source: flair-src/trunk/lib/FlairSimulator/src/X4.cpp@ 382

Last change on this file since 382 was 370, checked in by Sanahuja Guillaume, 4 years ago

add abilitiy to change x4 and x8 arm color from ground station
File size: 13.5 KB
Line 
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 <IMeshManipulator.h>
28#include "Blade.h"
29#include "MeshSceneNode.h"
30#include "Gui.h"
31#include <Mutex.h>
32#endif
33
34#define K_MOT 0.4f // blade animation
35#define G (float)9.81 // gravity ( N/(m/s²) )
36
37#ifdef GL
38using namespace irr::video;
39using namespace irr::scene;
40using namespace irr::core;
41#endif
42using namespace flair::core;
43using namespace flair::gui;
44using namespace flair::actuator;
45
46namespace flair {
47namespace simulator {
48
49X4::X4(std::string name, uint32_t modelId)
50 : Model(name,modelId) {
51 Tab *setup_tab = new Tab(GetTabWidget(), "model");
52 m = new DoubleSpinBox(setup_tab->NewRow(), "mass (kg):", 0, 20, 0.1);
53 arm_length = new DoubleSpinBox(setup_tab->LastRowLastCol(), "arm length (m):",
54 0, 2, 0.1);
55 // l_cg=new DoubleSpinBox(setup_tab,"position G
56 // (m):",0,2,-0.5,0.5,0.02);//position du centre de gravité/centre de poussé
57 k_mot =
58 new DoubleSpinBox(setup_tab->NewRow(), "k_mot:", 0, 1, 0.001,
59 3); // vitesse rotation² (unité arbitraire) -> force (N)
60 c_mot = new DoubleSpinBox(
61 setup_tab->LastRowLastCol(), "c_mot:", 0, 1, 0.001,
62 3); // vitesse rotation moteur -> couple (N.m/unité arbitraire)
63 f_air_vert = new DoubleSpinBox(setup_tab->NewRow(), "f_air_vert:", 0, 10,
64 1); // frottements air depl. vertical, aussi
65 // utilisé pour les rotations ( N/(m/s) )
66 // (du aux helices en rotation)
67 f_air_lat =
68 new DoubleSpinBox(setup_tab->LastRowLastCol(), "f_air_lat:", 0, 10,
69 1); // frottements air deplacements lateraux ( N/(m/s) )
70 j_roll = new DoubleSpinBox(setup_tab->NewRow(), "j_roll:", 0, 1, 0.001,
71 5); // moment d'inertie d'un axe (N.m.s²/rad)
72 j_pitch =
73 new DoubleSpinBox(setup_tab->LastRowLastCol(), "j_pitch:", 0, 1, 0.001,
74 5); // moment d'inertie d'un axe (N.m.s²/rad)
75 j_yaw = new DoubleSpinBox(setup_tab->LastRowLastCol(), "j_yaw:", 0, 1, 0.001,
76 5); // moment d'inertie d'un axe (N.m.s²/rad)
77
78 motorTimeout = new SpinBox(setup_tab->NewRow(), "motor timeout:","ms", 0, 1000, 100,100);
79
80 Tab *visual_tab = new Tab(GetTabWidget(), "visual");
81 armColorR = new SpinBox(visual_tab->NewRow(), "arm color (R):", 0, 255, 1,255);
82 armColorG = new SpinBox(visual_tab->LastRowLastCol(), "arm color (G):", 0, 255, 1,0);
83 armColorB = new SpinBox(visual_tab->LastRowLastCol(), "arm color (B):", 0, 255, 1,0);
84
85 motors = new SimuBldc(this, name, 4, modelId,0);
86
87 SetIsReady(true);
88}
89
90X4::~X4() {
91 // les objets irrlicht seront automatiquement detruits (moteurs, helices,
92 // pales) par parenté
93}
94
95#ifdef GL
96
97void X4::Draw(void) {
98 // create unite (1m=100cm) UAV; scale will be adapted according to arm_length
99 // parameter
100 // note that the frame used is irrlicht one:
101 // left handed, North East Up
