Core

drone_controllers.core

Core functionalities for controller parametrization.

parametrize(fn, drone_model, xp=None, device=None)

Parametrize a controller function with the default controller parameters for a drone model.

Parameters:

Name	Type	Description	Default
fn	Callable[P, R]	The controller function to parametrize.	required
drone_model	str	The drone model to use.	required
xp	ModuleType | None	The array API module to use. If not provided, numpy is used.	None
device	str | None	The device to use. If None, the device is inferred from the xp module.	None

Example

import numpy as np
from drone_controllers import parametrize
from drone_controllers.mellinger import state2attitude

ctrl = parametrize(state2attitude, "cf2x_L250")
pos = np.zeros(3)
quat = np.array([0.0, 0.0, 0.0, 1.0])
vel = np.zeros(3)
cmd = np.zeros(13)
rpyt, int_pos_err = ctrl(pos, quat, vel, cmd)

Returns:

Type	Description
Callable[P, R]	The parametrized controller function with all keyword argument only parameters filled in.

load_params(fn, drone_model, xp=None, device=None)

Load and merge controller parameters for a specific function.

Reads drone_controllers/<controller>/params.toml and merges the [drone_model.core] section with the [drone_model.<fn_name>] section, with function-specific values taking precedence over core values.

Parameters:

Name	Type	Description	Default
fn	Callable	The controller function for which to load parameters.	required
drone_model	str	Name of the drone configuration, e.g. "cf2x_L250".	required
xp	ModuleType | None	The array API module to use. If not provided, numpy is used.	None
device	str | None	The device to use. If None, the device is inferred from the xp module.	None

Returns:

Type	Description
dict[str, Array]	A flat dict mapping parameter names to arrays in the requested array namespace.

Raises:

Type	Description
KeyError	If drone_model is not found in the params.toml file.

load_core_params(mod, drone_model, xp=None, device=None)

Load core parameters for a given controller module and drone model.

See the Parametrize user guide for usage examples, available drone configurations, and backend switching.