NeuralControl (UORB message)

Neural control.

Debugging topic for the Neural controller, logs the inputs and output vectors of the neural network, and the time it takes to run Publisher: mc_nn_control Subscriber: logger

TOPICS: neural_control

Fields

명칭	형식	Unit [Frame]	Range/Enum	설명
timestamp	uint64	us		Time since system start
observation	float32[15]			Observation vector (pos error (3), att (6d), lin vel (3), ang vel (3))
network_output	float32[4]			Output from neural network
controller_time	int32	us		Time spent from input to output
inference_time	int32	us		Time spent for NN inference

Source Message

Source file (GitHub)

Details

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# Neural control
#
# Debugging topic for the Neural controller, logs the inputs and output vectors of the neural network, and the time it takes to run
# Publisher: mc_nn_control
# Subscriber: logger

uint64 timestamp # [us] Time since system start

float32[15] observation # Observation vector (pos error (3), att (6d), lin vel (3), ang vel (3))
float32[4] network_output # Output from neural network

int32 controller_time # [us] Time spent from input to output
int32 inference_time # [us] Time spent for NN inference