mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Neural Control Mode (#24366)
* Add tflm to px4 with module - Add TensorFlow Lite Micro(TFLM) as a library in px4 - Make a module that uses neural network inference for control, which uses TFLM for inference - Make board config files for PX4 with neural module * Added neural flight mode * Add posibility to read of inference times * Fix comments from review: - Switch ssh link to https link in submodule - Remove mc_nn_control from startup * Add tflm to px4 with module - Add TensorFlow Lite Micro(TFLM) as a library in px4 - Make a module that uses neural network inference for control, which uses TFLM for inference - Make board config files for PX4 with neural module * Added neural flight mode * Add posibility to read of inference times * Remove auto start * Add logging from neural control module * Fix automatic startup to only be when module is included * Switch to flight mode registration * Add docs * Change min/max/coeff to actual parameters * add figures to neural network docs * Switch to e2e network * Remove toolchain changes and replace with instructions in docs * Get ready for merge after toolchain upgrade * switch back to submodule * Try to figure out cmake * Get CI working with new toolchain * Remove fork dependency * Finalize PR * fix toolchain inclusion * Fix ctype_base.h include * Cleanup includes for TFLM * Remove redundant std * Update FW module names in board files * Fix docs * Remove cstdlib copy * Copy header from nuttx * Prettier, markup, layout * NeuralControl.msg - update uorb comments to current standard * Add description to neural topic * Fix typo * Typo * TFLM and Module utitlities * Neural networks top level * Update docs * Add manual control * Update docs * Revert the manual control attempt * Update docs/en/advanced/nn_module_utilities.md * Add posibility to set trajectory setpoint with manual control --------- Co-authored-by: Pedro Roque <padr@kth.se> Co-authored-by: Hamish Willee <hamishwillee@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>
This commit is contained in:
Sindre Meyer Hegre
co-authored by
Pedro Roque
Hamish Willee
Ramon Roche
Pedro Roque
Hamish Willee
Ramon Roche
parent
132f7e9e0d
commit
3be0cb077c
@@ -75,6 +75,7 @@ add_subdirectory(stick_yaw EXCLUDE_FROM_ALL)
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add_subdirectory(systemlib EXCLUDE_FROM_ALL)
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add_subdirectory(system_identification EXCLUDE_FROM_ALL)
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add_subdirectory(tecs EXCLUDE_FROM_ALL)
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add_subdirectory(tensorflow_lite_micro EXCLUDE_FROM_ALL)
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add_subdirectory(terrain_estimation EXCLUDE_FROM_ALL)
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add_subdirectory(timesync EXCLUDE_FROM_ALL)
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add_subdirectory(tinybson EXCLUDE_FROM_ALL)
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@@ -0,0 +1,110 @@
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############################################################################
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#
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# Copyright (c) 2025 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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if(CONFIG_LIB_TFLM)
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px4_add_git_submodule(TARGET git_tflite-micro PATH tflite_micro)
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set(TFLITE_DOWNLOADS_DIR ${CMAKE_CURRENT_SOURCE_DIR}/tflite_micro/tensorflow/lite/micro/tools/make/downloads)
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get_directory_property(FLAGS COMPILE_OPTIONS)
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list(REMOVE_ITEM FLAGS "-Wcast-align")
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set_directory_properties(PROPERTIES COMPILE_OPTIONS "${FLAGS}")
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file(GLOB TFLITE_MICRO_SRCS
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${CMAKE_CURRENT_SOURCE_DIR}/tflite_micro/tensorflow/lite/*.cc
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${CMAKE_CURRENT_SOURCE_DIR}/tflite_micro/tensorflow/lite/micro/*.cc
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${CMAKE_CURRENT_SOURCE_DIR}/tflite_micro/tensorflow/lite/micro/arena_allocator/*.cc
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${CMAKE_CURRENT_SOURCE_DIR}/tflite_micro/tensorflow/lite/micro/memory_planner/*.cc
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${CMAKE_CURRENT_SOURCE_DIR}/tflite_micro/tensorflow/lite/micro/tflite_bridge/*.cc
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${CMAKE_CURRENT_SOURCE_DIR}/tflite_micro/tensorflow/lite/micro/kernels/*.cc
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${CMAKE_CURRENT_SOURCE_DIR}/tflite_micro/tensorflow/lite/kernels/*.cc
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${CMAKE_CURRENT_SOURCE_DIR}/tflite_micro/tensorflow/lite/kernels/internal/*.cc
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${CMAKE_CURRENT_SOURCE_DIR}/tflite_micro/tensorflow/lite/kernels/internal/reference/*.cc
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${CMAKE_CURRENT_SOURCE_DIR}/tflite_micro/tensorflow/lite/core/api/*.cc
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${CMAKE_CURRENT_SOURCE_DIR}/tflite_micro/tensorflow/lite/core/c/*.cc
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${CMAKE_CURRENT_SOURCE_DIR}/tflite_micro/tensorflow/lite/schema/*.cc
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${CMAKE_CURRENT_SOURCE_DIR}/tflite_micro/tensorflow/compiler/mlir/lite/core/api/*.cc
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${CMAKE_CURRENT_SOURCE_DIR}/tflite_micro/tensorflow/compiler/mlir/lite/schema/*.cc
