feature: Tried adaptive k-weighting matrices approach and I don't see…

… an improvement. It is slightly slower than the normal approach and I have a weird feeling how the drone is flying with this. I don't recommend this
danielbinschmid · Feb 19, 2024 · d5faaec · d5faaec
1 parent f337043
commit d5faaec
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/gym_pybullet_drones/control/MPCCasADiControl.py b/gym_pybullet_drones/control/MPCCasADiControl.py
@@ -508,6 +508,11 @@ def __init__(self,
         u_ref = DM([hovering_thrust, tau_phi_ref, tau_theta_ref, tau_psi_ref])
 
         for k in range(Nhoriz - 1):
+
+            ##Adaptive k-Weighting matrices approach
+            Q = (1 - (k * 1.0 / Nhoriz)) * Q
+            R = (1 - (k * 1.0 / Nhoriz)) * R
+
             st_ref = P[Nx:2 * Nx]
             st = X[:, k]
             cont = U[:, k]