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October 20, 2025 01:15
- Implement Mission class in uuv_mission/mission_class.py - Add from_csv class method to load depth profile and target references from mission.csv - Create main.py to demonstrate loading and printing sample data - Use pandas for CSV parsing and data handling - Pin NumPy version to <2 in requirements.txt for compatibility - Include __init__.py in uuv_mission to enable package imports
- Simulated closed-loop control using PDController with default gains - Updated demo.ipynb to load mission and plot trajectory vs reference - Made sure controller worked but trajectory did not accurately track reference so will have to adjust controller
- Added controller integration to ClosedLoop class to enable feedback control. - Added troubleshooting code to track controller variables during runtime to try and figure out strange results in simulation
…ol issues - Added integral term to the controller to see if strange data was due to poor stability. - Included clamping on integral term to prevent integral windup.
- Updated demo notebook to use PID controller. - Added more troubleshooting outputs as graphs were still unstable.
- Found the integral term actually makes little positive difference and its absence was not the issue. - Tuned PID gains to Kp=0.03, Ki=0.02, Kd=0.075 for stable control response.
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-added mission class to extract instance from mission.csv
-added PID controller and tuned it to align with reference line