Add AVL model

README.md

@@ -112,6 +112,11 @@ As an example to get started you estimate the parameters of a quadrotor model wi
 make estimate-model model=quadrotor_model log=resources/quadrotor_model.ulg
 ```
 
+For fixedwing AVL parameters,
+```
+make estimate-model model=fixedwing_avl_model log=resources/orange_plane.ulg
+```
+
 ## Generating a Model Prediction for Given Parameters and Log
 
 It is also possible to test the obtained parameters for a certain model on a different log using:

Tools/parametric_model/configs/fixedwing_avl_model.yaml

@@ -0,0 +1,169 @@
+# AVL-based Fixed-Wing Model Configuration
+# This configuration uses the AVL (Athena Vortex Lattice) aerodynamic model
+# for comprehensive fixed-wing system identification
+
+model_name: "AVL Fixed Wing Model"
+model_type: "Fixed Wing with AVL Aerodynamics"
+model_class: "FixedWingAVLModel"
+extractor_class: "FixedWingExtractorModel"
+
+extractor_config:
+  vmin: 8.0
+  vmax: 20.0
+
+model_config:
+  mass: 1.45  # kg
+  moment_of_inertia:
+    Ixx: 0.107  # kg*m^2
+    Iyy: 0.256  # kg*m^2
+    Izz: 0.356  # kg*m^2
+
+  actuators:
+    rotors:
+      puller_:
+        - rotor:
+          description: "puller rotor"
+          rotor_type: "LinearRotorModel"
+          dataframe_name: "throttle"
+
+  aerodynamics:
+    type: "AVLModel"
+
+    # Reference geometry
+    area: 0.41          # Wing reference area [m^2]
+    chord: 0.19         # Mean aerodynamic chord [m]
+    span: 2.16          # Wing span [m]
+    AR: 11.37           # Aspect ratio (can be computed from span and area)
+    eff: 0.95           # Oswald efficiency factor
+
+    # Air properties
+    air_density: 1.225  # kg/m^3 at sea level
+
+    # Stall parameters
+    alpha_stall: 0.262  # Stall angle of attack [rad] (~15 degrees)
+    M: 15.0             # Sigmoid blending parameter for stall transition
+
+    # Flat plate drag model parameters (for post-stall)
+    CD_fp_k1: -3.0      # Flat plate drag sigmoid parameter 1
+    CD_fp_k2: 0.5       # Flat plate drag sigmoid parameter 2
+
+    # Control surfaces
+    num_ctrl_surfaces: 3
+    ctrl_surface_names:
+      - "elevator"
+      - "aileron"
+      - "rudder"
+
+dynamics_model_config:
+  optimizer_config:
+    optimizer_class: "LinearRegressor"
+
+  estimate_forces: True
+  estimate_moments: True
+  resample_freq: 50.0
+  estimate_angular_acceleration: False
+
+  data:
+    required_ulog_topics:
+      actuator_outputs:
+        id: 1
+        ulog_name:
+          - "timestamp"
+          - "output[0]"
+          - "output[1]"
+          - "output[3]"
+          - "output[4]"
+          - "output[6]"
+        dataframe_name:
+          - "timestamp"
+          - "u0"
+          - "u1"
+          - "u3"
+          - "u4"
+          - "u6"
+        actuator_type:
+          - "timestamp"
+          - "control_surface"
+          - "control_surface"
+          - "control_surface"
+          - "motor"
+          - "control_surface"
+
+      vehicle_local_position:
+        ulog_name:
+          - "timestamp"
+          - "vx"
+          - "vy"
+          - "vz"
+
+      vehicle_attitude:
+        ulog_name:
+          - "timestamp"
+          - "q[0]"
+          - "q[1]"
+          - "q[2]"
+          - "q[3]"
+        dataframe_name:
+          - "timestamp"
+          - "q0"
+          - "q1"
+          - "q2"
+          - "q3"
+
+      vehicle_angular_velocity:
+        ulog_name:
+          - "timestamp"
+          - "xyz[0]"
+          - "xyz[1]"
+          - "xyz[2]"
+          - "xyz_derivative[0]"
+          - "xyz_derivative[1]"
+          - "xyz_derivative[2]"
+        dataframe_name:
+          - "timestamp"
+          - "ang_vel_x"
+          - "ang_vel_y"
+          - "ang_vel_z"
+          - "ang_acc_b_x"
+          - "ang_acc_b_y"
+          - "ang_acc_b_z"
+
+      sensor_combined:
+        ulog_name:
+          - "timestamp"
+          - "accelerometer_m_s2[0]"
+          - "accelerometer_m_s2[1]"
+          - "accelerometer_m_s2[2]"
+        dataframe_name:
+          - "timestamp"
+          - "acc_b_x"
+          - "acc_b_y"
+          - "acc_b_z"
+
+      vehicle_thrust_setpoint:
+        ulog_name:
+          - "timestamp"
+          - "xyz[0]"
+        dataframe_name:
+          - "timestamp"
+          - "throttle"
+
+      vehicle_torque_setpoint:
+        ulog_name:
+          - "timestamp"
+          - "xyz[0]"
+          - "xyz[1]"
+          - "xyz[2]"
+        dataframe_name:
+          - "timestamp"
+          - "aileron"   # Combined aileron input
+          - "elevator"  # Elevator input
+          - "rudder"    # Rudder input
+
+      vehicle_land_detected:
+        ulog_name:
+          - "timestamp"
+          - "landed"
+        dataframe_name:
+          - "timestamp"
+          - "landed"

Tools/parametric_model/src/models/__init__.py

@@ -1,4 +1,5 @@
 from . import aerodynamic_models
+from .fixedwing_avl_model import FixedWingAVLModel
 from . import rotor_models
 from . import model_plots
 from . import extractor_models

Tools/parametric_model/src/models/aerodynamic_models/__init__.py

@@ -2,3 +2,4 @@
 from .phiaerodynamics_model import PhiAerodynamicsModel
 from .control_surface_model import ControlSurfaceModel
 from .linear_wing_model import LinearWingModel
+from .avl_model import AVLModel