1 | // %flair:license{
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2 | // This file is part of the Flair framework distributed under the
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3 | // CECILL-C License, Version 1.0.
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4 | // %flair:license}
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5 | // created: 2014/04/03
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6 | // filename: X8.cpp
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7 | //
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8 | // author: Majd Saied, Guillaume Sanahuja
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9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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10 | //
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11 | // version: $Id: $
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12 | //
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13 | // purpose: classe definissant un X8
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14 | //
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15 | /*********************************************************************/
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16 |
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17 | #include "X8.h"
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18 | #include <SimuBldc.h>
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19 | #include <TabWidget.h>
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20 | #include <Tab.h>
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21 | #include <DoubleSpinBox.h>
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22 | #include <SpinBox.h>
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23 | #include <GroupBox.h>
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24 | #include <math.h>
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25 | #ifdef GL
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26 | #include <ISceneManager.h>
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27 | #include <IMeshManipulator.h>
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28 | #include "Blade.h"
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29 | #include "MeshSceneNode.h"
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30 | #include "Gui.h"
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31 | #include <Mutex.h>
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32 | #endif
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33 |
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34 | #define K_MOT 0.4f // blade animation
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35 | #define G (float)9.81 // gravity ( N/(m/s²) )
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36 |
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37 | #ifdef GL
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38 | using namespace irr::video;
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39 | using namespace irr::scene;
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40 | using namespace irr::core;
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41 | #endif
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42 | using namespace flair::core;
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43 | using namespace flair::gui;
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44 | using namespace flair::actuator;
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45 |
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46 | namespace flair {
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47 | namespace simulator {
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48 |
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49 | X8::X8(std::string name, uint32_t modelId): Model( name,modelId) {
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50 | Tab *setup_tab = new Tab(GetTabWidget(), "model");
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51 | m = new DoubleSpinBox(setup_tab->NewRow(), "mass (kg):", 0, 20, 0.1);
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52 | arm_length = new DoubleSpinBox(setup_tab->LastRowLastCol(), "arm length (m):",
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53 | 0, 2, 0.1);
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54 | l_cg = new DoubleSpinBox(
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55 | setup_tab->LastRowLastCol(), "position G (m):", -0.5, 0.5,
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56 | 0.02); // position du centre de gravité/centre de poussé
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57 | k_mot =
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58 | new DoubleSpinBox(setup_tab->NewRow(), "k_mot:", 0, 1, 0.001,
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59 | 3); // vitesse rotation² (unité arbitraire) -> force (N)
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60 | c_mot = new DoubleSpinBox(
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61 | setup_tab->LastRowLastCol(), "c_mot:", 0, 1, 0.001,
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62 | 3); // vitesse rotation moteur -> couple (N.m/unité arbitraire)
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63 | f_air_vert = new DoubleSpinBox(setup_tab->NewRow(), "f_air_vert:", 0, 10,
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64 | 1); // frottements air depl. vertical, aussi
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65 | // utilisé pour les rotations ( N/(m/s) )
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66 | // (du aux helices en rotation)
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67 | f_air_lat =
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68 | new DoubleSpinBox(setup_tab->LastRowLastCol(), "f_air_lat:", 0, 10,
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69 | 1); // frottements air deplacements lateraux ( N/(m/s) )
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70 | j_roll = new DoubleSpinBox(setup_tab->NewRow(), "j_roll:", 0, 1, 0.001,
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71 | 5); // moment d'inertie d'un axe (N.m.s²/rad)
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72 | j_pitch =
