[21] | 1 | // created: 2011/05/01
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| 2 | // filename: CircleFollower.cpp
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| 3 | //
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| 4 | // author: Guillaume Sanahuja
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| 5 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 6 | //
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| 7 | // version: $Id: $
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| 8 | //
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| 9 | // purpose: demo cercle avec optitrack
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| 10 | //
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| 11 | //
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| 12 | /*********************************************************************/
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| 13 |
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| 14 | #include "CircleFollower.h"
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[38] | 15 | #include <TargetController.h>
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[21] | 16 | #include <Uav.h>
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| 17 | #include <GridLayout.h>
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| 18 | #include <PushButton.h>
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| 19 | #include <DataPlot1D.h>
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| 20 | #include <DataPlot2D.h>
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| 21 | #include <MetaDualShock3.h>
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| 22 | #include <FrameworkManager.h>
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| 23 | #include <VrpnClient.h>
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| 24 | #include <MetaVrpnObject.h>
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| 25 | #include <TrajectoryGenerator2DCircle.h>
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[214] | 26 | #include <Matrix.h>
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[21] | 27 | #include <cvmatrix.h>
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| 28 | #include <cmath>
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| 29 | #include <Tab.h>
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| 30 | #include <Pid.h>
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| 31 | #include <Ahrs.h>
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| 32 | #include <AhrsData.h>
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| 33 |
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| 34 | using namespace std;
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[23] | 35 | using namespace flair::core;
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| 36 | using namespace flair::gui;
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[38] | 37 | using namespace flair::sensor;
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[23] | 38 | using namespace flair::filter;
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| 39 | using namespace flair::meta;
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[21] | 40 |
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[122] | 41 | CircleFollower::CircleFollower(TargetController *controller): UavStateMachine(controller), behaviourMode(BehaviourMode_t::Default), vrpnLost(false) {
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| 42 | Uav* uav=GetUav();
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[129] | 43 |
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[139] | 44 | VrpnClient* vrpnclient=new VrpnClient("vrpn", uav->GetDefaultVrpnAddress(),80);
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[311] | 45 |
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| 46 | if(vrpnclient->ConnectionType()==VrpnClient::Xbee) {
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| 47 | uavVrpn = new MetaVrpnObject(uav->ObjectName(),(uint8_t)0);
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| 48 | targetVrpn=new MetaVrpnObject("target",1);
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| 49 | } else if (vrpnclient->ConnectionType()==VrpnClient::Vrpn) {
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| 50 | uavVrpn = new MetaVrpnObject(uav->ObjectName());
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| 51 | targetVrpn=new MetaVrpnObject("target");
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| 52 | } else if (vrpnclient->ConnectionType()==VrpnClient::VrpnLite) {
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| 53 | uavVrpn = new MetaVrpnObject(uav->ObjectName(),(uint8_t)0);
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| 54 | targetVrpn=new MetaVrpnObject("target",1);
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| 55 | }
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| 56 |
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[139] | 57 | getFrameworkManager()->AddDeviceToLog(uavVrpn);
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| 58 | uav->GetAhrs()->YawPlot()->AddCurve(uavVrpn->State()->Element(2),DataPlot::Green);
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[122] | 59 |
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[21] | 60 | startCircle=new PushButton(GetButtonsLayout()->NewRow(),"start_circle");
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| 61 | stopCircle=new PushButton(GetButtonsLayout()->LastRowLastCol(),"stop_circle");
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[171] | 62 | positionHold=new PushButton(GetButtonsLayout()->LastRowLastCol(),"position hold");
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[311] | 63 |
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| 64 | vrpnclient->Start();
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[21] | 65 |
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| 66 | getFrameworkManager()->AddDeviceToLog(targetVrpn);
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| 67 |
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[122] | 68 | circle=new TrajectoryGenerator2DCircle(vrpnclient->GetLayout()->NewRow(),"circle");
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[214] | 69 | uavVrpn->xPlot()->AddCurve(circle->GetMatrix()->Element(0,0),DataPlot::Blue);
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| 70 | uavVrpn->yPlot()->AddCurve(circle->GetMatrix()->Element(0,1),DataPlot::Blue);
