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Neural Control Mode #24366
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Neural Control Mode #24366
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ff4254a
Add tflm to px4 with module
SindreMHegre 8fe4e32
Added neural flight mode
SindreMHegre 51ae6ae
Add posibility to read of inference times
SindreMHegre a09e1a5
Add tflm to px4 with module
SindreMHegre a817473
Added neural flight mode
SindreMHegre 4ceaaa9
Add posibility to read of inference times
SindreMHegre 564b79a
Fix comments from review:
SindreMHegre 3c54162
Merge branch 'neural_control_with_tflm' of github.com:SindreMHegre/PX…
SindreMHegre 202b292
Remove auto start
SindreMHegre 222f2c7
Add logging from neural control module
SindreMHegre d0369ac
Fix automatic startup to only be when module is included
SindreMHegre 2243d9b
Switch to flight mode registration
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| Original file line number | Diff line number | Diff line change |
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@@ -267,7 +267,7 @@ endif() | |
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| set(package-contact "[email protected]") | ||
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| set(CMAKE_CXX_STANDARD 14) | ||
| set(CMAKE_CXX_STANDARD 17) | ||
| set(CMAKE_CXX_STANDARD_REQUIRED ON) | ||
| set(CMAKE_C_STANDARD 11) | ||
| set(CMAKE_C_STANDARD_REQUIRED ON) | ||
|
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,99 @@ | ||
| CONFIG_BOARD_TOOLCHAIN="arm-none-eabi" | ||
| CONFIG_BOARD_ARCHITECTURE="cortex-m7" | ||
| CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3" | ||
| CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1" | ||
| CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS2" | ||
| CONFIG_DRIVERS_ADC_ADS1115=y | ||
| CONFIG_DRIVERS_ADC_BOARD_ADC=y | ||
| CONFIG_DRIVERS_BAROMETER_DPS310=y | ||
| CONFIG_DRIVERS_BATT_SMBUS=y | ||
| CONFIG_DRIVERS_CAMERA_CAPTURE=y | ||
| CONFIG_DRIVERS_CAMERA_TRIGGER=y | ||
| CONFIG_DRIVERS_CDCACM_AUTOSTART=y | ||
| CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y | ||
| CONFIG_COMMON_DISTANCE_SENSOR=y | ||
| CONFIG_DRIVERS_DSHOT=y | ||
| CONFIG_DRIVERS_GNSS_SEPTENTRIO=y | ||
| CONFIG_DRIVERS_GPS=y | ||
| CONFIG_DRIVERS_IMU_BOSCH_BMI085=y | ||
| CONFIG_DRIVERS_IMU_BOSCH_BMI088=y | ||
| CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y | ||
| CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y | ||
| CONFIG_DRIVERS_IRLOCK=y | ||
| CONFIG_COMMON_LIGHT=y | ||
| CONFIG_COMMON_MAGNETOMETER=y | ||
| CONFIG_COMMON_OPTICAL_FLOW=y | ||
| CONFIG_DRIVERS_PCA9685_PWM_OUT=y | ||
| CONFIG_DRIVERS_POWER_MONITOR_INA226=y | ||
| CONFIG_DRIVERS_PWM_OUT=y | ||
| CONFIG_DRIVERS_RC_INPUT=y | ||
| CONFIG_DRIVERS_SMART_BATTERY_BATMON=y | ||
| CONFIG_COMMON_TELEMETRY=y | ||
| CONFIG_DRIVERS_TONE_ALARM=n | ||
| CONFIG_DRIVERS_UAVCAN=y | ||
