[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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[431] | 42 | VrpnClient* vrpnclient=new VrpnClient("vrpn", uav->GetDefaultVrpnAddress(),80,uav->GetDefaultVrpnConnectionType());
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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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[431] | 51 | uavVrpn = new MetaVrpnObject(uav->ObjectName());
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| 52 | targetVrpn=new MetaVrpnObject("target");
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[311] | 53 | }
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| 54 |
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[432] | 55 | //set vrpn as failsafe altitude sensor for mamboedu as us in not working well for the moment
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| 56 | if(uav->GetType()=="mamboedu") {
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| 57 | SetFailSafeAltitudeSensor(uavVrpn->GetAltitudeSensor());
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| 58 | }
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| 59 |
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[139] | 60 | getFrameworkManager()->AddDeviceToLog(uavVrpn);
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[342] | 61 | getFrameworkManager()->AddDeviceToLog(targetVrpn);
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| 62 | vrpnclient->Start();
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| 63 |
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[139] | 64 | uav->GetAhrs()->YawPlot()->AddCurve(uavVrpn->State()->Element(2),DataPlot::Green);
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[122] | 65 |
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[21] | 66 | startCircle=new PushButton(GetButtonsLayout()->NewRow(),"start_circle");
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| 67 | stopCircle=new PushButton(GetButtonsLayout()->LastRowLastCol(),"stop_circle");
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[171] | 68 | positionHold=new PushButton(GetButtonsLayout()->LastRowLastCol(),"position hold");
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[21] | 69 |
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[122] | 70 | circle=new TrajectoryGenerator2DCircle(vrpnclient->GetLayout()->NewRow(),"circle");
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[214] | 71 | uavVrpn->xPlot()->AddCurve(circle->GetMatrix()->Element(0,0),DataPlot::Blue);
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| 72 | uavVrpn->yPlot()->AddCurve(circle->GetMatrix()->Element(0,1),DataPlot::Blue);
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| 73 | uavVrpn->VxPlot()->AddCurve(circle->GetMatrix()->Element(1,0),DataPlot::Blue);
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| 74 | uavVrpn->VyPlot()->AddCurve(circle->GetMatrix()->Element(1,1),DataPlot::Blue);
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| 75 | uavVrpn->XyPlot()->AddCurve(circle->GetMatrix()->Element(0,1),circle->GetMatrix()->Element(0,0),DataPlot::Blue,"circle");
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[21] | 76 |
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| 77 | uX=new Pid(setupLawTab->At(1,0),"u_x");
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| 78 | uX->UseDefaultPlot(graphLawTab->NewRow());
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| 79 | uY=new Pid(setupLawTab->At(1,1),"u_y");
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| 80 | uY->UseDefaultPlot(graphLawTab->LastRowLastCol());
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| 81 |
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| 82 | customReferenceOrientation= new AhrsData(this,"reference");
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| 83 | uav->GetAhrs()->AddPlot(customReferenceOrientation,DataPlot::Yellow);
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| 84 | AddDataToControlLawLog(customReferenceOrientation);
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| 85 |
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| 86 | customOrientation=new AhrsData(this,"orientation");
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| 87 | }
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| 88 |
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| 89 | CircleFollower::~CircleFollower() {
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| 90 | }
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| 91 |
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| 92 | const AhrsData *CircleFollower::GetOrientation(void) const {
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| 93 | //get yaw from vrpn
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[135] | 94 | Quaternion vrpnQuaternion;
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| 95 | uavVrpn->GetQuaternion(vrpnQuaternion);
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[21] | 96 |
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| 97 | //get roll, pitch and w from imu
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| 98 | Quaternion ahrsQuaternion;
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[167] | 99 | Vector3Df ahrsAngularSpeed;
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[21] | 100 | GetDefaultOrientation()->GetQuaternionAndAngularRates(ahrsQuaternion, ahrsAngularSpeed);
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| 101 |
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| 102 | Euler ahrsEuler=ahrsQuaternion.ToEuler();
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[135] | 103 | ahrsEuler.yaw=vrpnQuaternion.ToEuler().yaw;
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[21] | 104 | Quaternion mixQuaternion=ahrsEuler.ToQuaternion();
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| 105 |
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| 106 | customOrientation->SetQuaternionAndAngularRates(mixQuaternion,ahrsAngularSpeed);
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| 107 |
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| 108 | return customOrientation;
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| 109 | }
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| 110 |
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[167] | 111 | void CircleFollower::AltitudeValues(float &z,float &dz) const{
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| 112 | Vector3Df uav_pos,uav_vel;
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[21] | 113 |
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[122] | 114 | uavVrpn->GetPosition(uav_pos);
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| 115 | uavVrpn->GetSpeed(uav_vel);
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[21] | 116 | //z and dz must be in uav's frame
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| 117 | z=-uav_pos.z;
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| 118 | dz=-uav_vel.z;
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| 119 | }
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| 120 |
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| 121 | AhrsData *CircleFollower::GetReferenceOrientation(void) {
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[167] | 122 | Vector2Df pos_err, vel_err; // in Uav coordinate system
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[21] | 123 | float yaw_ref;
