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Autotuner #21

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Autotuner #21

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bsutherland333
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An autotuner for ROSplane would make it much easier for people to use, so this is a gradient-based optimization approach for an autotuner.

bsutherland333 and others added 28 commits March 12, 2024 17:13
@bsutherland333
began working on autotune node
ada5021
@bsutherland333
added numpy to rosdep
73c4d50
@bsutherland333
got autotune calling signal_generator service
f0e42e1
@bsutherland333
added optimizer class for autotune
df2faa3
@bsutherland333
added optimization routine and stubbed out optimization class
594d2c7
@josephward
Added first attempt at linesearch and optimization parameters
f806a4b
@josephward
moved functions over to optimizer
5ef365f
@josephward
additional work on changing the optimizer for ROS
2c4fa52
@josephward
fixed a small oversight
6d299b6
@bsutherland333
got autotune settings params for autopilot
9b9135d
@bsutherland333
modified interface functions between autotune and optimizer
466e8bc
@bsutherland333
got autotune receiving service call results during service
bf10b90
@bsutherland333
got params setting and gettings
a254a4e
@bsutherland333
added gain queue, for testing multiple gains easier
57fa4e5
@bsutherland333
got autotune running with queue
fb0c1a5
@bsutherland333
implemented error calculation
e534e79
@bsutherland333
added return to orbit state
4c3a23b
@bsutherland333
added option for continuous tuning
ab60c20
@bsutherland333
fixed a couple bugs around optimization termination
b56def6
@bsutherland333
wrote plot_util for visualizing function landscape
92444fe
@bsutherland333
misc tweaks to tuning package
a8b9398
@bsutherland333
got autotune setting signal generator commands
964b8aa
@bsutherland333
added launch files for remaining autopilots
5b942d1
@bsutherland333
misc tweaks to plot_util.py
3c10b21
@josephward
Removed several unneeded functions to consolidate them. Added new opt…
800101f 
…imizerstate into functions.
@bsutherland333
added autopilot override enable/disable
c439c21
@bsutherland333
fixed error where autopilot override was ignored
3da5299
@bsutherland333
wrote some readme documentation for the autotuner
ebc534a
@bsutherland333 bsutherland333 linked an issue Apr 3, 2024 that may be closed by this pull request
Autotune for ROSplane #10
Open
@bsutherland333 bsutherland333 self-assigned this Apr 3, 2024
josephward and others added 25 commits April 2, 2024 20:43
@josephward
Added conjugate gradient algo, and converted line search to work with…
d624f7b 
… the autotuner
@josephward
Merge branch '10-autotune-for-rosplane' of https://github.com/rosflig…
7285efe 
…ht/rosplane into 10-autotune-for-rosplane
@bsutherland333
wrote standalone tester for optimizer
85df3b0
@bsutherland333
added plotter to optimization_tester
6f6e81c
@josephward
Print statement changes, currently looking at why there are issues wi…
e699b9f 
…th current point not being a numpy array.
@bsutherland333
set pitch to zero when tuning airspeed
1a02f1c
@bsutherland333
wrapped lines at 100, replaced hard-coded value with parameter
16a4519
@bsutherland333
began debugging optimizer
cb00e76
@josephward
Changed gradient function to work with jacobian, added extra gains to…
f95727c 
… acccount for working with jacobian, at bracketing with bugfixing.
@josephward
Added different parameter options for different gains. If there are o…
ea4e4f4 
…ther options we want to change based on the gains, we can add them there as well.
@bsutherland333
got bracketing working
41b820a
@bsutherland333
got pinpoint working, completing inital optimizer
9a0167b
@josephward
Correct optimization param names to line up with optimizer
4d689f3
@josephward
Added additional state comment for during flight with minor adjustmen…
d4b53ca 
…t to init.
@bsutherland333
added simulated roll function
d01c283
@bsutherland333
added additional end condition and alpha updating
0cb8ccc
@bsutherland333
fixed error in FakeRollController
0775822
@bsutherland333
fixed it for real this time
85d3407
@bsutherland333
misc value tweaks
c77946f
@bsutherland333
replaced optimizer with momentum & damping method
49acb6b
@bsutherland333
got final optimization working?
1b14e37
@bsutherland333
update autotune gains based on roll surragate
6fe8002
@bsutherland333
fixed bug with get_optimization_status
9d633f3
@josephward
Spelling error
1bbe1db
@bsutherland333
misc changes
490e1f5
@bsutherland333
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I also don't know if I'm going to have time to finish this. The approach we were using before of a gradient based optimization is a flawed approach I think, as it requires too many step iterations to converge. A system identification type method would be better. However, much of the work we did here was simply creating the functionality we needed to have the autopilot perform an automated sequence to measure the system response. That portion of this work would probably still be useful for a system identification type approach.

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Reviewers

@iandareid iandareid Awaiting requested review from iandareid

@JMoore5353 JMoore5353 Awaiting requested review from JMoore5353

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@josephward josephward

@bsutherland333 bsutherland333

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Autotune for ROSplane
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@bsutherland333 @josephward