diff --git a/src/main/flight/neural_controllers/neural_network.c b/src/main/flight/neural_controllers/neural_network.c index f9d45095fec..d2748e861aa 100644 --- a/src/main/flight/neural_controllers/neural_network.c +++ b/src/main/flight/neural_controllers/neural_network.c @@ -3,156 +3,156 @@ #include const float weights_fc1[] = { --0.08676517754793167, 0.31969401240348816, 0.06308305263519287, -0.06109500676393509, 0.0836472436785698, 0.20566266775131226, 1.173242211341858, -0.23133324086666107, 0.3738921284675598, 0.3462196886539459, -0.008400632068514824, -0.32642433047294617, -0.0026173265650868416, -0.19824659824371338, 0.3584817945957184, -0.10097529739141464, -0.018541956320405006, -0.1060340479016304, -0.13435637950897217, 0.30064770579338074, --0.19166529178619385, -0.9013141393661499, -1.1260402202606201, 0.023023832589387894, -0.09976374357938766, -0.270276814699173, -0.31314146518707275, -0.04392616078257561, 0.5859718322753906, 0.009768519550561905, -0.18847337365150452, 0.2328585833311081, 0.5319724082946777, -0.8099537491798401, 0.6621983647346497, -0.349407434463501, 0.3096757233142853, 0.2709283232688904, -0.10859251022338867, -0.09880144894123077, --0.19295798242092133, 0.5143373012542725, 0.6217151284217834, -0.14541450142860413, 0.3399597108364105, 0.21522881090641022, -0.10028016567230225, -1.7889143228530884, -0.22774463891983032, 0.17580848932266235, 0.14492903649806976, -0.08755267411470413, -0.03174982964992523, -0.7095284461975098, 0.5898959040641785, 0.1191546767950058, -0.1858987957239151, -0.05870508775115013, -0.00810157973319292, -0.2808798849582672, -0.16001355648040771, -0.5700687766075134, 1.158718228340149, -0.0973338782787323, -0.11150842905044556, 0.3191753625869751, -0.5727341175079346, 0.32561978697776794, 0.21088474988937378, -0.1047385036945343, 0.15627597272396088, -0.02620786242187023, -0.2851089835166931, 0.8317444920539856, -0.7780140042304993, -0.28164899349212646, 0.10620465129613876, 0.09981054812669754, 0.012811129912734032, 0.014184780418872833, -0.12058616429567337, -1.168135643005371, -0.7109419703483582, 0.2556164264678955, -0.1902439296245575, 0.041955407708883286, 0.8571620583534241, -0.433956503868103, -0.5968635082244873, 0.25495216250419617, 0.28715866804122925, 0.019056672230362892, -0.37989044189453125, -0.054229382425546646, 0.09359761327505112, 0.3521193861961365, -0.1259692907333374, -0.29910048842430115, 0.13863378763198853, -0.5695122480392456, -0.23576588928699493, 0.8754863142967224, -2.2066903114318848, 0.2688366174697876, -0.08917101472616196, -0.900477945804596, 0.3156583905220032, -0.45416274666786194, 0.26095137000083923, -0.030170174315571785, 0.010069737210869789, -0.30901649594306946, 0.07220056653022766, -0.22398759424686432, 0.23775127530097961, -0.17041325569152832, -0.17262397706508636, -0.25532132387161255, -0.08654848486185074, -0.45732229948043823, -0.3229493796825409, 0.5206896066665649, 1.0731862783432007, 0.20749294757843018, -0.10392652451992035, -1.2374190092086792, 0.03487620875239372, -0.12049032002687454, 0.08660777658224106, 0.13838650286197662, 0.05660846456885338, 0.25546014308929443, 0.3267662823200226, 0.17379029095172882, 0.5088558197021484, -0.33477866649627686, -0.6853213310241699, -0.25948774814605713, -0.00494206789880991, -0.3769036829471588, --0.3310655355453491, 1.2345342636108398, 0.1884860396385193, -0.13520415127277374, 0.0767611563205719, 0.00473365094512701, 0.2077934443950653, 0.13774573802947998, 0.7597723007202148, -0.027125632390379906, -0.0610867403447628, 0.024837663397192955, 0.48408281803131104, -0.6652023196220398, 0.88726806640625, -1.0009403228759766, -0.14589516818523407, 0.048748839646577835, -0.10358945280313492, -0.11350738257169724, -0.5009424090385437, -0.5499324202537537, 0.2516136169433594, -0.137367382645607, 0.4788602292537689, -0.45114031434059143, -0.27568507194519043, 0.6813221573829651, -0.39031171798706055, -0.07791564613580704, 0.37822452187538147, -0.18987295031547546, 0.03741467744112015, 0.21197044849395752, -0.4021037817001343, 