102 const IGeometryCreator *geo;
103 geo = getGui()->getSceneManager()->getGeometryCreator();
104
105 // cylinders are aligned with y axis
106 colored_arm = geo->createCylinderMesh(2.5, 100, 16, SColor(0, armColorR->Value(), armColorG->Value(), armColorB->Value()));
107 IMesh *black_arm = geo->createCylinderMesh(2.5, 100, 16, SColor(0, 128, 128, 128));
108 IMesh *motor = geo->createCylinderMesh(7.5, 15, 16); //,SColor(0, 128, 128, 128));
109 // geo->drop();
110
111 ITexture *texture = getGui()->getTexture("carbone.jpg");
112 MeshSceneNode *fl_arm = new MeshSceneNode(this, colored_arm, vector3df(0, 0, 0),
113 vector3df(0, 0, -135));
114 MeshSceneNode *fr_arm = new MeshSceneNode(this, colored_arm, vector3df(0, 0, 0),
115 vector3df(0, 0, -45));
116 MeshSceneNode *rl_arm = new MeshSceneNode(this, black_arm, vector3df(0, 0, 0),
117 vector3df(0, 0, 135), texture);
118 MeshSceneNode *rr_arm = new MeshSceneNode(this, black_arm, vector3df(0, 0, 0),
119 vector3df(0, 0, 45), texture);
120
121 texture = getGui()->getTexture("metal047.jpg");
122 MeshSceneNode *fl_motor = new MeshSceneNode(this, motor, vector3df(70.71, -70.71, 2.5),
123 vector3df(90, 0, 0), texture);
124 MeshSceneNode *fr_motor = new MeshSceneNode(this, motor, vector3df(70.71, 70.71, 2.5),
125 vector3df(90, 0, 0), texture);
126 MeshSceneNode *rl_motor = new MeshSceneNode(this, motor, vector3df(-70.71, -70.71, 2.5),
127 vector3df(90, 0, 0), texture);
128 MeshSceneNode *rr_motor = new MeshSceneNode(this, motor, vector3df(-70.71, 70.71, 2.5),
129 vector3df(90, 0, 0), texture);
130
131 fl_blade = new Blade(this, vector3df(70.71, -70.71, 17.5));
132 fr_blade = new Blade(this, vector3df(70.71, 70.71, 17.5), vector3df(0, 0, 0),true);
133 rl_blade = new Blade(this, vector3df(-70.71, -70.71, 17.5), vector3df(0, 0, 0),true);
134 rr_blade = new Blade(this, vector3df(-70.71, 70.71, 17.5));
135
136 motor_speed_mutex = new Mutex(this);
137 for (int i = 0; i < 4; i++)
138 motor_speed[i] = 0;
139 ExtraDraw();
140}
141
142void X4::AnimateModel(void) {
143 motor_speed_mutex->GetMutex();
144 fl_blade->SetRotationSpeed(K_MOT *vector3df(0, 0, motor_speed[0]));
145 fr_blade->SetRotationSpeed(-K_MOT *vector3df(0, 0, motor_speed[1]));
146 rl_blade->SetRotationSpeed(-K_MOT *vector3df(0, 0, motor_speed[2]));
147 rr_blade->SetRotationSpeed(K_MOT *vector3df(0, 0, motor_speed[3]));
148 motor_speed_mutex->ReleaseMutex();
149
150 if (armColorR->ValueChanged() == true || armColorG->ValueChanged() == true || armColorB->ValueChanged() == true) {
151 getGui()->getSceneManager()->getMeshManipulator()->setVertexColors(colored_arm, SColor(0,armColorR->Value(), armColorG->Value(), armColorB->Value()));
152 }
153
154 // adapt UAV size
155 if (arm_length->ValueChanged() == true) {
156 setScale(arm_length->Value());
157 }
158}
159
160size_t X4::dbtSize(void) const {
161 return 6 * sizeof(float) + 4 * sizeof(float); // 6ddl+4helices
162}
163
164void X4::WritedbtBuf(
165 char *dbtbuf) { /*
166 float *buf=(float*)dbtbuf;
167 vector3df vect=getPosition();
168 memcpy(buf,&vect.X,sizeof(float));
169 buf++;
