 0.5), np.sin(roll * 0.5) + cp, sp = np.cos(pitch * 0.5), np.sin(pitch * 0.5) + cy, sy = np.cos(yaw * 0.5), np.sin(yaw * 0.5) + w = cr * cp * cy + sr * sp * sy + x = sr * cp * cy - cr * sp * sy + y = cr * sp * cy + sr * cp * sy + z = cr * cp * sy - sr * sp * cy + q = np.array([w, x, y, z], dtype=np.float64) + return q / np.linalg.norm(q) + + +def quaternion_to_rotation_matrix(q: np.ndarray) -> np.ndarray: + """Body-to-world rotation matrix from unit quaternion [w, x, y, z].""" + w, x, y, z = q + return np.array( + [ + [1 - 2 * (y * y + z * z), 2 * (x * y - z * w), 2 * (x * z + y * w)], + [2 * (x * y + z * w), 1 - 2 * (x * x + z * z), 2 * (y * z - x * w)], + [2 * (x * z - y * w), 2 * (y * z + x * w), 1 - 2 * (x * x + y * y)], + ], + dtype=np.float64, + ) + + +def quaternion_to_euler(q: np.ndarray) -> tuple[float, float, float]: + """Return roll, pitch, yaw (rad) from quaternion [w, x, y, z].""" + w, x, y, z = q + sinr_cosp = 2.0 * (w * x + y * z) + cosr_cosp = 1.0 - 2.0 * (x * x + y * y) + roll = float(np.arctan2(sinr_cosp, cosr_cosp)) + + sinp = 2.0 * (w * y - z * x) + pitch = float(np.arcsin(np.clip(sinp, -1.0, 1.0))) + + siny_cosp = 2.0 * (w * z + x * y) + cosy_cosp = 1.0 - 2.0 * (y * y + z * z) + yaw = float(np.arctan2(siny_cosp, cosy_cosp)) + return roll, pitch, yaw + + +def normalize_quaternion(q: np.ndarray) -> np.ndarray: + norm = np.linalg.norm(q) + if norm < 1e-12: + return np.array([1.0, 0.0, 0.0, 0.0], dtype=np.float64) + return q / norm + + +@dataclass +class QuadState: + """13-DOF quadcopter state in world frame.""" + + position: np.ndarray + velocity: np.ndarray + quaternion: np.ndarray + angular_rate: np.ndarray + + def as_vector(self) -> np.ndarray: + return np.concatenate( + [ + self.position, + self.velocity, + self.quaternion, + self.angular_rate, + ] + ) + + def copy(self) -> QuadState: + return QuadState( + position=self.position.copy(), + velocity=self.velocity.copy(), + quaternion=self.quaternion.copy(), + angular_rate=self.angular_rate.copy(), + ) + + @classmethod + def from_vector(cls, x: np.ndarray) -> QuadState: + x = np.asarray(x, dtype=np.float64) + return cls( + position=x[0:3].copy(), + velocity=x[3:6].copy(), + quaternion=normalize_quaternion(x[6:10].copy()), + angular_rate=x[10:13].copy(), + ) + + @classmethod + def from_initial( + cls, + position: list[float] | np.ndarray, + velocity: list[float] | np.ndarray, + attitude_euler: list[float] | np.ndarray, + angular_rate: list[float] | np.ndarray, + ) -> QuadState: + euler = np.asarray(attitude_euler, dtype=np.float64) + return cls( + position=np.asarray(position, dtype=np.float64), + velocity=np.asarray(velocity, dtype=np.float64), + quaternion=euler_to_quaternion(float(euler[0]), float(euler[1]), float(euler[2])), + angular_rate=np.asarray(angular_rate, dtype=np.float64), + ) diff --git a/src/uavcatch/dynamics/wind.py b/src/uavcatch/dynamics/wind.py new file mode 100644 index 0000000..dbaf8b6 --- /dev/null +++ b/src/uavcatch/dynamics/wind.py @@ -0,0 +1,52 @@ +"""Ambient wind field model.""" + +from __future__ import annotations + +import math +from dataclasses import dataclass + +import numpy as np + +from uavcatch.config import WindConfig + + +@dataclass +class WindModel: + """Deterministic wind: constant base plus a sinusoidal gust. + + wind(t) = base + gust_amplitude * sin(2*pi*gust_frequency*t) * direction + where direction is the unit base-wind vector (falls back to +X if base ~0). + """ + + base_velocity: np.ndarray + gust_amplitude: float = 0.0 + gust_frequency: float = 0.0 + + @classmethod + def from_config(cls, cfg: WindConfig) -> WindModel: + return cls( + base_velocity=np.asarray(cfg.velocity, dtype=np.float64), + gust_amplitude=float(cfg.gust_amplitude), + gust_frequency=float(cfg.gust_frequency), + ) + + def __post_init__(self) -> None: + self.base_velocity = np.asarray(self.base_velocity, dtype=np.float64) + norm = float(np.linalg.norm(self.base_velocity)) + if norm > 1e-9: + self._gust_dir = self.base_velocity / norm + else: + self._gust_dir = np.array([1.0, 0.0, 0.0], dtype=np.float64) + + @property + def is_active(self) -> bool: + return ( + float(np.linalg.norm(self.base_velocity)) > 0.0 + or (self.gust_amplitude != 0.0 and self.gust_frequency != 0.0) + ) + + def sample(self, t: float) -> np.ndarray: + if self.gust_amplitude == 0.0 or self.gust_frequency == 0.0: + return self.base_velocity + gust = self.gust_amplitude * math.sin(2.0 * math.pi * self.gust_frequency * t) + return self.base_velocity + gust * self._gust_dir diff --git a/src/uavcatch/eval/__init__.py b/src/uavcatch/eval/__init__.py new file mode 100644 index 0000000..3b41d1c --- /dev/null +++ b/src/uavcatch/eval/__init__.py @@ -0,0 +1,18 @@ +"""Control evaluation utilities.""" + +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.recorder import SimRecorder + +__all__ = [ + "ManeuverSpec", + "ManeuverMetrics", + "SimRecorder", + "default_maneuver_suite", + "evaluate_maneuver", + "plot_maneuver_report", + "plot_summary_comparison", +] diff --git a/src/uavcatch/eval/__pycache__/__init__.cpython-313.pyc b/src/uavcatch/eval/__pycache__/__init__.cpython-313.pyc new file mode 100644 index 0000000000000000000000000000000000000000..4de3f3871c1e4cd766f4b7f806e59a777d17d240 GIT