Module/FlightBenchmark - Revision history

Flixr at 20:57, 7 March 2012

2012-03-07T20:57:21Z

← Older revision		Revision as of 14:57, 7 March 2012
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	<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Modules</categorytree>		<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Modules</categorytree>
	~~==Description==~~		[[Image:SumOfSquaredErrorOfAltitude.jpg\|float\|600px\|Example plot: sum of squared error of altitude ]]

	This module allows a quantitative assessment of the flight. It calculates the sum of squared error of the two-dimensional course (x / y), the altitude and true airspeed. The sum of squared error of the course and altitude were separated, because they are regulated separately, and so they dependent on various parameters. The module was written to optimize the control parameters and has already been used successfully.		This module allows a quantitative assessment of the flight. It calculates the sum of squared error of the two-dimensional course (x / y), the altitude and true airspeed. The sum of squared error of the course and altitude were separated, because they are regulated separately, and so they dependent on various parameters. The module was written to optimize the control parameters and has already been used successfully.

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	The sum of squared error can by reseted by changing the boolean variable benchm_reset to zero (will turn back to 1 automatically after it has done the reset). This can also be used in a flight plan, which allows a flight plan with auto-reset. So it is possible to fly an oval or a eight figure with a sum of squared error that will be reseted at the very same point of the figure.		The sum of squared error can by reseted by changing the boolean variable benchm_reset to zero (will turn back to 1 automatically after it has done the reset). This can also be used in a flight plan, which allows a flight plan with auto-reset. So it is possible to fly an oval or a eight figure with a sum of squared error that will be reseted at the very same point of the figure.

	~~[[Image:SumOfSquaredErrorOfAltitude.jpg\|thumb\|Example plot: sum of squared error of altitude ]]~~

	==Module Infos==		==Module Infos==
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	The code is aviable in the master git branch.		The code is aviable in the master git branch.

	*(1) Insert the software module in the airframe:		<ol>
			<li>Insert the software module in the airframe:
	<source lang="xml">		<source lang="xml">
	<modules>		<modules>
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	</source>		</source>

	**Legend:
	***Define BENCHMARK_AIRSPEED to enable airspeed benchmarking (only with airspeed module)
	***Define BENCHMARK_ALTITUDE to enable altitude benchmarking.
	***Define BENCHMARK_POSITION to enable position (x/y) benchmarking. (shortest error to the path)
	***BENCHMARK_TOLERANCE_... define the tolerated value where the sum of squared error won't change. Set to zero to have no tolerance.

	*(2) Add the settings XML to the settings list: benchmark.xml

	*(3) Now you can turn on the calculations by setting the benchm_go to 1 (in GCS under benchamrk)		where the defines enable the respective benchmarks:
			;BENCHMARK_AIRSPEED : enable airspeed benchmarking (only with airspeed module)
			;BENCHMARK_ALTITUDE : enable altitude benchmarking.
			;Define BENCHMARK_POSITION : enable position (x/y) benchmarking. (shortest error to the path)
			;BENCHMARK_TOLERANCE_x : define the tolerated value where the sum of squared error won't change. Set to zero to have no tolerance.
			</li>
			<li>Add the settings XML to the settings list: benchmark.xml</li>
			<li>Now you can turn on the calculations by setting the benchm_go to 1 (in GCS under benchamrk)</li>
			</ol>

	==Example configurations in flightplan for auto-reset==		==Example configurations in flightplan for auto-reset==

Bruzzlee: /* Example configurations in flightplan for auto-reset */

2012-03-05T10:20:08Z

Example configurations in flightplan for auto-reset

← Older revision		Revision as of 04:20, 5 March 2012
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	</source>		</source>

	*(2.2) ~~Now you~~ can also use this block in the flightplan (Figure Eight):		*(2.2) You can also use this block in the flightplan (Figure Eight):
	<source lang="xml">		<source lang="xml">
	<block key="F7" name="Eight Bench" strip_button="Figure 8 (wp 1-2)" strip_icon="eight.png" group="base_pattern">		<block key="F7" name="Eight Bench" strip_button="Figure 8 (wp 1-2)" strip_icon="eight.png" group="base_pattern">

Bruzzlee: /* Example configurations in flightplan for auto-reset */

2012-03-05T10:19:38Z

Example configurations in flightplan for auto-reset

← Older revision		Revision as of 04:19, 5 March 2012
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	</block>		</block>
	</source>		</source>




	*(2.2) Now you can also use this block in the flightplan (Figure Eight):		*(2.2) Now you can also use this block in the flightplan (Figure Eight):

Bruzzlee: /* Example configurations in flightplan for auto-reset */

2012-03-05T10:19:22Z

Example configurations in flightplan for auto-reset

← Older revision		Revision as of 04:19, 5 March 2012
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	</source>		</source>

	*(2) Add this block to the blocks section:		*(2.1) Add this block to the blocks section (Figure Oval):
	<source lang="xml">		<source lang="xml">
	<block group="base_pattern" name="Oval Bench" strip_button="Oval Bench(wp 1-2)" strip_icon="oval.png">		<block group="base_pattern" name="Oval Bench" strip_button="Oval Bench(wp 1-2)" strip_icon="oval.png">
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	</source>		</source>

	*(3) Make sure that you've named your points right.


