source: flair-src/trunk/lib/FlairSimulator/src/X4.cpp@ 225

Last change on this file since 225 was 214, checked in by Sanahuja Guillaume, 7 years ago

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1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5// created: 2012/08/21
6// filename: X4.cpp
7//
8// author: Osamah Saif, Guillaume Sanahuja
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
13// purpose: classe definissant un x4
14//
15/*********************************************************************/
16
17#include "X4.h"
18#include <SimuBldc.h>
19#include <TabWidget.h>
20#include <Tab.h>
21#include <DoubleSpinBox.h>
22#include <SpinBox.h>
23#include <GroupBox.h>
24#include <math.h>
25#ifdef GL
26#include <ISceneManager.h>
27#include "Blade.h"
28#include "MeshSceneNode.h"
29#include "Gui.h"
30#include <Mutex.h>
31#endif
32
33#define K_MOT 0.4f // blade animation
34#define G (float)9.81 // gravity ( N/(m/s²) )
35
36#ifdef GL
37using namespace irr::video;
38using namespace irr::scene;
39using namespace irr::core;
40#endif
41using namespace flair::core;
42using namespace flair::gui;
43using namespace flair::actuator;
44
45namespace flair {
46namespace simulator {
47
48X4::X4(std::string name, uint32_t modelId)
49 : Model(name,modelId) {
50 Tab *setup_tab = new Tab(GetTabWidget(), "model");
51 m = new DoubleSpinBox(setup_tab->NewRow(), "mass (kg):", 0, 20, 0.1);
52 arm_length = new DoubleSpinBox(setup_tab->LastRowLastCol(), "arm length (m):",
53 0, 2, 0.1);
54 // l_cg=new DoubleSpinBox(setup_tab,"position G
55 // (m):",0,2,-0.5,0.5,0.02);//position du centre de gravité/centre de poussé
56 k_mot =
57 new DoubleSpinBox(setup_tab->NewRow(), "k_mot:", 0, 1, 0.001,
58 3); // vitesse rotation² (unité arbitraire) -> force (N)
59 c_mot = new DoubleSpinBox(
60 setup_tab->LastRowLastCol(), "c_mot:", 0, 1, 0.001,
61 3); // vitesse rotation moteur -> couple (N.m/unité arbitraire)
62 f_air_vert = new DoubleSpinBox(setup_tab->NewRow(), "f_air_vert:", 0, 10,
63 1); // frottements air depl. vertical, aussi
64 // utilisé pour les rotations ( N/(m/s) )
65 // (du aux helices en rotation)
66 f_air_lat =
67 new DoubleSpinBox(setup_tab->LastRowLastCol(), "f_air_lat:", 0, 10,
68 1); // frottements air deplacements lateraux ( N/(m/s) )
69 j_roll = new DoubleSpinBox(setup_tab->NewRow(), "j_roll:", 0, 1, 0.001,
70 5); // moment d'inertie d'un axe (N.m.s²/rad)
71 j_pitch =
72 new DoubleSpinBox(setup_tab->LastRowLastCol(), "j_pitch:", 0, 1, 0.001,
73 5); // moment d'inertie d'un axe (N.m.s²/rad)
74 j_yaw = new DoubleSpinBox(setup_tab->LastRowLastCol(), "j_yaw:", 0, 1, 0.001,
75 5); // moment d'inertie d'un axe (N.m.s²/rad)
76
77 motorTimeout = new SpinBox(setup_tab->NewRow(), "motor timeout:","ms", 0, 1000, 100,100);
78
79 motors = new SimuBldc(this, name, 4, modelId,0);
80
81 SetIsReady(true);
82}
83
84X4::~X4() {
85 // les objets irrlicht seront automatiquement detruits (moteurs, helices,
86 // pales) par parenté
87}
88
89#ifdef GL
90
91void X4::Draw(void) {
92 // create unite (1m=100cm) UAV; scale will be adapted according to arm_length
