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