binary patch literal 645 zcmZ9I(Q4E{6ozNA*-du0YbmweD`nBE+(f(;5u`1Y#1%9sB7tF;o$8b%6VA*mw0Ay) z579^Jfb>E{yc72YoXPI0^+0~|&-ruCH(5<4BjoD+i<9$dfY4WOw&lDpyn5&KGb#|E 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dtype=np.float64)) + + return target_at + + +def step_position( + initial: np.ndarray, + final: np.ndarray, + step_time: float, + duration: float, + axis: int, +) -> ManeuverSpec: + """Step change on one position axis after an initial hold.""" + initial = np.asarray(initial, dtype=np.float64) + final = np.asarray(final, dtype=np.float64) + axis_names = ["x", "y", "z"] + + def target_at(t: float) -> PhaseTarget: + pos = initial.copy() if t < step_time else final.copy() + vel = np.zeros(3, dtype=np.float64) + return PhaseTarget(position=pos, velocity=vel) + + return ManeuverSpec( + name=f"step_{axis_names[axis]}", + description=f"Step {axis_names[axis]}: {initial[axis]:.2f} -> {final[axis]:.2f} m at t={step_time:.1f}s", + duration=duration, + target_fn=target_at, + step_axis=axis, + step_time=step_time, + step_from=float(initial[axis]), + step_to=float(final[axis]), + ) + + +def hover_hold(height: float = 2.0, duration: float = 8.0) -> ManeuverSpec: + return ManeuverSpec( + name="hover", + description=f"Hover at z={height:.1f} m", + duration=duration, + target_fn=_hold(np.array([0.0, 0.0, height])), + ) + + +def takeoff_forward( + ground_z: float = 0.0, + hover_z: float = 2.0, + forward_x: float = 4.0, + takeoff_time: float = 3.0, + hover_time: float = 2.0, + forward_time: float = 6.0, +) -> ManeuverSpec: + duration = takeoff_time + hover_time + forward_time + return ManeuverSpec( + name="takeoff_forward", + description="Takeoff -> hover -> forward +X", + duration=duration, + target_fn=phased_takeoff_hover_forward( + ground_z, hover_z, forward_x, takeoff_time, hover_time, forward_time + ), + ) + + +def circle_track( + radius: float = 2.5, + height: float = 2.0, + period: float = 10.0, + duration: float = 20.0, + takeoff_time: float = 2.0, + ground_z: float = 0.0, + ground_clearance: float = 0.05, +) -> ManeuverSpec: + pos_fn, yaw_fn, accel_fn = circle_trajectory_with_takeoff( + center=np.zeros(3), + radius=radius, + height=height, + period=period, + takeoff_time=takeoff_time, + ground_z=ground_z, + ground_clearance=ground_clearance, + ) + return ManeuverSpec( + name="circle", + description=( + f"Takeoff {takeoff_time:.1f}s from ground, then circle r={radius:.1f} m, T={period:.1f} s" + ), + duration=duration, + target_fn=pos_fn, + yaw_fn=yaw_fn, + accel_fn=accel_fn, + initial_position=(0.0, 0.0, ground_z + ground_clearance), + ) + + +def default_maneuver_suite(eval_cfg: EvalConfig) -> list[ManeuverSpec]: + home = np.array([0.0, 0.0, eval_cfg.initial_height]) + step = eval_cfg.step + takeoff = eval_cfg.takeoff_forward + circle = eval_cfg.circle + return [ + hover_hold(height=eval_cfg.initial_height, duration=eval_cfg.hover.duration), + step_position( + home, + np.array([0.0, 0.0, step.step_z]), + step_time=step.step_time, + duration=step.duration, + axis=2, + ), + step_position( + home, + np.array([step.step_x, 0.0, eval_cfg.initial_height]), + step_time=step.step_time, + duration=step.duration, + axis=0, + ), + step_position( + home, + np.array([0.0, step.step_y, eval_cfg.initial_height]), + step_time=step.step_time, + duration=step.duration, + axis=1, + ), + takeoff_forward( + ground_z=takeoff.ground_z, + hover_z=takeoff.hover_z, + forward_x=takeoff.forward_x, + takeoff_time=takeoff.takeoff_time, + hover_time=takeoff.hover_time, + forward_time=takeoff.forward_time, + ), + circle_track( + radius=circle.radius, + height=circle.height, + period=circle.period, + duration=circle.duration, + takeoff_time=circle.takeoff_time, + ground_z=circle.ground_z, + ), + ] diff --git a/src/uavcatch/eval/metrics.py b/src/uavcatch/eval/metrics.py new file mode 100644 index 0000000..2813ee2 --- /dev/null +++ b/src/uavcatch/eval/metrics.py @@ -0,0 +1,208 @@ +"""Control performance metrics.""" + +from __future__ import annotations + +from dataclasses import dataclass, field + +import numpy as np + +from uavcatch.eval.maneuvers import ManeuverSpec + + +@dataclass +class StepMetrics: + axis: str + rise_time: float | None + settling_time: float | None + overshoot_pct: float + steady_state_error: float + peak_value: float + final_value: float + + +@dataclass +class TrackingMetrics: + rmse: np.ndarray + mae: np.ndarray + max_error: np.ndarray + rmse_3d: float + max_error_3d: float + + +@dataclass +class ControlEffortMetrics: + omega_mean: np.ndarray + omega_std: np.ndarray + omega_max: np.ndarray + saturation_ratio: float + + +@dataclass +class ManeuverMetrics: + name: str + description: str + mode: str + tracking: TrackingMetrics + attitude_max_deg: np.ndarray + control: ControlEffortMetrics + step: StepMetrics | None = None + summary: dict[str, float] = field(default_factory=dict) + + +_AXIS_NAMES = ("x", "y", "z") + + +def _step_response_metrics( + time: np.ndarray, + signal: np.ndarray, + step_time: float, + y0: float, + yf: float, + settle_band: float = 0.02, +) -> StepMetrics: + axis_idx = 0 + mask = time >= step_time + t = time[mask] - step_time + y = signal[mask] + if len(t) < 2: + return