source: flair-src/trunk/demos/CircleFollower/uav/src/CircleFollower.cpp@ 313

Last change on this file since 313 was 311, checked in by Sanahuja Guillaume, 6 years ago

maj
File size: 9.1 KB
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1// created: 2011/05/01
2// filename: CircleFollower.cpp
3//
4// author: Guillaume Sanahuja
5// Copyright Heudiasyc UMR UTC/CNRS 7253
6//
7// version: $Id: $
8//
9// purpose: demo cercle avec optitrack
10//
11//
12/*********************************************************************/
13
14#include "CircleFollower.h"
15#include <TargetController.h>
16#include <Uav.h>
17#include <GridLayout.h>
18#include <PushButton.h>
19#include <DataPlot1D.h>
20#include <DataPlot2D.h>
21#include <MetaDualShock3.h>
22#include <FrameworkManager.h>
23#include <VrpnClient.h>
24#include <MetaVrpnObject.h>
25#include <TrajectoryGenerator2DCircle.h>
26#include <Matrix.h>
27#include <cvmatrix.h>
28#include <cmath>
29#include <Tab.h>
30#include <Pid.h>
31#include <Ahrs.h>
32#include <AhrsData.h>
33
34using namespace std;
35using namespace flair::core;
36using namespace flair::gui;
37using namespace flair::sensor;
38using namespace flair::filter;
39using namespace flair::meta;
40
41CircleFollower::CircleFollower(TargetController *controller): UavStateMachine(controller), behaviourMode(BehaviourMode_t::Default), vrpnLost(false) {
42 Uav* uav=GetUav();
43
44 VrpnClient* vrpnclient=new VrpnClient("vrpn", uav->GetDefaultVrpnAddress(),80);
45
46 if(vrpnclient->ConnectionType()==VrpnClient::Xbee) {
47 uavVrpn = new MetaVrpnObject(uav->ObjectName(),(uint8_t)0);
48 targetVrpn=new MetaVrpnObject("target",1);
49 } else if (vrpnclient->ConnectionType()==VrpnClient::Vrpn) {
50 uavVrpn = new MetaVrpnObject(uav->ObjectName());
51 targetVrpn=new MetaVrpnObject("target");
52 } else if (vrpnclient->ConnectionType()==VrpnClient::VrpnLite) {
53 uavVrpn = new MetaVrpnObject(uav->ObjectName(),(uint8_t)0);
54 targetVrpn=new MetaVrpnObject("target",1);
55 }
56
57 getFrameworkManager()->AddDeviceToLog(uavVrpn);
58 uav->GetAhrs()->YawPlot()->AddCurve(uavVrpn->State()->Element(2),DataPlot::Green);
59
60 startCircle=new PushButton(GetButtonsLayout()->NewRow(),"start_circle");
61 stopCircle=new PushButton(GetButtonsLayout()->LastRowLastCol(),"stop_circle");
62 positionHold=new PushButton(GetButtonsLayout()->LastRowLastCol(),"position hold");
63
64 vrpnclient->Start();
65
66 getFrameworkManager()->AddDeviceToLog(targetVrpn);
67
68 circle=new TrajectoryGenerator2DCircle(vrpnclient->GetLayout()->NewRow(),"circle");
69 uavVrpn->xPlot()->AddCurve(circle->GetMatrix()->Element(0,0),DataPlot::Blue);
70 uavVrpn->yPlot()->AddCurve(circle->GetMatrix()->Element(0,1),DataPlot::Blue);
71 uavVrpn->VxPlot()->AddCurve(circle->GetMatrix()->Element(1,0),DataPlot::Blue);
72 uavVrpn->VyPlot()->AddCurve(circle->GetMatrix()->Element(1,1),DataPlot::Blue);
73 uavVrpn->XyPlot()->AddCurve(circle->GetMatrix()->Element(0,1),circle->GetMatrix()->Element(0,0),DataPlot::Blue,"circle");
74
75 uX=new Pid(setupLawTab->At(1,0),"u_x");
76 uX->UseDefaultPlot(graphLawTab->NewRow());
77 uY=new Pid(setupLawTab->At(1,1),"u_y");
78 uY->UseDefaultPlot(graphLawTab->LastRowLastCol());