93 // parameter
94 // note that the frame used is irrlicht one:
95 // left handed, North East Up
96 const IGeometryCreator *geo;
97 geo = getGui()->getSceneManager()->getGeometryCreator();
98
99 // cylinders are aligned with y axis
100 IMesh *red_arm = geo->createCylinderMesh(2.5, 100, 16, SColor(0, 255, 0, 0));
101 IMesh *black_arm = geo->createCylinderMesh(2.5, 100, 16, SColor(0, 128, 128, 128));
102 IMesh *motor = geo->createCylinderMesh(7.5, 15, 16); //,SColor(0, 128, 128, 128));
103 // geo->drop();
104
105 ITexture *texture = getGui()->getTexture("carbone.jpg");
106 MeshSceneNode *fl_arm = new MeshSceneNode(this, red_arm, vector3df(0, 0, 0),
107 vector3df(0, 0, -135));
108 MeshSceneNode *fr_arm = new MeshSceneNode(this, red_arm, vector3df(0, 0, 0),
109 vector3df(0, 0, -45));
110 MeshSceneNode *rl_arm = new MeshSceneNode(this, black_arm, vector3df(0, 0, 0),
111 vector3df(0, 0, 135), texture);
112 MeshSceneNode *rr_arm = new MeshSceneNode(this, black_arm, vector3df(0, 0, 0),
113 vector3df(0, 0, 45), texture);
114
115 texture = getGui()->getTexture("metal047.jpg");
116 MeshSceneNode *fl_motor = new MeshSceneNode(this, motor, vector3df(70.71, -70.71, 2.5),
117 vector3df(90, 0, 0), texture);
118 MeshSceneNode *fr_motor = new MeshSceneNode(this, motor, vector3df(70.71, 70.71, 2.5),
119 vector3df(90, 0, 0), texture);
120 MeshSceneNode *rl_motor = new MeshSceneNode(this, motor, vector3df(-70.71, -70.71, 2.5),
121 vector3df(90, 0, 0), texture);
122 MeshSceneNode *rr_motor = new MeshSceneNode(this, motor, vector3df(-70.71, 70.71, 2.5),
123 vector3df(90, 0, 0), texture);
124
125 fl_blade = new Blade(this, vector3df(70.71, -70.71, 17.5));
126 fr_blade = new Blade(this, vector3df(70.71, 70.71, 17.5), true);
127 rl_blade = new Blade(this, vector3df(-70.71, -70.71, 17.5), true);
128 rr_blade = new Blade(this, vector3df(-70.71, 70.71, 17.5));
129
130 motor_speed_mutex = new Mutex(this);
131 for (int i = 0; i < 4; i++)
132 motor_speed[i] = 0;
133 ExtraDraw();
134}
135
136void X4::AnimateModel(void) {
137 motor_speed_mutex->GetMutex();
138 fl_blade->SetRotationSpeed(K_MOT * motor_speed[0]);
139 fr_blade->SetRotationSpeed(-K_MOT * motor_speed[1]);
140 rl_blade->SetRotationSpeed(-K_MOT * motor_speed[2]);
141 rr_blade->SetRotationSpeed(K_MOT * motor_speed[3]);
142 motor_speed_mutex->ReleaseMutex();
143
144 // adapt UAV size
145 if (arm_length->ValueChanged() == true) {
146 setScale(arm_length->Value());
147 }
148}
149
150size_t X4::dbtSize(void) const {
151 return 6 * sizeof(float) + 4 * sizeof(float); // 6ddl+4helices
152}
153
154void X4::WritedbtBuf(
155 char *dbtbuf) { /*
156 float *buf=(float*)dbtbuf;
157 vector3df vect=getPosition();
158 memcpy(buf,&vect.X,sizeof(float));
159 buf++;
160 memcpy(buf,&vect.Y,sizeof(float));
161 buf++;
162 memcpy(buf,&vect.Z,sizeof(float));
163 buf++;
164 vect=getRotation();
165 memcpy(buf,&vect.X,sizeof(float));
166 buf++;
167 memcpy(buf,&vect.Y,sizeof(float));
168 buf++;
169 memcpy(buf,&vect.Z,sizeof(float));
170 buf++;
171 memcpy(buf,&motors,sizeof(rtsimu_motors));*/
172}
173
174void X4::ReaddbtBuf(