StepMetrics( + axis=_AXIS_NAMES[axis_idx], + rise_time=None, + settling_time=None, + overshoot_pct=0.0, + steady_state_error=0.0, + peak_value=float(y[-1]) if len(y) else yf, + final_value=yf, + ) + + delta = yf - y0 + if abs(delta) < 1e-9: + return StepMetrics( + axis="", + rise_time=0.0, + settling_time=0.0, + overshoot_pct=0.0, + steady_state_error=float(np.mean(y[-max(10, len(y) // 10):] - yf)), + peak_value=float(y[-1]), + final_value=yf, + ) + + y10 = y0 + 0.1 * delta + y90 = y0 + 0.9 * delta + band = settle_band * abs(delta) + + if delta > 0: + rise_idx_10 = np.argmax(y >= y10) + rise_idx_90 = np.argmax(y >= y90) + overshoot = max(0.0, float(np.max(y) - yf)) + else: + rise_idx_10 = np.argmax(y <= y10) + rise_idx_90 = np.argmax(y <= y90) + overshoot = max(0.0, float(yf - np.min(y))) + + rise_time = float(t[rise_idx_90] - t[rise_idx_10]) if rise_idx_90 > rise_idx_10 else None + + settling_time = None + for i in range(len(t)): + if np.all(np.abs(y[i:] - yf) <= band): + settling_time = float(t[i]) + break + + tail = y[-max(20, len(y) // 10):] + ss_err = float(np.mean(tail - yf)) + overshoot_pct = 100.0 * overshoot / abs(delta) + + return StepMetrics( + axis="", + rise_time=rise_time, + settling_time=settling_time, + overshoot_pct=overshoot_pct, + steady_state_error=ss_err, + peak_value=float(np.max(y) if delta > 0 else np.min(y)), + final_value=yf, + ) + + +def compute_tracking_metrics(error: np.ndarray) -> TrackingMetrics: + if error.size == 0: + z = np.zeros(3) + return TrackingMetrics(rmse=z, mae=z, max_error=z, rmse_3d=0.0, max_error_3d=0.0) + rmse = np.sqrt(np.mean(error * error, axis=0)) + mae = np.mean(np.abs(error), axis=0) + max_error = np.max(np.abs(error), axis=0) + err_norm = np.linalg.norm(error, axis=1) + return TrackingMetrics( + rmse=rmse, + mae=mae, + max_error=max_error, + rmse_3d=float(np.sqrt(np.mean(err_norm * err_norm))), + max_error_3d=float(np.max(err_norm)), + ) + + +def compute_control_metrics(omega: np.ndarray, omega_max: float) -> ControlEffortMetrics: + if omega.size == 0: + z4 = np.zeros(4) + return ControlEffortMetrics(omega_mean=z4, omega_std=z4, omega_max=z4, saturation_ratio=0.0) + sat = float(np.mean(np.any(omega >= 0.99 * omega_max, axis=1))) + return ControlEffortMetrics( + omega_mean=np.mean(omega, axis=0), + omega_std=np.std(omega, axis=0), + omega_max=np.max(omega, axis=0), + saturation_ratio=sat, + ) + + +def evaluate_maneuver( + spec: ManeuverSpec, + data: dict[str, np.ndarray], + omega_max: float, + mode: str, +) -> ManeuverMetrics: + time = data["time"] + pos = data["position"] + err = data["tracking_error"] + euler = data["euler"] + omega = data["omega"] + + tracking = compute_tracking_metrics(err) + control = compute_control_metrics(omega, omega_max) + att_max = np.degrees(np.max(np.abs(euler), axis=0)) + + step_metrics = None + if spec.step_axis is not None and spec.step_time is not None: + step_metrics = _step_response_metrics( + time, + pos[:, spec.step_axis], + spec.step_time, + spec.step_from or 0.0, + spec.step_to or 0.0, + ) + step_metrics.axis = _AXIS_NAMES[spec.step_axis] + + summary = { + "rmse_3d": tracking.rmse_3d, + "max_err_3d": tracking.max_error_3d, + "saturation_ratio": control.saturation_ratio, + "max_roll_deg": float(att_max[0]), + "max_pitch_deg": float(att_max[1]), + "max_yaw_deg": float(att_max[2]), + } + if step_metrics is not None: + if step_metrics.rise_time is not None: + summary["rise_time"] = step_metrics.rise_time + if step_metrics.settling_time is not None: + summary["settling_time"] = step_metrics.settling_time + summary["overshoot_pct"] = step_metrics.overshoot_pct + summary["steady_state_error"] = abs(step_metrics.steady_state_error) + + return ManeuverMetrics( + name=spec.name, + description=spec.description, + mode=mode, + tracking=tracking, + attitude_max_deg=att_max, + control=control, + step=step_metrics, + summary=summary, + ) diff --git a/src/uavcatch/eval/plots.py b/src/uavcatch/eval/plots.py new file mode 100644 index 0000000..52b2456 --- /dev/null +++ b/src/uavcatch/eval/plots.py @@ -0,0 +1,126 @@ +"""Time-domain plots for control evaluation.""" + +from __future__ import annotations + +from pathlib import Path + +import matplotlib.pyplot as plt +import numpy as np + +from uavcatch.eval.metrics import ManeuverMetrics + + +def plot_maneuver_report( + data: dict[str, np.ndarray], + metrics: ManeuverMetrics, + save_path: Path | None = None, + show: bool = False, +) -> 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)) + fig.suptitle(f"{metrics.name} [{metrics.mode}] - {metrics.description}", fontsize=11) + gs = fig.add_gridspec(4, 3, hspace=0.35, wspace=0.28) + + labels = ("x", "y", "z") + colors = ("#2563eb", "#16a34a", "#dc2626") + + ax_pos = fig.add_subplot(gs[0, :]) + for i, (lab, c) in enumerate(zip(labels, colors)): + ax_pos.plot(time, target[:, i], "--", color=c, alpha=0.55, linewidth=1.2, label=f"{lab} ref") + ax_pos.plot(time, pos[:, i], "-", color=c, linewidth=1.6, label=f"{lab} act") + ax_pos.set_ylabel("Position (m)") + ax_pos.legend(loc="upper right", ncol=3, fontsize=8) + ax_pos.grid(alpha=0.3) + ax_pos.set_xlabel("Time (s)") + + for i, (lab, c) in enumerate(zip(labels, colors)): + ax = fig.add_subplot(gs[1, i]) + ax.plot(time, err[:, i], color=c, linewidth=1.4) + ax.axhline(0.0, color="k", linewidth=0.6, alpha=0.4) + ax.set_title(f"Error {lab} RMSE={metrics.tracking.rmse[i]:.3f} m") + ax.set_ylabel("Error (m)") + 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) + + 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_txt = fig.add_subplot(gs[3, :]) + ax_txt.axis("off") + lines = [ + f"3D RMSE = {metrics.tracking.rmse_3d:.4f} m | Max error = {metrics.tracking.max_error_3d:.4f} m", + f"RMSE (x,y,z) = ({metrics.tracking.rmse[0]:.4f}, {metrics.tracking.rmse[1]:.4f}, {metrics.tracking.rmse[2]:.4f}) m", + f"Max |roll,pitch,yaw| = ({metrics.attitude_max_deg[0]:.1f}, {metrics.attitude_max_deg[1]:.1f}, {metrics.attitude_max_deg[2]:.1f}) deg", + f"Motor saturation ratio = {metrics.control.saturation_ratio * 100:.1f}%", + ] + if metrics.step is not None: + s = metrics.step + rise = f"{s.rise_time:.3f}s" if s.rise_time is not None else "N/A" + settle = f"{s.settling_time:.3f}s" if s.settling_time is not None else "N/A" + lines.append( + f"Step {s.axis}: rise={rise}, settle={settle}, overshoot={s.overshoot_pct:.1f}%, ss_err={s.steady_state_error:.4f} m" + ) + ax_txt.text(0.02, 0.6, "\n".join(lines), fontsize=10, family="monospace", va="top") + + 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, + show: bool = False, +) -> plt.Figure: + names = [m.name for m in all_metrics] + rmse = [m.tracking.rmse_3d for m in all_metrics] + max_err = [m.tracking.max_error_3d for m in all_metrics] + sat = [m.control.saturation_ratio * 100.0 for m in all_metrics] + + x = np.arange(len(names)) + fig, axes = plt.subplots(1, 3, figsize=(12, 4)) + fig.suptitle("Control Performance Summary", fontsize=12) + + axes[0].bar(x, rmse, color="#2563eb") + axes[0].set_title("3D RMSE (m)") + axes[1].bar(x, max_err, color="#dc2626") + axes[1].set_title("Max 3D Error (m)") + axes[2].bar(x, sat, color="#ca8a04") + axes[2].set_title("Saturation (%)") + + for ax in axes: + ax.set_xticks(x) + ax.set_xticklabels(names, rotation=35, ha="right", fontsize=8) + ax.grid(axis="y", alpha=0.3) + + fig.tight_layout() + 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 diff --git a/src/uavcatch/eval/recorder.py b/src/uavcatch/eval/recorder.py new file mode 100644 index 0000000..7871f08 --- /dev/null +++ b/src/uavcatch/eval/recorder.py @@ -0,0 +1,72 @@ +"""Simulation data recorder.""" + +from __future__ import annotations + +from dataclasses import dataclass, field + +import numpy as np + +from uavcatch.control.types import PhaseTarget, TargetFn +from uavcatch.dynamics.state import QuadState, quaternion_to_euler + + +@dataclass +class SimRecorder: + """Collect time-series during SimEngine.run.""" + + time: list[float] = field(default_factory=list) + position: list[np.ndarray] = field(default_factory=list) + velocity: list[np.ndarray] = field(default_factory=list) + target_position: list[np.ndarray] = field(default_factory=list) + target_velocity: list[np.ndarray] = field(default_factory=list) + euler: list[np.ndarray] = field(default_factory=list) + omega: list[np.ndarray] = field(default_factory=list) + tracking_error: list[np.ndarray] = field(default_factory=list) + + def reset(self) -> None: + self.time.clear() + self.position.clear() + self.velocity.clear() + self.target_position.clear() + self.target_velocity.clear() + self.euler.clear() + self.omega.clear() + self.tracking_error.clear() + + def record( + self, + t: float, + state: QuadState, + target_pos: np.ndarray, + target_vel: np.ndarray, + omega: np.ndarray, + ) -> None: + self.time.append(float(t)) + self.position.append(state.position.copy()) + self.velocity.append(state.velocity.copy()) + self.target_position.append(np.asarray(target_pos, dtype=np.float64).copy()) + self.target_velocity.append(np.asarray(target_vel, dtype=np.float64).copy()) + roll, pitch, yaw = quaternion_to_euler(state.quaternion) + self.euler.append(np.array([roll, pitch, yaw], dtype=np.float64)) + self.omega.append(np.asarray(omega, dtype=np.float64).copy()) + self.tracking_error.append(target_pos - state.position) + + @staticmethod + def resolve_target(target_fn: TargetFn, t: float) -> tuple[np.ndarray, np.ndarray]: + target = target_fn(t) + if isinstance(target, PhaseTarget): + return target.position.copy(), target.velocity.copy() + pos = np.asarray(target, dtype=np.float64) + return pos, np.zeros(3, dtype=np.float64) + + def as_arrays(self) -> dict[str, np.ndarray]: + return { + "time": np.asarray(self.time, dtype=np.float64), + "position": np.vstack(self.position) if self.position else np.empty((0, 3)), + "velocity": np.vstack(self.velocity) if self.velocity else np.empty((0, 3)), + "target_position": np.vstack(self.target_position) if self.target_position else np.empty((0, 3)), + "target_velocity": np.vstack(self.target_velocity) if self.target_velocity else np.empty((0, 3)), + "euler": np.vstack(self.euler) if self.euler else np.empty((0, 3)), + "omega": np.vstack(self.omega) if self.omega else np.empty((0, 4)), + "tracking_error": np.vstack(self.tracking_error) if self.tracking_error else np.empty((0, 3)), + } diff --git a/src/uavcatch/sim/__init__.py b/src/uavcatch/sim/__init__.py new file mode 100644 index 0000000..78cb08e --- /dev/null +++ b/src/uavcatch/sim/__init__.py @@ -0,0 +1,4 @@ +from uavcatch.sim.engine import