79
80 customReferenceOrientation= new AhrsData(this,"reference");
81 uav->GetAhrs()->AddPlot(customReferenceOrientation,DataPlot::Yellow);
82 AddDataToControlLawLog(customReferenceOrientation);
83
84 customOrientation=new AhrsData(this,"orientation");
85}
86
87CircleFollower::~CircleFollower() {
88}
89
90const AhrsData *CircleFollower::GetOrientation(void) const {
91 //get yaw from vrpn
92 Quaternion vrpnQuaternion;
93 uavVrpn->GetQuaternion(vrpnQuaternion);
94
95 //get roll, pitch and w from imu
96 Quaternion ahrsQuaternion;
97 Vector3Df ahrsAngularSpeed;
98 GetDefaultOrientation()->GetQuaternionAndAngularRates(ahrsQuaternion, ahrsAngularSpeed);
99
100 Euler ahrsEuler=ahrsQuaternion.ToEuler();
101 ahrsEuler.yaw=vrpnQuaternion.ToEuler().yaw;
102 Quaternion mixQuaternion=ahrsEuler.ToQuaternion();
103
104 customOrientation->SetQuaternionAndAngularRates(mixQuaternion,ahrsAngularSpeed);
105
106 return customOrientation;
107}
108
109void CircleFollower::AltitudeValues(float &z,float &dz) const{
110 Vector3Df uav_pos,uav_vel;
111
112 uavVrpn->GetPosition(uav_pos);
113 uavVrpn->GetSpeed(uav_vel);
114 //z and dz must be in uav's frame
115 z=-uav_pos.z;
116 dz=-uav_vel.z;
117}
118
119AhrsData *CircleFollower::GetReferenceOrientation(void) {
120 Vector2Df pos_err, vel_err; // in Uav coordinate system
121 float yaw_ref;
122 Euler refAngles;
123
124 PositionValues(pos_err, vel_err, yaw_ref);
125
126 refAngles.yaw=yaw_ref;
127
128 uX->SetValues(pos_err.x, vel_err.x);
129 uX->Update(GetTime());
130 refAngles.pitch=uX->Output();
131
132 uY->SetValues(pos_err.y, vel_err.y);
133 uY->Update(GetTime());
134 refAngles.roll=-uY->Output();
135
136 customReferenceOrientation->SetQuaternionAndAngularRates(refAngles.ToQuaternion(),Vector3Df(0,0,0));
137
138 return customReferenceOrientation;
139}
140
141void CircleFollower::PositionValues(Vector2Df &pos_error,Vector2Df &vel_error,float &yaw_ref) {
142 Vector3Df uav_pos,uav_vel; // in VRPN coordinate system
143 Vector2Df uav_2Dpos,uav_2Dvel; // in VRPN coordinate system
144
145 uavVrpn->GetPosition(uav_pos);
146 uavVrpn->GetSpeed(uav_vel);
147
148 uav_pos.To2Dxy(uav_2Dpos);
149 uav_vel.To2Dxy(uav_2Dvel);
150
151 if (behaviourMode==BehaviourMode_t::PositionHold) {
152 pos_error=uav_2Dpos-posHold;
153 vel_error=uav_2Dvel;
154 yaw_ref=yawHold;
155 } else { //Circle
156 Vector3Df target_pos;
157 Vector2Df circle_pos,circle_vel;
158 Vector2Df target_2Dpos;
159
160 targetVrpn->GetPosition(target_pos);
161 target_pos.To2Dxy(target_2Dpos);
162 circle->SetCenter(target_2Dpos);
163
164 //circle reference
165 circle->Update(GetTime());
166 circle->GetPosition(circle_pos);
167 circle->GetSpeed(circle_vel);
168
169 //error in optitrack frame
170 pos_error=uav_2Dpos-circle_pos;
171 vel_error=uav_2Dvel-circle_vel;
172 yaw_ref=atan2(target_pos.y-uav_pos.y,target_pos.x-uav_pos.x);
173 }
174
175 //error in uav frame
176 Quaternion currentQuaternion=GetCurrentQuaternion();
177 Euler currentAngles;//in vrpn frame
178 currentQuaternion.ToEuler(currentAngles);
179 pos_error.Rotate(-currentAngles.yaw);
180 vel_error.Rotate(-currentAngles.yaw);
181}
182
183void CircleFollower::SignalEvent(Event_t event) {
