source: flair-src/trunk/demos/CircleFollower/uav/src/CircleFollower.cpp@ 101

Last change on this file since 101 was 38, checked in by Bayard Gildas, 6 years ago

Modif. pour ajour manette émulée (EmulatedController)

File size: 8.2 KB
Line 
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 <cvmatrix.h>
27#include <cmath>
28#include <Tab.h>
29#include <Pid.h>
30#include <Ahrs.h>
31#include <AhrsData.h>
32
33using namespace std;
34using namespace flair::core;
35using namespace flair::gui;
36using namespace flair::sensor;
37using namespace flair::filter;
38using namespace flair::meta;
39
40CircleFollower::CircleFollower(Uav* uav,TargetController *controller): UavStateMachine(uav,controller), behaviourMode(BehaviourMode_t::Default), vrpnLost(false) {
41 uav->SetupVRPNAutoIP(uav->ObjectName());
42
43 startCircle=new PushButton(GetButtonsLayout()->NewRow(),"start_circle");
44 stopCircle=new PushButton(GetButtonsLayout()->LastRowLastCol(),"stop_circle");
45
46 if(uav->GetVrpnClient()->UseXbee()==true) {
47 targetVrpn=new MetaVrpnObject(uav->GetVrpnClient(),"target",1);
48 } else {
49 targetVrpn=new MetaVrpnObject(uav->GetVrpnClient(),"target");
50 }
51
52 getFrameworkManager()->AddDeviceToLog(targetVrpn);
53
54 circle=new TrajectoryGenerator2DCircle(uav->GetVrpnClient()->GetLayout()->NewRow(),"circle");
55 uav->GetVrpnObject()->xPlot()->AddCurve(circle->Matrix()->Element(0,0),DataPlot::Blue);
56 uav->GetVrpnObject()->yPlot()->AddCurve(circle->Matrix()->Element(0,1),DataPlot::Blue);
57 uav->GetVrpnObject()->VxPlot()->AddCurve(circle->Matrix()->Element(1,0),DataPlot::Blue);
58 uav->GetVrpnObject()->VyPlot()->AddCurve(circle->Matrix()->Element(1,1),DataPlot::Blue);
59 uav->GetVrpnObject()->XyPlot()->AddCurve(circle->Matrix()->Element(0,1),circle->Matrix()->Element(0,0),DataPlot::Blue,"circle");
60
61 uX=new Pid(setupLawTab->At(1,0),"u_x");
62 uX->UseDefaultPlot(graphLawTab->NewRow());
63 uY=new Pid(setupLawTab->At(1,1),"u_y");
64 uY->UseDefaultPlot(graphLawTab->LastRowLastCol());
65
66 customReferenceOrientation= new AhrsData(this,"reference");
67 uav->GetAhrs()->AddPlot(customReferenceOrientation,DataPlot::Yellow);
68 AddDataToControlLawLog(customReferenceOrientation);
69
70 customOrientation=new AhrsData(this,"orientation");
71}
72
73CircleFollower::~CircleFollower() {
74}
75
76const AhrsData *CircleFollower::GetOrientation(void) const {
77 //get yaw from vrpn
78 Euler vrpnEuler;
79 GetUav()->GetVrpnObject()->GetEuler(vrpnEuler);
80
81 //get roll, pitch and w from imu
82 Quaternion ahrsQuaternion;
83 Vector3D ahrsAngularSpeed;
84 GetDefaultOrientation()->GetQuaternionAndAngularRates(ahrsQuaternion, ahrsAngularSpeed);
85
86 Euler ahrsEuler=ahrsQuaternion.ToEuler();
87 ahrsEuler.yaw=vrpnEuler.yaw;
88 Quaternion mixQuaternion=ahrsEuler.ToQuaternion();
89
90 customOrientation->SetQuaternionAndAngularRates(mixQuaternion,ahrsAngularSpeed);
91
92 return customOrientation;
93}
94
95void CircleFollower::AltitudeValues(float &z,float &dz) {
96 Vector3D uav_pos,uav_vel;
97
98 GetUav()->GetVrpnObject()->GetPosition(uav_pos);
99 GetUav()->GetVrpnObject()->GetSpeed(uav_vel);
100 //z and dz must be in uav's frame
101 z=-uav_pos.z;
102 dz=-uav_vel.z;
103}
104
105AhrsData *CircleFollower::GetReferenceOrientation(void) {
106 Vector2D pos_err, vel_err; // in Uav coordinate system
107 float yaw_ref;
108 Euler refAngles;
109
110 PositionValues(pos_err, vel_err, yaw_ref);
111
112 refAngles.yaw=yaw_ref;
113
114 uX->SetValues(pos_err.x, vel_err.x);
115 uX->Update(GetTime());
116 refAngles.pitch=uX->Output();
117
118 uY->SetValues(pos_err.y, vel_err.y);
119 uY->Update(GetTime());
120 refAngles.roll=-uY->Output();
121
122 customReferenceOrientation->SetQuaternionAndAngularRates(refAngles.ToQuaternion(),Vector3D(0,0,0));
123
124 return customReferenceOrientation;
125}
126
127void CircleFollower::PositionValues(Vector2D &pos_error,Vector2D &vel_error,float &yaw_ref) {
128 Vector3D uav_pos,uav_vel; // in VRPN coordinate system
129 Vector2D uav_2Dpos,uav_2Dvel; // in VRPN coordinate system
130
