source: flair-src/trunk/demos/CircleFollower/uav/src/CircleFollower.cpp@ 121

Last change on this file since 121 was 121, checked in by Sanahuja Guillaume, 7 years ago

modifs camera
File size: 8.3 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#include <Camera.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(Uav* uav,TargetController *controller): UavStateMachine(uav,controller), behaviourMode(BehaviourMode_t::Default), vrpnLost(false) {
42 uav->SetupVRPNAutoIP(uav->ObjectName());
43
44 startCircle=new PushButton(GetButtonsLayout()->NewRow(),"start_circle");
45 stopCircle=new PushButton(GetButtonsLayout()->LastRowLastCol(),"stop_circle");
46
47 if(uav->GetVrpnClient()->UseXbee()==true) {
48 targetVrpn=new MetaVrpnObject(uav->GetVrpnClient(),"target",1);
49 } else {
50 targetVrpn=new MetaVrpnObject(uav->GetVrpnClient(),"target");
51 }
52
53 getFrameworkManager()->AddDeviceToLog(targetVrpn);
54
55 circle=new TrajectoryGenerator2DCircle(uav->GetVrpnClient()->GetLayout()->NewRow(),"circle");
56 uav->GetVrpnObject()->xPlot()->AddCurve(circle->Matrix()->Element(0,0),DataPlot::Blue);
57 uav->GetVrpnObject()->yPlot()->AddCurve(circle->Matrix()->Element(0,1),DataPlot::Blue);
58 uav->GetVrpnObject()->VxPlot()->AddCurve(circle->Matrix()->Element(1,0),DataPlot::Blue);
59 uav->GetVrpnObject()->VyPlot()->AddCurve(circle->Matrix()->Element(1,1),DataPlot::Blue);
60 uav->GetVrpnObject()->XyPlot()->AddCurve(circle->Matrix()->Element(0,1),circle->Matrix()->Element(0,0),DataPlot::Blue,"circle");
61
62 uX=new Pid(setupLawTab->At(1,0),"u_x");
63 uX->UseDefaultPlot(graphLawTab->NewRow());
64 uY=new Pid(setupLawTab->At(1,1),"u_y");
65 uY->UseDefaultPlot(graphLawTab->LastRowLastCol());
66
67 customReferenceOrientation= new AhrsData(this,"reference");
68 uav->GetAhrs()->AddPlot(customReferenceOrientation,DataPlot::Yellow);
69 AddDataToControlLawLog(customReferenceOrientation);
70
71 customOrientation=new AhrsData(this,"orientation");
72 getFrameworkManager()->AddDeviceToLog(uav->GetVerticalCamera());
73}
74
75CircleFollower::~CircleFollower() {
76}
77
78const AhrsData *CircleFollower::GetOrientation(void) const {
79 //get yaw from vrpn
80 Euler vrpnEuler;
81 GetUav()->GetVrpnObject()->GetEuler(vrpnEuler);
82
83 //get roll, pitch and w from imu
84 Quaternion ahrsQuaternion;
85 Vector3D ahrsAngularSpeed;
86 GetDefaultOrientation()->GetQuaternionAndAngularRates(ahrsQuaternion, ahrsAngularSpeed);
87
88 Euler ahrsEuler=ahrsQuaternion.ToEuler();
89 ahrsEuler.yaw=vrpnEuler.yaw;
90 Quaternion mixQuaternion=ahrsEuler.ToQuaternion();
91
92 customOrientation->SetQuaternionAndAngularRates(mixQuaternion,ahrsAngularSpeed);
93
94 return customOrientation;
95}
96
97void CircleFollower::AltitudeValues(float &z,float &dz) {
98 Vector3D uav_pos,uav_vel;
99
100 GetUav()->GetVrpnObject()->GetPosition(uav_pos);
101 GetUav()->GetVrpnObject()->GetSpeed(uav_vel);
102 //z and dz must be in uav's frame
103 z=-uav_pos.z;
104 dz=-uav_vel.z;
105}
106
107AhrsData *CircleFollower::GetReferenceOrientation(void) {
108 Vector2D pos_err, vel_err; // in Uav coordinate system
109 float yaw_ref;
110 Euler refAngles;
111
112 PositionValues(pos_err, vel_err, yaw_ref);
113
114 refAngles.yaw=yaw_ref;
115
116 uX->SetValues(pos_err.x, vel_err.x);
117 uX->Update(GetTime());
118 refAngles.pitch=uX->Output();
119
120 uY->SetValues(pos_err.y, vel_err.y);
121 uY->Update(GetTime());
122 refAngles.roll=-uY->Output();
123
124 customReferenceOrientation->SetQuaternionAndAngularRates(refAngles.ToQuaternion(),Vector3D(0,0,0));
125
126 return customReferenceOrientation;
127}
128
129void CircleFollower::PositionValues(Vector2D &pos_error,Vector2D &vel_error,float &yaw_ref) {
130 Vector3D uav_pos,uav_vel; // in VRPN coordinate system
131 Vector2D uav_2Dpos,uav_2Dvel; // in VRPN coordinate system
132
133 GetUav()->GetVrpnObject()->GetPosition(uav_pos);
134 GetUav()->GetVrpnObject()->GetSpeed(uav_vel);
135
136 uav_pos.To2Dxy(uav_2Dpos);