184 UavStateMachine::SignalEvent(event);
185 switch(event) {
186 case Event_t::TakingOff:
187 behaviourMode=BehaviourMode_t::Default;
188 vrpnLost=false;
189 break;
190 case Event_t::EnteringControlLoop:
191 if ((behaviourMode==BehaviourMode_t::Circle) && (!circle->IsRunning())) {
192 VrpnPositionHold();
193 }
194 break;
195 case Event_t::EnteringFailSafeMode:
196 behaviourMode=BehaviourMode_t::Default;
197 break;
198 }
199}
200
201void CircleFollower::ExtraSecurityCheck(void) {
202 if ((!vrpnLost) && ((behaviourMode==BehaviourMode_t::Circle) || (behaviourMode==BehaviourMode_t::PositionHold))) {
203 if (!targetVrpn->IsTracked(500)) {
204 Thread::Err("VRPN, target lost\n");
205 vrpnLost=true;
206 EnterFailSafeMode();
207 Land();
208 }
209 if (!uavVrpn->IsTracked(500)) {
210 Thread::Err("VRPN, uav lost\n");
211 vrpnLost=true;
212 EnterFailSafeMode();
213 Land();
214 }
215 }
216}
217
218void CircleFollower::ExtraCheckPushButton(void) {
219 if(startCircle->Clicked() && (behaviourMode!=BehaviourMode_t::Circle)) {
220 StartCircle();
221 }
222 if(stopCircle->Clicked() && (behaviourMode==BehaviourMode_t::Circle)) {
223 StopCircle();
224 }
225 if(positionHold->Clicked() && (behaviourMode==BehaviourMode_t::Default)) {
226 VrpnPositionHold();
227 }
228}
229
230void CircleFollower::ExtraCheckJoystick(void) {
231 //R1 and Circle
232 if(GetJoystick()->IsButtonPressed(9) && GetJoystick()->IsButtonPressed(4) && (behaviourMode!=BehaviourMode_t::Circle)) {
233 StartCircle();
234 }
235
236 //R1 and Cross
237 if(GetJoystick()->IsButtonPressed(9) && GetJoystick()->IsButtonPressed(5) && (behaviourMode==BehaviourMode_t::Circle)) {
238 StopCircle();
239 }
240
241 //R1 and Square
242 if(GetJoystick()->IsButtonPressed(9) && GetJoystick()->IsButtonPressed(2) && (behaviourMode==BehaviourMode_t::Default)) {
243 VrpnPositionHold();
244 }
245}
246
247void CircleFollower::StartCircle(void) {
248 if (SetOrientationMode(OrientationMode_t::Custom)) {
249 Thread::Info("CircleFollower: start circle\n");
250 } else {
251 Thread::Warn("CircleFollower: could not start circle\n");
252 return;
253 }
254 Vector3Df uav_pos,target_pos;
255 Vector2Df uav_2Dpos,target_2Dpos;
256
257 targetVrpn->GetPosition(target_pos);
258 target_pos.To2Dxy(target_2Dpos);
259 circle->SetCenter(target_2Dpos);
260
261 uavVrpn->GetPosition(uav_pos);
262 uav_pos.To2Dxy(uav_2Dpos);
263 circle->StartTraj(uav_2Dpos);
264
265 uX->Reset();
266 uY->Reset();
267 behaviourMode=BehaviourMode_t::Circle;
268}
269
270void CircleFollower::StopCircle(void) {
271 circle->FinishTraj();
272 //GetJoystick()->Rumble(0x70);
273 Thread::Info("CircleFollower: finishing circle\n");
274}
275
276void CircleFollower::VrpnPositionHold(void) {
277 Quaternion vrpnQuaternion;
278 uavVrpn->GetQuaternion(vrpnQuaternion);
279 yawHold=vrpnQuaternion.ToEuler().yaw;
280
281 Vector3Df vrpnPosition;
282 uavVrpn->GetPosition(vrpnPosition);
283 vrpnPosition.To2Dxy(posHold);
284
285 uX->Reset();
286 uY->Reset();
287 behaviourMode=BehaviourMode_t::PositionHold;
288 SetOrientationMode(OrientationMode_t::Custom);
289 Thread::Info("CircleFollower: holding position\n");
290}
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