| CONFIG_MODULES_AIRSPEED_SELECTOR=y | ||
| CONFIG_MODULES_BATTERY_STATUS=y | ||
| CONFIG_MODULES_CAMERA_FEEDBACK=y | ||
| CONFIG_MODULES_COMMANDER=y | ||
| CONFIG_MODULES_CONTROL_ALLOCATOR=y | ||
| CONFIG_MODULES_DATAMAN=y | ||
| CONFIG_MODULES_EKF2=y | ||
| CONFIG_MODULES_ESC_BATTERY=y | ||
| CONFIG_MODULES_EVENTS=y | ||
| CONFIG_MODULES_FLIGHT_MODE_MANAGER=y | ||
| CONFIG_MODULES_FW_ATT_CONTROL=n | ||
| CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n | ||
| CONFIG_MODULES_FW_POS_CONTROL=n | ||
| CONFIG_MODULES_FW_RATE_CONTROL=n | ||
| CONFIG_MODULES_GIMBAL=y | ||
| CONFIG_MODULES_GYRO_CALIBRATION=y | ||
| CONFIG_MODULES_GYRO_FFT=y | ||
| CONFIG_MODULES_LAND_DETECTOR=y | ||
| CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y | ||
| CONFIG_MODULES_LOAD_MON=y | ||
| CONFIG_MODULES_LOGGER=y | ||
| CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y | ||
| CONFIG_MODULES_MANUAL_CONTROL=y | ||
| CONFIG_MODULES_MAVLINK=y | ||
| CONFIG_MODULES_MC_ATT_CONTROL=y | ||
| CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y | ||
| CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y | ||
| CONFIG_MODULES_MC_POS_CONTROL=y | ||
| CONFIG_MODULES_MC_RATE_CONTROL=y | ||
| CONFIG_MODULES_MC_NN_CONTROL=y | ||
| CONFIG_MODULES_NAVIGATOR=y | ||
| CONFIG_MODULES_RC_UPDATE=y | ||
| CONFIG_MODULES_ROVER_POS_CONTROL=n | ||
| CONFIG_MODULES_SENSORS=y | ||
| CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y | ||
| CONFIG_MODULES_TEMPERATURE_COMPENSATION=y | ||
| CONFIG_MODULES_UUV_ATT_CONTROL=n | ||
| CONFIG_MODULES_UUV_POS_CONTROL=n | ||
| CONFIG_MODULES_UXRCE_DDS_CLIENT=y | ||
| CONFIG_MODULES_VTOL_ATT_CONTROL=n | ||
| CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y | ||
| CONFIG_SYSTEMCMDS_BSONDUMP=y | ||
| CONFIG_SYSTEMCMDS_DMESG=y | ||
| CONFIG_SYSTEMCMDS_DUMPFILE=y | ||
| CONFIG_SYSTEMCMDS_GPIO=y | ||
| CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y | ||
| CONFIG_SYSTEMCMDS_I2CDETECT=y | ||
| CONFIG_SYSTEMCMDS_LED_CONTROL=y | ||
| CONFIG_SYSTEMCMDS_MFT=y | ||
| CONFIG_SYSTEMCMDS_MTD=y | ||
| CONFIG_SYSTEMCMDS_NSHTERM=y | ||
| CONFIG_SYSTEMCMDS_PARAM=y | ||
| CONFIG_SYSTEMCMDS_PERF=y | ||
| CONFIG_SYSTEMCMDS_REBOOT=y | ||
| CONFIG_SYSTEMCMDS_REFLECT=y | ||
| CONFIG_SYSTEMCMDS_SD_BENCH=y | ||
| CONFIG_SYSTEMCMDS_SD_STRESS=y | ||
| CONFIG_SYSTEMCMDS_SERIAL_TEST=y | ||
| CONFIG_SYSTEMCMDS_SYSTEM_TIME=y | ||
| CONFIG_SYSTEMCMDS_TOP=y | ||
| CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y | ||
| CONFIG_SYSTEMCMDS_TUNE_CONTROL=y | ||
| CONFIG_SYSTEMCMDS_UORB=y | ||
| CONFIG_SYSTEMCMDS_USB_CONNECTED=y | ||
| CONFIG_SYSTEMCMDS_VER=y | ||
| CONFIG_SYSTEMCMDS_WORK_QUEUE=y |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,93 @@ | ||
| CONFIG_BOARD_TOOLCHAIN="arm-none-eabi" | ||
| CONFIG_BOARD_ARCHITECTURE="cortex-m7" | ||
| CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0" | ||
| CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS6" | ||
| CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS5" | ||
| CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3" | ||
| CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1" | ||
| CONFIG_DRIVERS_ADC_BOARD_ADC=y | ||
| CONFIG_DRIVERS_BAROMETER_MS5611=y | ||
| CONFIG_DRIVERS_BATT_SMBUS=y | ||
| CONFIG_DRIVERS_CAMERA_CAPTURE=y | ||
| CONFIG_DRIVERS_CAMERA_TRIGGER=y | ||
| CONFIG_DRIVERS_CDCACM_AUTOSTART=y | ||
| CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y | ||
| CONFIG_COMMON_DISTANCE_SENSOR=y | ||
| CONFIG_DRIVERS_DSHOT=y | ||
| CONFIG_DRIVERS_GNSS_SEPTENTRIO=y | ||
| CONFIG_DRIVERS_GPS=y | ||
| CONFIG_DRIVERS_HEATER=y | ||
| CONFIG_DRIVERS_IMU_BOSCH_BMI055=y | ||
| CONFIG_DRIVERS_IMU_BOSCH_BMI088=y | ||
| CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y | ||
| CONFIG_COMMON_INS=y | ||
| CONFIG_COMMON_LIGHT=y | ||
| CONFIG_COMMON_MAGNETOMETER=y | ||
| CONFIG_COMMON_OPTICAL_FLOW=y | ||
| CONFIG_DRIVERS_POWER_MONITOR_INA226=y | ||
| CONFIG_DRIVERS_POWER_MONITOR_INA228=y | ||
| CONFIG_DRIVERS_POWER_MONITOR_INA238=y | ||
| CONFIG_DRIVERS_PWM_OUT=y | ||
| CONFIG_DRIVERS_PX4IO=y | ||
| CONFIG_COMMON_TELEMETRY=y | ||
| CONFIG_DRIVERS_TONE_ALARM=n | ||
| CONFIG_DRIVERS_UAVCAN=y | ||
| CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2 | ||
| CONFIG_MODULES_AIRSPEED_SELECTOR=y | ||
| CONFIG_MODULES_BATTERY_STATUS=y | ||
| CONFIG_MODULES_CAMERA_FEEDBACK=y | ||
| CONFIG_MODULES_COMMANDER=y | ||
| CONFIG_MODULES_CONTROL_ALLOCATOR=y | ||
| CONFIG_MODULES_DATAMAN=y | ||
| CONFIG_MODULES_EKF2=y | ||
| CONFIG_MODULES_ESC_BATTERY=y | ||
| CONFIG_MODULES_EVENTS=y | ||
| CONFIG_MODULES_FLIGHT_MODE_MANAGER=y | ||
| CONFIG_MODULES_FW_ATT_CONTROL=n | ||
| CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n | ||
| CONFIG_MODULES_FW_POS_CONTROL=n | ||
| CONFIG_MODULES_FW_RATE_CONTROL=n | ||
| CONFIG_MODULES_GIMBAL=y | ||
| CONFIG_MODULES_GYRO_CALIBRATION=y | ||
| CONFIG_MODULES_GYRO_FFT=y | ||
| CONFIG_MODULES_LAND_DETECTOR=y | ||
| CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y | ||
| CONFIG_MODULES_LOAD_MON=y | ||
| CONFIG_MODULES_LOGGER=y | ||
| CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y | ||
| CONFIG_MODULES_MANUAL_CONTROL=y | ||
| CONFIG_MODULES_MAVLINK=y | ||
| CONFIG_MODULES_MC_ATT_CONTROL=y | ||
| CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y | ||
| CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y | ||
| CONFIG_MODULES_MC_NN_CONTROL=y | ||
| CONFIG_MODULES_MC_POS_CONTROL=y | ||
| CONFIG_MODULES_MC_RATE_CONTROL=y | ||
| CONFIG_MODULES_NAVIGATOR=y | ||
| CONFIG_MODULES_RC_UPDATE=y | ||
| CONFIG_MODULES_ROVER_POS_CONTROL=n | ||
| CONFIG_MODULES_SENSORS=y | ||
| CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y | ||
| CONFIG_MODULES_TEMPERATURE_COMPENSATION=y | ||
| CONFIG_MODULES_UXRCE_DDS_CLIENT=y | ||
