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
| 参数名 | 类型 | Unit [Frame] | Range/Enum | 描述 |
|---|---|---|---|---|
| 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
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c
# 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