SimEngine +from uavcatch.sim.mujoco_viz import MuJoCoViewer + +__all__ = ["SimEngine", "MuJoCoViewer"] diff --git a/src/uavcatch/sim/__pycache__/__init__.cpython-313.pyc b/src/uavcatch/sim/__pycache__/__init__.cpython-313.pyc new file mode 100644 index 0000000000000000000000000000000000000000..723da72666500b98047a531da3f764f575ab5087 GIT binary 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QuadDynamics = field(init=False) + state: QuadState = field(init=False) + time: float = 0.0 + _out_of_bounds_warned: bool = field(default=False, init=False) + + def __post_init__(self) -> None: + self.dynamics = QuadDynamics(self.env_cfg, self.uav_cfg) + self.state = self._initial_state() + + def _initial_state(self) -> QuadState: + init = self.uav_cfg.initial + return QuadState.from_initial( + position=init.position, + velocity=init.velocity, + attitude_euler=init.attitude_euler, + angular_rate=init.angular_rate, + ) + + def reset(self) -> QuadState: + self.time = 0.0 + self._out_of_bounds_warned = False + self.state = self._initial_state() + return self.state.copy() + + def step(self, omega: np.ndarray) -> QuadState: + dt = self.env_cfg.simulation.dt + self.state = self.dynamics.step(self.state, omega, dt, self.time) + self.time += dt + self._check_bounds() + return self.state.copy() + + def run( + self, + controller: ControllerFn, + duration: float | None = None, + on_step: Callable[[QuadState, float, np.ndarray], None] | None = None, + ) -> list[QuadState]: + if duration is None: + duration = self.env_cfg.simulation.duration + dt = self.env_cfg.simulation.dt + steps = int(np.ceil(duration / dt)) + history: list[QuadState] = [] + + for _ in range(steps): + omega = controller(self.state, self.time) + omega = self.dynamics.clip_omega(np.asarray(omega, dtype=np.float64)) + self.step(omega) + history.append(self.state.copy()) + if on_step is not None: + on_step(self.state, self.time, omega) + + return history + + def _check_bounds(self) -> None: + scene = self.env_cfg.scene + half_x = scene.size_x * 0.5 + half_y = scene.size_y * 0.5 + p = self.state.position + out = ( + abs(p[0]) > half_x + or abs(p[1]) > half_y + or p[2] < scene.ground_z + or p[2] > scene.size_z + ) + if out and not self._out_of_bounds_warned: + logger.warning("UAV left scene bounds at t=%.3f, position=%s", self.time, p) + self._out_of_bounds_warned = True diff --git a/src/uavcatch/sim/mujoco_model.py b/src/uavcatch/sim/mujoco_model.py new file mode 100644 index 0000000..a1d0c82 --- /dev/null +++ b/src/uavcatch/sim/mujoco_model.py @@ -0,0 +1,162 @@ +"""Procedural MuJoCo scene and quadcopter model generation.""" + +from __future__ import annotations + +import math +from typing import TYPE_CHECKING + +if TYPE_CHECKING: + from uavcatch.config import EnvironmentConfig, UavConfig + + +def _motor_xy(layout: str, arm_length: float) -> list[tuple[float, float]]: + """Return motor hub XY offsets matching QuadDynamics indexing.""" + a = arm_length + if layout == "plus": + return [(0.0, a), (-a, 0.0), (0.0, -a), (a, 0.0)] + return [(a, a), (-a, a), (-a, -a), (a, -a)] + + +def build_quad_body_xml(uav_cfg: UavConfig) -> str: + """Build detailed quadcopter MJCF body subtree (visual only, negligible mass).""" + arm = uav_cfg.body.arm_length + layout = uav_cfg.rotor.layout + motors = _motor_xy(layout, arm) + + prop_radius = max(0.06, arm * 0.38) + hub_radius = max(0.012, arm * 0.06) + hub_half_h = 0.012 + arm_radius = max(0.005, arm * 0.024) + fuselage_r = max(0.035, arm * 0.16) + deck_z = 0.018 + hub_z = deck_z + hub_half_h + leg_drop = 0.05 + + parts: list[str] = [ + '', + ' ', + ' ', + f' ', + f' ', + ' ', + ' ', + ] + + for idx, (mx, my) in enumerate(motors, start=1): + dist = math.hypot(mx, my) + if dist < 1e-9: + continue + arm_start_z = deck_z * 0.5 + parts.append( + f' ' + ) + parts.append( + f' ' + ) + parts.append(f' ') + parts.append( + f' ' + ) + parts.append( + f' ' + ) + blade_len = prop_radius + blade_w = max(0.012, prop_radius * 0.11) + blade_t = 0.0025 + for sign, suffix in ((1.0, "a"), (-1.0, "b")): + parts.append( + f' ' + ) + parts.append( + f' ' + ) + parts.append( + f' ' + ) + parts.append(" ") + + for idx, (mx, my) in enumerate(motors, start=1): + dist = math.hypot(mx, my) + if dist < 1e-9: + continue + sx = mx * 0.55 + sy = my * 0.55 + ex = mx * 0.92 + ey = my * 0.92 + parts.append( + f' ' + ) + parts.append( + f' ' + ) + + parts.append("") + return "\n".join(parts) + + +def build_scene_mjcf(env_cfg: EnvironmentConfig, uav_cfg: UavConfig) -> str: + """Build full MuJoCo scene XML string.""" + scene = env_cfg.scene + half_x = scene.size_x * 0.5 + half_y = scene.size_y * 0.5 + ground = max(scene.ground_z, 0.0) + quad_body = build_quad_body_xml(uav_cfg) + + return f""" + + +""" diff --git a/src/uavcatch/sim/mujoco_viz.py b/src/uavcatch/sim/mujoco_viz.py new file mode 100644 index 0000000..a006ba9 --- /dev/null +++ b/src/uavcatch/sim/mujoco_viz.py @@ -0,0 +1,142 @@ +"""MuJoCo passive viewer for quadcopter visualization.""" + +from __future__ import annotations + +import time +from pathlib import Path + +import mujoco +import mujoco.viewer +import numpy as np + +from uavcatch.config import EnvironmentConfig, UavConfig +from uavcatch.dynamics.state import QuadState +from