	*(4) Now you can use this block in the flightplan:
			*(2.2) Now you can also use this block in the flightplan (Figure Eight):
	<source lang="xml">		<source lang="xml">
	<block key="F7" name="Eight Bench" strip_button="Figure 8 (wp 1-2)" strip_icon="eight.png" group="base_pattern">		<block key="F7" name="Eight Bench" strip_button="Figure 8 (wp 1-2)" strip_icon="eight.png" group="base_pattern">
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	</block>		</block>
	</source>		</source>

			*(4) Make sure that you've named your points right.

	[[Category:Modules]]		[[Category:Modules]]

Flixr at 23:44, 4 March 2012

2012-03-04T23:44:21Z

← Older revision		Revision as of 17:44, 4 March 2012
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			<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Modules</categorytree>
	==Description==		==Description==
	This module allows a quantitative assessment of the flight. It calculates the sum of squared error of the two-dimensional course (x / y), the altitude and true airspeed. The sum of squared error of the course and altitude were separated, because they are regulated separately, and so they dependent on various parameters. The module was written to optimize the control parameters and has already been used successfully.		This module allows a quantitative assessment of the flight. It calculates the sum of squared error of the two-dimensional course (x / y), the altitude and true airspeed. The sum of squared error of the course and altitude were separated, because they are regulated separately, and so they dependent on various parameters. The module was written to optimize the control parameters and has already been used successfully.
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	*(1) Insert the software module in the airframe:		*(1) Insert the software module in the airframe:
			<source lang="xml">
	<modules>		<modules>
	<load name="flight_benchmark.xml">		<load name="flight_benchmark.xml">
	<define name="BENCHMARK_AIRSPEED"/>		<define name="BENCHMARK_AIRSPEED"/>
	<define name="BENCHMARK_ALTITUDE"/>		<define name="BENCHMARK_ALTITUDE"/>
	<define name="BENCHMARK_POSITION"/>		<define name="BENCHMARK_POSITION"/>
	<define name="BENCHMARK_TOLERANCE_AIRSPEED" value="0."/>		<define name="BENCHMARK_TOLERANCE_AIRSPEED" value="0."/>
	<define name="BENCHMARK_TOLERANCE_ALTITUDE" value="0."/>		<define name="BENCHMARK_TOLERANCE_ALTITUDE" value="0."/>
	<define name="BENCHMARK_TOLERANCE_POSITION" value="0."/>		<define name="BENCHMARK_TOLERANCE_POSITION" value="0."/>
	</load>		</load>
	</modules>		</modules>
			</source>

	**Legend:		**Legend:
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	*(1) Add this #include to your flightplan in the header:		*(1) Add this #include to your flightplan in the header:
			<source lang="xml">
	<flight_plan alt="............your configurations.............">		<flight_plan alt="............your configurations.............">
	<header>		<header>
	#include "modules/benchmark/flight_benchmark.h"		#include "modules/benchmark/flight_benchmark.h"
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	</blocks>		</blocks>
	...		...
	</flight_plan>		</flight_plan>
			</source>

	*(2) Add this block to the blocks section:		*(2) Add this block to the blocks section:
			<source lang="xml">
	<block group="base_pattern" name="Oval Bench" strip_button="Oval Bench(wp 1-2)" strip_icon="oval.png">		<block group="base_pattern" name="Oval Bench" strip_button="Oval Bench(wp 1-2)" strip_icon="oval.png">
	<oval p1="Ov1" p2="Ov2" radius="nav_radius" until="nav_oval_count > 0"/>		<oval p1="Ov1" p2="Ov2" radius="nav_radius" until="nav_oval_count > 0"/>
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	<deroute block="Oval Bench"/>		<deroute block="Oval Bench"/>
	</block>		</block>
			</source>

	*(3) Make sure that you've named your points right.		*(3) Make sure that you've named your points right.
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	*(4) Now you can use this block in the flightplan:		*(4) Now you can use this block in the flightplan:
			<source lang="xml">
	<block key="F7" name="Eight Bench" strip_button="Figure 8 (wp 1-2)" strip_icon="eight.png" group="base_pattern">		<block key="F7" name="Eight Bench" strip_button="Figure 8 (wp 1-2)" strip_icon="eight.png" group="base_pattern">
	<eight center="8C" radius="nav_radius" turn_around="8T" until="nav_oval_count > 0"/>		<eight center="8C" radius="nav_radius" turn_around="8T" until="nav_oval_count > 0"/>
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	<deroute block="Eight Bench"/>		<deroute block="Eight Bench"/>
	</block>		</block>
			</source>

			[[Category:Modules]]

Flixr: FlightBenchmark moved to Module/FlightBenchmark: moved to Module

2011-11-03T14:29:32Z

FlightBenchmark moved to Module/FlightBenchmark: moved to Module

← Older revision	Revision as of 08:29, 3 November 2011
(No difference)

Flixr: removed info about updating gen_flight_plan, as this was merged into master

2011-11-03T01:05:35Z

removed info about updating gen_flight_plan, as this was merged into master

← Older revision		Revision as of 19:05, 2 November 2011
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	*(3) Make ~~shure~~ that you've named your points right.		*(3) Make sure that you've named your points right.