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)
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# Filter out tests as they cause errors
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list(FILTER TFLITE_MICRO_SRCS EXCLUDE REGEX ".*_test.*\\.cc$")
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set(TFLM_INCLUDE_DIRS
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${CMAKE_CURRENT_SOURCE_DIR}/tflite_micro
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${TFLITE_DOWNLOADS_DIR}
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${TFLITE_DOWNLOADS_DIR}/flatbuffers/include
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${TFLITE_DOWNLOADS_DIR}/ruy
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${TFLITE_DOWNLOADS_DIR}/gemmlowp
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${TFLITE_DOWNLOADS_DIR}/cmsis/Cortex_DFP/Device/ARMCM7/Include
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${TFLITE_DOWNLOADS_DIR}/cmsis/CMSIS/Core/Include
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${TFLITE_DOWNLOADS_DIR}/cmsis
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)
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set(TFLM_BUILD_TIMESTAMP ${CMAKE_CURRENT_BINARY_DIR}/tflm_build_complete.timestamp)
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add_custom_command(
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OUTPUT ${TFLM_BUILD_TIMESTAMP}
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COMMAND ${CMAKE_COMMAND} -E copy_if_different
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${CMAKE_CURRENT_SOURCE_DIR}/generate_cc_arrays.py
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${CMAKE_CURRENT_SOURCE_DIR}/tflite_micro/tensorflow/lite/micro/tools/generate_cc_arrays.py
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# TODO maybe change this if building for other architectures
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COMMAND make -f tensorflow/lite/micro/tools/make/Makefile MICRO_LITE_EXAMPLE_TESTS= MICRO_LITE_BENCHMARKS= MICRO_LITE_TEST_SRCS= MICRO_LITE_INTEGRATION_TESTS= third_party_downloads
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# Create timestamp file to mark completion
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COMMAND ${CMAKE_COMMAND} -E touch ${TFLM_BUILD_TIMESTAMP}
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WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/tflite_micro
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COMMENT "Downloading TFLM third party dependencies"
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DEPENDS git_tflite-micro
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VERBATIM
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)
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add_custom_target(build_tflm_native
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DEPENDS ${TFLM_BUILD_TIMESTAMP}
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)
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px4_add_library(tensorflow_lite_micro ${TFLITE_MICRO_SRCS})
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if(CONFIG_BOARD_TOOLCHAIN STREQUAL "arm-none-eabi")
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add_definitions(-include "${CMAKE_CURRENT_SOURCE_DIR}/include/px4_tflm_fix.h")
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endif()
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target_include_directories(tensorflow_lite_micro PUBLIC ${TFLM_INCLUDE_DIRS})
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add_dependencies(tensorflow_lite_micro build_tflm_native)
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target_compile_features(tensorflow_lite_micro PRIVATE cxx_std_17)
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target_compile_options(tensorflow_lite_micro PUBLIC
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-Wno-float-equal
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-Wno-shadow
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)
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endif()
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@@ -0,0 +1,7 @@
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config LIB_TFLM
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bool "TensorFlow Lite Micro"
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default n
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---help---
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TensorFlow Lite Micro is a lightweight version of TensorFlow Lite designed for microcontrollers and other resource-constrained devices.
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It enables running machine learning models on devices with limited computational power and memory.
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This library is used for running neural networks on the PX4 autopilot.
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@@ -0,0 +1,11 @@
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#pragma once
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// Fix for ctype_base.h character class masks
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#define _U 0x01
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#define _L 0x02
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#define _N 0x04
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#define _X 0x08
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#define _S 0x10
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#define _P 0x20
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#define _B 0x40
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#define _C 0x80
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+1
Submodule src/lib/tensorflow_lite_micro/tflite_micro added at 9d35a74b03
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