[33] | 1 | // created: 2015/11/05
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| 2 | // filename: SimpleFleet.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 fleet
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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 "SimpleFleet.h"
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[38] | 15 | #include <TargetController.h>
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[33] | 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 <Ahrs.h>
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| 21 | #include <MetaUsRangeFinder.h>
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| 22 | #include <MetaDualShock3.h>
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| 23 | #include <FrameworkManager.h>
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| 24 | #include <VrpnClient.h>
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| 25 | #include <MetaVrpnObject.h>
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| 26 | #include <TrajectoryGenerator2DCircle.h>
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| 27 | #include <Vector3D.h>
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| 28 | #include <Vector2D.h>
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| 29 | #include <PidThrust.h>
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| 30 | #include <Euler.h>
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| 31 | #include <cvmatrix.h>
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| 32 | #include <AhrsData.h>
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| 33 | #include <Ahrs.h>
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| 34 | #include <DoubleSpinBox.h>
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| 35 | #include <stdio.h>
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| 36 | #include <cmath>
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| 37 | #include <Tab.h>
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| 38 | #include <Pid.h>
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| 39 | #include <Socket.h>
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| 40 | #include <string.h>
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| 41 |
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| 42 | #define PI ((float)3.14159265358979323846)
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| 43 |
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| 44 | using namespace std;
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| 45 | using namespace flair::core;
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| 46 | using namespace flair::gui;
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| 47 | using namespace flair::sensor;
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| 48 | using namespace flair::filter;
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| 49 | using namespace flair::meta;
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| 50 |
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| 51 |
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[122] | 52 | SimpleFleet::SimpleFleet(string broadcast,TargetController *controller): UavStateMachine(controller), behaviourMode(BehaviourMode_t::Default), vrpnLost(false) {
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| 53 | Uav* uav=GetUav();
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| 54 |
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[136] | 55 | VrpnClient* vrpnclient=new VrpnClient("vrpn", uav->GetDefaultVrpnAddress(),80);
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[129] | 56 | uavVrpn = new MetaVrpnObject(uav->ObjectName());
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| 57 | getFrameworkManager()->AddDeviceToLog(uavVrpn);
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| 58 | uav->GetAhrs()->YawPlot()->AddCurve(uavVrpn->State()->Element(2),DataPlot::Green);
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| 59 | vrpnclient->Start();
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[33] | 60 |
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[122] | 61 | circle=new TrajectoryGenerator2DCircle(vrpnclient->GetLayout()->NewRow(),"circle");
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| 62 | uavVrpn->xPlot()->AddCurve(circle->Matrix()->Element(0,0),0,0,255);
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| 63 | uavVrpn->yPlot()->AddCurve(circle->Matrix()->Element(0,1),0,0,255);
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| 64 | uavVrpn->VxPlot()->AddCurve(circle->Matrix()->Element(1,0),0,0,255);
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| 65 | uavVrpn->VyPlot()->AddCurve(circle->Matrix()->Element(1,1),0,0,255);
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[33] | 66 |
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[122] | 67 | xCircleCenter=new DoubleSpinBox(vrpnclient->GetLayout()->NewRow(),"x circle center"," m",-5,5,0.1,1,0);
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| 68 | yCircleCenter=new DoubleSpinBox(vrpnclient->GetLayout()->NewRow(),"y circle center"," m",-5,5,0.1,1,0);
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| 69 | yDisplacement=new DoubleSpinBox(vrpnclient->GetLayout()->NewRow(),"y displacement"," m",0,2,0.1,1,0);
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[33] | 70 |
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| 71 | //parent->AddDeviceToLog(Uz());
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| 72 |
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| 73 | u_x=new Pid(setupLawTab->At(1,0),"u_x");
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| 74 | u_x->UseDefaultPlot(graphLawTab->NewRow());
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| 75 | u_y=new Pid(setupLawTab->At(1,1),"u_y");
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| 76 | u_y->UseDefaultPlot(graphLawTab->LastRowLastCol());
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| 77 |
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[104] | 78 | message=new Socket(uav,"Message",broadcast,true);
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[33] | 79 |
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| 80 | customReferenceOrientation= new AhrsData(this,"reference");
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| 81 | uav->GetAhrs()->AddPlot(customReferenceOrientation,DataPlot::Yellow);
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| 82 | AddDataToControlLawLog(customReferenceOrientation);
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| 83 |
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| 84 | customOrientation=new AhrsData(this,"orientation");
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| 85 | /*
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| 86 | //check init conditions
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| 87 | Vector3D uav_pos;
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| 88 | Euler vrpn_euler;
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| 89 | GetVrpnObject()->GetPosition(uav_pos);
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| 90 | GetVrpnObject()->GetEuler(vrpn_euler);
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| 91 |
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| 92 | if(name=="x8_0") {
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| 93 | //x8_0 should be on the left, with 0 yaw
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| 94 | if(uav_pos.y>yCircleCenter->Value() || vrpn_euler.yaw>20 || vrpn_euler.yaw<-20) Thread::Err("wrong init position\n");
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| 95 | }