0.46762537956237793, -0.4875420033931732, -0.3365611433982849, -0.08714525401592255, -0.21704097092151642, --0.12935276329517365, 0.17609864473342896, -1.4897754192352295, -0.3730540871620178, 0.30888113379478455, -0.6625257134437561, 0.3184714615345001, 0.20904110372066498, -0.403335303068161, -0.23382993042469025, 0.10318756103515625, 0.10430826991796494, 0.9646008014678955, 0.4605500102043152, -0.5324551463127136, -0.6423268914222717, 0.4421815872192383, 0.12551292777061462, 0.07109227031469345, -0.026157964020967484, --0.07441975921392441, 0.3149494230747223, 0.3655587136745453, -0.14672574400901794, 0.06671907007694244, 0.32351112365722656, 0.28383341431617737, -0.04030691459774971, 0.601682186126709, -0.14175111055374146, 0.4377317428588867, 0.25968512892723083, 0.45637527108192444, 0.22893653810024261, -0.1874421387910843, -0.7657573819160461, -0.22649231553077698, -0.5866010189056396, 0.17496263980865479, -0.7923261523246765, --0.4895554482936859, 0.3243759870529175, 1.298210620880127, -0.10946930199861526, 0.3240167796611786, 0.5619283318519592, -0.7105389833450317, 1.2552449703216553, -0.07088235020637512, -0.07152554392814636, 0.27222955226898193, -0.050715673714876175, -0.09940201789140701, 0.551112711429596, -0.515497624874115, 0.12460917979478836, 0.2005464732646942, -0.24756765365600586, 0.15375031530857086, 0.048520587384700775, --0.15240252017974854, -0.45969468355178833, 0.6759557127952576, -0.17666853964328766, 0.021817324683070183, 0.08977600932121277, 0.8986421227455139, 0.5233557820320129, -0.35741859674453735, -0.07143867760896683, 0.3202431797981262, -0.07369764149188995, -0.9066534638404846, -0.40978842973709106, 0.5863602161407471, 0.6532918810844421, -0.042940039187669754, -0.1124151349067688, -0.025096384808421135, 0.012630403973162174, --0.1601671576499939, -0.3194369375705719, -0.041261252015829086, 0.0943865180015564, 0.03531434014439583, 0.11231619119644165, 0.07103049010038376, 0.014645480550825596, 0.2810141444206238, -0.30379652976989746, 0.44964316487312317, -0.3105658292770386, 0.22447195649147034, -0.36301153898239136, 0.6790817975997925, -0.9221348166465759, -0.5570074319839478, -0.46455466747283936, -0.060108039528131485, -0.36476564407348633, --0.13497863709926605, 0.8685528039932251, 0.19346041977405548, -0.27630338072776794, 0.2707426846027374, 0.12323074042797089, -0.0470024012029171, -0.0983981341123581, 0.33404242992401123, -0.0903073325753212, 0.320523738861084, 0.06408446282148361, 0.47956761717796326, -0.2641197741031647, -0.6810557842254639, -1.4326684474945068, -0.14375799894332886, -0.4005632996559143, -0.08420553803443909, -0.08570896089076996, --0.056440602988004684, 0.4614558219909668, -0.07987862080335617, -0.5861749649047852, 0.12651711702346802, 0.012576230801641941, -0.007813265547156334, 0.3806070387363434, -0.14311882853507996, -0.14335373044013977, -0.09243010729551315, 0.303207665681839, -0.1371106207370758, 0.03499283641576767, 0.7861953973770142, -0.19252938032150269, 0.36531883478164673, 0.0019571802113205194, -0.20151010155677795, -0.09214520454406738, -0.4782657325267792, -0.23732797801494598, -0.05706613510847092, -0.814854085445404, 0.1377892941236496, -0.2899041473865509, 0.7023246884346008, -0.2355823963880539, 0.3958466351032257, -0.19503864645957947, 0.2550954520702362, -0.13198983669281006, -0.2509341835975647, 0.8455206751823425, 0.04337761551141739, 1.367833137512207, -0.05224572867155075, 0.034449297934770584, 0.22221365571022034, -0.07928816229104996, --0.3703988790512085, -0.15681995451450348, 0.03023126721382141, -0.3984907269477844, -0.42734792828559875, -0.23221205174922943, -0.07175353914499283, 0.15946707129478455, -0.26124095916748047, 0.21347655355930328, 0.0727156326174736, -0.13803324103355408, 0.3538220226764679, 0.15068428218364716, -0.5676021575927734, 0.4674174189567566, -0.10760856419801712, -0.16913136839866638, -0.31278061866760254, 0.11720909178256989, -0.12878979742527008, -0.2658975422382355, 1.2000701427459717, 0.196715846657753, 0.11772292852401733, -0.012833339162170887, 