[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 <FrameworkManager.h>
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| 22 | #include <VrpnClient.h>
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| 23 | #include <MetaVrpnObject.h>
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| 24 | #include <TrajectoryGenerator2DCircle.h>
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[214] | 25 | #include <Matrix.h>
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[21] | 26 | #include <cmath>
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| 27 | #include <Tab.h>
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| 28 | #include <Pid.h>
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| 29 | #include <Ahrs.h>
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| 30 | #include <AhrsData.h>
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| 31 |
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| 32 | using namespace std;
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[23] | 33 | using namespace flair::core;
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| 34 | using namespace flair::gui;
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[38] | 35 | using namespace flair::sensor;
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[23] | 36 | using namespace flair::filter;
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| 37 | using namespace flair::meta;
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[21] | 38 |
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[122] | 39 | CircleFollower::CircleFollower(TargetController *controller): UavStateMachine(controller), behaviourMode(BehaviourMode_t::Default), vrpnLost(false) {
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| 40 | Uav* uav=GetUav();
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[129] | 41 |
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[139] | 42 | VrpnClient* vrpnclient=new VrpnClient("vrpn", uav->GetDefaultVrpnAddress(),80);
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[311] | 43 |
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| 44 | if(vrpnclient->ConnectionType()==VrpnClient::Xbee) {
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| 45 | uavVrpn = new MetaVrpnObject(uav->ObjectName(),(uint8_t)0);
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| 46 | targetVrpn=new MetaVrpnObject("target",1);
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| 47 | } else if (vrpnclient->ConnectionType()==VrpnClient::Vrpn) {
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| 48 | uavVrpn = new MetaVrpnObject(uav->ObjectName());
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| 49 | targetVrpn=new MetaVrpnObject("target");
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| 50 | } else if (vrpnclient->ConnectionType()==VrpnClient::VrpnLite) {
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| 51 | uavVrpn = new MetaVrpnObject(uav->ObjectName(),(uint8_t)0);
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| 52 | targetVrpn=new MetaVrpnObject("target",1);
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| 53 | }
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| 54 |
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[139] | 55 | getFrameworkManager()->AddDeviceToLog(uavVrpn);
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| 56 | uav->GetAhrs()->YawPlot()->AddCurve(uavVrpn->State()->Element(2),DataPlot::Green);
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[122] | 57 |
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[21] | 58 | startCircle=new PushButton(GetButtonsLayout()->NewRow(),"start_circle");
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| 59 | stopCircle=new PushButton(GetButtonsLayout()->LastRowLastCol(),"stop_circle");
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[171] | 60 | positionHold=new PushButton(GetButtonsLayout()->LastRowLastCol(),"position hold");
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[311] | 61 |
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| 62 | vrpnclient->Start();
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[21] | 63 |
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| 64 | getFrameworkManager()->AddDeviceToLog(targetVrpn);
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| 65 |
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[122] | 66 | circle=new TrajectoryGenerator2DCircle(vrpnclient->GetLayout()->NewRow(),"circle");
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[214] | 67 | uavVrpn->xPlot()->AddCurve(circle->GetMatrix()->Element(0,0),DataPlot::Blue);
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| 68 | uavVrpn->yPlot()->AddCurve(circle->GetMatrix()->Element(0,1),DataPlot::Blue);
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| 69 | uavVrpn->VxPlot()->AddCurve(circle->GetMatrix()->Element(1,0),DataPlot::Blue);
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| 70 | uavVrpn->VyPlot()->AddCurve(circle->GetMatrix()->Element(1,1),DataPlot::Blue);
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| 71 | uavVrpn->XyPlot()->AddCurve(circle->GetMatrix()->Element(0,1),circle->GetMatrix()->Element(0,0),DataPlot::Blue,"circle");
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[21] | 72 |
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| 73 | uX=new Pid(setupLawTab->At(1,0),"u_x");
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| 74 | uX->UseDefaultPlot(graphLawTab->NewRow());
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| 75 | uY=new Pid(setupLawTab->At(1,1),"u_y");
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| 76 | uY->UseDefaultPlot(graphLawTab->LastRowLastCol());
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| 77 |
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| 78 | customReferenceOrientation= new AhrsData(this,"reference");
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| 79 | uav->GetAhrs()->AddPlot(customReferenceOrientation,DataPlot::Yellow);
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| 80 | AddDataToControlLawLog(customReferenceOrientation);
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| 81 |
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| 82 | customOrientation=new AhrsData(this,"orientation");
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| 83 | }
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| 84 |
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| 85 | CircleFollower::~CircleFollower() {
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| 86 | }
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| 87 |
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| 88 | const AhrsData *CircleFollower::GetOrientation(void) const {
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| 89 | //get yaw from vrpn
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[135] | 90 | Quaternion vrpnQuaternion;
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| 91 | uavVrpn->GetQuaternion(vrpnQuaternion);
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[21] | 92 |
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| 93 | //get roll, pitch and w from imu
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| 94 | Quaternion ahrsQuaternion;
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[167] | 95 | Vector3Df ahrsAngularSpeed;
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[21] | 96 | GetDefaultOrientation()->GetQuaternionAndAngularRates(ahrsQuaternion, ahrsAngularSpeed);
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| 97 |
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| 98 | Euler ahrsEuler=ahrsQuaternion.ToEuler();
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[135] | 99 | ahrsEuler.yaw=vrpnQuaternion.ToEuler().yaw;
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[21] | 100 | Quaternion mixQuaternion=ahrsEuler.ToQuaternion();
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| 101 |
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| 102 | customOrientation->SetQuaternionAndAngularRates(mixQuaternion,ahrsAngularSpeed);