	~~==Modify figure eight to use the until function in flightplan==~~

	~~If you want to use the figure eight with auto-reset you have to modify the flight plan generator to activate the until function.~~

	~~Or download and replace it from:~~
	~~https://github.com/Bruzzlee/paparazzi/blob/master/sw/tools/gen_flight_plan.ml~~

	*(1) Open the flight plan generator in a text editor:
	~~/sw/tools/gen_flight_plan.ml~~


	*(2) Now you have to replace this part (line 429)

	~~\| "eight" ->~~
	~~stage ();~~
	~~lprintf "nav_eight_init();\n";~~
	~~lprintf "NextStageAndBreak();\n";~~
	~~left ();~~
	~~stage ();~~
	~~let center = get_index_waypoint (ExtXml.attrib x "center") index_of_waypoints~~
	~~and turn_about = get_index_waypoint (ExtXml.attrib x "turn_around") index_of_waypoints in~~
	~~let r = parsed_attrib x "radius" in~~
	~~let _vmode = output_vmode x center "" in~~
	~~lprintf "Eight(%s, %s, %s);\n" center turn_about r;~~


	*(3) with this part

	~~\| "eight" ->~~
	~~stage ();~~
	~~lprintf "nav_eight_init();\n";~~
	~~lprintf "NextStageAndBreak();\n";~~
	~~left ();~~
	~~stage ();~~
	~~let center = get_index_waypoint (ExtXml.attrib x "center") index_of_waypoints~~
	~~and turn_about = get_index_waypoint (ExtXml.attrib x "turn_around") index_of_waypoints in~~
	~~let r = parsed_attrib x "radius" in~~
	~~let _vmode = output_vmode x center "" in~~
	~~lprintf "Eight(%s, %s, %s);\n" center turn_about r;~~
	~~begin~~
	~~try~~
	~~let c = parsed_attrib x "until" in~~
	~~lprintf "if (%s) NextStageAndBreak();\n" c~~
	~~with~~
	~~ExtXml.Error _ -> ()~~
	~~end;~~

	*(4) Now you can use this block in the flightplan:		*(4) Now you can use this block in the flightplan:

Bruzzlee: /* Airframe Adjustments */

2011-08-16T14:36:46Z

Airframe Adjustments

← Older revision		Revision as of 08:36, 16 August 2011
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	==Airframe Adjustments==		==Airframe Adjustments==
	The code is aviable ~~to download~~ in the ?? branch ~~at: -ToDo-~~		The code is aviable in the master git branch.

	*(1) Insert the software module in the airframe:		*(1) Insert the software module in the airframe:

Bruzzlee: /* Example configurations in flightplan for auto-reset */

2011-08-15T20:54:21Z

Example configurations in flightplan for auto-reset

← Older revision		Revision as of 14:54, 15 August 2011
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	==Example configurations in flightplan for auto-reset==		==Example configurations in flightplan for auto-reset==
	*(1) Add this to your flightplan:		A example flightplan can be downloaded [https://github.com/Bruzzlee/paparazzi/blob/master/conf/flight_plans/Mentor_FP_04.xml here] but beware: This file contains extras you probably won't need.

			*(1) Add this #include to your flightplan in the header:

	<flight_plan alt="............your configurations.............">		<flight_plan alt="............your configurations.............">
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	#include "modules/benchmark/flight_benchmark.h"		#include "modules/benchmark/flight_benchmark.h"
	</header>		</header>
			...
			<blocks>
			...
			...
			</blocks>
			...
	</flight_plan>		</flight_plan>

Bruzzlee: /* Description */

2011-08-15T20:06:35Z

Description

← Older revision		Revision as of 14:06, 15 August 2011
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	The sum of squared error can by reseted by changing the boolean variable benchm_reset to zero (will turn back to 1 automatically after it has done the reset). This can also be used in a flight plan, which allows a flight plan with auto-reset. So it is possible to fly an oval or a eight figure with a sum of squared error that will be reseted at the very same point of the figure.		The sum of squared error can by reseted by changing the boolean variable benchm_reset to zero (will turn back to 1 automatically after it has done the reset). This can also be used in a flight plan, which allows a flight plan with auto-reset. So it is possible to fly an oval or a eight figure with a sum of squared error that will be reseted at the very same point of the figure.

	[[Image:SumOfSquaredErrorOfAltitude.jpg]]		[[Image:SumOfSquaredErrorOfAltitude.jpg\|thumb\|Example plot: sum of squared error of altitude ]]

	==Module Infos==		==Module Infos==