diff --git a/Promethe_scripts/navigation/drone/drone.draw b/Promethe_scripts/navigation/drone/drone.draw
index e07c83e4fa68232597af54320cf70449a531192b..24bf77cc861217f617599e2e873991242bab98aa 100644
--- a/Promethe_scripts/navigation/drone/drone.draw
+++ b/Promethe_scripts/navigation/drone/drone.draw
@@ -345,19 +345,7 @@
</liaison>
<liaison>
<depart>negative_error</depart>
- <arrivee>gas_low2</arrivee>
- <style>0</style>
- <coude_list />
- </liaison>
- <liaison>
- <depart>gas_high</depart>
- <arrivee>gas_high2</arrivee>
- <style>0</style>
- <coude_list />
- </liaison>
- <liaison>
- <depart>gas_low</depart>
- <arrivee>gas_low2</arrivee>
+ <arrivee>gas_mid2</arrivee>
<style>0</style>
<coude_list />
</liaison>
@@ -368,7 +356,7 @@
<coude_list />
</liaison>
<liaison>
- <depart>gas_low2</depart>
+ <depart>gas_mid2</depart>
<arrivee>throttle_decision</arrivee>
<style>0</style>
<coude_list />
@@ -409,12 +397,6 @@
<style>0</style>
<coude_list />
</liaison>
- <liaison>
- <depart>gas_low</depart>
- <arrivee>gas_lower2</arrivee>
- <style>0</style>
- <coude_list />
- </liaison>
<liaison>
<depart>gas_lower2</depart>
<arrivee>throttle_decision</arrivee>
@@ -623,14 +605,7 @@
<depart>alt_2</depart>
<arrivee>alt_2</arrivee>
<style>0</style>
- <coude_list>
- <coude>
- <x>511</x>
- <y>394</y>
- <relatif>1</relatif>
- <legende>2</legende>
- </coude>
- </coude_list>
+ <coude_list />
</liaison>
<liaison>
<depart>alt_2</depart>
@@ -660,14 +635,7 @@
<depart>mem</depart>
<arrivee>97</arrivee>
<style>0</style>
- <coude_list>
- <coude>
- <x>481</x>
- <y>521</y>
- <relatif>1</relatif>
- <legende>2</legende>
- </coude>
- </coude_list>
+ <coude_list />
</liaison>
<liaison>
<depart>87</depart>
@@ -819,4 +787,64 @@
<style>0</style>
<coude_list />
</liaison>
+ <liaison>
+ <depart>12</depart>
+ <arrivee>98</arrivee>
+ <style>0</style>
+ <coude_list />
+ </liaison>
+ <liaison>
+ <depart>98</depart>
+ <arrivee>90</arrivee>
+ <style>0</style>
+ <coude_list />
+ </liaison>
+ <liaison>
+ <depart>98</depart>
+ <arrivee>89</arrivee>
+ <style>0</style>
+ <coude_list />
+ </liaison>
+ <liaison>
+ <depart>6</depart>
+ <arrivee>three_gas</arrivee>
+ <style>0</style>
+ <coude_list />
+ </liaison>
+ <liaison>
+ <depart>three_gas</depart>
+ <arrivee>gas_high</arrivee>
+ <style>0</style>
+ <coude_list />
+ </liaison>
+ <liaison>
+ <depart>three_gas</depart>
+ <arrivee>gas_mid</arrivee>
+ <style>0</style>
+ <coude_list />
+ </liaison>
+ <liaison>
+ <depart>three_gas</depart>
+ <arrivee>gas_lower</arrivee>
+ <style>0</style>
+ <coude_list />
+ </liaison>
+ <liaison>
+ <depart>gas_high</depart>
+ <arrivee>gas_high2</arrivee>
+ <style>0</style>
+ <coude_list />
+ </liaison>
+ <liaison>
+ <depart>gas_mid</depart>
+ <arrivee>gas_mid2</arrivee>
+ <style>0</style>
+ <coude_list />
+ </liaison>
+ <liaison>
+ <depart>gas_lower</depart>
+ <arrivee>gas_lower2</arrivee>
+ <style>0</style>
+ <coude_list />
+ </liaison>
</liaison_list>
diff --git a/Promethe_scripts/navigation/drone/drone.res b/Promethe_scripts/navigation/drone/drone.res
index 451e2d104a27fde869ef1bf2f0cd42ce9e555422..843f157bef255ee18c96c64c1c9c49069cfc46c6 100644
Binary files a/Promethe_scripts/navigation/drone/drone.res and b/Promethe_scripts/navigation/drone/drone.res differ
diff --git a/Promethe_scripts/navigation/drone/drone.script b/Promethe_scripts/navigation/drone/drone.script
index 2fffef583a688c50d0fc2ceb55031e358414357e..d3fc71af3617aa3b56b53e96e99fec61765a22d7 100644
--- a/Promethe_scripts/navigation/drone/drone.script
+++ b/Promethe_scripts/navigation/drone/drone.script
@@ -1,4 +1,4 @@
-nombre de groupes = 96
+nombre de groupes = 100
%
groupe = 30 , type = 14 , nbre neurones = 1 , seuil = 0.000000
taillex = 1 , tailley = 1
@@ -6,7 +6,7 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_display_frame_rate
-posx = 1133 , posy = 105
+posx = 1150 , posy = 106
reverse = -2
p_posx = 24 , p_posy = 28
debug = -4
@@ -19,7 +19,7 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_out
-posx = 1270 , posy = 156
+posx = 1287 , posy = 157
reverse = -1
p_posx = 184 , p_posy = 28
debug = -3
@@ -32,7 +32,7 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_in
-posx = 976 , posy = 105
+posx = 993 , posy = 106
reverse = -1
p_posx = 344 , p_posy = 28
debug = -3
@@ -45,7 +45,7 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_sum_no_seuil
-posx = 1164 , posy = 209
+posx = 1181 , posy = 210
reverse = 0
p_posx = 504 , p_posy = 28
debug = -4
@@ -58,7 +58,7 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_display_image_activity
-posx = 1224 , posy = 385
+posx = 1241 , posy = 386
reverse = -2
p_posx = 664 , p_posy = 28
debug = -4
@@ -71,7 +71,7 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_out
-posx = 1074 , posy = 777
+posx = 1091 , posy = 778
reverse = 0
p_posx = 824 , p_posy = 28
debug = -4
@@ -84,7 +84,7 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_out
-posx = 1083 , posy = 342
+posx = 1100 , posy = 343
reverse = 0
p_posx = 984 , p_posy = 28
debug = -4
@@ -97,7 +97,7 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_display_image_activity
-posx = 1182 , posy = 593
+posx = 1199 , posy = 594
reverse = -2
p_posx = 24 , p_posy = 196
debug = -4
@@ -110,7 +110,7 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_concatenation
-posx = 976 , posy = 877
+posx = 993 , posy = 878
reverse = 0
p_posx = 184 , p_posy = 196
debug = -4
@@ -123,7 +123,7 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_concatenation
-posx = 976 , posy = 270
+posx = 993 , posy = 271
reverse = 0
p_posx = 344 , p_posy = 196
debug = -4
@@ -136,7 +136,7 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_sum_no_seuil
-posx = 1043 , posy = 542
+posx = 1060 , posy = 543
reverse = 0
p_posx = 504 , p_posy = 196
debug = -4
@@ -149,7 +149,7 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_sum_no_seuil
-posx = 928 , posy = 169
+posx = 945 , posy = 170
reverse = 0
p_posx = 664 , p_posy = 196
debug = -4
@@ -162,7 +162,7 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_start
-posx = 970 , posy = 39
+posx = 987 , posy = 40
reverse = 1
p_posx = 824 , p_posy = 196
debug = -4
@@ -175,7 +175,7 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_load_mask
-posx = 856 , posy = 39
+posx = 873 , posy = 40
reverse = 1
p_posx = 984 , p_posy = 196
debug = -4
@@ -188,7 +188,7 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_multiply
-posx = 860 , posy = 225
+posx = 877 , posy = 226
reverse = 0
p_posx = 24 , p_posy = 364
debug = -4
@@ -201,7 +201,7 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = threshold
-posx = 856 , posy = 737
+posx = 873 , posy = 738
reverse = 0
p_posx = 184 , p_posy = 364
debug = -4
@@ -214,7 +214,7 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = threshold
-posx = 856 , posy = 808
+posx = 873 , posy = 809
reverse = 0
p_posx = 344 , p_posy = 364
debug = -4
@@ -227,7 +227,7 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = threshold
-posx = 856 , posy = 877
+posx = 873 , posy = 878
reverse = 0
p_posx = 504 , p_posy = 364
debug = -4
@@ -240,7 +240,7 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_sum_no_seuil
-posx = 813 , posy = 290
+posx = 830 , posy = 291
reverse = 0
p_posx = 664 , p_posy = 364
debug = -4
@@ -253,7 +253,7 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_multiply
-posx = 947 , posy = 616
+posx = 964 , posy = 617
reverse = 0
p_posx = 824 , p_posy = 364
debug = -4
@@ -266,23 +266,23 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_multiply
-posx = 947 , posy = 512
+posx = 964 , posy = 513
reverse = 0
p_posx = 984 , p_posy = 364
debug = -4
ech_temps = 0
%
-groupe = gas_low2 , type = 14 , nbre neurones = 1 , seuil = 0.000000
+groupe = gas_mid2 , type = 14 , nbre neurones = 1 , seuil = 0.000000
taillex = 1 , tailley = 1
learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_multiply
-posx = 947 , posy = 572
-reverse = 0
+posx = 964 , posy = 573
+reverse = -1
p_posx = 24 , p_posy = 532
-debug = -4
+debug = -3
ech_temps = 0
%Les commentaires doivent etre mis ici.