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| 96 | if(name=="x8_1") {
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| 97 | //x8_1 should be on the right, with 180 yaw
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| 98 | if(uav_pos.y<yCircleCenter->Value() || (vrpn_euler.yaw<160 && vrpn_euler.yaw>-160)) Thread::Err("wrong init position %f %f\n",yCircleCenter->Value(),vrpn_euler.yaw);
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| 99 | }
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| 100 | */
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| 101 | }
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| 102 |
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| 103 | SimpleFleet::~SimpleFleet() {
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| 104 | }
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| 105 |
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| 106 | const AhrsData *SimpleFleet::GetOrientation(void) const {
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| 107 | //get yaw from vrpn
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[135] | 108 | Quaternion vrpnQuaternion;
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| 109 | uavVrpn->GetQuaternion(vrpnQuaternion);
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[33] | 110 |
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| 111 | //get roll, pitch and w from imu
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| 112 | Quaternion ahrsQuaternion;
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| 113 | Vector3D ahrsAngularSpeed;
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| 114 | GetDefaultOrientation()->GetQuaternionAndAngularRates(ahrsQuaternion, ahrsAngularSpeed);
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| 115 |
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| 116 | Euler ahrsEuler=ahrsQuaternion.ToEuler();
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[135] | 117 | ahrsEuler.yaw=vrpnQuaternion.ToEuler().yaw;
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[33] | 118 | Quaternion mixQuaternion=ahrsEuler.ToQuaternion();
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| 119 |
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| 120 | customOrientation->SetQuaternionAndAngularRates(mixQuaternion,ahrsAngularSpeed);
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| 121 |
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| 122 | return customOrientation;
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| 123 | }
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| 124 |
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| 125 | void SimpleFleet::AltitudeValues(float &z,float &dz) const {
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| 126 | Vector3D uav_pos,uav_vel;
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| 127 |
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[122] | 128 | uavVrpn->GetPosition(uav_pos);
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| 129 | uavVrpn->GetSpeed(uav_vel);
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[33] | 130 | //z and dz must be in uav's frame
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| 131 | z=-uav_pos.z;
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| 132 | dz=-uav_vel.z;
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| 133 | }
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| 134 |
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| 135 | const AhrsData *SimpleFleet::GetReferenceOrientation(void) {
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| 136 | Vector2D pos_err, vel_err; // in uav coordinate system
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| 137 | float yaw_ref;
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| 138 | Euler refAngles;
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| 139 |
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| 140 | PositionValues(pos_err, vel_err, yaw_ref);
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| 141 |
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| 142 | refAngles.yaw=yaw_ref;
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| 143 |
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| 144 | u_x->SetValues(pos_err.x, vel_err.x);
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| 145 | u_x->Update(GetTime());
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| 146 | refAngles.pitch=u_x->Output();
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| 147 |
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| 148 | u_y->SetValues(pos_err.y, vel_err.y);
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| 149 | u_y->Update(GetTime());
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| 150 | refAngles.roll=-u_y->Output();
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| 151 |
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| 152 | customReferenceOrientation->SetQuaternionAndAngularRates(refAngles.ToQuaternion(),Vector3D(0,0,0));
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| 153 |
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| 154 | return customReferenceOrientation;
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| 155 | }
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| 156 |
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| 157 | void SimpleFleet::PositionValues(Vector2D &pos_error,Vector2D &vel_error,float &yaw_ref) {
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| 158 | Vector3D uav_pos,uav_vel; // in VRPN coordinate system
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| 159 | Vector2D uav_2Dpos,uav_2Dvel; // in VRPN coordinate system
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| 160 |
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[122] | 161 | uavVrpn->GetPosition(uav_pos);
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| 162 | uavVrpn->GetSpeed(uav_vel);
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[33] | 163 |
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| 164 | uav_pos.To2Dxy(uav_2Dpos);
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| 165 | uav_vel.To2Dxy(uav_2Dvel);
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| 166 |
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| 167 | if (behaviourMode==BehaviourMode_t::PositionHold1 || behaviourMode==BehaviourMode_t::PositionHold2
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| 168 | || behaviourMode==BehaviourMode_t::PositionHold3 || behaviourMode==BehaviourMode_t::PositionHold4) {
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[135] | 169 | pos_error=uav_2Dpos-posHold;
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[33] | 170 | vel_error=uav_2Dvel;
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[135] | 171 | yaw_ref=yawHold;
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[33] | 172 | } else { //Circle
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| 173 | Vector2D circle_pos,circle_vel;
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| 174 | Vector2D target_2Dpos;
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| 175 |
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| 176 | //circle center
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| 177 | target_2Dpos.x=xCircleCenter->Value();
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| 178 | target_2Dpos.y=yCircleCenter->Value();
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| 179 | circle->SetCenter(target_2Dpos);
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| 180 |
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| 181 | //circle reference
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| 182 | circle->Update(GetTime());