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| 103 |
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| 104 | return customOrientation;
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| 105 | }
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| 106 |
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[167] | 107 | void CircleFollower::AltitudeValues(float &z,float &dz) const{
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| 108 | Vector3Df uav_pos,uav_vel;
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[21] | 109 |
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[122] | 110 | uavVrpn->GetPosition(uav_pos);
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| 111 | uavVrpn->GetSpeed(uav_vel);
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[21] | 112 | //z and dz must be in uav's frame
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| 113 | z=-uav_pos.z;
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| 114 | dz=-uav_vel.z;
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| 115 | }
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| 116 |
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| 117 | AhrsData *CircleFollower::GetReferenceOrientation(void) {
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[167] | 118 | Vector2Df pos_err, vel_err; // in Uav coordinate system
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[21] | 119 | float yaw_ref;
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| 120 | Euler refAngles;
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| 121 |
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| 122 | PositionValues(pos_err, vel_err, yaw_ref);
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| 123 |
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| 124 | refAngles.yaw=yaw_ref;
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| 125 |
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| 126 | uX->SetValues(pos_err.x, vel_err.x);
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| 127 | uX->Update(GetTime());
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| 128 | refAngles.pitch=uX->Output();
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| 129 |
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| 130 | uY->SetValues(pos_err.y, vel_err.y);
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| 131 | uY->Update(GetTime());
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| 132 | refAngles.roll=-uY->Output();
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| 133 |
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[167] | 134 | customReferenceOrientation->SetQuaternionAndAngularRates(refAngles.ToQuaternion(),Vector3Df(0,0,0));
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[21] | 135 |
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| 136 | return customReferenceOrientation;
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| 137 | }
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| 138 |
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[167] | 139 | void CircleFollower::PositionValues(Vector2Df &pos_error,Vector2Df &vel_error,float &yaw_ref) {
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| 140 | Vector3Df uav_pos,uav_vel; // in VRPN coordinate system
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| 141 | Vector2Df uav_2Dpos,uav_2Dvel; // in VRPN coordinate system
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[21] | 142 |
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[122] | 143 | uavVrpn->GetPosition(uav_pos);
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| 144 | uavVrpn->GetSpeed(uav_vel);
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[21] | 145 |
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| 146 | uav_pos.To2Dxy(uav_2Dpos);
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| 147 | uav_vel.To2Dxy(uav_2Dvel);
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| 148 |
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| 149 | if (behaviourMode==BehaviourMode_t::PositionHold) {
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| 150 | pos_error=uav_2Dpos-posHold;
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| 151 | vel_error=uav_2Dvel;
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| 152 | yaw_ref=yawHold;
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| 153 | } else { //Circle
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[167] | 154 | Vector3Df target_pos;
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| 155 | Vector2Df circle_pos,circle_vel;
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| 156 | Vector2Df target_2Dpos;
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[21] | 157 |
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| 158 | targetVrpn->GetPosition(target_pos);
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| 159 | target_pos.To2Dxy(target_2Dpos);
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| 160 | circle->SetCenter(target_2Dpos);
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| 161 |
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| 162 | //circle reference
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| 163 | circle->Update(GetTime());
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| 164 | circle->GetPosition(circle_pos);
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| 165 | circle->GetSpeed(circle_vel);
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| 166 |
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| 167 | //error in optitrack frame
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| 168 | pos_error=uav_2Dpos-circle_pos;
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| 169 | vel_error=uav_2Dvel-circle_vel;
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| 170 | yaw_ref=atan2(target_pos.y-uav_pos.y,target_pos.x-uav_pos.x);
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| 171 | }
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| 172 |
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| 173 | //error in uav frame
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| 174 | Quaternion currentQuaternion=GetCurrentQuaternion();
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| 175 | Euler currentAngles;//in vrpn frame
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| 176 | currentQuaternion.ToEuler(currentAngles);
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| 177 | pos_error.Rotate(-currentAngles.yaw);
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| 178 | vel_error.Rotate(-currentAngles.yaw);
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| 179 | }
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| 180 |
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| 181 | void CircleFollower::SignalEvent(Event_t event) {
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| 182 | UavStateMachine::SignalEvent(event);
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| 183 | switch(event) {
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| 184 | case Event_t::TakingOff:
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| 185 | behaviourMode=BehaviourMode_t::Default;
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| 186 | vrpnLost=false;
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| 187 | break;
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| 188 | case Event_t::EnteringControlLoop:
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| 189 | if ((behaviourMode==BehaviourMode_t::Circle) && (!circle->IsRunning())) {
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| 190 | VrpnPositionHold();
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| 191 | }
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| 192 | break;
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| 193 | case Event_t::EnteringFailSafeMode:
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| 194 | behaviourMode=BehaviourMode_t::Default;
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| 195 | break;
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| 196 | }
