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ratheron merged 1 commit into from
Aug 7, 2026
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Enable state controller gradients. #94

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16 changes: 8 additions & 8 deletions tests/unit/test_gradients.py
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Original file line number Diff line number Diff line change
Expand Up @@ -10,27 +10,27 @@
from crazyflow.sim.data import Control, SimData


@pytest.mark.skip(reason="State needs SVD in from_matrix, which is not differentiable.")
@pytest.mark.unit
@pytest.mark.parametrize("dynamics", Dynamics)
def test_state_cmd_gradients(dynamics: Dynamics):
sim = Sim(dynamics=dynamics, control=Control.state, freq=500)
sim_step = sim._step
# Hover clear of the floor and command a centimeter up to avoid clipping
states = sim.data.states.replace(pos=sim.data.states.pos.at[..., 2].set(1.0))
data = sim.data.replace(states=states)

def step(cmd: Array, data: SimData) -> Array:
def height(cmd: Array, data: SimData) -> Array:
data = data.replace(
controls=data.controls.replace(state=data.controls.state.replace(staged_cmd=cmd))
)
data = sim_step(data, sim.freq // sim.control_freq)
return (data.states.pos[0, 0, 2] - 1.0) ** 2 # Quadratic cost to reach 1m height

step_grad = jax.jit(jax.grad(step))
return sim_step(data, sim.freq // sim.control_freq).states.pos[0, 0, 2]

cmd = jnp.zeros((1, 1, 13), dtype=jnp.float32)
cmd = cmd.at[..., 3].set(0.3)
cmd = cmd.at[..., 2].set(1.01)

grad = step_grad(cmd, sim.data)
grad = jax.jit(jax.grad(height))(cmd, data)
assert not jnp.any(jnp.isnan(grad))
assert grad[0, 0, 2] > 0, "Commanding a higher setpoint must raise the drone"


@pytest.mark.unit
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