@@ -292,38 +292,12 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_display_image_activity
-posx = 890 , posy = 347
+posx = 907 , posy = 348
reverse = -2
p_posx = 184 , p_posy = 532
debug = -4
ech_temps = 0
-%
-groupe = gas_high , type = 14 , nbre neurones = 1 , seuil = 0.000000
-taillex = 1 , tailley = 1
-learning rate = 1.000000
-simulation speed = 1.000000
-type2 = 0
-groupe = f_bias
-posx = 867 , posy = 453
-reverse = 0
-p_posx = 344 , p_posy = 532
-debug = -4
-ech_temps = 1
-
-%
-groupe = gas_low , type = 14 , nbre neurones = 1 , seuil = 0.000000
-taillex = 1 , tailley = 1
-learning rate = 1.000000
-simulation speed = 1.000000
-type2 = 0
-groupe = f_bias
-posx = 867 , posy = 675
-reverse = 0
-p_posx = 504 , p_posy = 532
-debug = -4
-ech_temps = 1
-
%
groupe = more_negative_error , type = 32 , nbre neurones = 1 , seuil = 0.100000
taillex = 1 , tailley = 1
@@ -331,9 +305,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = threshold_mask
-posx = 848 , posy = 616
+posx = 865 , posy = 617
reverse = 0
-p_posx = 664 , p_posy = 532
+p_posx = 344 , p_posy = 532
debug = -4
ech_temps = 0
@@ -344,9 +318,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = mask
-posx = 848 , posy = 572
+posx = 865 , posy = 573
reverse = 0
-p_posx = 824 , p_posy = 532
+p_posx = 504 , p_posy = 532
debug = -4
ech_temps = 0
@@ -357,9 +331,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = mask
-posx = 848 , posy = 512
+posx = 865 , posy = 513
reverse = 0
-p_posx = 984 , p_posy = 532
+p_posx = 664 , p_posy = 532
debug = -4
ech_temps = 0
@@ -370,9 +344,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_checkbox
-posx = 673 , posy = 224
+posx = 690 , posy = 225
reverse = 0
-p_posx = 24 , p_posy = 700
+p_posx = 824 , p_posy = 532
debug = -4
ech_temps = 0
@@ -383,9 +357,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_display_image_activity
-posx = 713 , posy = 672
+posx = 730 , posy = 673
reverse = -2
-p_posx = 184 , p_posy = 700
+p_posx = 984 , p_posy = 532
debug = -4
ech_temps = 0
@@ -397,9 +371,9 @@ alpha = 0.000000
simulation speed = 1.000000
type2 = 0
groupe = ???
-posx = 607 , posy = 808
+posx = 624 , posy = 809
reverse = 0
-p_posx = 344 , p_posy = 700
+p_posx = 24 , p_posy = 700
debug = -4
ech_temps = 0
@@ -411,9 +385,9 @@ alpha = 0.000000
simulation speed = 1.000000
type2 = 0
groupe = ???
-posx = 607 , posy = 737
+posx = 624 , posy = 738
reverse = 0
-p_posx = 504 , p_posy = 700
+p_posx = 184 , p_posy = 700
debug = -4
ech_temps = 0
@@ -424,9 +398,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_sum_no_seuil
-posx = 567 , posy = 171
+posx = 584 , posy = 172
reverse = -1
-p_posx = 664 , p_posy = 700
+p_posx = 344 , p_posy = 700
debug = -3
ech_temps = 0
@@ -437,9 +411,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_sum_no_seuil
-posx = 550 , posy = 290
+posx = 567 , posy = 291
reverse = 0
-p_posx = 824 , p_posy = 700
+p_posx = 504 , p_posy = 700
debug = -4
ech_temps = 0
@@ -450,9 +424,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_sum_no_seuil
-posx = 725 , posy = 579
+posx = 742 , posy = 580
reverse = -1
-p_posx = 984 , p_posy = 700
+p_posx = 664 , p_posy = 700
debug = -3
ech_temps = 0
@@ -463,9 +437,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_bias
-posx = 550 , posy = 848
+posx = 567 , posy = 849
reverse = 0
-p_posx = 24 , p_posy = 868
+p_posx = 824 , p_posy = 700
debug = -4
ech_temps = 1
@@ -476,9 +450,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_bias
-posx = 550 , posy = 697
+posx = 567 , posy = 698
reverse = 0
-p_posx = 184 , p_posy = 868
+p_posx = 984 , p_posy = 700
debug = -4
ech_temps = 1
@@ -489,9 +463,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_bias
-posx = 507 , posy = 39
+posx = 524 , posy = 40
reverse = 0
-p_posx = 344 , p_posy = 868
+p_posx = 24 , p_posy = 868
debug = -4
ech_temps = 1
@@ -502,9 +476,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_display_image_activity
-posx = 498 , posy = 356
+posx = 515 , posy = 357
reverse = -2
-p_posx = 504 , p_posy = 868
+p_posx = 184 , p_posy = 868
debug = -4
ech_temps = 0
@@ -515,9 +489,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_display_image_activity
-posx = 715 , posy = 441
+posx = 734 , posy = 484
reverse = -2
-p_posx = 664 , p_posy = 868
+p_posx = 344 , p_posy = 868
debug = -4
ech_temps = 0
@@ -528,9 +502,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_sum_no_seuil
-posx = 411 , posy = 356
+posx = 428 , posy = 357
reverse = -2
-p_posx = 824 , p_posy = 868
+p_posx = 504 , p_posy = 868
debug = -4
ech_temps = 0
@@ -541,9 +515,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_display_image_activity
-posx = 497 , posy = 230
+posx = 514 , posy = 231
reverse = -2
-p_posx = 984 , p_posy = 868
+p_posx = 664 , p_posy = 868
debug = -3
ech_temps = 0
@@ -554,9 +528,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_sum_no_seuil
-posx = 597 , posy = 482
+posx = 374 , posy = 376
reverse = -2
-p_posx = 24 , p_posy = 1036
+p_posx = 824 , p_posy = 868
debug = -3
ech_temps = 0
@@ -567,9 +541,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_sum_no_seuil
-posx = 384 , posy = 426
-reverse = -2
-p_posx = 184 , p_posy = 1036
+posx = 305 , posy = 408
+reverse = -1
+p_posx = 984 , p_posy = 868
debug = -3
ech_temps = 0
@@ -580,9 +554,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_display_image_activity
-posx = 791 , posy = 403
+posx = 828 , posy = 401
reverse = -2
-p_posx = 344 , p_posy = 1036
+p_posx = 24 , p_posy = 1036
debug = -4
ech_temps = 0
@@ -593,9 +567,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = OR
-posx = 379 , posy = 991
+posx = 396 , posy = 992
reverse = -2
-p_posx = 504 , p_posy = 1036
+p_posx = 184 , p_posy = 1036
debug = -4
ech_temps = 0
@@ -606,9 +580,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_vue_metres
-posx = 351 , posy = 261
+posx = 390 , posy = 260
reverse = 0
-p_posx = 664 , p_posy = 1036
+p_posx = 344 , p_posy = 1036
debug = -4
ech_temps = 0
@@ -619,9 +593,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_in
-posx = 351 , posy = 321
+posx = 368 , posy = 322
reverse = 0
-p_posx = 824 , p_posy = 1036
+p_posx = 504 , p_posy = 1036
debug = -4
ech_temps = 0
@@ -632,9 +606,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_in
-posx = 240 , posy = 424
+posx = 206 , posy = 470
reverse = -1
-p_posx = 984 , p_posy = 1036
+p_posx = 664 , p_posy = 1036
debug = -3
ech_temps = 0
@@ -645,9 +619,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_sum_no_seuil
-posx = 356 , posy = 684
+posx = 373 , posy = 685
reverse = 0
-p_posx = 24 , p_posy = 1204
+p_posx = 824 , p_posy = 1036
debug = -4
ech_temps = 0
@@ -658,9 +632,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_in
-posx = 240 , posy = 479
+posx = 264 , posy = 372
reverse = -1
-p_posx = 184 , p_posy = 1204
+p_posx = 984 , p_posy = 1036
debug = -3
ech_temps = 0
@@ -671,9 +645,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_checkbox
-posx = 291 , posy = 1017
+posx = 308 , posy = 1018
reverse = -2
-p_posx = 344 , p_posy = 1204
+p_posx = 24 , p_posy = 1204
debug = -4
ech_temps = 0
@@ -684,9 +658,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_in
-posx = 291 , posy = 967
+posx = 308 , posy = 968
reverse = -2
-p_posx = 504 , p_posy = 1204
+p_posx = 184 , p_posy = 1204
debug = -4
ech_temps = 0
@@ -697,9 +671,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_joystick_buttons_to_neurons
-posx = 291 , posy = 877
+posx = 308 , posy = 878
reverse = -1
-p_posx = 664 , p_posy = 1204
+p_posx = 344 , p_posy = 1204
debug = -3
ech_temps = 0
@@ -710,9 +684,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_joystick_axe_to_single_neuron
-posx = 296 , posy = 772
+posx = 313 , posy = 773
reverse = 0
-p_posx = 824 , p_posy = 1204
+p_posx = 504 , p_posy = 1204
debug = -4
ech_temps = 0
@@ -723,9 +697,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_joystick_axe_to_single_neuron
-posx = 291 , posy = 171
+posx = 308 , posy = 172
reverse = -1
-p_posx = 984 , p_posy = 1204
+p_posx = 664 , p_posy = 1204
debug = -3
ech_temps = 0
@@ -736,9 +710,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_bias
-posx = 43 , posy = 684
+posx = 60 , posy = 685
reverse = 0
-p_posx = 24 , p_posy = 1372
+p_posx = 824 , p_posy = 1204
debug = -4
ech_temps = 1
@@ -749,9 +723,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = mon_token
-posx = 141 , posy = 341
+posx = 158 , posy = 342
reverse = 0
-p_posx = 184 , p_posy = 1372
+p_posx = 984 , p_posy = 1204
debug = -4
ech_temps = 0
@@ -762,9 +736,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_debut
-posx = 46 , posy = 341
+posx = 63 , posy = 342
reverse = 0
-p_posx = 344 , p_posy = 1372
+p_posx = 24 , p_posy = 1372
debug = -4
ech_temps = 1
@@ -775,9 +749,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_clock
-posx = 134 , posy = 281
+posx = 151 , posy = 282
reverse = 1
-p_posx = 504 , p_posy = 1372
+p_posx = 184 , p_posy = 1372
debug = -4
ech_temps = 0
@@ -788,9 +762,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_joystick
-posx = 231 , posy = 281
+posx = 248 , posy = 282
reverse = 0
-p_posx = 664 , p_posy = 1372
+p_posx = 344 , p_posy = 1372
debug = -4
ech_temps = 0
@@ -801,9 +775,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_in
-posx = 291 , posy = 1096