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| 124 | Euler refAngles;
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| 125 |
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| 126 | PositionValues(pos_err, vel_err, yaw_ref);
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| 127 |
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| 128 | refAngles.yaw=yaw_ref;
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| 129 |
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| 130 | uX->SetValues(pos_err.x, vel_err.x);
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| 131 | uX->Update(GetTime());
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| 132 | refAngles.pitch=uX->Output();
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| 133 |
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| 134 | uY->SetValues(pos_err.y, vel_err.y);
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| 135 | uY->Update(GetTime());
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| 136 | refAngles.roll=-uY->Output();
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| 137 |
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[167] | 138 | customReferenceOrientation->SetQuaternionAndAngularRates(refAngles.ToQuaternion(),Vector3Df(0,0,0));
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[21] | 139 |
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| 140 | return customReferenceOrientation;
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| 141 | }
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| 142 |
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[167] | 143 | void CircleFollower::PositionValues(Vector2Df &pos_error,Vector2Df &vel_error,float &yaw_ref) {
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| 144 | Vector3Df uav_pos,uav_vel; // in VRPN coordinate system
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| 145 | Vector2Df uav_2Dpos,uav_2Dvel; // in VRPN coordinate system
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[21] | 146 |
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[122] | 147 | uavVrpn->GetPosition(uav_pos);
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| 148 | uavVrpn->GetSpeed(uav_vel);
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[21] | 149 |
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| 150 | uav_pos.To2Dxy(uav_2Dpos);
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| 151 | uav_vel.To2Dxy(uav_2Dvel);
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| 152 |
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| 153 | if (behaviourMode==BehaviourMode_t::PositionHold) {
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| 154 | pos_error=uav_2Dpos-posHold;
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| 155 | vel_error=uav_2Dvel;
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| 156 | yaw_ref=yawHold;
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| 157 | } else { //Circle
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[167] | 158 | Vector3Df target_pos;
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| 159 | Vector2Df circle_pos,circle_vel;
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| 160 | Vector2Df target_2Dpos;
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[21] | 161 |
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| 162 | targetVrpn->GetPosition(target_pos);
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| 163 | target_pos.To2Dxy(target_2Dpos);
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| 164 | circle->SetCenter(target_2Dpos);
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| 165 |
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| 166 | //circle reference
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| 167 | circle->Update(GetTime());
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| 168 | circle->GetPosition(circle_pos);
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| 169 | circle->GetSpeed(circle_vel);
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| 170 |
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| 171 | //error in optitrack frame
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| 172 | pos_error=uav_2Dpos-circle_pos;
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| 173 | vel_error=uav_2Dvel-circle_vel;
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| 174 | yaw_ref=atan2(target_pos.y-uav_pos.y,target_pos.x-uav_pos.x);
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| 175 | }
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| 176 |
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| 177 | //error in uav frame
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| 178 | Quaternion currentQuaternion=GetCurrentQuaternion();
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| 179 | Euler currentAngles;//in vrpn frame
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| 180 | currentQuaternion.ToEuler(currentAngles);
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| 181 | pos_error.Rotate(-currentAngles.yaw);
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| 182 | vel_error.Rotate(-currentAngles.yaw);
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| 183 | }
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| 184 |
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| 185 | void CircleFollower::SignalEvent(Event_t event) {
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| 186 | UavStateMachine::SignalEvent(event);
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| 187 | switch(event) {
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| 188 | case Event_t::TakingOff:
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| 189 | behaviourMode=BehaviourMode_t::Default;
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| 190 | vrpnLost=false;
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| 191 | break;
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| 192 | case Event_t::EnteringControlLoop:
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| 193 | if ((behaviourMode==BehaviourMode_t::Circle) && (!circle->IsRunning())) {
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| 194 | VrpnPositionHold();
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| 195 | }
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| 196 | break;
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| 197 | case Event_t::EnteringFailSafeMode:
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| 198 | behaviourMode=BehaviourMode_t::Default;
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| 199 | break;
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| 200 | }
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| 201 | }
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| 202 |
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| 203 | void CircleFollower::ExtraSecurityCheck(void) {
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| 204 | if ((!vrpnLost) && ((behaviourMode==BehaviourMode_t::Circle) || (behaviourMode==BehaviourMode_t::PositionHold))) {
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| 205 | if (!targetVrpn->IsTracked(500)) {
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| 206 | Thread::Err("VRPN, target lost\n");
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| 207 | vrpnLost=true;
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| 208 | EnterFailSafeMode();