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| 197 | }
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| 198 |
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| 199 | void CircleFollower::ExtraSecurityCheck(void) {
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| 200 | if ((!vrpnLost) && ((behaviourMode==BehaviourMode_t::Circle) || (behaviourMode==BehaviourMode_t::PositionHold))) {
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| 201 | if (!targetVrpn->IsTracked(500)) {
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| 202 | Thread::Err("VRPN, target lost\n");
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| 203 | vrpnLost=true;
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| 204 | EnterFailSafeMode();
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| 205 | Land();
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| 206 | }
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[122] | 207 | if (!uavVrpn->IsTracked(500)) {
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[21] | 208 | Thread::Err("VRPN, uav lost\n");
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| 209 | vrpnLost=true;
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| 210 | EnterFailSafeMode();
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| 211 | Land();
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| 212 | }
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| 213 | }
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| 214 | }
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| 215 |
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| 216 | void CircleFollower::ExtraCheckPushButton(void) {
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| 217 | if(startCircle->Clicked() && (behaviourMode!=BehaviourMode_t::Circle)) {
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| 218 | StartCircle();
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| 219 | }
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| 220 | if(stopCircle->Clicked() && (behaviourMode==BehaviourMode_t::Circle)) {
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| 221 | StopCircle();
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| 222 | }
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[171] | 223 | if(positionHold->Clicked() && (behaviourMode==BehaviourMode_t::Default)) {
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| 224 | VrpnPositionHold();
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| 225 | }
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[21] | 226 | }
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| 227 |
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| 228 | void CircleFollower::ExtraCheckJoystick(void) {
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| 229 | //R1 and Circle
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[314] | 230 | if(GetTargetController()->IsButtonPressed(9) && GetTargetController()->IsButtonPressed(4) && (behaviourMode!=BehaviourMode_t::Circle)) {
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[21] | 231 | StartCircle();
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| 232 | }
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| 233 |
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| 234 | //R1 and Cross
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[314] | 235 | if(GetTargetController()->IsButtonPressed(9) && GetTargetController()->IsButtonPressed(5) && (behaviourMode==BehaviourMode_t::Circle)) {
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[21] | 236 | StopCircle();
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| 237 | }
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[171] | 238 |
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| 239 | //R1 and Square
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[314] | 240 | if(GetTargetController()->IsButtonPressed(9) && GetTargetController()->IsButtonPressed(2) && (behaviourMode==BehaviourMode_t::Default)) {
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[171] | 241 | VrpnPositionHold();
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| 242 | }
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[21] | 243 | }
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| 244 |
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| 245 | void CircleFollower::StartCircle(void) {
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| 246 | if (SetOrientationMode(OrientationMode_t::Custom)) {
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| 247 | Thread::Info("CircleFollower: start circle\n");
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| 248 | } else {
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| 249 | Thread::Warn("CircleFollower: could not start circle\n");
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| 250 | return;
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| 251 | }
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[167] | 252 | Vector3Df uav_pos,target_pos;
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| 253 | Vector2Df uav_2Dpos,target_2Dpos;
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[21] | 254 |
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| 255 | targetVrpn->GetPosition(target_pos);
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| 256 | target_pos.To2Dxy(target_2Dpos);
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| 257 | circle->SetCenter(target_2Dpos);
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| 258 |
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[122] | 259 | uavVrpn->GetPosition(uav_pos);
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[21] | 260 | uav_pos.To2Dxy(uav_2Dpos);
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| 261 | circle->StartTraj(uav_2Dpos);
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| 262 |
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| 263 | uX->Reset();
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| 264 | uY->Reset();
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| 265 | behaviourMode=BehaviourMode_t::Circle;
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| 266 | }
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| 267 |
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| 268 | void CircleFollower::StopCircle(void) {
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| 269 | circle->FinishTraj();
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| 270 | //GetJoystick()->Rumble(0x70);
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| 271 | Thread::Info("CircleFollower: finishing circle\n");
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| 272 | }
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| 273 |
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| 274 | void CircleFollower::VrpnPositionHold(void) {
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[135] | 275 | Quaternion vrpnQuaternion;
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| 276 | uavVrpn->GetQuaternion(vrpnQuaternion);
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| 277 | yawHold=vrpnQuaternion.ToEuler().yaw;
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[21] | 278 |
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[167] | 279 | Vector3Df vrpnPosition;
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[135] | 280 | uavVrpn->GetPosition(vrpnPosition);
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| 281 | vrpnPosition.To2Dxy(posHold);
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[21] | 282 |
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| 283 | uX->Reset();
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| 284 | uY->Reset();
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| 285 | behaviourMode=BehaviourMode_t::PositionHold;
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| 286 | SetOrientationMode(OrientationMode_t::Custom);
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| 287 | Thread::Info("CircleFollower: holding position\n");
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| 288 | }
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