'System Identification and Control Design' example running error

[Maelok]

Hi,

After installed this tools according to the instruction, I was trying to run the 'System Identification and Control Design' example but some error occured.

The python version is 2.7 and Anaconda version is also for python2.

Here is result:

**gains, design_data = px4tools.logsysid.control_design(data[20:80], do_plot=True)
print(json.dumps(gains, indent=4))
fit quality 88.08 %

---

ValueError Traceback (most recent call last)
in ()
----> 1 gains, design_data = px4tools.logsysid.control_design(data[20:80], do_plot=True)
2 print(json.dumps(gains, indent=4))

/home/maelok/anaconda2/lib/python2.7/site-packages/px4tools/logsysid.pyc in control_design(raw_data, do_plot, rolling_mean_window, verbose)
372 'roll rate', roll_acc, data.ATTC_Roll,
373 rolling_mean_window=rolling_mean_window,
--> 374 do_plot=do_plot, verbose=verbose, d_tc=d_tc)
375
376 tf_integrator = control.tf((1), (1, 0))

/home/maelok/anaconda2/lib/python2.7/site-packages/px4tools/logsysid.pyc in attitude_control_design(name, y, u, rolling_mean_window, do_plot, verbose, d_tc)
330
331 K, G_ol_rate, G_cl_rate = pid_design(
--> 332 G_ol, K_guess, d_tc, verbose)
333
334 if do_plot:

/home/maelok/anaconda2/lib/python2.7/site-packages/px4tools/logsysid.pyc in pid_design(G, K_guess, d_tc, verbose, use_P, use_I, use_D)
272 # print('H', H)
273
--> 274 ss_open = control.tf2ss(G*H)
275
276 if verbose:

/home/maelok/anaconda2/lib/python2.7/site-packages/control/matlab.pyc in tf2ss(*args)
762 raise TypeError("tf2ss(sys): sys must be a TransferFunction
763 object.")
--> 764 return _convertToStateSpace(sys)
765 else:
766 raise ValueError("Needs 1 or 2 arguments; received %i." % len(args))

/home/maelok/anaconda2/lib/python2.7/site-packages/control/statesp.pyc in _convertToStateSpace(sys, **kw)
665 # I think this will fail if num and den aren't 1-D after
666 # the squeeze
--> 667 lti_sys = lti(squeeze(sys.num), squeeze(sys.den))
668 return StateSpace(lti_sys.A, lti_sys.B, lti_sys.C, lti_sys.D,
669 sys.dt)

/home/maelok/.local/lib/python2.7/site-packages/scipy/signal/ltisys.pyc in init(self, *system, **kwargs)
760 self._den = None
761
--> 762 self.num, self.den = normalize(*system)
763
764 def repr(self):

/home/maelok/.local/lib/python2.7/site-packages/scipy/signal/filter_design.pyc in normalize(b, a)
1434
1435 # Trim leading zeros in denominator, leave at least one.
-> 1436 den = np.trim_zeros(den, 'f')
1437
1438 # Normalize transfer function

/home/maelok/.local/lib/python2.7/site-packages/numpy/lib/function_base.pyc in trim_zeros(filt, trim)
2244 if 'F' in trim:
2245 for i in filt:
-> 2246 if i != 0.:
2247 break
2248 else:

ValueError: The truth value of an array with more than one element is ambiguous. Use a.any() or a.all()**