+posx = 308 , posy = 1097
reverse = 0
-p_posx = 824 , p_posy = 1372
+p_posx = 504 , p_posy = 1372
debug = -4
ech_temps = 0
@@ -814,9 +788,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_in
-posx = 291 , posy = 1155
+posx = 308 , posy = 1156
reverse = 0
-p_posx = 984 , p_posy = 1372
+p_posx = 664 , p_posy = 1372
debug = -4
ech_temps = 0
@@ -827,9 +801,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_in
-posx = 289 , posy = 1213
+posx = 306 , posy = 1214
reverse = 0
-p_posx = 24 , p_posy = 1540
+p_posx = 824 , p_posy = 1372
debug = -4
ech_temps = 0
@@ -840,9 +814,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_display_image_activity
-posx = 602 , posy = 1098
+posx = 619 , posy = 1099
reverse = -2
-p_posx = 184 , p_posy = 1540
+p_posx = 984 , p_posy = 1372
debug = -4
ech_temps = 0
@@ -853,9 +827,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_in
-posx = 286 , posy = 1360
+posx = 303 , posy = 1361
reverse = 0
-p_posx = 344 , p_posy = 1540
+p_posx = 24 , p_posy = 1540
debug = -4
ech_temps = 0
@@ -866,9 +840,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_display_image_activity
-posx = 602 , posy = 1158
+posx = 619 , posy = 1159
reverse = -2
-p_posx = 504 , p_posy = 1540
+p_posx = 184 , p_posy = 1540
debug = -4
ech_temps = 0
@@ -879,9 +853,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_display_image_activity
-posx = 606 , posy = 1220
+posx = 623 , posy = 1221
reverse = -2
-p_posx = 664 , p_posy = 1540
+p_posx = 344 , p_posy = 1540
debug = -4
ech_temps = 0
@@ -892,9 +866,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_save_images_to_disk
-posx = 618 , posy = 1361
+posx = 635 , posy = 1362
reverse = -2
-p_posx = 824 , p_posy = 1540
+p_posx = 504 , p_posy = 1540
debug = -3
ech_temps = 0
@@ -905,9 +879,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_out
-posx = 595 , posy = 993
+posx = 612 , posy = 994
reverse = -2
-p_posx = 984 , p_posy = 1540
+p_posx = 664 , p_posy = 1540
debug = -4
ech_temps = 0
@@ -918,9 +892,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_in
-posx = 289 , posy = 1284
+posx = 306 , posy = 1285
reverse = 0
-p_posx = 24 , p_posy = 1708
+p_posx = 824 , p_posy = 1540
debug = -4
ech_temps = 0
@@ -931,9 +905,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_display_image_activity
-posx = 604 , posy = 1285
+posx = 621 , posy = 1286
reverse = -2
-p_posx = 184 , p_posy = 1708
+p_posx = 984 , p_posy = 1540
debug = -4
ech_temps = 0
@@ -944,9 +918,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_sum_no_seuil
-posx = 732 , posy = 290
+posx = 749 , posy = 291
reverse = 0
-p_posx = 344 , p_posy = 1708
+p_posx = 24 , p_posy = 1708
debug = -4
ech_temps = 0
@@ -957,9 +931,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_modulo
-posx = 630 , posy = 289
+posx = 647 , posy = 290
reverse = 0
-p_posx = 504 , p_posy = 1708
+p_posx = 184 , p_posy = 1708
debug = -4
ech_temps = 0
@@ -970,9 +944,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_bias
-posx = 637 , posy = 348
+posx = 654 , posy = 349
reverse = 1
-p_posx = 664 , p_posy = 1708
+p_posx = 344 , p_posy = 1708
debug = -4
ech_temps = 1
@@ -983,9 +957,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_sum_no_seuil
-posx = 411 , posy = 230
+posx = 449 , posy = 228
reverse = -114
-p_posx = 824 , p_posy = 1708
+p_posx = 504 , p_posy = 1708
debug = -4
ech_temps = 0
@@ -996,9 +970,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_display_image_activity
-posx = 447 , posy = 457
-reverse = -100
-p_posx = 984 , p_posy = 1708
+posx = 595 , posy = 443
+reverse = -2
+p_posx = 664 , p_posy = 1708
debug = -3
ech_temps = 0
@@ -1009,23 +983,23 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_sum_no_seuil
-posx = 517 , posy = 427
+posx = 410 , posy = 446
reverse = -1
-p_posx = 24 , p_posy = 1876
+p_posx = 824 , p_posy = 1708
debug = -3
ech_temps = 0
-%
+%Les commentaires doivent etre mis ici.
groupe = 3 , type = 14 , nbre neurones = 1 , seuil = 0.000000
taillex = 1 , tailley = 1
learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_display_image_activity
-posx = 714 , posy = 500
-reverse = -107
-p_posx = 184 , p_posy = 1876
-debug = -3
+posx = 734 , posy = 442
+reverse = -2
+p_posx = 984 , p_posy = 1708
+debug = -4
ech_temps = 0
%Les commentaires doivent etre mis ici.
@@ -1035,9 +1009,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_checkbox
-posx = 140 , posy = 534
+posx = 159 , posy = 519
reverse = -1
-p_posx = 344 , p_posy = 1876
+p_posx = 24 , p_posy = 1876
debug = -3
ech_temps = 0
@@ -1048,22 +1022,22 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_sum_no_seuil
-posx = 509 , posy = 563
+posx = 527 , posy = 574
reverse = -1
-p_posx = 504 , p_posy = 1876
+p_posx = 184 , p_posy = 1876
debug = -3
ech_temps = 0
%Les commentaires doivent etre mis ici.
-groupe = 89 , type = 32 , nbre neurones = 3 , seuil = 0.000000
+groupe = 89 , type = 32 , nbre neurones = 4 , seuil = 0.000000
taillex = 1 , tailley = 1
learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = front+
-posx = 258 , posy = 567
+posx = 266 , posy = 563
reverse = -1
-p_posx = 664 , p_posy = 1876
+p_posx = 344 , p_posy = 1876
debug = -3
ech_temps = 0
@@ -1074,9 +1048,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_z-1
-posx = 206 , posy = 518
+posx = 241 , posy = 508
reverse = -1
-p_posx = 824 , p_posy = 1876
+p_posx = 504 , p_posy = 1876
debug = -3
ech_temps = 0
@@ -1087,9 +1061,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_multiply
-posx = 387 , posy = 631
+posx = 464 , posy = 491
reverse = -1
-p_posx = 984 , p_posy = 1876
+p_posx = 664 , p_posy = 1876
debug = -3
ech_temps = 0
@@ -1100,23 +1074,23 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_z-1
-posx = 325 , posy = 606
+posx = 345 , posy = 490
reverse = -1
-p_posx = 24 , p_posy = 2044
+p_posx = 824 , p_posy = 1876
debug = -3
ech_temps = 0
-%Les commentaires doivent etre mis ici.
+%
groupe = concat_alt , type = 14 , nbre neurones = 4 , seuil = 0.000000
taillex = 1 , tailley = 4
learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_concatenation
-posx = 709 , posy = 390
-reverse = -1
-p_posx = 184 , p_posy = 2044
-debug = -3
+posx = 743 , posy = 397
+reverse = -2
+p_posx = 984 , p_posy = 1876
+debug = -4
ech_temps = 0
%Les commentaires doivent etre mis ici.
@@ -1126,9 +1100,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_display_image_activity
-posx = 437 , posy = 703
+posx = 454 , posy = 704
reverse = -1
-p_posx = 344 , p_posy = 2044
+p_posx = 24 , p_posy = 2044
debug = -3
ech_temps = 0
@@ -1139,9 +1113,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_sum_no_seuil
-posx = 598 , posy = 547
+posx = 629 , posy = 576
reverse = -1
-p_posx = 504 , p_posy = 2044
+p_posx = 184 , p_posy = 2044
debug = -3
ech_temps = 0
@@ -1152,9 +1126,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_sum_no_seuil
-posx = 627 , posy = 404
+posx = 644 , posy = 405
reverse = -1
-p_posx = 664 , p_posy = 2044
+p_posx = 344 , p_posy = 2044
debug = -3
ech_temps = 0
@@ -1165,9 +1139,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_bias
-posx = 283 , posy = 511
+posx = 68 , posy = 622
reverse = -1
-p_posx = 824 , p_posy = 2044
+p_posx = 504 , p_posy = 2044
debug = -3
ech_temps = 1
@@ -1178,9 +1152,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_sum_no_seuil
-posx = 343 , posy = 535
+posx = 348 , posy = 571
reverse = -1
-p_posx = 984 , p_posy = 2044
+p_posx = 664 , p_posy = 2044
debug = -3
ech_temps = 0
@@ -1191,9 +1165,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_multiply
-posx = 436 , posy = 541
+posx = 448 , posy = 575
reverse = -1
-p_posx = 24 , p_posy = 2212
+p_posx = 824 , p_posy = 2044
debug = -3
ech_temps = 0
@@ -1204,9 +1178,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_checkbox
-posx = 201 , posy = 134
+posx = 217 , posy = 136
reverse = -121
-p_posx = 184 , p_posy = 2212
+p_posx = 984 , p_posy = 2044
debug = -3
ech_temps = 0
@@ -1217,9 +1191,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_multiply
-posx = 1043 , posy = 135
+posx = 1060 , posy = 136
reverse = -1
-p_posx = 344 , p_posy = 2212
+p_posx = 24 , p_posy = 2212
debug = -3
ech_temps = 0
@@ -1230,9 +1204,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_out
-posx = 705 , posy = 104
+posx = 722 , posy = 105
reverse = -128
-p_posx = 504 , p_posy = 2212
+p_posx = 184 , p_posy = 2212
debug = -4
ech_temps = 0
@@ -1243,13 +1217,91 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_out
-posx = 381 , posy = 925
+posx = 398 , posy = 926
reverse = -135
+p_posx = 344 , p_posy = 2212
+debug = -4
+ech_temps = 0
+
+%threshold = delay (in nb of loop) before pulse
+groupe = 98 , type = 14 , nbre neurones = 1 , seuil = 300.000000
+taillex = 1 , tailley = 1
+learning rate = 1.000000
+simulation speed = 1.000000
+type2 = 0
+groupe = f_one_pulse
+posx = 159 , posy = 583
+reverse = -1
+p_posx = 504 , p_posy = 2212
+debug = -3
+ech_temps = 0
+
+%1: gas_high, 2: gas_mid, 3: gas_low
+groupe = three_gas , type = 14 , nbre neurones = 3 , seuil = 0.000000
+taillex = 1 , tailley = 3
+learning rate = 1.000000
+simulation speed = 1.000000
+type2 = 0
+groupe = f_load_mask
+posx = 1075 , posy = 705
+reverse = 1
p_posx = 664 , p_posy = 2212
debug = -4
+ech_temps = 1
+
+%Les commentaires doivent etre mis ici.