131 GetUav()->GetVrpnObject()->GetPosition(uav_pos);
132 GetUav()->GetVrpnObject()->GetSpeed(uav_vel);
133
134 uav_pos.To2Dxy(uav_2Dpos);
135 uav_vel.To2Dxy(uav_2Dvel);
136
137 if (behaviourMode==BehaviourMode_t::PositionHold) {
138 pos_error=uav_2Dpos-posHold;
139 vel_error=uav_2Dvel;
140 yaw_ref=yawHold;
141 } else { //Circle
142 Vector3D target_pos;
143 Vector2D circle_pos,circle_vel;
144 Vector2D target_2Dpos;
145
146 targetVrpn->GetPosition(target_pos);
147 target_pos.To2Dxy(target_2Dpos);
148 circle->SetCenter(target_2Dpos);
149
150 //circle reference
151 circle->Update(GetTime());
152 circle->GetPosition(circle_pos);
153 circle->GetSpeed(circle_vel);
154
155 //error in optitrack frame
156 pos_error=uav_2Dpos-circle_pos;
157 vel_error=uav_2Dvel-circle_vel;
158 yaw_ref=atan2(target_pos.y-uav_pos.y,target_pos.x-uav_pos.x);
159 }
160
161 //error in uav frame
162 Quaternion currentQuaternion=GetCurrentQuaternion();
163 Euler currentAngles;//in vrpn frame
164 currentQuaternion.ToEuler(currentAngles);
165 pos_error.Rotate(-currentAngles.yaw);
166 vel_error.Rotate(-currentAngles.yaw);
167}
168
169void CircleFollower::SignalEvent(Event_t event) {
170 UavStateMachine::SignalEvent(event);
171 switch(event) {
172 case Event_t::TakingOff:
173 behaviourMode=BehaviourMode_t::Default;
174 vrpnLost=false;
175 break;
176 case Event_t::EnteringControlLoop:
177 if ((behaviourMode==BehaviourMode_t::Circle) && (!circle->IsRunning())) {
178 VrpnPositionHold();
179 }
180 break;
181 case Event_t::EnteringFailSafeMode:
182 behaviourMode=BehaviourMode_t::Default;
183 break;
184 }
185}
186
187void CircleFollower::ExtraSecurityCheck(void) {
188 if ((!vrpnLost) && ((behaviourMode==BehaviourMode_t::Circle) || (behaviourMode==BehaviourMode_t::PositionHold))) {
189 if (!targetVrpn->IsTracked(500)) {
190 Thread::Err("VRPN, target lost\n");
191 vrpnLost=true;
192 EnterFailSafeMode();
193 Land();
194 }
195 if (!GetUav()->GetVrpnObject()->IsTracked(500)) {
196 Thread::Err("VRPN, uav lost\n");
197 vrpnLost=true;
198 EnterFailSafeMode();
199 Land();
200 }
201 }
202}
203
204void CircleFollower::ExtraCheckPushButton(void) {
205 if(startCircle->Clicked() && (behaviourMode!=BehaviourMode_t::Circle)) {
206 StartCircle();
207 }
208 if(stopCircle->Clicked() && (behaviourMode==BehaviourMode_t::Circle)) {
209 StopCircle();
210 }
211}
212
213void CircleFollower::ExtraCheckJoystick(void) {
214 //R1 and Circle
215 if(GetJoystick()->IsButtonPressed(9) && GetJoystick()->IsButtonPressed(4) && (behaviourMode!=BehaviourMode_t::Circle)) {
216 StartCircle();
217 }
218
219 //R1 and Cross
220 if(GetJoystick()->IsButtonPressed(9) && GetJoystick()->IsButtonPressed(5) && (behaviourMode==BehaviourMode_t::Circle)) {
221 StopCircle();
222 }
223}
224
225void CircleFollower::StartCircle(void) {
226 if (SetOrientationMode(OrientationMode_t::Custom)) {
227 Thread::Info("CircleFollower: start circle\n");
228 } else {
229 Thread::Warn("CircleFollower: could not start circle\n");
230 return;
231 }
232 Vector3D uav_pos,target_pos;
233 Vector2D uav_2Dpos,target_2Dpos;
234
235 targetVrpn->GetPosition(target_pos);
236 target_pos.To2Dxy(target_2Dpos);
237 circle->SetCenter(target_2Dpos);
238
239 GetUav()->GetVrpnObject()->GetPosition(uav_pos);
240 uav_pos.To2Dxy(uav_2Dpos);
241 circle->StartTraj(uav_2Dpos);
242
243 uX->Reset();
244 uY->Reset();
245 behaviourMode=BehaviourMode_t::Circle;
246}
247
248void CircleFollower::StopCircle(void) {
249 circle->FinishTraj();
250 //GetJoystick()->Rumble(0x70);
251 Thread::Info("CircleFollower: finishing circle\n");
252}
253
254void CircleFollower::VrpnPositionHold(void) {
255 Euler vrpn_euler;
256 Vector3D vrpn_pos;
257
258 GetUav()->GetVrpnObject()->GetEuler(vrpn_euler);
259 yawHold=vrpn_euler.yaw;
260
261 GetUav()->GetVrpnObject()->GetPosition(vrpn_pos);
262 vrpn_pos.To2Dxy(posHold);
263
264 uX->Reset();
265 uY->Reset();
266 behaviourMode=BehaviourMode_t::PositionHold;
267 SetOrientationMode(OrientationMode_t::Custom);
268 Thread::Info("CircleFollower: holding position\n");
269}
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