0.9412773847579956, -0.7715449333190918, -0.3237136900424957, -0.006093684118241072, -0.03943878412246704, -0.351560115814209, 0.6060917377471924, -0.1660507321357727, -0.14910319447517395, 0.2879006266593933, -0.14951029419898987, 0.07318978011608124, 0.06538860499858856, -0.19411180913448334, --0.011415284126996994, 0.4334430992603302, 0.40458616614341736, -0.025159727782011032, -0.3798768222332001, -0.1870969831943512, -0.1492464393377304, 0.4901619553565979, 0.6106676459312439, 0.06580665707588196, 0.13274715840816498, 0.5914145112037659, -0.23470160365104675, 0.5317934155464172, 0.0063740648329257965, 0.1306183636188507, -0.3541479706764221, -0.5781838893890381, -0.014929872937500477, -0.019556380808353424, --0.012722859159111977, -0.7376753091812134, 0.7981320023536682, -0.01964236982166767, -0.0280914306640625, 0.148751899600029, 0.3159899413585663, 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--0.0002562322188168764, -1.2963265180587769, 0.8890345692634583, -0.06820279359817505, -0.1947045773267746, 0.6392123699188232, -0.18286117911338806, -0.42740410566329956, -0.3120761811733246, -0.024092668667435646, -0.053403694182634354, -0.14954526722431183, 0.49151283502578735, 0.35242459177970886, -0.5535393953323364, -0.4001002311706543, 0.09553178399801254, -0.00926957093179226, -0.12098349630832672, 0.31195393204689026, --0.7062193155288696, 0.24981234967708588, -0.9520688652992249, 0.09352816641330719, 0.45867517590522766, 0.09562338888645172, -0.39975208044052124, 0.8012873530387878, 0.0036390561144798994, -0.0012772356858476996, -0.3113475441932678, 0.40046265721321106, 0.0909348800778389, -0.24712340533733368, 0.2366057187318802, -0.22375832498073578, -0.42311036586761475, -0.46912530064582825, -0.332144558429718, -0.3528507947921753, -0.017020737752318382, -0.13388216495513916, -0.8562905788421631, -0.3988964557647705, -0.3297348916530609, -0.9078482985496521, 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0.13785266876220703, 0.029604870826005936 }; const float weights_fc3[] = { --0.16295115649700165, -0.08961715549230576, 0.02379619888961315, -0.47051137685775757, -0.0742981880903244, 0.2173430621623993, -0.6103260517120361, 0.010916200466454029, -0.20366285741329193, -0.051663391292095184, 0.07754749059677124, -0.13815635442733765, -0.2840105891227722, 0.14398027956485748, 0.05608120188117027, 0.1454116404056549, -0.10893670469522476, 0.018069982528686523, -0.13834285736083984, 0.03816283121705055, 0.10025575757026672, -0.06145395711064339, -0.09758942574262619, 0.04860750213265419, 0.10587330907583237, 0.20937390625476837, 0.3188755512237549, -0.05457872897386551, -0.22581231594085693, -0.1895570605993271, -0.11209409683942795, -0.2962605059146881, 0.6105214953422546, 0.16833087801933289, 0.08609338849782944, 0.1406414657831192, -0.15864932537078857, 0.04382665827870369, -0.1589599847793579, 0.07846862077713013, -0.10420750081539154, 0.23551993072032928, 0.0095256632193923, 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0.11726627498865128, 0.04517108201980591, -0.08304795622825623, 0.14066800475120544, -0.015111389569938183, -0.1132124736905098, -0.0764445811510086, 0.026969565078616142, -0.053798921406269073 }; const float biases_fc3[] = { --0.2390146106481552, -0.08971074223518372, 0.1488119512796402, 0.34457486867904663 +-0.06544005870819092, -0.0470941886305809, 0.05064229667186737, -0.17421497404575348 }; void nn_linear(const float* weights, const float* biases, const float* input, int in_features, int out_features, float* output) { diff --git a/src/main/flight/neural_controllers/nn_controller.c b/src/main/flight/neural_controllers/nn_controller.c index ab5b123ca8b..255b56386b4 100644 --- a/src/main/flight/neural_controllers/nn_controller.c +++ b/src/main/flight/neural_controllers/nn_controller.c @@ -5,10 +5,10 @@ bool deterministic = false; const float output_std[4] = { - 0.05490165203809738, - 0.06841440498828888, - 0.06858721375465393, - 0.062027767300605774, + 0.12200331687927246, + 0.11606775224208832, + 0.1304798573255539, + 0.12664185464382172, }; const float gate_pos[NUM_GATES][3] = {