07. Controller Performance Evaluation

Evaluation Metrics

This project is broken into a series of "scenarios".

To assist with tuning of your controller, the simulator contains real time performance evaluation. We have defined a set of performance metrics for each of the scenarios that your controllers must meet for a successful submission.

There are two ways to view the output of the evaluation:

  • in the command line, at the end of each simulation loop, a PASS or a FAIL for each metric being evaluated in that simulation
  • on the plots, once your quad meets the metrics, you will see a green box appear on the plot notifying you of a PASS

Performance Metrics

The specific performance metrics are as follows:

  • scenario 2

    • roll should less than 0.025 radian of nominal for 0.75 seconds (3/4 of the duration of the loop)
    • roll rate should less than 2.5 radian/sec for 0.75 seconds

  • scenario 3

    • X position of both drones should be within 0.1 meters of the target for at least 1.25 seconds
    • Quad2 yaw should be within 0.1 of the target for at least 1 second

  • scenario 4

    • position error for all 3 quads should be less than 0.1 meters for at least 1.5 seconds

  • scenario 5

    • position error of the quad should be less than 0.25 meters for at least 3 seconds

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