test: Tested MPC Controller with the following weighting matrices:

# Care 3x less about the reference input and velocities of the drone
Q = diagcat(1, 1, 1, 0.2, 0.2, 0.1666, 0, 0, 0, 0, 0, 0)
R = diagcat(0.1, 0.1, 0.1, 0.2666)

Test result:
# DEFAULT_DISCR_LEVEL = 10 -> goes off track after 3 points
# DEFAULT_DISCR_LEVEL = 30 -> finishes 1st track with lots of mistakes
# DEFAULT_DISCR_LEVEL = 50 -> Performs actually quite well with minor mistakes
# DEFAULT_DISCR_LEVEL = 100 -> Performs actually quite well, but goes off track midway
# DEFAULT_DISCR_LEVEL = 200 -> Performs actually quite well with minor mistakes. A little slower. Misses the last goal position (0,0,0) though

fix: Also found about multiplier mistake before. It was actually 6x less and not 3x

gym_pybullet_drones/control/MPCCasADiControl.py

@@ -200,18 +200,38 @@ def __init__(self,
         R = diagcat(0, 0, 0, 0)
         # -> Test result: Drone circles around a reference point indefinitely and doesn't reach it'''
 
-        # Care 3x less about  and velocities and do not care about the reference input of the drone
+        '''# Care 6x (Correction: was 3x) less about  and velocities and do not care about the reference input of the drone
         Q = diagcat(1, 1, 1, 0.1, 0.1, 0.1666, 0, 0, 0, 0, 0, 0)
         R = diagcat(0, 0, 0, 0)
         # -> Test result:
         # DEFAULT_DISCR_LEVEL = 10 -> goes off track after 1 point
         # DEFAULT_DISCR_LEVEL = 20 -> goes off track after 2 points
         # DEFAULT_DISCR_LEVEL = 30 -> goes off track after 7-8 points
         # DEFAULT_DISCR_LEVEL = 40 -> goes off track after 4 points
-        # DEFAULT_DISCR_LEVEL = 50 -> goes off track after 4 points
+        # DEFAULT_DISCR_LEVEL = 50 -> goes off track after 4 points'''
+
+        # Care 3x less about and velocities and reference input of the drone
+        # Reference Weighting matrices from the paper
+        #Q = diagcat(1, 1, 1, 0.6, 0.6, 1, 0, 0, 0, 0, 0, 0)
+        #R = diagcat(0.3, 0.3, 0.3, 0.8)
 
 
-        #R = diagcat(0.1, 0.1, 0.1, 0.2666)
+        Q = diagcat(1, 1, 1, 0.1, 0.1, 0.1666, 0, 0, 0, 0, 0, 0) #!! Correction this is imbalanced weighting! This is 6x less
+        # It should be Q = diagcat(1, 1, 1, 0.2, 0.2, 0.1666, 0, 0, 0, 0, 0, 0)
+        R = diagcat(0.1, 0.1, 0.1, 0.2666) #
+        # DEFAULT_DISCR_LEVEL = 10 -> goes off track after 1 points
+        # DEFAULT_DISCR_LEVEL = 30 -> goes off track after 10 points
+        # DEFAULT_DISCR_LEVEL = 50 -> goes off track after 4 points
+
+        # Care 3x less about and velocities and reference input of the drone
+        Q = diagcat(1, 1, 1, 0.2, 0.2, 0.1666, 0, 0, 0, 0, 0, 0)
+        R = diagcat(0.1, 0.1, 0.1, 0.2666)
+        # DEFAULT_DISCR_LEVEL = 10 -> goes off track after 3 points
+        # DEFAULT_DISCR_LEVEL = 30 -> finishes 1st track with lots of mistakes
+        # DEFAULT_DISCR_LEVEL = 50 -> Performs actually quite well with minor mistakes
+        # DEFAULT_DISCR_LEVEL = 100 -> Performs actually quite well, but goes off track midway
+        # DEFAULT_DISCR_LEVEL = 200 -> Performs actually quite well with minor mistakes. A little slower. Misses
+        # the last goal position (0,0,0) though
 
         x_init = P[0:Nx]
         g = X[:, 0] - P[0:Nx]  # initial condition constraints

runnables/test_suite_eval/pid.py

@@ -49,7 +49,7 @@
 DEFAULT_DURATION_SEC = 50
 DEFAULT_OUTPUT_FOLDER = 'results'
 DEFAULT_COLAB = False
-DEFAULT_DISCR_LEVEL = 50
+DEFAULT_DISCR_LEVEL = 100
 DEFAULT_EVAL_SET = "./eval-v0_n-ctrl-points-3_n-tracks-20_2024-02-11_22:18:28_46929077-0248-4c6e-b2b1-da2afb13b2e2"
 
 from runnables.test_suite_eval.utils import compute_metrics_single