137 uav_vel.To2Dxy(uav_2Dvel);
138
139 if (behaviourMode==BehaviourMode_t::PositionHold) {
140 pos_error=uav_2Dpos-posHold;
141 vel_error=uav_2Dvel;
142 yaw_ref=yawHold;
143 } else { //Circle
144 Vector3D target_pos;
145 Vector2D circle_pos,circle_vel;
146 Vector2D target_2Dpos;
147
148 targetVrpn->GetPosition(target_pos);
149 target_pos.To2Dxy(target_2Dpos);
150 circle->SetCenter(target_2Dpos);
151
152 //circle reference
153 circle->Update(GetTime());
154 circle->GetPosition(circle_pos);
155 circle->GetSpeed(circle_vel);
156
157 //error in optitrack frame
158 pos_error=uav_2Dpos-circle_pos;
159 vel_error=uav_2Dvel-circle_vel;
160 yaw_ref=atan2(target_pos.y-uav_pos.y,target_pos.x-uav_pos.x);
161 }
162
163 //error in uav frame
164 Quaternion currentQuaternion=GetCurrentQuaternion();
165 Euler currentAngles;//in vrpn frame
166 currentQuaternion.ToEuler(currentAngles);
167 pos_error.Rotate(-currentAngles.yaw);
168 vel_error.Rotate(-currentAngles.yaw);
169}
170
171void CircleFollower::SignalEvent(Event_t event) {
172 UavStateMachine::SignalEvent(event);
173 switch(event) {
174 case Event_t::TakingOff:
175 behaviourMode=BehaviourMode_t::Default;
176 vrpnLost=false;
177 break;
178 case Event_t::EnteringControlLoop:
179 if ((behaviourMode==BehaviourMode_t::Circle) && (!circle->IsRunning())) {
180 VrpnPositionHold();
181 }
182 break;
183 case Event_t::EnteringFailSafeMode:
184 behaviourMode=BehaviourMode_t::Default;
185 break;
186 }
187}
188
189void CircleFollower::ExtraSecurityCheck(void) {
190 if ((!vrpnLost) && ((behaviourMode==BehaviourMode_t::Circle) || (behaviourMode==BehaviourMode_t::PositionHold))) {
191 if (!targetVrpn->IsTracked(500)) {
192 Thread::Err("VRPN, target lost\n");
193 vrpnLost=true;
194 EnterFailSafeMode();
195 Land();
196 }
197 if (!GetUav()->GetVrpnObject()->IsTracked(500)) {
198 Thread::Err("VRPN, uav lost\n");
199 vrpnLost=true;
200 EnterFailSafeMode();
201 Land();
202 }
203 }
204}
205
206void CircleFollower::ExtraCheckPushButton(void) {
207 if(startCircle->Clicked() && (behaviourMode!=BehaviourMode_t::Circle)) {
208 StartCircle();
209 }
210 if(stopCircle->Clicked() && (behaviourMode==BehaviourMode_t::Circle)) {
211 StopCircle();
212 }
213}
214
215void CircleFollower::ExtraCheckJoystick(void) {
216 //R1 and Circle
217 if(GetJoystick()->IsButtonPressed(9) && GetJoystick()->IsButtonPressed(4) && (behaviourMode!=BehaviourMode_t::Circle)) {
218 StartCircle();
219 }
220
221 //R1 and Cross
222 if(GetJoystick()->IsButtonPressed(9) && GetJoystick()->IsButtonPressed(5) && (behaviourMode==BehaviourMode_t::Circle)) {
223 StopCircle();
224 }
225}
226
227void CircleFollower::StartCircle(void) {
228 if (SetOrientationMode(OrientationMode_t::Custom)) {
229 Thread::Info("CircleFollower: start circle\n");
230 } else {
231 Thread::Warn("CircleFollower: could not start circle\n");
232 return;
233 }
234 Vector3D uav_pos,target_pos;
235 Vector2D uav_2Dpos,target_2Dpos;
236
237 targetVrpn->GetPosition(target_pos);
238 target_pos.To2Dxy(target_2Dpos);
239 circle->SetCenter(target_2Dpos);
240
241 GetUav()->GetVrpnObject()->GetPosition(uav_pos);
242 uav_pos.To2Dxy(uav_2Dpos);
243 circle->StartTraj(uav_2Dpos);
244
245 uX->Reset();
246 uY->Reset();
247 behaviourMode=BehaviourMode_t::Circle;
248}
249
250void CircleFollower::StopCircle(void) {
251 circle->FinishTraj();
252 //GetJoystick()->Rumble(0x70);
253 Thread::Info("CircleFollower: finishing circle\n");
254}
255
256void CircleFollower::VrpnPositionHold(void) {
257 Euler vrpn_euler;
258 Vector3D vrpn_pos;
259
260 GetUav()->GetVrpnObject()->GetEuler(vrpn_euler);
261 yawHold=vrpn_euler.yaw;
262
263 GetUav()->GetVrpnObject()->GetPosition(vrpn_pos);
264 vrpn_pos.To2Dxy(posHold);
265
266 uX->Reset();
267 uY->Reset();
268 behaviourMode=BehaviourMode_t::PositionHold;
269 SetOrientationMode(OrientationMode_t::Custom);
270 Thread::Info("CircleFollower: holding position\n");
271}
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