170 memcpy(buf,&vect.Y,sizeof(float));
171 buf++;
172 memcpy(buf,&vect.Z,sizeof(float));
173 buf++;
174 vect=getRotation();
175 memcpy(buf,&vect.X,sizeof(float));
176 buf++;
177 memcpy(buf,&vect.Y,sizeof(float));
178 buf++;
179 memcpy(buf,&vect.Z,sizeof(float));
180 buf++;
181 memcpy(buf,&motors,sizeof(rtsimu_motors));*/
182}
183
184void X4::ReaddbtBuf(
185 char *dbtbuf) { /*
186 float *buf=(float*)dbtbuf;
187 vector3df vect;
188 memcpy(&vect.X,buf,sizeof(float));
189 buf++;
190 memcpy(&vect.Y,buf,sizeof(float));
191 buf++;
192 memcpy(&vect.Z,buf,sizeof(float));
193 buf++;
194 setPosition(vect);
195 memcpy(&vect.X,buf,sizeof(float));
196 buf++;
197 memcpy(&vect.Y,buf,sizeof(float));
198 buf++;
199 memcpy(&vect.Z,buf,sizeof(float));
200 buf++;
201 ((ISceneNode*)(this))->setRotation(vect);
202 memcpy(&motors,buf,sizeof(rtsimu_motors));
203 AnimateModele();*/
204}
205#endif // GL
206
207// states are computed on fixed frame NED
208// x north
209// y east
210// z down
211void X4::CalcModel(void) {
212 float fl_speed, fr_speed, rl_speed, rr_speed;
213 float u_roll, u_pitch, u_yaw, u_thrust;
214 Time motorTime;
215#ifdef GL
216 motor_speed_mutex->GetMutex();
217#endif // GL
218 motors->GetSpeeds(motor_speed,&motorTime);
219 if((GetTime()-motorTime)/1000000>motorTimeout->Value()) {
220 for(int i=0;i<4;i++) {
221 if(motor_speed[i]!=0) {
222 //Printf("timout\n");
223 for(int i=0;i<4;i++) motor_speed[i]=0;
224 break;
225 }
226 }
227 }
228#ifdef GL
229 motor_speed_mutex->ReleaseMutex();
230#endif // GL
231
232 fl_speed = motor_speed[0];
233 fr_speed = motor_speed[1];
234 rl_speed = motor_speed[2];
235 rr_speed = motor_speed[3];
236
237 /*
238 ** ===================================================================
239 ** u roll: roll torque
240 **
241 ** ===================================================================
242 */
243 u_roll = arm_length->Value() * k_mot->Value() *
244 (fl_speed * fl_speed + rl_speed * rl_speed - fr_speed * fr_speed -
245 rr_speed * rr_speed) *
246 sqrtf(2) / 2;
247
248 /// Classical Nonlinear model of a quadrotor ( This is the w_x angular speed
249 /// of the quadri in the body frame). It is a discrete integrator
250 state[0].W.x =
251 (dT() / j_roll->Value()) *
252 ((j_yaw->Value() - j_pitch->Value()) * state[-1].W.y * state[-1].W.z +
253 u_roll) +
254 state[-1].W.x;
255
256 // 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;
257 // 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;
258
259 /*
260 ** ===================================================================
261 ** u pitch : pitch torque
262 **
263 ** ===================================================================
264 */
265 u_pitch = arm_length->Value() * k_mot->Value() *
266 (fl_speed * fl_speed + fr_speed * fr_speed - rl_speed * rl_speed -
267 rr_speed * rr_speed) *
268 sqrtf(2) / 2;
269
270 /// Classical Nonlinear model of a quadrotor ( This is the w_y angular speed
271 /// of the quadri in the body frame). It is a discrete integrator
272 state[0].W.y =
273 (dT() / j_pitch->Value()) *
