Update model parameters - #129
Merged
Merged
Conversation
ratheron
force-pushed
the
fix.model_params
branch
from
September 26, 2026 12:44
858c22b to
0608e97
Compare
Contributor
There was a problem hiding this comment.
Copilot review overview
🟡 Changes recommended
First-principles drag parameters remain stale, and the Jacobian fix lacks a regression assertion.
Review effort: Balanced
Findings: 1
Open (2)
What changed in this PR
Updates fitted drone dynamics parameters and corrects translation-identification Jacobians.
Changes:
- Masks Jacobian columns for unused model parameters.
- Refreshes fitted coefficients and shared masses.
- Synchronizes MuJoCo inertial masses.
| File | Description |
|---|---|
crazyflow/dynamics/utils/identification.py |
Masks inactive Jacobian columns. |
crazyflow/dynamics/so_rpy/params.toml |
Updates fitted parameters. |
crazyflow/dynamics/so_rpy_rotor/params.toml |
Updates rotor-model parameters. |
crazyflow/dynamics/so_rpy_rotor_drag/params.toml |
Updates rotor-drag parameters. |
crazyflow/dynamics/first_principles/params.toml |
Updates shared masses. |
crazyflow/drones/cf2x_T350.xml |
Updates inertial mass. |
crazyflow/drones/cf2x_P250.xml |
Updates inertial mass. |
crazyflow/drones/cf2x_L250.xml |
Updates inertial mass. |
crazyflow/drones/cf21B_500.xml |
Updates inertial mass. |
💡 Add a code-review agent skill or configure MCP servers for context-aware, tailored reviews. Learn more in the docs.
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
I've noticed that some parameters where still sitting in dev of
drone_models. Instead of blindly copying it over, I just refit all params. While doing that, I noticed that theso_rpy_rotormodel was not fitting properly. Due to unused gradients for some parameters, the optimizer got stuck. Fixed in this PR.