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| 71 | uavVrpn->VxPlot()->AddCurve(circle->GetMatrix()->Element(1,0),DataPlot::Blue);
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| 72 | uavVrpn->VyPlot()->AddCurve(circle->GetMatrix()->Element(1,1),DataPlot::Blue);
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| 73 | uavVrpn->XyPlot()->AddCurve(circle->GetMatrix()->Element(0,1),circle->GetMatrix()->Element(0,0),DataPlot::Blue,"circle");
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[21] | 74 |
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| 75 | uX=new Pid(setupLawTab->At(1,0),"u_x");
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| 76 | uX->UseDefaultPlot(graphLawTab->NewRow());
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| 77 | uY=new Pid(setupLawTab->At(1,1),"u_y");
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| 78 | uY->UseDefaultPlot(graphLawTab->LastRowLastCol());
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| 79 |
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| 80 | customReferenceOrientation= new AhrsData(this,"reference");
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| 81 | uav->GetAhrs()->AddPlot(customReferenceOrientation,DataPlot::Yellow);
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| 82 | AddDataToControlLawLog(customReferenceOrientation);
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| 83 |
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| 84 | customOrientation=new AhrsData(this,"orientation");
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| 85 | }
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| 86 |
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| 87 | CircleFollower::~CircleFollower() {
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| 88 | }
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| 89 |
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| 90 | const AhrsData *CircleFollower::GetOrientation(void) const {
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| 91 | //get yaw from vrpn
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[135] | 92 | Quaternion vrpnQuaternion;
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| 93 | uavVrpn->GetQuaternion(vrpnQuaternion);
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[21] | 94 |
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| 95 | //get roll, pitch and w from imu
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| 96 | Quaternion ahrsQuaternion;
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[167] | 97 | Vector3Df ahrsAngularSpeed;
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[21] | 98 | GetDefaultOrientation()->GetQuaternionAndAngularRates(ahrsQuaternion, ahrsAngularSpeed);
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| 99 |
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| 100 | Euler ahrsEuler=ahrsQuaternion.ToEuler();
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[135] | 101 | ahrsEuler.yaw=vrpnQuaternion.ToEuler().yaw;
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[21] | 102 | Quaternion mixQuaternion=ahrsEuler.ToQuaternion();
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| 103 |
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| 104 | customOrientation->SetQuaternionAndAngularRates(mixQuaternion,ahrsAngularSpeed);
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| 105 |
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| 106 | return customOrientation;
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| 107 | }
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| 108 |
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[167] | 109 | void CircleFollower::AltitudeValues(float &z,float &dz) const{
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| 110 | Vector3Df uav_pos,uav_vel;
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[21] | 111 |
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[122] | 112 | uavVrpn->GetPosition(uav_pos);
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| 113 | uavVrpn->GetSpeed(uav_vel);
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[21] | 114 | //z and dz must be in uav's frame
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| 115 | z=-uav_pos.z;
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| 116 | dz=-uav_vel.z;
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| 117 | }
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| 118 |
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| 119 | AhrsData *CircleFollower::GetReferenceOrientation(void) {
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[167] | 120 | Vector2Df pos_err, vel_err; // in Uav coordinate system
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[21] | 121 | float yaw_ref;
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| 122 | Euler refAngles;
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| 123 |
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| 124 | PositionValues(pos_err, vel_err, yaw_ref);
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| 125 |
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| 126 | refAngles.yaw=yaw_ref;
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| 127 |
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| 128 | uX->SetValues(pos_err.x, vel_err.x);
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| 129 | uX->Update(GetTime());
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| 130 | refAngles.pitch=uX->Output();
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| 131 |
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| 132 | uY->SetValues(pos_err.y, vel_err.y);
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| 133 | uY->Update(GetTime());
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| 134 | refAngles.roll=-uY->Output();
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| 135 |
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[167] | 136 | customReferenceOrientation->SetQuaternionAndAngularRates(refAngles.ToQuaternion(),Vector3Df(0,0,0));
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[21] | 137 |
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| 138 | return customReferenceOrientation;
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| 139 | }
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| 140 |
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[167] | 141 | void CircleFollower::PositionValues(Vector2Df &pos_error,Vector2Df &vel_error,float &yaw_ref) {