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| 209 | Land();
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| 210 | }
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[122] | 211 | if (!uavVrpn->IsTracked(500)) {
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[21] | 212 | Thread::Err("VRPN, uav lost\n");
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| 213 | vrpnLost=true;
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| 214 | EnterFailSafeMode();
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| 215 | Land();
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| 216 | }
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| 217 | }
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| 218 | }
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| 219 |
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| 220 | void CircleFollower::ExtraCheckPushButton(void) {
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| 221 | if(startCircle->Clicked() && (behaviourMode!=BehaviourMode_t::Circle)) {
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| 222 | StartCircle();
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| 223 | }
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| 224 | if(stopCircle->Clicked() && (behaviourMode==BehaviourMode_t::Circle)) {
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| 225 | StopCircle();
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| 226 | }
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[171] | 227 | if(positionHold->Clicked() && (behaviourMode==BehaviourMode_t::Default)) {
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| 228 | VrpnPositionHold();
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| 229 | }
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[21] | 230 | }
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| 231 |
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| 232 | void CircleFollower::ExtraCheckJoystick(void) {
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| 233 | //R1 and Circle
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[314] | 234 | if(GetTargetController()->IsButtonPressed(9) && GetTargetController()->IsButtonPressed(4) && (behaviourMode!=BehaviourMode_t::Circle)) {
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[21] | 235 | StartCircle();
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| 236 | }
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| 237 |
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| 238 | //R1 and Cross
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[314] | 239 | if(GetTargetController()->IsButtonPressed(9) && GetTargetController()->IsButtonPressed(5) && (behaviourMode==BehaviourMode_t::Circle)) {
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[21] | 240 | StopCircle();
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| 241 | }
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[171] | 242 |
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| 243 | //R1 and Square
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[314] | 244 | if(GetTargetController()->IsButtonPressed(9) && GetTargetController()->IsButtonPressed(2) && (behaviourMode==BehaviourMode_t::Default)) {
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[171] | 245 | VrpnPositionHold();
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| 246 | }
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[21] | 247 | }
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| 248 |
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| 249 | void CircleFollower::StartCircle(void) {
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| 250 | if (SetOrientationMode(OrientationMode_t::Custom)) {
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| 251 | Thread::Info("CircleFollower: start circle\n");
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| 252 | } else {
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| 253 | Thread::Warn("CircleFollower: could not start circle\n");
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| 254 | return;
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| 255 | }
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[167] | 256 | Vector3Df uav_pos,target_pos;
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| 257 | Vector2Df uav_2Dpos,target_2Dpos;
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[21] | 258 |
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| 259 | targetVrpn->GetPosition(target_pos);
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| 260 | target_pos.To2Dxy(target_2Dpos);
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| 261 | circle->SetCenter(target_2Dpos);
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| 262 |
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[122] | 263 | uavVrpn->GetPosition(uav_pos);
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[21] | 264 | uav_pos.To2Dxy(uav_2Dpos);
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| 265 | circle->StartTraj(uav_2Dpos);
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| 266 |
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| 267 | uX->Reset();
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| 268 | uY->Reset();
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| 269 | behaviourMode=BehaviourMode_t::Circle;
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| 270 | }
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| 271 |
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| 272 | void CircleFollower::StopCircle(void) {
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| 273 | circle->FinishTraj();
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| 274 | //GetJoystick()->Rumble(0x70);
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| 275 | Thread::Info("CircleFollower: finishing circle\n");
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| 276 | }
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| 277 |
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| 278 | void CircleFollower::VrpnPositionHold(void) {
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[135] | 279 | Quaternion vrpnQuaternion;
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| 280 | uavVrpn->GetQuaternion(vrpnQuaternion);
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| 281 | yawHold=vrpnQuaternion.ToEuler().yaw;
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[21] | 282 |
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[167] | 283 | Vector3Df vrpnPosition;
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[135] | 284 | uavVrpn->GetPosition(vrpnPosition);
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| 285 | vrpnPosition.To2Dxy(posHold);
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[21] | 286 |
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| 287 | uX->Reset();
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| 288 | uY->Reset();
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| 289 | behaviourMode=BehaviourMode_t::PositionHold;
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| 290 | SetOrientationMode(OrientationMode_t::Custom);
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| 291 | Thread::Info("CircleFollower: holding position\n");
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| 292 | }
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