+groupe = 6 , type = 14 , nbre neurones = 1 , seuil = 0.000000
+taillex = 1 , tailley = 1
+learning rate = 1.000000
+simulation speed = 1.000000
+type2 = 0
+groupe = f_start
+posx = 1133 , posy = 689
+reverse = 1
+p_posx = 824 , p_posy = 2212
+debug = -4
+ech_temps = 1
+
+%Les commentaires doivent etre mis ici.
+groupe = gas_high , type = 14 , nbre neurones = 1 , seuil = 0.000000
+taillex = 1 , tailley = 1
+learning rate = 1.000000
+simulation speed = 1.000000
+type2 = 0
+groupe = f_extract_neurons
+posx = 1025 , posy = 645
+reverse = 1
+p_posx = 984 , p_posy = 2212
+debug = -3
+ech_temps = 0
+
+%Les commentaires doivent etre mis ici.
+groupe = gas_lower , type = 14 , nbre neurones = 1 , seuil = 0.000000
+taillex = 1 , tailley = 1
+learning rate = 1.000000
+simulation speed = 1.000000
+type2 = 0
+groupe = f_extract_neurons
+posx = 959 , posy = 747
+reverse = 170
+p_posx = 24 , p_posy = 2380
+debug = -3
+ech_temps = 0
+
+%Les commentaires doivent etre mis ici.
+groupe = gas_mid , type = 14 , nbre neurones = 1 , seuil = 0.000000
+taillex = 1 , tailley = 1
+learning rate = 1.000000
+simulation speed = 1.000000
+type2 = 0
+groupe = f_extract_neurons
+posx = 992 , posy = 694
+reverse = 177
+p_posx = 184 , p_posy = 2380
+debug = -3
ech_temps = 0
-nombre de liaisons = 132
+nombre de liaisons = 139
%Les commentaires doivent etre mis ici.
liaison entre v_motors et 30 , type = 5 , nbre = 1 , norme = 0.100000
temps de memorisation entree= 0.000000
@@ -1580,7 +1632,7 @@ liaison entre 12 et dcompass , type = 5 , nbre = 1 , norme = 0.100000
temps de memorisation sortie= 0.000000
mode de calcul = 0
secondaire = 0
- nom = -ndesired_compass-i0.-m0-M360
+ nom = -ndesired_compass-i130.-m0-M360
proba = 1.000000
%Les commentaires doivent etre mis ici.
liaison entre 12 et 13 , type = 5 , nbre = 1 , norme = 0.100000
@@ -1613,7 +1665,7 @@ liaison entre 20 et rotation_to_axis , type = 3 , nbre = 1 , norme = 1.000000
secondaire = 0
proba = 1.000000
%Les commentaires doivent etre mis ici.
-liaison entre axis_centered et axis_centered2 , type = 3 , nbre = 1 , norme = 0.500000
+liaison entre axis_centered et axis_centered2 , type = 3 , nbre = 1 , norme = 1.000000
temps de memorisation entree= 0.000000
temps de memorisation sortie= 0.000000
mode de calcul = 0
@@ -1663,21 +1715,7 @@ liaison entre positive_error et gas_high2 , type = 3 , nbre = 1 , norme = 1.00
secondaire = 0
proba = 1.000000
%Les commentaires doivent etre mis ici.
-liaison entre negative_error et gas_low2 , type = 3 , nbre = 1 , norme = 1.000000
- temps de memorisation entree= 0.000000
- temps de memorisation sortie= 0.000000
- mode de calcul = 0
- secondaire = 0
- proba = 1.000000
-%Les commentaires doivent etre mis ici.
-liaison entre gas_high et gas_high2 , type = 3 , nbre = 1 , norme = 0.750000
- temps de memorisation entree= 0.000000
- temps de memorisation sortie= 0.000000
- mode de calcul = 0
- secondaire = 0
- proba = 1.000000
-%Les commentaires doivent etre mis ici.
-liaison entre gas_low et gas_low2 , type = 3 , nbre = 1 , norme = 0.500000
+liaison entre negative_error et gas_mid2 , type = 3 , nbre = 1 , norme = 1.000000
temps de memorisation entree= 0.000000
temps de memorisation sortie= 0.000000
mode de calcul = 0
@@ -1691,7 +1729,7 @@ liaison entre gas_high2 et throttle_decision , type = 3 , nbre = 1 , norme = 1
secondaire = 0
proba = 1.000000
%Les commentaires doivent etre mis ici.
-liaison entre gas_low2 et throttle_decision , type = 3 , nbre = 1 , norme = 1.000000
+liaison entre gas_mid2 et throttle_decision , type = 3 , nbre = 1 , norme = 1.000000
temps de memorisation entree= 0.000000
temps de memorisation sortie= 0.000000
mode de calcul = 0
@@ -1744,13 +1782,6 @@ liaison entre more_negative_error et gas_lower2 , type = 3 , nbre = 1 , norme
secondaire = 0
proba = 1.000000
%Les commentaires doivent etre mis ici.
-liaison entre gas_low et gas_lower2 , type = 3 , nbre = 1 , norme = 0.300000
- temps de memorisation entree= 0.000000
- temps de memorisation sortie= 0.000000
- mode de calcul = 0
- secondaire = 0
- proba = 1.000000
-%Les commentaires doivent etre mis ici.
liaison entre gas_lower2 et throttle_decision , type = 3 , nbre = 1 , norme = -1.000000
temps de memorisation entree= 0.000000
temps de memorisation sortie= 0.000000
@@ -1763,7 +1794,7 @@ liaison entre 12 et rot , type = 5 , nbre = 1 , norme = 0.100000
temps de memorisation sortie= 0.000000
mode de calcul = 0
secondaire = 0
- nom = -nrot
+ nom = -nrot-i1
proba = 1.000000
%Les commentaires doivent etre mis ici.
liaison entre rot et rotation_to_axis , type = 3 , nbre = 1 , norme = 1.000000
@@ -2007,14 +2038,14 @@ liaison entre arm_or_checkbox et 2 , type = 5 , nbre = 1 , norme = 0.100000
nom = save
proba = 1.000000
%Les commentaires doivent etre mis ici.
-liaison entre 33 et alt_2 , type = 3 , nbre = 1 , norme = 0.010000
+liaison entre 33 et alt_2 , type = 3 , nbre = 1 , norme = 0.030000
temps de memorisation entree= 0.000000
temps de memorisation sortie= 0.000000
mode de calcul = 0
secondaire = 0
proba = 1.000000
%Les commentaires doivent etre mis ici.
-liaison entre alt_2 et alt_2 , type = 3 , nbre = 1 , norme = 0.990000
+liaison entre alt_2 et alt_2 , type = 3 , nbre = 1 , norme = 0.970000
temps de memorisation entree= 0.000000
temps de memorisation sortie= 0.000000
mode de calcul = 0
@@ -2212,7 +2243,7 @@ liaison entre 12 et activate_visual_control , type = 5 , nbre = 1 , norme = 0.
nom = -nactivate_visual_control
proba = 1.000000
%Les commentaires doivent etre mis ici.
-liaison entre 95 et motors , type = 3 , nbre = 1 , norme = 1.000000
+liaison entre 95 et motors , type = 3 , nbre = 1 , norme = 2.000000
temps de memorisation entree= 0.000000
temps de memorisation sortie= 0.000000
mode de calcul = 0
@@ -2241,3 +2272,78 @@ liaison entre buttons et 5 , type = 5 , nbre = 1 , norme = 0.100000
secondaire = 0
nom = -bjoystick-s1-v
proba = 1.000000
+%Les commentaires doivent etre mis ici.
+liaison entre 12 et 98 , type = 5 , nbre = 1 , norme = 0.100000
+ temps de memorisation entree= 0.000000
+ temps de memorisation sortie= 0.000000
+ mode de calcul = 0
+ secondaire = 0
+ nom = ???
+ proba = 1.000000
+%Les commentaires doivent etre mis ici.
+liaison entre 98 et 90 , type = 3 , nbre = 1 , norme = 1.000000
+ temps de memorisation entree= 0.000000
+ temps de memorisation sortie= 0.000000
+ mode de calcul = 0
+ secondaire = 0
+ proba = 1.000000
+%Les commentaires doivent etre mis ici.
+liaison entre 98 et 89 , type = 3 , nbre = 1 , norme = 1.000000
+ temps de memorisation entree= 0.000000
+ temps de memorisation sortie= 0.000000
+ mode de calcul = 0
+ secondaire = 0
+ proba = 1.000000
+%Les commentaires doivent etre mis ici.
+liaison entre 6 et three_gas , type = 5 , nbre = 1 , norme = 0.100000
+ temps de memorisation entree= 0.000000
+ temps de memorisation sortie= 0.000000
+ mode de calcul = 0
+ secondaire = 0
+ nom = mask_gas.txt
+ proba = 1.000000
+%Les commentaires doivent etre mis ici.
+liaison entre three_gas et gas_high , type = 5 , nbre = 1 , norme = 1.000000
+ temps de memorisation entree= 0.000000
+ temps de memorisation sortie= 0.000000
+ mode de calcul = 0
+ secondaire = 0
+ nom = -x0-y0
+ proba = 1.000000
+%Les commentaires doivent etre mis ici.
+liaison entre three_gas et gas_mid , type = 5 , nbre = 1 , norme = 1.000000
+ temps de memorisation entree= 0.000000
+ temps de memorisation sortie= 0.000000
+ mode de calcul = 0
+ secondaire = 0
+ nom = -x0-y1
+ proba = 1.000000
+%Les commentaires doivent etre mis ici.
+liaison entre three_gas et gas_lower , type = 5 , nbre = 1 , norme = 1.000000
+ temps de memorisation entree= 0.000000
+ temps de memorisation sortie= 0.000000
+ mode de calcul = 0
+ secondaire = 0
+ nom = -x0-y2
+ proba = 1.000000
+%Les commentaires doivent etre mis ici.