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| 183 | circle->GetPosition(circle_pos);
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| 184 | circle->GetSpeed(circle_vel);
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| 185 |
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| 186 | //error in optitrack frame
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| 187 | pos_error=uav_2Dpos-circle_pos;
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| 188 | vel_error=uav_2Dvel-circle_vel;
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| 189 | yaw_ref=PI/2+atan2(uav_pos.y-target_2Dpos.y,uav_pos.x-target_2Dpos.x);
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| 190 | }
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| 191 | //error in uav frame
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| 192 | Quaternion currentQuaternion=GetCurrentQuaternion();
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| 193 | Euler currentAngles;//in vrpn frame
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| 194 | currentQuaternion.ToEuler(currentAngles);
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| 195 | pos_error.Rotate(-currentAngles.yaw);
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| 196 | vel_error.Rotate(-currentAngles.yaw);
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| 197 | }
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| 198 |
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| 199 | void SimpleFleet::SignalEvent(Event_t event) {
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| 200 | UavStateMachine::SignalEvent(event);
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| 201 |
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| 202 | switch(event) {
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| 203 | case Event_t::EmergencyStop:
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| 204 | message->SendMessage("EmergencyStop");
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| 205 | break;
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| 206 | case Event_t::TakingOff:
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| 207 | //behaviourMode=BehaviourMode_t::Default;
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| 208 | message->SendMessage("TakeOff");
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| 209 | VrpnPositionHold();
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| 210 | behaviourMode=BehaviourMode_t::PositionHold1;
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| 211 | break;
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| 212 | case Event_t::StartLanding:
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| 213 | VrpnPositionHold();
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| 214 | behaviourMode=BehaviourMode_t::PositionHold4;
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| 215 | message->SendMessage("Landing");
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| 216 | break;
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| 217 | case Event_t::EnteringControlLoop:
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| 218 | CheckMessages();
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| 219 | if ((behaviourMode==BehaviourMode_t::Circle1) && (!circle->IsRunning())) {
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| 220 | VrpnPositionHold();
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| 221 | behaviourMode=BehaviourMode_t::PositionHold2;
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[135] | 222 | if(posHold.y<0) {
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| 223 | posHold.y-=yDisplacement->Value();
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[33] | 224 | } else {
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[135] | 225 | posHold.y+=yDisplacement->Value();
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[33] | 226 | }
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| 227 | posWait=GetTime();
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| 228 | Printf("Circle1 -> PositionHold2\n");
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| 229 | }
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| 230 | if (behaviourMode==BehaviourMode_t::PositionHold2 && GetTime()>(posWait+3*(Time)1000000000)) {
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| 231 | behaviourMode=BehaviourMode_t::PositionHold3;
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[135] | 232 | if(posHold.y<0) {
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| 233 | posHold.y+=yDisplacement->Value();
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[33] | 234 | } else {
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[135] | 235 | posHold.y-=yDisplacement->Value();
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[33] | 236 | }
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| 237 | posWait=GetTime();
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| 238 | Printf("PositionHold2 -> PositionHold3\n");
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| 239 | }
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| 240 | if (behaviourMode==BehaviourMode_t::PositionHold3 && GetTime()>(posWait+3*(Time)1000000000)) {
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| 241 | behaviourMode=BehaviourMode_t::Circle2;
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| 242 | StartCircle();
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| 243 | Printf("PositionHold3 -> Circle2\n");
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| 244 | }
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| 245 | if ((behaviourMode==BehaviourMode_t::Circle2) && (!circle->IsRunning())) {
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| 246 | Printf("Circle2 -> Land\n");
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| 247 | behaviourMode=BehaviourMode_t::PositionHold4;
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| 248 | Land();
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| 249 | }
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| 250 |
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| 251 | break;
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| 252 | case Event_t::EnteringFailSafeMode:
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| 253 | behaviourMode=BehaviourMode_t::Default;
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| 254 | break;
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| 255 | case Event_t::ZTrajectoryFinished:
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| 256 | Printf("PositionHold1 -> Circle1\n");
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| 257 | StartCircle();
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| 258 | behaviourMode=BehaviourMode_t::Circle1;
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| 259 | break;
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| 260 | }
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| 261 | }
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| 262 |
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| 263 | void SimpleFleet::CheckMessages(void) {
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| 264 | char msg[64];
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| 265 | char src[64];
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| 266 | size_t src_size=sizeof(src);
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| 267 | while(message->RecvMessage(msg,sizeof(msg),TIME_NONBLOCK,src,&src_size)>0) {
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| 268 | //printf("%s %s\n",GetUav()->ObjectName().c_str(),src);