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| 142 | Vector3Df uav_pos,uav_vel; // in VRPN coordinate system
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| 143 | Vector2Df uav_2Dpos,uav_2Dvel; // in VRPN coordinate system
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[21] | 144 |
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[122] | 145 | uavVrpn->GetPosition(uav_pos);
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| 146 | uavVrpn->GetSpeed(uav_vel);
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[21] | 147 |
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| 148 | uav_pos.To2Dxy(uav_2Dpos);
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| 149 | uav_vel.To2Dxy(uav_2Dvel);
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| 150 |
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| 151 | if (behaviourMode==BehaviourMode_t::PositionHold) {
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| 152 | pos_error=uav_2Dpos-posHold;
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| 153 | vel_error=uav_2Dvel;
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| 154 | yaw_ref=yawHold;
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| 155 | } else { //Circle
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[167] | 156 | Vector3Df target_pos;
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| 157 | Vector2Df circle_pos,circle_vel;
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| 158 | Vector2Df target_2Dpos;
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[21] | 159 |
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| 160 | targetVrpn->GetPosition(target_pos);
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| 161 | target_pos.To2Dxy(target_2Dpos);
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| 162 | circle->SetCenter(target_2Dpos);
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| 163 |
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| 164 | //circle reference
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| 165 | circle->Update(GetTime());
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| 166 | circle->GetPosition(circle_pos);
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| 167 | circle->GetSpeed(circle_vel);
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| 168 |
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| 169 | //error in optitrack frame
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| 170 | pos_error=uav_2Dpos-circle_pos;
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| 171 | vel_error=uav_2Dvel-circle_vel;
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| 172 | yaw_ref=atan2(target_pos.y-uav_pos.y,target_pos.x-uav_pos.x);
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| 173 | }
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| 174 |
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| 175 | //error in uav frame
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| 176 | Quaternion currentQuaternion=GetCurrentQuaternion();
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| 177 | Euler currentAngles;//in vrpn frame
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| 178 | currentQuaternion.ToEuler(currentAngles);
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| 179 | pos_error.Rotate(-currentAngles.yaw);
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| 180 | vel_error.Rotate(-currentAngles.yaw);
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| 181 | }
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| 182 |
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| 183 | void CircleFollower::SignalEvent(Event_t event) {
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| 184 | UavStateMachine::SignalEvent(event);
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| 185 | switch(event) {
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| 186 | case Event_t::TakingOff:
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| 187 | behaviourMode=BehaviourMode_t::Default;
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| 188 | vrpnLost=false;
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| 189 | break;
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| 190 | case Event_t::EnteringControlLoop:
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| 191 | if ((behaviourMode==BehaviourMode_t::Circle) && (!circle->IsRunning())) {
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| 192 | VrpnPositionHold();
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| 193 | }
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| 194 | break;
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| 195 | case Event_t::EnteringFailSafeMode:
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| 196 | behaviourMode=BehaviourMode_t::Default;
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| 197 | break;
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| 198 | }
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| 199 | }
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| 200 |
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| 201 | void CircleFollower::ExtraSecurityCheck(void) {
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| 202 | if ((!vrpnLost) && ((behaviourMode==BehaviourMode_t::Circle) || (behaviourMode==BehaviourMode_t::PositionHold))) {
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| 203 | if (!targetVrpn->IsTracked(500)) {
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| 204 | Thread::Err("VRPN, target lost\n");
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| 205 | vrpnLost=true;
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| 206 | EnterFailSafeMode();
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| 207 | Land();
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| 208 | }
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[122] | 209 | if (!uavVrpn->IsTracked(500)) {
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[21] | 210 | Thread::Err("VRPN, uav lost\n");
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| 211 | vrpnLost=true;
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| 212 | EnterFailSafeMode();
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| 213 | Land();
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| 214 | }
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| 215 | }
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| 216 | }
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| 217 |