+liaison entre gas_high et gas_high2 , type = 3 , nbre = 1 , norme = 1.000000
+ temps de memorisation entree= 0.000000
+ temps de memorisation sortie= 0.000000
+ mode de calcul = 0
+ secondaire = 0
+ proba = 1.000000
+%Les commentaires doivent etre mis ici.
+liaison entre gas_mid et gas_mid2 , type = 3 , nbre = 1 , norme = 1.000000
+ temps de memorisation entree= 0.000000
+ temps de memorisation sortie= 0.000000
+ mode de calcul = 0
+ secondaire = 0
+ proba = 1.000000
+%Les commentaires doivent etre mis ici.
+liaison entre gas_lower et gas_lower2 , type = 3 , nbre = 1 , norme = 1.000000
+ temps de memorisation entree= 0.000000
+ temps de memorisation sortie= 0.000000
+ mode de calcul = 0
+ secondaire = 0
+ proba = 1.000000
diff --git a/Promethe_scripts/navigation/drone/drone.symb b/Promethe_scripts/navigation/drone/drone.symb
index 546191713ba1d83a28dd37d30fa6f236f5a0c12b..b03d3e76f9e0dfe97759d9cbe0dc151c2c583ac3 100644
--- a/Promethe_scripts/navigation/drone/drone.symb
+++ b/Promethe_scripts/navigation/drone/drone.symb
@@ -1,4 +1,4 @@
-nombre de groupes = 96
+nombre de groupes = 100
%
groupe = 30 , type = 14 , nbre neurones = 1 , seuil = 0.000000
taillex = 1 , tailley = 1
@@ -6,7 +6,7 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_display_frame_rate
-posx = 1133 , posy = 105
+posx = 1150 , posy = 106
reverse = -2
p_posx = 24 , p_posy = 28
debug = -4
@@ -19,7 +19,7 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_out
-posx = 1270 , posy = 156
+posx = 1287 , posy = 157
reverse = -1
p_posx = 184 , p_posy = 28
debug = -3
@@ -32,7 +32,7 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_in
-posx = 976 , posy = 105
+posx = 993 , posy = 106
reverse = -1
p_posx = 344 , p_posy = 28
debug = -3
@@ -45,7 +45,7 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_sum_no_seuil
-posx = 1164 , posy = 209
+posx = 1181 , posy = 210
reverse = 0
p_posx = 504 , p_posy = 28
debug = -4
@@ -58,7 +58,7 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_display_image_activity
-posx = 1224 , posy = 385
+posx = 1241 , posy = 386
reverse = -2
p_posx = 664 , p_posy = 28
debug = -4
@@ -71,7 +71,7 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_out
-posx = 1074 , posy = 777
+posx = 1091 , posy = 778
reverse = 0
p_posx = 824 , p_posy = 28
debug = -4
@@ -84,7 +84,7 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_out
-posx = 1083 , posy = 342
+posx = 1100 , posy = 343
reverse = 0
p_posx = 984 , p_posy = 28
debug = -4
@@ -97,7 +97,7 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_display_image_activity
-posx = 1182 , posy = 593
+posx = 1199 , posy = 594
reverse = -2
p_posx = 24 , p_posy = 196
debug = -4
@@ -110,7 +110,7 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_concatenation
-posx = 976 , posy = 877
+posx = 993 , posy = 878
reverse = 0
p_posx = 184 , p_posy = 196
debug = -4
@@ -123,7 +123,7 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_concatenation
-posx = 976 , posy = 270
+posx = 993 , posy = 271
reverse = 0
p_posx = 344 , p_posy = 196
debug = -4
@@ -136,7 +136,7 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_sum_no_seuil
-posx = 1043 , posy = 542
+posx = 1060 , posy = 543
reverse = 0
p_posx = 504 , p_posy = 196
debug = -4
@@ -149,7 +149,7 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_sum_no_seuil
-posx = 928 , posy = 169
+posx = 945 , posy = 170
reverse = 0
p_posx = 664 , p_posy = 196
debug = -4
@@ -162,7 +162,7 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_start
-posx = 970 , posy = 39
+posx = 987 , posy = 40
reverse = 1
p_posx = 824 , p_posy = 196
debug = -4
@@ -175,7 +175,7 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_load_mask
-posx = 856 , posy = 39
+posx = 873 , posy = 40
reverse = 1
p_posx = 984 , p_posy = 196
debug = -4
@@ -188,7 +188,7 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_multiply
-posx = 860 , posy = 225
+posx = 877 , posy = 226
reverse = 0
p_posx = 24 , p_posy = 364
debug = -4
@@ -201,7 +201,7 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = threshold
-posx = 856 , posy = 737
+posx = 873 , posy = 738
reverse = 0
p_posx = 184 , p_posy = 364
debug = -4
@@ -214,7 +214,7 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = threshold
-posx = 856 , posy = 808
+posx = 873 , posy = 809
reverse = 0
p_posx = 344 , p_posy = 364
debug = -4
@@ -227,7 +227,7 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = threshold
-posx = 856 , posy = 877
+posx = 873 , posy = 878
reverse = 0
p_posx = 504 , p_posy = 364
debug = -4
@@ -240,7 +240,7 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_sum_no_seuil
-posx = 813 , posy = 290
+posx = 830 , posy = 291
reverse = 0
p_posx = 664 , p_posy = 364
debug = -4
@@ -253,7 +253,7 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_multiply
-posx = 947 , posy = 616
+posx = 964 , posy = 617
reverse = 0
p_posx = 824 , p_posy = 364
debug = -4
@@ -266,23 +266,23 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_multiply
-posx = 947 , posy = 512
+posx = 964 , posy = 513
reverse = 0
p_posx = 984 , p_posy = 364
debug = -4
ech_temps = 0
%
-groupe = gas_low2 , type = 14 , nbre neurones = 1 , seuil = 0.000000
+groupe = gas_mid2 , type = 14 , nbre neurones = 1 , seuil = 0.000000
taillex = 1 , tailley = 1
learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_multiply
-posx = 947 , posy = 572
-reverse = 0
+posx = 964 , posy = 573
+reverse = -1
p_posx = 24 , p_posy = 532
-debug = -4
+debug = 1
ech_temps = 0
%Les commentaires doivent etre mis ici.
@@ -292,38 +292,12 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_display_image_activity
-posx = 890 , posy = 347
+posx = 907 , posy = 348
reverse = -2
p_posx = 184 , p_posy = 532
debug = -4
ech_temps = 0
-%
-groupe = gas_high , type = 14 , nbre neurones = 1 , seuil = 0.000000
-taillex = 1 , tailley = 1
-learning rate = 1.000000
-simulation speed = 1.000000
-type2 = 0
-groupe = f_bias
-posx = 867 , posy = 453
-reverse = 0
-p_posx = 344 , p_posy = 532
-debug = -4
-ech_temps = 1
-
-%
-groupe = gas_low , type = 14 , nbre neurones = 1 , seuil = 0.000000
-taillex = 1 , tailley = 1
-learning rate = 1.000000
-simulation speed = 1.000000
-type2 = 0
-groupe = f_bias
-posx = 867 , posy = 675
-reverse = 0
-p_posx = 504 , p_posy = 532
-debug = -4
-ech_temps = 1
-
%
groupe = more_negative_error , type = 32 , nbre neurones = 1 , seuil = 0.100000
taillex = 1 , tailley = 1
@@ -331,9 +305,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = threshold_mask
-posx = 848 , posy = 616
+posx = 865 , posy = 617
reverse = 0
-p_posx = 664 , p_posy = 532
+p_posx = 344 , p_posy = 532
debug = -4
ech_temps = 0
@@ -344,9 +318,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = mask
-posx = 848 , posy = 572
+posx = 865 , posy = 573
reverse = 0
-p_posx = 824 , p_posy = 532
+p_posx = 504 , p_posy = 532
debug = -4
ech_temps = 0
@@ -357,9 +331,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = mask
-posx = 848 , posy = 512
+posx = 865 , posy = 513
reverse = 0
-p_posx = 984 , p_posy = 532
+p_posx = 664 , p_posy = 532
debug = -4
ech_temps = 0
@@ -370,9 +344,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_checkbox
-posx = 673 , posy = 224
+posx = 690 , posy = 225
reverse = 0
-p_posx = 24 , p_posy = 700
+p_posx = 824 , p_posy = 532
debug = -4
ech_temps = 0
@@ -383,9 +357,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_display_image_activity
-posx = 713 , posy = 672
+posx = 730 , posy = 673
reverse = -2
-p_posx = 184 , p_posy = 700
+p_posx = 984 , p_posy = 532
debug = -4
ech_temps = 0
@@ -397,9 +371,9 @@ alpha = 0.000000
simulation speed = 1.000000
type2 = 0
groupe = ???
-posx = 607 , posy = 808
+posx = 624 , posy = 809
reverse = 0
-p_posx = 344 , p_posy = 700
+p_posx = 24 , p_posy = 700
debug = -4
ech_temps = 0
@@ -411,9 +385,9 @@ alpha = 0.000000
simulation speed = 1.000000
type2 = 0
groupe = ???