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| 269 | if(strcmp(src,GetUav()->ObjectName().c_str())!=0) {
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| 270 | /*
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| 271 | if(strcmp(msg,"StopMotors")==0 && orientation_state!=OrientationState_t::Stopped)
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| 272 | {
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| 273 | joy->FlashLed(DualShock3::led1,10,10);
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| 274 | joy->Rumble(0x70);
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| 275 | GetBldc()->SetEnabled(false);
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| 276 | GetUavMultiplex()->UnlockUserInterface();
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| 277 | altitude_state=AltitudeState_t::Stopped;
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| 278 | orientation_state=OrientationState_t::Stopped;
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| 279 | GetAhrs()->UnlockUserInterface();
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| 280 | }
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| 281 | */
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| 282 | if(strcmp(msg,"TakeOff")==0) {
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| 283 | Printf("TakeOff fleet\n");
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| 284 | TakeOff();
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| 285 | }
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| 286 | if(strcmp(msg,"Landing")==0) {
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| 287 | Printf("Landing fleet\n");
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| 288 | Land();
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| 289 | }
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| 290 | if(strcmp(msg,"EmergencyStop")==0) {
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| 291 | Printf("EmergencyStop fleet\n");
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| 292 | EmergencyStop();
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| 293 | }
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| 294 | }
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| 295 | }
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| 296 | }
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| 297 |
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| 298 | void SimpleFleet::ExtraSecurityCheck(void) {
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| 299 | if (!vrpnLost && behaviourMode!=BehaviourMode_t::Default) {
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[122] | 300 | if (!uavVrpn->IsTracked(500)) {
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[33] | 301 | Thread::Err("Optitrack, uav lost\n");
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| 302 | vrpnLost=true;
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| 303 | EnterFailSafeMode();
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| 304 | Land();
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| 305 | }
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| 306 | }
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| 307 | }
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| 308 |
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| 309 | void SimpleFleet::ExtraCheckJoystick(void) {
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| 310 |
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| 311 | }
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| 312 |
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| 313 | void SimpleFleet::StartCircle(void) {
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| 314 | if (SetOrientationMode(OrientationMode_t::Custom)) {
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| 315 | Thread::Info("Demo flotte: start circle\n");
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| 316 | } else {
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| 317 | Thread::Warn("Demo flotte: could not start circle\n");
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| 318 | return;
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| 319 | }
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| 320 | Vector3D uav_pos;
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| 321 | Vector2D uav_2Dpos,target_2Dpos;
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| 322 |
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| 323 | //circle center
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| 324 | target_2Dpos.x=xCircleCenter->Value();
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| 325 | target_2Dpos.y=yCircleCenter->Value();
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| 326 | circle->SetCenter(target_2Dpos);
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| 327 |
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[122] | 328 | uavVrpn->GetPosition(uav_pos);
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[33] | 329 | uav_pos.To2Dxy(uav_2Dpos);
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| 330 | circle->StartTraj(uav_2Dpos,1);
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| 331 |
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| 332 | u_x->Reset();
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| 333 | u_y->Reset();
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| 334 | }
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| 335 |
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| 336 | void SimpleFleet::StopCircle(void) {
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| 337 | circle->FinishTraj();
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| 338 | //joy->Rumble(0x70);
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| 339 | Thread::Info("Demo flotte: finishing circle\n");
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| 340 | }
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| 341 |
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| 342 | void SimpleFleet::VrpnPositionHold(void) {
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[135] | 343 | if (SetOrientationMode(OrientationMode_t::Custom)) {
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[33] | 344 | Thread::Info("Demo flotte: holding position\n");
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| 345 | } else {
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| 346 | Thread::Info("Demo flotte: could not hold position\n");
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| 347 | //return;
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[135] | 348 | }
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| 349 |
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| 350 | Quaternion vrpnQuaternion;
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| 351 | uavVrpn->GetQuaternion(vrpnQuaternion);
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| 352 | yawHold=vrpnQuaternion.ToEuler().yaw;
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[33] | 353 |
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[135] | 354 | Vector3D vrpnPosition;
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| 355 | uavVrpn->GetPosition(vrpnPosition);
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| 356 | vrpnPosition.To2Dxy(posHold);
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[33] | 357 |
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| 358 | u_x->Reset();
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| 359 | u_y->Reset();
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| 360 | }
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