| CONFIG_MODULES_VTOL_ATT_CONTROL=n | ||
| CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y | ||
| CONFIG_SYSTEMCMDS_BSONDUMP=y | ||
| CONFIG_SYSTEMCMDS_DMESG=y | ||
| CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y | ||
| CONFIG_SYSTEMCMDS_I2CDETECT=y | ||
| CONFIG_SYSTEMCMDS_LED_CONTROL=y | ||
| CONFIG_SYSTEMCMDS_MFT=y | ||
| CONFIG_SYSTEMCMDS_MTD=y | ||
| CONFIG_SYSTEMCMDS_NSHTERM=y | ||
| CONFIG_SYSTEMCMDS_PARAM=y | ||
| CONFIG_SYSTEMCMDS_PERF=y | ||
| CONFIG_SYSTEMCMDS_REBOOT=y | ||
| CONFIG_SYSTEMCMDS_SD_BENCH=y | ||
| CONFIG_SYSTEMCMDS_SYSTEM_TIME=y | ||
| CONFIG_SYSTEMCMDS_TOP=y | ||
| CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y | ||
| CONFIG_SYSTEMCMDS_TUNE_CONTROL=y | ||
| CONFIG_SYSTEMCMDS_UORB=y | ||
| CONFIG_SYSTEMCMDS_VER=y | ||
| CONFIG_SYSTEMCMDS_WORK_QUEUE=y |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,80 @@ | ||
| CONFIG_PLATFORM_POSIX=y | ||
| CONFIG_BOARD_TESTING=y | ||
| CONFIG_BOARD_ETHERNET=y | ||
| CONFIG_DRIVERS_CAMERA_TRIGGER=y | ||
| CONFIG_DRIVERS_GPS=y | ||
| CONFIG_DRIVERS_OSD_MSP_OSD=y | ||
| CONFIG_DRIVERS_TONE_ALARM=y | ||
| CONFIG_MODULES_AIRSHIP_ATT_CONTROL=y | ||
| CONFIG_MODULES_AIRSPEED_SELECTOR=y | ||
| CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y | ||
| CONFIG_MODULES_CAMERA_FEEDBACK=y | ||
| CONFIG_MODULES_COMMANDER=y | ||
| CONFIG_MODULES_CONTROL_ALLOCATOR=y | ||
| CONFIG_MODULES_DATAMAN=y | ||
| CONFIG_MODULES_DIFFERENTIAL_DRIVE=y | ||
| CONFIG_MODULES_EKF2=y | ||
| CONFIG_EKF2_VERBOSE_STATUS=y | ||
| CONFIG_EKF2_AUX_GLOBAL_POSITION=y | ||
| CONFIG_MODULES_EVENTS=y | ||
| CONFIG_MODULES_FLIGHT_MODE_MANAGER=y | ||
| CONFIG_MODULES_FW_ATT_CONTROL=y | ||
| CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y | ||
| CONFIG_MODULES_FW_POS_CONTROL=y | ||
| CONFIG_FIGURE_OF_EIGHT=y | ||
| CONFIG_MODULES_FW_RATE_CONTROL=y | ||
| CONFIG_MODULES_GIMBAL=y | ||
| CONFIG_MODULES_GYRO_CALIBRATION=y | ||
| CONFIG_MODULES_GYRO_FFT=y | ||
| CONFIG_MODULES_LAND_DETECTOR=y | ||
| CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y | ||
| CONFIG_MODULES_LOAD_MON=y | ||
| CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y | ||
| CONFIG_MODULES_LOGGER=y | ||
| CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y | ||
| CONFIG_MODULES_MANUAL_CONTROL=y | ||
| CONFIG_MODULES_MAVLINK=y | ||
| CONFIG_MAVLINK_DIALECT="development" | ||
| CONFIG_MODULES_MC_ATT_CONTROL=y | ||
| CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y | ||
| CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y | ||
| CONFIG_MODULES_MC_NN_CONTROL=y | ||
| CONFIG_MODULES_MC_POS_CONTROL=y | ||
| CONFIG_MODULES_MC_RATE_CONTROL=y | ||
| CONFIG_MODULES_NAVIGATOR=y | ||
| CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y | ||
| CONFIG_MODULES_PAYLOAD_DELIVERER=y | ||
| CONFIG_MODULES_RC_UPDATE=y | ||
| CONFIG_MODULES_REPLAY=y | ||
| CONFIG_MODULES_ROVER_POS_CONTROL=y | ||