uavcatch.sim.mujoco_model import build_scene_mjcf + +_ASSETS_DIR = Path(__file__).resolve().parents[3] / "assets" / "mujoco" + + +class MuJoCoViewer: + """Sync explicit dynamics state to MuJoCo scene (render only, no physics).""" + + def __init__( + self, + env_cfg: EnvironmentConfig, + uav_cfg: UavConfig | None = None, + scene_path: Path | None = None, + ) -> None: + self.env_cfg = env_cfg + self.uav_cfg = uav_cfg + if scene_path is not None: + if not scene_path.is_file(): + raise FileNotFoundError(f"MuJoCo scene not found: {scene_path}") + self.model = mujoco.MjModel.from_xml_path(str(scene_path)) + else: + if uav_cfg is None: + raise ValueError("uav_cfg is required when scene_path is not provided") + mjcf = build_scene_mjcf(env_cfg, uav_cfg) + self.model = mujoco.MjModel.from_xml_string(mjcf) + self.data = mujoco.MjData(self.model) + self._viewer = None + self._rotor_joint_ids = [ + mujoco.mj_name2id(self.model, mujoco.mjtObj.mjOBJ_JOINT, f"rotor{i}_hinge") + for i in range(1, 5) + ] + self._rotor_angles = np.zeros(4, dtype=np.float64) + # Real-time rendering bookkeeping + self._sim_clock = 0.0 + self._next_frame_sim = 0.0 + self._wall_anchor: float | None = None + + def __enter__(self) -> MuJoCoViewer: + self._viewer = mujoco.viewer.launch_passive(self.model, self.data) + self._setup_camera() + self._sim_clock = 0.0 + self._next_frame_sim = 0.0 + self._wall_anchor = None + return self + + def __exit__(self, exc_type, exc, tb) -> None: + if self._viewer is not None: + self._viewer.close() + self._viewer = None + + def _setup_camera(self) -> None: + if self._viewer is None: + return + dist = self.env_cfg.viewer.camera_distance + self._viewer.cam.distance = dist + self._viewer.cam.elevation = -22.0 + self._viewer.cam.azimuth = 140.0 + init_z = 1.0 + if self.uav_cfg is not None: + init_z = float(self.uav_cfg.initial.position[2]) + self._viewer.cam.lookat[:] = [0.0, 0.0, init_z] + + def _write_state(self, state: QuadState) -> None: + """Push pose and accumulated rotor angles into MuJoCo qpos.""" + self.data.qpos[0:3] = state.position + self.data.qpos[3:7] = state.quaternion + for i in range(4): + joint_adr = self.model.jnt_qposadr[self._rotor_joint_ids[i]] + self.data.qpos[joint_adr] = self._rotor_angles[i] + mujoco.mj_forward(self.model, self.data) + + def sync(self, state: QuadState, omega: np.ndarray | None = None, dt: float = 0.002) -> None: + """Immediately render one frame (no frame skipping / throttling).""" + if omega is not None: + self._rotor_angles += np.asarray(omega, dtype=np.float64) * dt + self._write_state(state) + if self._viewer is not None: + self._viewer.sync() + + def render_realtime( + self, + state: QuadState, + omega: np.ndarray | None, + sim_dt: float, + speed: float = 1.0, + rotor_visual_scale: float = 1.0, + ) -> bool: + """Advance one physics step; render + throttle only on frame boundaries. + + Decouples physics rate from display rate: the rotor angle integrates every + physics step (so spin speed is physically correct), but we only draw at + `viewer.fps` and sleep to keep wall-clock time aligned with sim time scaled + by `speed`. Returns True when a frame was actually drawn. + + `rotor_visual_scale` only affects the visual spin (useful to tame the + stroboscopic / wagon-wheel aliasing of a very fast rotor); set < 1 to slow + the displayed blades without changing the physics. + """ + if omega is not None: + self._rotor_angles += np.asarray(omega, dtype=np.float64) * sim_dt * rotor_visual_scale + self._sim_clock += sim_dt + + frame_interval = 1.0 / max(self.env_cfg.viewer.fps, 1) + if self._sim_clock + 1e-12 < self._next_frame_sim: + return False + self._next_frame_sim += frame_interval + if self._next_frame_sim < self._sim_clock: + # Fell behind (e.g. heavy step); resync schedule to avoid a render burst. + self._next_frame_sim = self._sim_clock + frame_interval + + self._write_state(state) + if self._viewer is not None: + self._viewer.sync() + + now = time.perf_counter() + if self._wall_anchor is None: + self._wall_anchor = now + target = self._wall_anchor + self._sim_clock / max(speed, 1e-9) + delay = target - 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z&5?OA1?(RM!dG8??bW4pG4RBE+kM3Oi-7YNp%y#xa1;PUK?GLT`mG8(7N80ky6dP# zbYnhD0rSS}Bfv<%9sX`OKlt4!s7uj;*p4K14HXbz)G{bYMb|FFAp^AD#ek^->%0_Y zs_kGJm@F-MUGQGr^V*&@p}8P5=SO}x_RiRk_uT=09Kt96CAM!p9Jzk*+QFs4?>u!s z9Hqa?`>|U1dZ_lk_T>Doh1P}P-$l7#bRqr5%NzP>dw%DN0HPpnUlXj~s<0jV2}5@s zwTN!ahbiDefjPV_{6xvk64mgY(NrbTXathUaV?!p8lhxzViuy5WRk$j0?dMaPKR!