-posx = 607 , posy = 737
+posx = 624 , posy = 738
reverse = 0
-p_posx = 504 , p_posy = 700
+p_posx = 184 , p_posy = 700
debug = -4
ech_temps = 0
@@ -424,9 +398,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_sum_no_seuil
-posx = 567 , posy = 171
+posx = 584 , posy = 172
reverse = -1
-p_posx = 664 , p_posy = 700
+p_posx = 344 , p_posy = 700
debug = -3
ech_temps = 0
@@ -437,9 +411,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_sum_no_seuil
-posx = 550 , posy = 290
+posx = 567 , posy = 291
reverse = 0
-p_posx = 824 , p_posy = 700
+p_posx = 504 , p_posy = 700
debug = -4
ech_temps = 0
@@ -450,9 +424,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_sum_no_seuil
-posx = 725 , posy = 579
+posx = 742 , posy = 580
reverse = -1
-p_posx = 984 , p_posy = 700
+p_posx = 664 , p_posy = 700
debug = -3
ech_temps = 0
@@ -463,9 +437,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_bias
-posx = 550 , posy = 848
+posx = 567 , posy = 849
reverse = 0
-p_posx = 24 , p_posy = 868
+p_posx = 824 , p_posy = 700
debug = -4
ech_temps = 1
@@ -476,9 +450,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_bias
-posx = 550 , posy = 697
+posx = 567 , posy = 698
reverse = 0
-p_posx = 184 , p_posy = 868
+p_posx = 984 , p_posy = 700
debug = -4
ech_temps = 1
@@ -489,9 +463,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_bias
-posx = 507 , posy = 39
+posx = 524 , posy = 40
reverse = 0
-p_posx = 344 , p_posy = 868
+p_posx = 24 , p_posy = 868
debug = -4
ech_temps = 1
@@ -502,9 +476,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_display_image_activity
-posx = 498 , posy = 356
+posx = 515 , posy = 357
reverse = -2
-p_posx = 504 , p_posy = 868
+p_posx = 184 , p_posy = 868
debug = -4
ech_temps = 0
@@ -515,9 +489,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_display_image_activity
-posx = 715 , posy = 441
+posx = 734 , posy = 484
reverse = -2
-p_posx = 664 , p_posy = 868
+p_posx = 344 , p_posy = 868
debug = -4
ech_temps = 0
@@ -528,9 +502,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_sum_no_seuil
-posx = 411 , posy = 356
+posx = 428 , posy = 357
reverse = -2
-p_posx = 824 , p_posy = 868
+p_posx = 504 , p_posy = 868
debug = -4
ech_temps = 0
@@ -541,9 +515,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_display_image_activity
-posx = 497 , posy = 230
+posx = 514 , posy = 231
reverse = -2
-p_posx = 984 , p_posy = 868
+p_posx = 664 , p_posy = 868
debug = -3
ech_temps = 0
@@ -554,9 +528,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_sum_no_seuil
-posx = 597 , posy = 482
+posx = 374 , posy = 376
reverse = -2
-p_posx = 24 , p_posy = 1036
+p_posx = 824 , p_posy = 868
debug = -3
ech_temps = 0
@@ -567,9 +541,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_sum_no_seuil
-posx = 384 , posy = 426
-reverse = -2
-p_posx = 184 , p_posy = 1036
+posx = 305 , posy = 408
+reverse = -1
+p_posx = 984 , p_posy = 868
debug = -3
ech_temps = 0
@@ -580,9 +554,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_display_image_activity
-posx = 791 , posy = 403
+posx = 828 , posy = 401
reverse = -2
-p_posx = 344 , p_posy = 1036
+p_posx = 24 , p_posy = 1036
debug = -4
ech_temps = 0
@@ -593,9 +567,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = OR
-posx = 379 , posy = 991
+posx = 396 , posy = 992
reverse = -2
-p_posx = 504 , p_posy = 1036
+p_posx = 184 , p_posy = 1036
debug = -4
ech_temps = 0
@@ -606,9 +580,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_vue_metres
-posx = 351 , posy = 261
+posx = 390 , posy = 260
reverse = 0
-p_posx = 664 , p_posy = 1036
+p_posx = 344 , p_posy = 1036
debug = -4
ech_temps = 0
@@ -619,9 +593,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_in
-posx = 351 , posy = 321
+posx = 368 , posy = 322
reverse = 0
-p_posx = 824 , p_posy = 1036
+p_posx = 504 , p_posy = 1036
debug = -4
ech_temps = 0
@@ -632,9 +606,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_in
-posx = 240 , posy = 424
+posx = 206 , posy = 470
reverse = -1
-p_posx = 984 , p_posy = 1036
+p_posx = 664 , p_posy = 1036
debug = -3
ech_temps = 0
@@ -645,9 +619,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_sum_no_seuil
-posx = 356 , posy = 684
+posx = 373 , posy = 685
reverse = 0
-p_posx = 24 , p_posy = 1204
+p_posx = 824 , p_posy = 1036
debug = -4
ech_temps = 0
@@ -658,9 +632,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_in
-posx = 240 , posy = 479
+posx = 264 , posy = 372
reverse = -1
-p_posx = 184 , p_posy = 1204
+p_posx = 984 , p_posy = 1036
debug = -3
ech_temps = 0
@@ -671,9 +645,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_checkbox
-posx = 291 , posy = 1017
+posx = 308 , posy = 1018
reverse = -2
-p_posx = 344 , p_posy = 1204
+p_posx = 24 , p_posy = 1204
debug = -4
ech_temps = 0
@@ -684,9 +658,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_in
-posx = 291 , posy = 967
+posx = 308 , posy = 968
reverse = -2
-p_posx = 504 , p_posy = 1204
+p_posx = 184 , p_posy = 1204
debug = -4
ech_temps = 0
@@ -697,9 +671,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_joystick_buttons_to_neurons
-posx = 291 , posy = 877
+posx = 308 , posy = 878
reverse = -1
-p_posx = 664 , p_posy = 1204
+p_posx = 344 , p_posy = 1204
debug = -3
ech_temps = 0
@@ -710,9 +684,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_joystick_axe_to_single_neuron
-posx = 296 , posy = 772
+posx = 313 , posy = 773
reverse = 0
-p_posx = 824 , p_posy = 1204
+p_posx = 504 , p_posy = 1204
debug = -4
ech_temps = 0
@@ -723,9 +697,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_joystick_axe_to_single_neuron
-posx = 291 , posy = 171
+posx = 308 , posy = 172
reverse = -1
-p_posx = 984 , p_posy = 1204
+p_posx = 664 , p_posy = 1204
debug = -3
ech_temps = 0
@@ -736,9 +710,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_bias
-posx = 43 , posy = 684
+posx = 60 , posy = 685
reverse = 0
-p_posx = 24 , p_posy = 1372
+p_posx = 824 , p_posy = 1204
debug = -4
ech_temps = 1
@@ -749,9 +723,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = mon_token
-posx = 141 , posy = 341
+posx = 158 , posy = 342
reverse = 0
-p_posx = 184 , p_posy = 1372
+p_posx = 984 , p_posy = 1204
debug = -4
ech_temps = 0
@@ -762,9 +736,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_debut
-posx = 46 , posy = 341
+posx = 63 , posy = 342
reverse = 0
-p_posx = 344 , p_posy = 1372
+p_posx = 24 , p_posy = 1372
debug = -4
ech_temps = 1
@@ -775,9 +749,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_clock
-posx = 134 , posy = 281
+posx = 151 , posy = 282
reverse = 1
-p_posx = 504 , p_posy = 1372
+p_posx = 184 , p_posy = 1372
debug = -4
ech_temps = 0
@@ -788,9 +762,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_joystick
-posx = 231 , posy = 281
+posx = 248 , posy = 282
reverse = 0
-p_posx = 664 , p_posy = 1372
+p_posx = 344 , p_posy = 1372
debug = -4
ech_temps = 0
@@ -801,9 +775,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_in
-posx = 291 , posy = 1096
+posx = 308 , posy = 1097
reverse = 0
-p_posx = 824 , p_posy = 1372
+p_posx = 504 , p_posy = 1372
debug = -4
ech_temps = 0
@@ -814,9 +788,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_in
-posx = 291 , posy = 1155
+posx = 308 , posy = 1156
reverse = 0
-p_posx = 984 , p_posy = 1372
+p_posx = 664 , p_posy = 1372
debug = -4
ech_temps = 0
@@ -827,9 +801,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_in
-posx = 289 , posy = 1213
+posx = 306 , posy = 1214
reverse = 0
-p_posx = 24 , p_posy = 1540
+p_posx = 824 , p_posy = 1372
debug = -4
ech_temps = 0
@@ -840,9 +814,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_display_image_activity
-posx = 602 , posy = 1098
+posx = 619 , posy = 1099
reverse = -2
-p_posx = 184 , p_posy = 1540
+p_posx = 984 , p_posy = 1372
debug = -4
ech_temps = 0
@@ -853,9 +827,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_in
-posx = 286 , posy = 1360
+posx = 303 , posy = 1361
reverse = 0
-p_posx = 344 , p_posy = 1540
+p_posx = 24 , p_posy = 1540
debug = -4
ech_temps = 0
@@ -866,9 +840,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_display_image_activity
-posx = 602 , posy = 1158
+posx = 619 , posy = 1159
reverse = -2
-p_posx = 504 , p_posy = 1540
+p_posx = 184 , p_posy = 1540
debug = -4
ech_temps = 0
@@ -879,9 +853,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_display_image_activity
-posx = 606 , posy = 1220
+posx = 623 , posy = 1221
reverse = -2
-p_posx = 664 , p_posy = 1540
+p_posx = 344 , p_posy = 1540
debug = -4
ech_temps = 0
@@ -892,9 +866,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_save_images_to_disk
-posx = 618 , posy = 1361
+posx = 635 , posy = 1362
reverse = -2
-p_posx = 824 , p_posy = 1540
+p_posx = 504 , p_posy = 1540
debug = -3
ech_temps = 0
@@ -905,9 +879,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_out
-posx = 595 , posy = 993
+posx = 612 , posy = 994
reverse = -2
-p_posx = 984 , p_posy = 1540
+p_posx = 664 , p_posy = 1540
debug = -4
ech_temps = 0
@@ -918,9 +892,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_in
-posx = 289 , posy = 1284
+posx = 306 , posy = 1285
reverse = 0
-p_posx = 24 , p_posy = 1708
+p_posx = 824 , p_posy = 1540
debug = -4
ech_temps = 0
@@ -931,9 +905,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_display_image_activity
-posx = 604 , posy = 1285
+posx = 621 , posy = 1286
reverse = -2
-p_posx = 184 , p_posy = 1708
+p_posx = 984 , p_posy = 1540
debug = -4
ech_temps = 0
@@ -944,9 +918,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_sum_no_seuil
-posx = 732 , posy = 290
+posx = 749 , posy = 291
reverse = 0
-p_posx = 344 , p_posy = 1708
+p_posx = 24 , p_posy = 1708
debug = -4
ech_temps = 0
@@ -957,9 +931,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_modulo
-posx = 630 , posy = 289
+posx = 647 , posy = 290
reverse = 0
-p_posx = 504 , p_posy = 1708
+p_posx = 184 , p_posy = 1708
debug = -4
ech_temps = 0
@@ -970,9 +944,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_bias
-posx = 637 , posy = 348
+posx = 654 , posy = 349
reverse = 1
-p_posx = 664 , p_posy = 1708
+p_posx = 344 , p_posy = 1708
debug = -4
ech_temps = 1
@@ -983,9 +957,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_sum_no_seuil
-posx = 411 , posy = 230
+posx = 449 , posy = 228
reverse = -114
-p_posx = 824 , p_posy = 1708
+p_posx = 504 , p_posy = 1708
debug = -4
ech_temps = 0
@@ -996,9 +970,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_display_image_activity
-posx = 447 , posy = 457
-reverse = -100
-p_posx = 984 , p_posy = 1708
+posx = 595 , posy = 443
+reverse = -2
+p_posx = 664 , p_posy = 1708
debug = -3
ech_temps = 0
@@ -1009,23 +983,23 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_sum_no_seuil
-posx = 517 , posy = 427
+posx = 410 , posy = 446
reverse = -1
-p_posx = 24 , p_posy = 1876
+p_posx = 824 , p_posy = 1708
debug = -3
ech_temps = 0
-%
+%Les commentaires doivent etre mis ici.
groupe = 3 , type = 14 , nbre neurones = 1 , seuil = 0.000000
taillex = 1 , tailley = 1
learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_display_image_activity
-posx = 714 , posy = 500
-reverse = -107
-p_posx = 184 , p_posy = 1876
-debug = -3
+posx = 734 , posy = 442
+reverse = -2
+p_posx = 984 , p_posy = 1708
+debug = -4
ech_temps = 0
%Les commentaires doivent etre mis ici.