| CONFIG_MODULES_SENSORS=y | ||
| CONFIG_COMMON_SIMULATION=y | ||
| CONFIG_MODULES_SIMULATION_GZ_BRIDGE=y | ||
| CONFIG_MODULES_TEMPERATURE_COMPENSATION=y | ||
| CONFIG_MODULES_UUV_ATT_CONTROL=y | ||
| CONFIG_MODULES_UUV_POS_CONTROL=y | ||
| CONFIG_MODULES_UXRCE_DDS_CLIENT=y | ||
| CONFIG_MODULES_VTOL_ATT_CONTROL=y | ||
| CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y | ||
| CONFIG_SYSTEMCMDS_BSONDUMP=y | ||
| CONFIG_SYSTEMCMDS_DYN=y | ||
| CONFIG_SYSTEMCMDS_FAILURE=y | ||
| CONFIG_SYSTEMCMDS_LED_CONTROL=y | ||
| CONFIG_SYSTEMCMDS_PARAM=y | ||
| CONFIG_SYSTEMCMDS_PERF=y | ||
| CONFIG_SYSTEMCMDS_SD_BENCH=y | ||
| CONFIG_SYSTEMCMDS_SHUTDOWN=y | ||
| CONFIG_SYSTEMCMDS_SYSTEM_TIME=y | ||
| CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y | ||
| CONFIG_SYSTEMCMDS_TUNE_CONTROL=y | ||
| CONFIG_SYSTEMCMDS_UORB=y | ||
| CONFIG_SYSTEMCMDS_VER=y | ||
| CONFIG_SYSTEMCMDS_WORK_QUEUE=y | ||
| CONFIG_EXAMPLES_DYN_HELLO=y | ||
| CONFIG_EXAMPLES_FAKE_GPS=y | ||
| CONFIG_EXAMPLES_FAKE_IMU=y | ||
| CONFIG_EXAMPLES_FAKE_MAGNETOMETER=y | ||
| CONFIG_EXAMPLES_HELLO=y | ||
| CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y | ||
| CONFIG_EXAMPLES_PX4_SIMPLE_APP=y | ||
| CONFIG_EXAMPLES_WORK_ITEM=y |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,10 @@ | ||
| # Neural Control Message | ||
| uint64 timestamp # time since system start (microseconds) | ||
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| float32[15] observation # Observation vector (pos error (3), att (6d), lin vel (3), ang vel (3)) | ||
| float32[6] wrench # Forces and Torques before allocation | ||
| float32[4] motor_thrust # Thrust per motor | ||
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| int32 controller_time # Time spent from input to output in microseconds | ||
| int32 control_inference_time # Time spent in the control inference in microseconds | ||
| int32 allocation_inference_time # Time spent in the allocation inference in microseconds |
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It would be nice if this wasn't pulled for all builds.
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how do I fix this?
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@SindreMHegre Why do you even need the submodule?
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@Jaeyoung-Lim I have no idea, it just seemed like the standard way to include a big library. What other options do I have? Just adding the needed parts of the lib directly in the code?
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@SindreMHegre Can we install it on the system? submodules only make sense if you need to compile the library with the source
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This is the part of this PR where I'm the least experienced. What do you mean installing it on the system? I'm unsure if the library needs to compile on it's own first