CS代写 ######################################################################

######################################################################
# This file copyright the Georgia Institute of Technology
# Permission is given to students to use or modify this file (only)
# to work on their assignments.

# You may NOT publish this file or make it available to others not in
# the course.
######################################################################

def pid_thrust(target_elevation, drone_elevation, tau_p=0, tau_d=0, tau_i=0, data: dict() = {}):
Student code for Thrust PID control. Drone’s starting x, y position is (0, 0).

target_elevation: The target elevation that the drone has to achieve
drone_elevation: The drone’s elevation at the current time step
tau_p: Proportional gain
tau_i: Integral gain
tau_d: Differential gain
data: Dictionary that you can use to pass values across calls.
Reserved keys:
max_rpm_reached: (True|False) – Whether Drone has reached max RPM in both its rotors.

Tuple of thrust, data
thrust – The calculated thrust using PID controller
data – A dictionary containing any values you want to pass to the next
iteration of this function call.
Reserved keys:
max_rpm_reached: (True|False) – Whether Drone has reached max RPM in both its rotors.

thrust = 0

return thrust, data

def pid_roll(target_x, drone_x, tau_p=0, tau_d=0, tau_i=0, data:dict() = {}):
Student code for PD control for roll. Drone’s starting x,y position is 0, 0.

target_x: The target horizontal displacement that the drone has to achieve
drone_x: The drone’s x position at this time step
tau_p: Proportional gain, supplied by the test suite
tau_i: Integral gain, supplied by the test suite
tau_d: Differential gain, supplied by the test suite
data: Dictionary that you can use to pass values across calls.

Tuple of roll, data
roll – The calculated roll using PID controller
data – A dictionary containing any values you want to pass to the next
iteration of this function call.

return roll, data

def find_parameters_thrust(run_callback, tune=’thrust’, DEBUG=False, VISUALIZE=False):
Student implementation of twiddle algorithm will go here. Here you can focus on
tuning gain values for Thrust test cases only.

run_callback: A handle to DroneSimulator.run() method. You should call it with your
PID gain values that you want to test with. It returns an error value that indicates
how well your PID gain values followed the specified path.

tune: This will be passed by the test harness.
A value of ‘thrust’ means you only need to tune gain values for thrust.
A value of ‘both’ means you need to tune gain values for both thrust and roll.

DEBUG: Whether or not to output debugging statements during twiddle runs
VISUALIZE: Whether or not to output visualizations during twiddle runs

tuple of the thrust_params, roll_params:
thrust_params: A dict of gain values for the thrust PID controller
thrust_params = {‘tau_p’: 0.0, ‘tau_d’: 0.0, ‘tau_i’: 0.0}

roll_params: A dict of gain values for the roll PID controller
roll_params = {‘tau_p’: 0.0, ‘tau_d’: 0.0, ‘tau_i’: 0.0}

# Initialize a list to contain your gain values that you want to tune
params = [0,0,0]

# Create dicts to pass the parameters to run_callback
thrust_params = {‘tau_p’: params[0], ‘tau_d’: params[1], ‘tau_i’: params[2]}

# If tuning roll, then also initialize gain values for roll PID controller
roll_params = {‘tau_p’: 0, ‘tau_d’: 0, ‘tau_i’: 0}

# Call run_callback, passing in the dicts of thrust and roll gain values
hover_error, max_allowed_velocity, drone_max_velocity, max_allowed_oscillations, total_oscillations = run_callback(thrust_params, roll_params, VISUALIZE=VISUALIZE)

# Calculate best_error from above returned values
best_error = None

# Implement your code to use twiddle to tune the params and find the best_error

# Return the dict of gain values that give the best error.

return thrust_params, roll_params

def find_parameters_with_int(run_callback, tune=’thrust’, DEBUG=False, VISUALIZE=False):
Student implementation of twiddle algorithm will go here. Here you can focus on
tuning gain values for Thrust test case with Integral error