% z7~7KO$(~O0R1BQM=_JY}lF7j-9cF?9IHrwGPQ$0p&SbBc6RvJHbuo=6Q#$cOveW*) zN2pA{h|TSsTIOY)Lhj6F#_5za8d#K>fpwf%r>_U|YkUAR8%A*f1iRo82JH2A?vE+eEHPF^ZY+@U;kIG4OW9UxguBn38xe|<)66Y|I8i#-0$VLeIE7m SJ3g None: + q = euler_to_quaternion(0.1, -0.05, 0.2) + err = quaternion_attitude_error(q, q) + np.testing.assert_allclose(err, 0.0, atol=1e-12) + + +def test_control_allocator_hover(dynamics, uav_cfg) -> None: + allocator = ControlAllocator(uav_cfg) + thrust = uav_cfg.body.mass * dynamics.env_cfg.physics.gravity + omega = allocator.allocate(thrust, np.zeros(3)) + assert np.all(omega > 0.0) + assert np.allclose(omega, omega[0], rtol=1e-3) + + +def test_cascaded_linear_hover(env_cfg, uav_cfg, dynamics, control_cfg) -> None: + engine = SimEngine(env_cfg, uav_cfg) + engine.reset() + controller = build_cascaded_controller( + control_cfg, + dynamics, + uav_cfg, + target_position=np.array([0.0, 0.0, 2.0]), + ) + engine.run(controller, duration=5.0) + err = np.linalg.norm(engine.state.position - np.array([0.0, 0.0, 2.0])) + assert err < 0.5 + + +def test_geometric_circle_tracking(env_cfg, uav_cfg, dynamics, control_cfg) -> None: + control_cfg.controller.mode = "geometric" + env_cfg.simulation.duration = 12.0 + engine = SimEngine(env_cfg, uav_cfg) + engine.reset() + + pos_fn, yaw_fn, accel_fn = circle_trajectory( + center=np.zeros(3), + radius=2.0, + height=2.0, + period=10.0, + ) + init = pos_fn(0.0) + controller = build_cascaded_controller( + control_cfg, + dynamics, + uav_cfg, + target_position=init.position, + target_velocity=init.velocity, + target_yaw=float(yaw_fn(0.0)), + ) + tracker = TrackingController( + controller=controller, + target_fn=pos_fn, + yaw_fn=yaw_fn, + accel_fn=accel_fn, + ) + engine.run(tracker, duration=12.0) + target = pos_fn(12.0) + err = np.linalg.norm(engine.state.position - target.position) + assert err < 1.5 diff --git a/tests/test_dynamics.py b/tests/test_dynamics.py new file mode 100644 index 0000000..be315a3 --- /dev/null +++ b/tests/test_dynamics.py @@ -0,0 +1,183 @@ +"""Tests for quadcopter dynamics and configuration.""" + +from __future__ import annotations + +from pathlib import Path + +import mujoco +import numpy as np +import pytest + +from uavcatch.config import EnvironmentConfig, UavConfig, load_control_config, load_environment_config, load_uav_config +from uavcatch.dynamics.model import QuadDynamics +from uavcatch.dynamics.state import QuadState, euler_to_quaternion, normalize_quaternion +from uavcatch.dynamics.wind import WindModel +from uavcatch.sim.mujoco_model import _motor_xy, build_scene_mjcf + +ROOT = Path(__file__).resolve().parents[1] + + +@pytest.fixture +def env_cfg() -> EnvironmentConfig: + return load_environment_config(ROOT / "environment.toml") + + +@pytest.fixture +def uav_cfg() -> UavConfig: + return load_uav_config(ROOT / "uav.toml") + + +@pytest.fixture +def dynamics(env_cfg: EnvironmentConfig, uav_cfg: UavConfig) -> QuadDynamics: + return QuadDynamics(env_cfg, uav_cfg) + + +def test_config_load_defaults(env_cfg: EnvironmentConfig, uav_cfg: UavConfig) -> None: + assert env_cfg.simulation.dt > 0.0 + assert env_cfg.simulation.integrator == "rk4" + assert uav_cfg.body.mass == 1.3 + assert uav_cfg.rotor.layout == "x" + + +def test_control_config_load() -> None: + cfg = load_control_config(ROOT / "control.toml") + assert cfg.controller.mode in ("linear", "geometric") + assert cfg.position_linear.kp == 0.8 + assert cfg.position_geometric.kp == 2.5 + assert cfg.eval.circle.radius == 2.5 + + +def test_config_missing_file() -> None: + with pytest.raises(FileNotFoundError): + load_environment_config(ROOT / "missing.toml") + + +def test_quaternion_normalization_after_integration(dynamics: QuadDynamics) -> None: + state = QuadState.from_initial( + position=[0.0, 0.0, 1.0], + velocity=[0.0, 0.0, 0.0], + attitude_euler=[0.1, -0.05, 0.2], + angular_rate=[0.5, -0.3, 0.1], + ) + omega = np.full(4, dynamics.hover_omega()) + dt = dynamics.env_cfg.simulation.dt + + for _ in range(1000): + state = dynamics.step(state, omega, dt) + q_norm = np.linalg.norm(state.quaternion) + assert abs(q_norm - 1.0) < 1e-6 + + +def test_hover_acceleration_near_zero(dynamics: QuadDynamics) -> None: + state = QuadState.from_initial( + position=[0.0, 0.0, 1.0], + velocity=[0.0, 0.0, 0.0], + attitude_euler=[0.0, 0.0, 0.0], + angular_rate=[0.0, 0.0, 0.0], + ) + omega_hover = dynamics.hover_omega() + omega = np.full(4, omega_hover) + deriv = dynamics.derivatives(state, omega) + assert abs(deriv[5]) < 0.5 + + +def test_free_fall(dynamics: QuadDynamics) -> None: + state = QuadState.from_initial( + position=[0.0, 0.0, 5.0], + velocity=[0.0, 0.0, 0.0], + attitude_euler=[0.0, 0.0, 0.0], + angular_rate=[0.0, 0.0, 0.0], + ) + omega = np.zeros(4) + dt = dynamics.env_cfg.simulation.dt + z_prev = state.position[2] + + for _ in range(200): + state = dynamics.step(state, omega, dt) + assert state.position[2] <= z_prev + 1e-9 + z_prev = state.position[2] + + assert state.position[2] < 5.0 + + +def test_state_vector_roundtrip() -> None: + q = euler_to_quaternion(0.1, 0.2, 0.3) + state = QuadState( + position=np.array([1.0, 2.0, 3.0]), + velocity=np.array([0.1, 0.2, 0.3]), + quaternion=normalize_quaternion(q), + angular_rate=np.array([0.01, 0.02, 0.03]), + ) + restored = QuadState.from_vector(state.as_vector()) + np.testing.assert_allclose(restored.position, state.position) + np.testing.assert_allclose(restored.velocity, state.velocity) + np.testing.assert_allclose(restored.angular_rate, state.angular_rate) + + +def test_drag_opposes_motion(dynamics: QuadDynamics) -> None: + forward = np.array([5.0, 0.0, 0.0], dtype=np.float64) + force = dynamics.aerodynamic_force(forward, np.zeros(3)) + # Drag must oppose velocity and be purely along -X here. + assert force[0] < 0.0 + np.testing.assert_allclose(force[1:], 0.0, atol=1e-12) + + +def test_quadratic_drag_scaling(dynamics: QuadDynamics) -> None: + f1 = dynamics.aerodynamic_force(np.array([1.0, 0.0, 0.0]), np.zeros(3)) + f2 = dynamics.aerodynamic_force(np.array([2.0, 0.0, 0.0]), np.zeros(3)) + # Quadratic drag: doubling speed quadruples the force (when linear term is 0). + np.testing.assert_allclose(abs(f2[0]) / abs(f1[0]), 4.0, rtol=1e-6) + + +def test_drag_uses_relative_wind(dynamics: QuadDynamics) -> None: + wind = np.array([3.0, 0.0, 0.0], dtype=np.float64) + # Moving with the wind -> zero relative airspeed -> zero drag. + force = dynamics.aerodynamic_force(wind.copy(), wind) + np.testing.assert_allclose(force, 0.0, atol=1e-12) + + +def test_terminal_velocity_with_drag(dynamics: QuadDynamics) -> None: + state = QuadState.from_initial( + position=[0.0, 0.0, 100.0], + velocity=[0.0, 0.0, 0.0], + attitude_euler=[0.0, 0.0, 0.0], + angular_rate=[0.0, 0.0, 0.0], + ) + omega = np.zeros(4) + dt = dynamics.env_cfg.simulation.dt + for _ in range(5000): + state = dynamics.step(state, omega, dt) + # With quadratic drag, fall speed must saturate well below the drag-free + # value (g * t = 9.81 * 10 ~ 98 m/s). + assert abs(state.velocity[2]) < 60.0 + + +def test_wind_model_gust_oscillates() -> None: + wind = WindModel( + base_velocity=np.array([2.0, 0.0, 0.0]), + gust_amplitude=1.0, + gust_frequency=1.0, + ) + assert wind.is_active + # Quarter period -> peak gust along +X direction. + np.testing.assert_allclose(wind.sample(0.25)[0], 3.0, atol=1e-6) + np.testing.assert_allclose(wind.sample(0.0)[0], 2.0, atol=1e-6) + + +def test_wind_config_parsed(env_cfg: EnvironmentConfig) -> None: + assert env_cfg.wind.velocity == [0.0, 0.0, 0.0] + assert hasattr(env_cfg.wind, "gust_amplitude") + + +def test_mujoco_model_motor_alignment(env_cfg: EnvironmentConfig, uav_cfg: UavConfig) -> None: + mjcf = build_scene_mjcf(env_cfg, uav_cfg) + model = mujoco.MjModel.from_xml_string(mjcf) + arm = uav_cfg.body.arm_length + expected = _motor_xy(uav_cfg.rotor.layout, arm) + + for idx, (mx, my) in enumerate(expected, start=1): + body_id = mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_BODY, f"rotor{idx}") + assert body_id >= 0 + pos = model.body_pos[body_id] + np.testing.assert_allclose(pos[0], mx, rtol=0, atol=1e-6) + np.testing.assert_allclose(pos[1], my, rtol=0, atol=1e-6) diff --git a/tests/test_eval.py b/tests/test_eval.py new file mode 100644 index 0000000..ceb7332 --- /dev/null +++ b/tests/test_eval.py @@ -0,0 +1,72 @@ +"""Tests for control evaluation metrics.""" + +from __future__ import annotations + +import numpy as np + +from uavcatch.eval.metrics import compute_tracking_metrics, evaluate_maneuver, _step_response_metrics +from uavcatch.control.pid import circle_trajectory_with_takeoff +from uavcatch.eval.maneuvers import circle_track, step_position + + +def test_tracking_rmse() -> None: + err = np.array([[0.0, 0.0, 0.0], [1.0, 0.0, 0.0], [0.0, 0.0, 0.0]]) + m = compute_tracking_metrics(err) + assert abs(m.rmse[0] - np.sqrt(1 / 3)) < 1e-9 + assert m.rmse_3d > 0.0 + + +def test_step_rise_and_settle() -> None: + t = np.linspace(0, 10, 1000) + y = np.where(t < 1.0, 0.0, 1.0 - np.exp(-(t - 1.0) / 0.5)) + m = _step_response_metrics(t, y, step_time=1.0, y0=0.0, yf=1.0) + assert m.rise_time is not None + assert m.settling_time is not None + assert m.overshoot_pct < 5.0 + + +def test_evaluate_maneuver_step_spec() -> None: + spec = step_position( + np.array([0.0, 0.0, 2.0]), + np.array([0.0, 0.0, 3.0]), + step_time=2.0, + duration=10.0, + axis=2, + ) + n = 200 + time = np.linspace(0, 10, n) + z = np.where(time < 2.0, 2.0, 2.0 + 0.9 * (1 - np.exp(-(time - 2.0) / 1.0))) + data = { + "time": time, + "position": np.column_stack([np.zeros(n), np.zeros(n), z]), + "tracking_error": np.column_stack([np.zeros(n), np.zeros(n), 3.0 - z]), + "euler": np.zeros((n, 3)), + "omega": np.full((n, 4), 550.0), + } + metrics = evaluate_maneuver(spec, data, omega_max=838.0, mode="linear") + assert metrics.step is not None + assert metrics.tracking.rmse_3d < 0.6 + + +def test_circle_takeoff_phase() -> None: + spec = circle_track(takeoff_time=2.0, ground_z=0.0, height=2.0, radius=2.5) + assert spec.initial_position == (0.0, 0.0, 0.05) + + t0 = spec.target_fn(0.0) + assert t0.position[2] == 0.05 + + t1 = spec.target_fn(1.0) + assert 0.05 < t1.position[2] < 2.0 + + t2 = spec.target_fn(2.0) + np.testing.assert_allclose(t2.position, [2.5, 0.0, 2.0], atol=1e-9) + + pos_fn, _, _ = circle_trajectory_with_takeoff( + center=np.zeros(3), + radius=2.5, + height=2.0, + period=10.0, + takeoff_time=2.0, + ) + t3 = pos_fn(3.0) + assert t3.position[0] > 2.0 diff --git a/uav.toml b/uav.toml new file mode 100644 index 0000000..fcbaf6d --- /dev/null +++ b/uav.toml @@ -0,0 +1,28 @@ +[body] +mass = 1.3 +arm_length = 0.23 +Ixx = 0.0075 +Iyy = 0.0075 +Izz = 0.013 + +[rotor] +# T_i = kf * omega_i^2; 悬停标定: kf = m*g / (4 * omega_hover^2), omega_hover ≈ 550 rad/s +kf = 1.054e-5 +km = 2.64e-7 +omega_min = 0.0 +omega_max = 838.0 +layout = "x" + +[initial] +position = [0.0, 0.0, 1.0] +velocity = [0.0, 0.0, 0.0] +attitude_euler = [0.0, 0.0, 0.0] +angular_rate = [0.0, 0.0, 0.0] + +[drag] +# 平动阻力(世界系): F = -linear * v_rel - 0.5 * rho * cd * area * |v_rel| * v_rel +# v_rel = 机体速度 - 风速; rho = environment.toml 的 air_density +linear = 0.0 # 线性阻力系数 N/(m/s)，低速近似，0 则只用二次项 +angular = 0.05 # 角速度阻尼 N·m/(rad/s) +cd = 0.8 # 气动阻力系数 +area = 0.1 # 等效迎风面积 m^2