175 char *dbtbuf) { /*
176 float *buf=(float*)dbtbuf;
177 vector3df vect;
178 memcpy(&vect.X,buf,sizeof(float));
179 buf++;
180 memcpy(&vect.Y,buf,sizeof(float));
181 buf++;
182 memcpy(&vect.Z,buf,sizeof(float));
183 buf++;
184 setPosition(vect);
185 memcpy(&vect.X,buf,sizeof(float));
186 buf++;
187 memcpy(&vect.Y,buf,sizeof(float));
188 buf++;
189 memcpy(&vect.Z,buf,sizeof(float));
190 buf++;
191 ((ISceneNode*)(this))->setRotation(vect);
192 memcpy(&motors,buf,sizeof(rtsimu_motors));
193 AnimateModele();*/
194}
195#endif // GL
196
197// states are computed on fixed frame NED
198// x north
199// y east
200// z down
201void X4::CalcModel(void) {
202 float fl_speed, fr_speed, rl_speed, rr_speed;
203 float u_roll, u_pitch, u_yaw, u_thrust;
204 Time motorTime;
205#ifdef GL
206 motor_speed_mutex->GetMutex();
207#endif // GL
208 motors->GetSpeeds(motor_speed,&motorTime);
209 if((GetTime()-motorTime)/1000000>motorTimeout->Value()) {
210 for(int i=0;i<4;i++) {
211 if(motor_speed[i]!=0) {
212 //Printf("timout\n");
213 for(int i=0;i<4;i++) motor_speed[i]=0;
214 break;
215 }
216 }
217 }
218#ifdef GL
219 motor_speed_mutex->ReleaseMutex();
220#endif // GL
221
222 fl_speed = motor_speed[0];
223 fr_speed = motor_speed[1];
224 rl_speed = motor_speed[2];
225 rr_speed = motor_speed[3];
226
227 /*
228 ** ===================================================================
229 ** u roll: roll torque
230 **
231 ** ===================================================================
232 */
233 u_roll = arm_length->Value() * k_mot->Value() *
234 (fl_speed * fl_speed + rl_speed * rl_speed - fr_speed * fr_speed -
235 rr_speed * rr_speed) *
236 sqrtf(2) / 2;
237
238 /// Classical Nonlinear model of a quadrotor ( This is the w_x angular speed
239 /// of the quadri in the body frame). It is a discrete integrator
240 state[0].W.x =
241 (dT() / j_roll->Value()) *
242 ((j_yaw->Value() - j_pitch->Value()) * state[-1].W.y * state[-1].W.z +
243 u_roll) +
244 state[-1].W.x;
245
246 // u_roll=arm_length->Value()*k_mot->Value()*(fl_speed*fl_speed+rl_speed*rl_speed-fr_speed*fr_speed-rr_speed*rr_speed)*sqrtf(2)/2;
247 // state[0].W.x=(dT()/j_roll->Value())*(u_roll-m->Value()*G*l_cg->Value()*sinf(state[-2].W.x)-f_air_vert->Value()*arm_length->Value()*arm_length->Value()*state[-1].W.x)+state[-1].W.x;
248
249 /*
250 ** ===================================================================
251 ** u pitch : pitch torque
252 **
253 ** ===================================================================
254 */
255 u_pitch = arm_length->Value() * k_mot->Value() *
256 (fl_speed * fl_speed + fr_speed * fr_speed - rl_speed * rl_speed -
257 rr_speed * rr_speed) *
258 sqrtf(2) / 2;
259
260 /// Classical Nonlinear model of a quadrotor ( This is the w_y angular speed
261 /// of the quadri in the body frame). It is a discrete integrator
262 state[0].W.y =
263 (dT() / j_pitch->Value()) *
264 ((j_roll->Value() - j_yaw->Value()) * state[-1].W.x * state[-1].W.z +
265 u_pitch) +
266 state[-1].W.y;
267
268 // u_pitch=arm_length->Value()*k_mot->Value()*(fl_speed*fl_speed+fr_speed*fr_speed-rl_speed*rl_speed-rr_speed*rr_speed)*sqrtf(2)/2;