@@ -1035,9 +1009,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_checkbox
-posx = 140 , posy = 534
+posx = 159 , posy = 519
reverse = -1
-p_posx = 344 , p_posy = 1876
+p_posx = 24 , p_posy = 1876
debug = -3
ech_temps = 0
@@ -1048,9 +1022,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_sum_no_seuil
-posx = 509 , posy = 563
+posx = 527 , posy = 574
reverse = -1
-p_posx = 504 , p_posy = 1876
+p_posx = 184 , p_posy = 1876
debug = -3
ech_temps = 0
@@ -1061,9 +1035,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = front+
-posx = 258 , posy = 567
+posx = 266 , posy = 563
reverse = -1
-p_posx = 664 , p_posy = 1876
+p_posx = 344 , p_posy = 1876
debug = -3
ech_temps = 0
@@ -1074,9 +1048,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_z-1
-posx = 206 , posy = 518
+posx = 241 , posy = 508
reverse = -1
-p_posx = 824 , p_posy = 1876
+p_posx = 504 , p_posy = 1876
debug = -3
ech_temps = 0
@@ -1087,9 +1061,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_multiply
-posx = 387 , posy = 631
+posx = 464 , posy = 491
reverse = -1
-p_posx = 984 , p_posy = 1876
+p_posx = 664 , p_posy = 1876
debug = -3
ech_temps = 0
@@ -1100,23 +1074,23 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_z-1
-posx = 325 , posy = 606
+posx = 345 , posy = 490
reverse = -1
-p_posx = 24 , p_posy = 2044
+p_posx = 824 , p_posy = 1876
debug = -3
ech_temps = 0
-%Les commentaires doivent etre mis ici.
+%
groupe = concat_alt , type = 14 , nbre neurones = 1 , seuil = 0.000000
taillex = 1 , tailley = 4
learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_concatenation
-posx = 709 , posy = 390
-reverse = -1
-p_posx = 184 , p_posy = 2044
-debug = -3
+posx = 743 , posy = 397
+reverse = -2
+p_posx = 984 , p_posy = 1876
+debug = -4
ech_temps = 0
%Les commentaires doivent etre mis ici.
@@ -1126,9 +1100,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_display_image_activity
-posx = 437 , posy = 703
+posx = 454 , posy = 704
reverse = -1
-p_posx = 344 , p_posy = 2044
+p_posx = 24 , p_posy = 2044
debug = -3
ech_temps = 0
@@ -1139,9 +1113,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_sum_no_seuil
-posx = 598 , posy = 547
+posx = 629 , posy = 576
reverse = -1
-p_posx = 504 , p_posy = 2044
+p_posx = 184 , p_posy = 2044
debug = -3
ech_temps = 0
@@ -1152,9 +1126,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_sum_no_seuil
-posx = 627 , posy = 404
+posx = 644 , posy = 405
reverse = -1
-p_posx = 664 , p_posy = 2044
+p_posx = 344 , p_posy = 2044
debug = -3
ech_temps = 0
@@ -1165,9 +1139,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_bias
-posx = 283 , posy = 511
+posx = 68 , posy = 622
reverse = -1
-p_posx = 824 , p_posy = 2044
+p_posx = 504 , p_posy = 2044
debug = -3
ech_temps = 1
@@ -1178,9 +1152,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_sum_no_seuil
-posx = 343 , posy = 535
+posx = 348 , posy = 571
reverse = -1
-p_posx = 984 , p_posy = 2044
+p_posx = 664 , p_posy = 2044
debug = -3
ech_temps = 0
@@ -1191,9 +1165,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_multiply
-posx = 436 , posy = 541
+posx = 448 , posy = 575
reverse = -1
-p_posx = 24 , p_posy = 2212
+p_posx = 824 , p_posy = 2044
debug = -3
ech_temps = 0
@@ -1204,9 +1178,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_checkbox
-posx = 201 , posy = 134
+posx = 217 , posy = 136
reverse = -121
-p_posx = 184 , p_posy = 2212
+p_posx = 984 , p_posy = 2044
debug = -3
ech_temps = 0
@@ -1217,9 +1191,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_multiply
-posx = 1043 , posy = 135
+posx = 1060 , posy = 136
reverse = -1
-p_posx = 344 , p_posy = 2212
+p_posx = 24 , p_posy = 2212
debug = -3
ech_temps = 0
@@ -1230,9 +1204,9 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_out
-posx = 705 , posy = 104
+posx = 722 , posy = 105
reverse = -128
-p_posx = 504 , p_posy = 2212
+p_posx = 184 , p_posy = 2212
debug = -4
ech_temps = 0
@@ -1243,13 +1217,92 @@ learning rate = 1.000000
simulation speed = 1.000000
type2 = 0
groupe = f_out
-posx = 381 , posy = 925
+posx = 398 , posy = 926
reverse = -135
-p_posx = 664 , p_posy = 2212
+p_posx = 344 , p_posy = 2212
debug = -4
ech_temps = 0
-nombre de liaisons = 132
+%threshold = delay (in nb of loop) before pulse
+groupe = 98 , type = 14 , nbre neurones = 1 , seuil = 300.000000
+taillex = 1 , tailley = 1
+learning rate = 1.000000
+simulation speed = 1.000000
+type2 = 0
+groupe = f_one_pulse
+posx = 159 , posy = 583
+reverse = -1
+p_posx = 504 , p_posy = 2212
+debug = 1
+ech_temps = 0
+
+%1: gas_high, 2: gas_mid, 3: gas_low
+
+groupe = three_gas , type = 14 , nbre neurones = 1 , seuil = 0.000000
+taillex = 1 , tailley = 3
+learning rate = 1.000000
+simulation speed = 1.000000
+type2 = 0
+groupe = f_load_mask
+posx = 1075 , posy = 705
+reverse = 1
+p_posx = 984 , p_posy = 2212
+debug = 0
+ech_temps = 1
+
+%Les commentaires doivent etre mis ici.
+groupe = 6 , type = 14 , nbre neurones = 1 , seuil = 0.000000
+taillex = 1 , tailley = 1
+learning rate = 1.000000
+simulation speed = 1.000000
+type2 = 0
+groupe = f_start
+posx = 1133 , posy = 689
+reverse = 1
+p_posx = 24 , p_posy = 2380
+debug = 0
+ech_temps = 1
+
+%Les commentaires doivent etre mis ici.
+groupe = gas_high , type = 14 , nbre neurones = 1 , seuil = 0.000000
+taillex = 1 , tailley = 1
+learning rate = 1.000000
+simulation speed = 1.000000
+type2 = 0
+groupe = f_extract_neurons
+posx = 1025 , posy = 645
+reverse = 1
+p_posx = 0 , p_posy = 0
+debug = 1
+ech_temps = 0
+
+%Les commentaires doivent etre mis ici.
+groupe = gas_lower , type = 14 , nbre neurones = 1 , seuil = 0.000000
+taillex = 1 , tailley = 1
+learning rate = 1.000000
+simulation speed = 1.000000
+type2 = 0
+groupe = f_extract_neurons
+posx = 959 , posy = 747
+reverse = 170
+p_posx = 24 , p_posy = 2380
+debug = 1
+ech_temps = 0
+
+%Les commentaires doivent etre mis ici.
+groupe = gas_mid , type = 14 , nbre neurones = 1 , seuil = 0.000000
+taillex = 1 , tailley = 1
+learning rate = 1.000000
+simulation speed = 1.000000
+type2 = 0
+groupe = f_extract_neurons
+posx = 992 , posy = 694
+reverse = 177
+p_posx = 184 , p_posy = 2380
+debug = 1
+ech_temps = 0
+
+nombre de liaisons = 139
%Les commentaires doivent etre mis ici.
liaison entre v_motors et 30 , type = 5 , nbre = 1 , norme = 0.100000
temps de memorisation entree= 0.000000
@@ -1580,7 +1633,7 @@ liaison entre 12 et dcompass , type = 5 , nbre = 1 , norme = 0.100000
temps de memorisation sortie= 0.000000
mode de calcul = 0
secondaire = 0
- nom = -ndesired_compass-i0.-m0-M360
+ nom = -ndesired_compass-i130.-m0-M360
proba = 1.000000
%Les commentaires doivent etre mis ici.
liaison entre 12 et 13 , type = 5 , nbre = 1 , norme = 0.100000
@@ -1663,21 +1716,7 @@ liaison entre positive_error et gas_high2 , type = 3 , nbre = 1 , norme = 1.00
secondaire = 0
proba = 1.000000
%Les commentaires doivent etre mis ici.
-liaison entre negative_error et gas_low2 , type = 3 , nbre = 1 , norme = 1.000000
- temps de memorisation entree= 0.000000
- temps de memorisation sortie= 0.000000
- mode de calcul = 0
- secondaire = 0
- proba = 1.000000
-%Les commentaires doivent etre mis ici.