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| 218 | void CircleFollower::ExtraCheckPushButton(void) {
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| 219 | if(startCircle->Clicked() && (behaviourMode!=BehaviourMode_t::Circle)) {
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| 220 | StartCircle();
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| 221 | }
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| 222 | if(stopCircle->Clicked() && (behaviourMode==BehaviourMode_t::Circle)) {
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| 223 | StopCircle();
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| 224 | }
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[171] | 225 | if(positionHold->Clicked() && (behaviourMode==BehaviourMode_t::Default)) {
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| 226 | VrpnPositionHold();
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| 227 | }
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[21] | 228 | }
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| 229 |
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| 230 | void CircleFollower::ExtraCheckJoystick(void) {
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| 231 | //R1 and Circle
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| 232 | if(GetJoystick()->IsButtonPressed(9) && GetJoystick()->IsButtonPressed(4) && (behaviourMode!=BehaviourMode_t::Circle)) {
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| 233 | StartCircle();
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| 234 | }
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| 235 |
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| 236 | //R1 and Cross
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| 237 | if(GetJoystick()->IsButtonPressed(9) && GetJoystick()->IsButtonPressed(5) && (behaviourMode==BehaviourMode_t::Circle)) {
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| 238 | StopCircle();
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| 239 | }
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[171] | 240 |
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| 241 | //R1 and Square
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| 242 | if(GetJoystick()->IsButtonPressed(9) && GetJoystick()->IsButtonPressed(2) && (behaviourMode==BehaviourMode_t::Default)) {
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| 243 | VrpnPositionHold();
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| 244 | }
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[21] | 245 | }
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| 246 |
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| 247 | void CircleFollower::StartCircle(void) {
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| 248 | if (SetOrientationMode(OrientationMode_t::Custom)) {
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| 249 | Thread::Info("CircleFollower: start circle\n");
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| 250 | } else {
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| 251 | Thread::Warn("CircleFollower: could not start circle\n");
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| 252 | return;
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| 253 | }
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[167] | 254 | Vector3Df uav_pos,target_pos;
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| 255 | Vector2Df uav_2Dpos,target_2Dpos;
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[21] | 256 |
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| 257 | targetVrpn->GetPosition(target_pos);
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| 258 | target_pos.To2Dxy(target_2Dpos);
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| 259 | circle->SetCenter(target_2Dpos);
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| 260 |
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[122] | 261 | uavVrpn->GetPosition(uav_pos);
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[21] | 262 | uav_pos.To2Dxy(uav_2Dpos);
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| 263 | circle->StartTraj(uav_2Dpos);
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| 264 |
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| 265 | uX->Reset();
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| 266 | uY->Reset();
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| 267 | behaviourMode=BehaviourMode_t::Circle;
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| 268 | }
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| 269 |
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| 270 | void CircleFollower::StopCircle(void) {
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| 271 | circle->FinishTraj();
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| 272 | //GetJoystick()->Rumble(0x70);
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| 273 | Thread::Info("CircleFollower: finishing circle\n");
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| 274 | }
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| 275 |
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| 276 | void CircleFollower::VrpnPositionHold(void) {
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[135] | 277 | Quaternion vrpnQuaternion;
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| 278 | uavVrpn->GetQuaternion(vrpnQuaternion);
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| 279 | yawHold=vrpnQuaternion.ToEuler().yaw;
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[21] | 280 |
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[167] | 281 | Vector3Df vrpnPosition;
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[135] | 282 | uavVrpn->GetPosition(vrpnPosition);
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| 283 | vrpnPosition.To2Dxy(posHold);
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[21] | 284 |
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| 285 | uX->Reset();
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| 286 | uY->Reset();
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| 287 | behaviourMode=BehaviourMode_t::PositionHold;
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| 288 | SetOrientationMode(OrientationMode_t::Custom);
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| 289 | Thread::Info("CircleFollower: holding position\n");
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| 290 | }
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