274 ((j_roll->Value() - j_yaw->Value()) * state[-1].W.x * state[-1].W.z +
275 u_pitch) +
276 state[-1].W.y;
277
278 // 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;
279 // 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;
280
281 /*
282 ** ===================================================================
283 ** u yaw : yaw torque
284 **
285 ** ===================================================================
286 */
287 u_yaw = c_mot->Value() * (fl_speed * fl_speed + rr_speed * rr_speed -
288 fr_speed * fr_speed - rl_speed * rl_speed);
289
290 /// Classical Nonlinear model of a quadrotor ( This is the w_z angular speed
291 /// of the quadri in the body frame). It is a discrete integrator
292 state[0].W.z = (dT() / j_yaw->Value()) * u_yaw + state[-1].W.z;
293
294 // u_yaw=c_mot->Value()*(fl_speed*fl_speed+rr_speed*rr_speed-fr_speed*fr_speed-rl_speed*rl_speed);
295 // state[0].W.z=(dT()/j_yaw->Value())*(u_yaw-f_air_lat->Value()*state[-1].W.z)+state[-1].W.z;
296
297 // compute quaternion from W
298 // Quaternion derivative: dQ = 0.5*(Q*Qw)
299 Quaternion dQ = state[-1].Quat.GetDerivative(state[0].W);
300
301 // Quaternion integration
302 state[0].Quat = state[-1].Quat + dQ * dT();
303 state[0].Quat.Normalize();
304
305 // Calculation of the thrust from the reference speed of motors
306 u_thrust = k_mot->Value() * (fl_speed * fl_speed + fr_speed * fr_speed +
307 rl_speed * rl_speed + rr_speed * rr_speed);
308 Vector3D<double> vect(0, 0, -u_thrust);
309 vect.Rotate(state[0].Quat);
310
311 /*
312 ** ===================================================================
313 ** x double integrator
314 **
315 ** ===================================================================
316 */
317
318 state[0].Pos.x =
319 (dT() * dT() / m->Value()) *
320 (vect.x - f_air_lat->Value() * (state[-1].Pos.x - state[-2].Pos.x) / dT()) +
321 2 * state[-1].Pos.x - state[-2].Pos.x;
322 state[0].Vel.x = (state[0].Pos.x - state[-1].Pos.x) / dT();
323
324 /*
325 ** ===================================================================
326 ** y double integrator
327 **
328 ** ===================================================================
329 */
330 state[0].Pos.y =
331 (dT() * dT() / m->Value()) *
332 (vect.y -
333 f_air_lat->Value() * (state[-1].Pos.y - state[-2].Pos.y) / dT()) +
334 2 * state[-1].Pos.y - state[-2].Pos.y;
335 state[0].Vel.y = (state[0].Pos.y - state[-1].Pos.y) / dT();
336
337 /*
338 ** ===================================================================
339 ** z double integrator
340 **
341 ** ===================================================================
342 */
343 state[0].Pos.z =
344 (dT() * dT() / m->Value()) *
345 (vect.z +
346 f_air_vert->Value() * (state[-1].Pos.z - state[-2].Pos.z) / dT() +
347 m->Value() * G) +
348 2 * state[-1].Pos.z - state[-2].Pos.z;
349 state[0].Vel.z = (state[0].Pos.z - state[-1].Pos.z) / dT();
350
351#ifndef GL
352 if (state[0].Pos.z < 0)
353 state[0].Pos.z = 0;
354#endif
355}
356
357} // end namespace simulator
358} // end namespace flair
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