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Core

::: drone_controllers.core

The core module provides the foundational functionality for controller parametrization and registration.

Key Concepts

Controller Parametrization

The parametrize function allows you to automatically configure controllers with parameters for specific drone models:

from drone_controllers import parametrize
from drone_controllers.mellinger import state2attitude

# Get a controller configured for the Crazyflie 2.x
controller = parametrize(state2attitude, "cf2x_L250")

# Use the controller (all parameters are automatically filled in)
rpyt, pos_err = controller(pos, quat, vel, ang_vel, cmd)

Parameter Registry

Controllers register their parameter types using the @register_controller_parameters decorator:

@register_controller_parameters(MyControllerParams)
def my_controller(pos, vel, *, param1, param2, param3):
    # Controller implementation
    pass

ControllerParams Protocol

All controller parameter classes must implement the ControllerParams protocol:

  • load(drone_model: str) - Load parameters for a specific drone model
  • _asdict() - Convert parameters to a dictionary

Example Usage

from functools import partial
from drone_controllers.mellinger.params import StateParams

# Manual parameter loading
params = StateParams.load("cf2x_L250")
controller = partial(state2attitude, **params._asdict())

# Equivalent to using parametrize
from drone_controllers import parametrize
controller = parametrize(state2attitude, "cf2x_L250")