-liaison entre gas_high et gas_high2 , type = 3 , nbre = 1 , norme = {4#GAS_HIGH}
- temps de memorisation entree= 0.000000
- temps de memorisation sortie= 0.000000
- mode de calcul = 0
- secondaire = 0
- proba = 1.000000
-%Les commentaires doivent etre mis ici.
-liaison entre gas_low et gas_low2 , type = 3 , nbre = 1 , norme = {3#GAS_LOW}
+liaison entre negative_error et gas_mid2 , type = 3 , nbre = 1 , norme = 1.000000
temps de memorisation entree= 0.000000
temps de memorisation sortie= 0.000000
mode de calcul = 0
@@ -1691,7 +1730,7 @@ liaison entre gas_high2 et throttle_decision , type = 3 , nbre = 1 , norme = 1
secondaire = 0
proba = 1.000000
%Les commentaires doivent etre mis ici.
-liaison entre gas_low2 et throttle_decision , type = 3 , nbre = 1 , norme = 1.000000
+liaison entre gas_mid2 et throttle_decision , type = 3 , nbre = 1 , norme = 1.000000
temps de memorisation entree= 0.000000
temps de memorisation sortie= 0.000000
mode de calcul = 0
@@ -1744,13 +1783,6 @@ liaison entre more_negative_error et gas_lower2 , type = 3 , nbre = 1 , norme
secondaire = 0
proba = 1.000000
%Les commentaires doivent etre mis ici.
-liaison entre gas_low et gas_lower2 , type = 3 , nbre = 1 , norme = {3#GAS_MORE_LOW}
- temps de memorisation entree= 0.000000
- temps de memorisation sortie= 0.000000
- mode de calcul = 0
- secondaire = 0
- proba = 1.000000
-%Les commentaires doivent etre mis ici.
liaison entre gas_lower2 et throttle_decision , type = 3 , nbre = 1 , norme = -1.00000
temps de memorisation entree= 0.000000
temps de memorisation sortie= 0.000000
@@ -1763,7 +1795,7 @@ liaison entre 12 et rot , type = 5 , nbre = 1 , norme = 0.100000
temps de memorisation sortie= 0.000000
mode de calcul = 0
secondaire = 0
- nom = -nrot
+ nom = -nrot-i1
proba = 1.000000
%Les commentaires doivent etre mis ici.
liaison entre rot et rotation_to_axis , type = 3 , nbre = 1 , norme = 1
@@ -2007,14 +2039,14 @@ liaison entre arm_or_checkbox et 2 , type = 5 , nbre = 1 , norme = 0.100000
nom = save
proba = 1.000000
%Les commentaires doivent etre mis ici.
-liaison entre 33 et alt_2 , type = 3 , nbre = 1 , norme = 0.0100000
+liaison entre 33 et alt_2 , type = 3 , nbre = 1 , norme = 0.0300000
temps de memorisation entree= 0.000000
temps de memorisation sortie= 0.000000
mode de calcul = 0
secondaire = 0
proba = 1.000000
%Les commentaires doivent etre mis ici.
-liaison entre alt_2 et alt_2 , type = 3 , nbre = 1 , norme = 0.99
+liaison entre alt_2 et alt_2 , type = 3 , nbre = 1 , norme = 0.97
temps de memorisation entree= 0.000000
temps de memorisation sortie= 0.000000
mode de calcul = 0
@@ -2212,7 +2244,7 @@ liaison entre 12 et activate_visual_control , type = 5 , nbre = 1 , norme = 0.
nom = -nactivate_visual_control
proba = 1.000000
%Les commentaires doivent etre mis ici.
-liaison entre 95 et motors , type = 3 , nbre = 1 , norme = 1.000000
+liaison entre 95 et motors , type = 3 , nbre = 1 , norme = 2.000000
temps de memorisation entree= 0.000000
temps de memorisation sortie= 0.000000
mode de calcul = 0
@@ -2241,3 +2273,78 @@ liaison entre buttons et 5 , type = 5 , nbre = 1 , norme = 0.100000
secondaire = 0
nom = -bjoystick-s1-v
proba = 1.000000
+%Les commentaires doivent etre mis ici.
+liaison entre 12 et 98 , type = 5 , nbre = 1 , norme = 0.100000
+ temps de memorisation entree= 0.000000
+ temps de memorisation sortie= 0.000000
+ mode de calcul = 0
+ secondaire = 0
+ nom = ???
+ proba = 1.000000
+%Les commentaires doivent etre mis ici.
+liaison entre 98 et 90 , type = 3 , nbre = 1 , norme = 1.
+ temps de memorisation entree= 0.000000
+ temps de memorisation sortie= 0.000000
+ mode de calcul = 0
+ secondaire = 0
+ proba = 1.000000
+%Les commentaires doivent etre mis ici.
+liaison entre 98 et 89 , type = 3 , nbre = 1 , norme = 1.
+ temps de memorisation entree= 0.000000
+ temps de memorisation sortie= 0.000000
+ mode de calcul = 0
+ secondaire = 0
+ proba = 1.000000
+%Les commentaires doivent etre mis ici.
+liaison entre 6 et three_gas , type = 5 , nbre = 1 , norme = 0.100000
+ temps de memorisation entree= 0.000000
+ temps de memorisation sortie= 0.000000
+ mode de calcul = 0
+ secondaire = 0
+ nom = mask_gas.txt
+ proba = 1.000000
+%Les commentaires doivent etre mis ici.
+liaison entre three_gas et gas_high , type = 5 , nbre = 1 , norme = 1.000000
+ temps de memorisation entree= 0.000000
+ temps de memorisation sortie= 0.000000
+ mode de calcul = 0
+ secondaire = 0
+ nom = -x0-y0
+ proba = 1.000000
+%Les commentaires doivent etre mis ici.
+liaison entre three_gas et gas_mid , type = 5 , nbre = 1 , norme = 1.000000
+ temps de memorisation entree= 0.000000
+ temps de memorisation sortie= 0.000000
+ mode de calcul = 0
+ secondaire = 0
+ nom = -x0-y1
+ proba = 1.000000
+%Les commentaires doivent etre mis ici.
+liaison entre three_gas et gas_lower , type = 5 , nbre = 1 , norme = 1.000000
+ temps de memorisation entree= 0.000000
+ temps de memorisation sortie= 0.000000
+ mode de calcul = 0
+ secondaire = 0
+ nom = -x0-y2
+ proba = 1.000000
+%Les commentaires doivent etre mis ici.
+liaison entre gas_high et gas_high2 , type = 3 , nbre = 1 , norme = 1.000000
+ temps de memorisation entree= 0.000000
+ temps de memorisation sortie= 0.000000
+ mode de calcul = 0
+ secondaire = 0
+ proba = 1.000000
+%Les commentaires doivent etre mis ici.
+liaison entre gas_mid et gas_mid2 , type = 3 , nbre = 1 , norme = 1.000000
+ temps de memorisation entree= 0.000000
+ temps de memorisation sortie= 0.000000
+ mode de calcul = 0
+ secondaire = 0
+ proba = 1.000000
+%Les commentaires doivent etre mis ici.
+liaison entre gas_lower et gas_lower2 , type = 3 , nbre = 1 , norme = 1.000000
+ temps de memorisation entree= 0.000000
+ temps de memorisation sortie= 0.000000
+ mode de calcul = 0
+ secondaire = 0
+ proba = 1.000000
diff --git a/Promethe_scripts/navigation/drone/drone.var b/Promethe_scripts/navigation/drone/drone.var
index ffb84da227cc7ee399855a8fc9cdd1a8e1e489dc..0a4207429ddfda7804bde7401180de8a4d8dcdc7 100644
--- a/Promethe_scripts/navigation/drone/drone.var
+++ b/Promethe_scripts/navigation/drone/drone.var
@@ -1,15 +1,6 @@
-@DYNAMIC_GAIN 0.5
+@DYNAMIC_GAIN 1.0
@COMPASS_GAIN 1.0
% convert altitude from cm to [0-1] range, for example 200 means 200 cm = 1
@MAX_ALT_CM 1000
-% gas percentage enough to climb if desired altitude is above measured
-@GAS_HIGH 0.75
-
-% gas percentage enough to stay stabilized if measured altitude is a little below desired altitude
-@GAS_LOW 0.5
-
-% value to substract to gas_low which will lower gas to descent/land when measured altitude is clearly below desired altitude
-@GAS_MORE_LOW 0.3
-
diff --git a/Promethe_scripts/navigation/drone/mask_gas.txt b/Promethe_scripts/navigation/drone/mask_gas.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1b678cbddb9f8661b16b75ccf2929751d0e5e1e0
--- /dev/null
+++ b/Promethe_scripts/navigation/drone/mask_gas.txt
@@ -0,0 +1,3 @@
+0.80
+0.5
+0.1
diff --git a/Promethe_scripts/navigation/drone/readme.md b/Promethe_scripts/navigation/drone/readme.md
index 843c9858a99f6225cf6a63f7f3394e1d45e2085e..bc872d399c3080273fc413f374170165a0e8dd79 100644
--- a/Promethe_scripts/navigation/drone/readme.md
+++ b/Promethe_scripts/navigation/drone/readme.md
@@ -5,3 +5,18 @@ There is two altitude measures for gas control: alt and altitude_2. However only
alt is simply from the ultrasonic distance sensor which an accurate distance from ground, it requires no processing but is fragile to ultrasound absorbing surfaces (such as wet grass).
altitude_2 is a more robust altitude measure but has high variance and drifts over time. First, we simply use a recursive filter to take the mean value of the altitude (alt_2), this will help for the variance problem. Then, a checkbox is created in order to substract the current distance, this means that the current distance will be our zero (departure_alt) and the next altitudes (alt_2_offset) will be relative to this zero, this will help temporarily for the drift problem.
+
+## Mask
+
+### mask_3rd_axs.txt
+
+Mask to isolate the third axis (normally, the rotation of the joystick).
+
+### mask_gas.txt
+
+Files for the gas power command for each desired action.
+
+- 1st value: gas percentage enough to climb if desired altitude is above measured
+- 2nd value: gas percentage enough to stay stabilized if measured altitude is a little below desired altitude
+- 3rd value: value to substract to gas_low which will lower gas to descent/land when measured altitude is clearly below desired altitude
+