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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Hamish WilleeandRamon Roche
88d623bedb
* Add vitepress tree * Update existing workflows so they dont trigger on changes in the docs path * Add nojekyll, package.json, LICENCE etc * Add crowdin docs upload/download scripts * Add docs flaw checker workflows * Used docs prefix for docs workflows * Crowdin obvious fixes * ci: docs move to self hosted runner runs on a beefy server for faster builds Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: don't run build action for docs or ci changes Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: update runners Signed-off-by: Ramon Roche <mrpollo@gmail.com> * Add docs/en * Add docs assets and scripts * Fix up editlinks to point to PX4 sources * Download just the translations that are supported * Add translation sources for zh, uk, ko * Update latest tranlsation and uorb graphs * update vitepress to latest --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>
111 KiB
111 KiB
In [1]:
import pandas as pd
import numpy as np
from scipy import optimize
from functools import partial
from pathlib import Path
import matplotlib.pyplot as pltIn [2]:
plt.rcParams['figure.figsize'] = 8, 5
plt.rcParams['axes.grid'] = True
plt.rcParams['figure.dpi'] = 96
plt.rcParams['savefig.dpi'] = 240In [3]:
FILENAMES = 'RampTest_2019-10-03_*.csv'
PWM_MIN, PWM_MAX = 1000, 1850
PWM_MASK_MIN, PWM_MASK_MAX = 1000, 1850In [4]:
def read_file(fname):
rcb = pd.read_csv(fname, index_col='Time (s)')
rcb.index = pd.TimedeltaIndex(rcb.index, unit='s')
return rcb
def thrust_model_func(pwm, α, k):
pwm_rel = (pwm - PWM_MIN) / (PWM_MAX - PWM_MIN)
return α * (k * pwm_rel**2 + (1-k) * pwm_rel)In [5]:
fig, ax = plt.subplots()
pwm_space = np.linspace(PWM_MASK_MIN, PWM_MASK_MAX)
for i, fname in enumerate(sorted(Path().glob(FILENAMES))):
rcb = read_file(fname)
V = rcb.loc[rcb['Motor Electrical Speed (RPM)'] < 10, 'Voltage (V)'].mean()
pwm = rcb['ESC signal (µs)']
thrust = rcb['Thrust (kgf)']
mask = (pwm >= PWM_MASK_MIN) & (pwm <= PWM_MASK_MAX)
(α, k), _ = optimize.curve_fit(thrust_model_func, pwm[mask], thrust[mask])
thrust_model = partial(thrust_model_func, α=α, k=k)
c = f'C{i}'
ax.plot(pwm, thrust, '.', color=c)
ax.plot(pwm_space, thrust_model(pwm_space), '-', color=c,
label=f"{V:.1f} V (α={α:.2f}, k={k:.2f})")
ax.set_xlabel("ESC PWM Signal in µs")
ax.set_ylabel("Propeller Thrust in kgf")
ax.set_title("PX4 Thrust Curve Compensation")
ax.legend()
fig.tight_layout()
fig.savefig("px4-thrust-curve-compensation")