269 // state[0].W.y=(dT()/j_pitch->Value())*(u_pitch-m->Value()*G*l_cg->Value()*sinf(state[-2].W.y)-f_air_vert->Value()*arm_length->Value()*arm_length->Value()*state[-1].W.y)+state[-1].W.y;
270
271 /*
272 ** ===================================================================
273 ** u yaw : yaw torque
274 **
275 ** ===================================================================
276 */
277 u_yaw = c_mot->Value() * (fl_speed * fl_speed + rr_speed * rr_speed -
278 fr_speed * fr_speed - rl_speed * rl_speed);
279
280 /// Classical Nonlinear model of a quadrotor ( This is the w_z angular speed
281 /// of the quadri in the body frame). It is a discrete integrator
282 state[0].W.z = (dT() / j_yaw->Value()) * u_yaw + state[-1].W.z;
283
284 // u_yaw=c_mot->Value()*(fl_speed*fl_speed+rr_speed*rr_speed-fr_speed*fr_speed-rl_speed*rl_speed);
285 // state[0].W.z=(dT()/j_yaw->Value())*(u_yaw-f_air_lat->Value()*state[-1].W.z)+state[-1].W.z;
286
287 // compute quaternion from W
288 // Quaternion derivative: dQ = 0.5*(Q*Qw)
289 Quaternion dQ = state[-1].Quat.GetDerivative(state[0].W);
290
291 // Quaternion integration
292 state[0].Quat = state[-1].Quat + dQ * dT();
293 state[0].Quat.Normalize();
294
295 // Calculation of the thrust from the reference speed of motors
296 u_thrust = k_mot->Value() * (fl_speed * fl_speed + fr_speed * fr_speed +
297 rl_speed * rl_speed + rr_speed * rr_speed);
298 Vector3D<double> vect(0, 0, -u_thrust);
299 vect.Rotate(state[0].Quat);
300
301 /*
302 ** ===================================================================
303 ** x double integrator
304 **
305 ** ===================================================================
306 */
307
308 state[0].Pos.x =
309 (dT() * dT() / m->Value()) *
310 (vect.x - f_air_lat->Value() * (state[-1].Pos.x - state[-2].Pos.x) / dT()) +
311 2 * state[-1].Pos.x - state[-2].Pos.x;
312 state[0].Vel.x = (state[0].Pos.x - state[-1].Pos.x) / dT();
313
314 /*
315 ** ===================================================================
316 ** y double integrator
317 **
318 ** ===================================================================
319 */
320 state[0].Pos.y =
321 (dT() * dT() / m->Value()) *
322 (vect.y -
323 f_air_lat->Value() * (state[-1].Pos.y - state[-2].Pos.y) / dT()) +
324 2 * state[-1].Pos.y - state[-2].Pos.y;
325 state[0].Vel.y = (state[0].Pos.y - state[-1].Pos.y) / dT();
326
327 /*
328 ** ===================================================================
329 ** z double integrator
330 **
331 ** ===================================================================
332 */
333 state[0].Pos.z =
334 (dT() * dT() / m->Value()) *
335 (vect.z +
336 f_air_vert->Value() * (state[-1].Pos.z - state[-2].Pos.z) / dT() +
337 m->Value() * G) +
338 2 * state[-1].Pos.z - state[-2].Pos.z;
339 state[0].Vel.z = (state[0].Pos.z - state[-1].Pos.z) / dT();
340
341#ifndef GL
342 if (state[0].Pos.z < 0)
343 state[0].Pos.z = 0;
344#endif
345}
346
347} // end namespace simulator
348} // end namespace flair
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