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73 | new DoubleSpinBox(setup_tab->LastRowLastCol(), "j_pitch:", 0, 1, 0.001,
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74 | 5); // moment d'inertie d'un axe (N.m.s²/rad)
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75 | j_yaw = new DoubleSpinBox(setup_tab->LastRowLastCol(), "j_yaw:", 0, 1, 0.001,
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76 | 5); // moment d'inertie d'un axe (N.m.s²/rad)
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77 | j_r = new DoubleSpinBox(setup_tab->NewRow(), "j_r:", 0, 1,
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78 | 0.001); // moment des helices (N.m.s²/rad)
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79 | sigma = new DoubleSpinBox(
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80 | setup_tab->LastRowLastCol(), "sigma:", 0, 1,
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81 | 0.1); // coefficient de perte d efficacite aerodynamique (sans unite)
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82 | S = new DoubleSpinBox(
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83 | setup_tab->LastRowLastCol(), "S:", 1, 2,
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84 | 0.1); // coefficient de forme des helices 1<S=1+Ss/Sprop<2 (sans unite)
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85 |
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86 | motorTimeout = new SpinBox(setup_tab->NewRow(), "motor timeout:","ms", 0, 1000, 100,100);
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87 |
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88 | Tab *visual_tab = new Tab(GetTabWidget(), "visual");
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89 | armColorR = new SpinBox(visual_tab->NewRow(), "arm color (R):", 0, 255, 1,255);
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90 | armColorG = new SpinBox(visual_tab->LastRowLastCol(), "arm color (G):", 0, 255, 1,0);
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91 | armColorB = new SpinBox(visual_tab->LastRowLastCol(), "arm color (B):", 0, 255, 1,0);
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92 |
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93 | motors = new SimuBldc(this, name, 8, modelId,0);
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94 |
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95 | SetIsReady(true);
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96 | }
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97 |
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98 | void X8::Draw() {
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99 | #ifdef GL
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100 |
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101 | // create unite (1m=100cm) UAV; scale will be adapted according to arm_length
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102 | // parameter
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103 | // note that the frame used is irrlicht one:
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104 | // left handed, North East Up
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105 |
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106 | const IGeometryCreator *geo;
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107 | geo = getGui()->getSceneManager()->getGeometryCreator();
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108 |
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109 | // cylinders are aligned with y axis
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110 | colored_arm = geo->createCylinderMesh(2.5, 100, 16, SColor(0, armColorR->Value(), armColorG->Value(), armColorB->Value()));
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111 | IMesh *black_arm = geo->createCylinderMesh(2.5, 100, 16, SColor(0, 128, 128, 128));
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112 | IMesh *motor = geo->createCylinderMesh(7.5, 15, 16); //,SColor(0, 128, 128, 128));
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113 | // geo->drop();
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114 |
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115 | ITexture *texture = getGui()->getTexture("carbone.jpg");
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116 | MeshSceneNode *fl_arm = new MeshSceneNode(this, colored_arm, vector3df(0, 0, 0),
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117 | vector3df(0, 0, -135));
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118 | MeshSceneNode *fr_arm = new MeshSceneNode(this, colored_arm, vector3df(0, 0, 0),
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119 | vector3df(0, 0, -45));
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120 | MeshSceneNode *rl_arm = new MeshSceneNode(this, black_arm, vector3df(0, 0, 0),
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121 | vector3df(0, 0, 135), texture);
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122 | MeshSceneNode *rr_arm = new MeshSceneNode(this, black_arm, vector3df(0, 0, 0),
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123 | vector3df(0, 0, 45), texture);
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124 |
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125 | texture = getGui()->getTexture("metal047.jpg");
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126 | MeshSceneNode *tfl_motor = new MeshSceneNode(this, motor, vector3df(70.71, -70.71, 2.5),
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127 | vector3df(90, 0, 0), texture);
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128 | MeshSceneNode *tfr_motor = new MeshSceneNode(this, motor, vector3df(70.71, 70.71, 2.5),
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129 | vector3df(90, 0, 0), texture);
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130 | MeshSceneNode *trl_motor = new MeshSceneNode(this, motor, vector3df(-70.71, -70.71, 2.5),
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131 | vector3df(90, 0, 0), texture);
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132 | MeshSceneNode *trr_motor = new MeshSceneNode(this, motor, vector3df(-70.71, 70.71, 2.5),
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133 | vector3df(90, 0, 0), texture);
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134 |
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135 | MeshSceneNode *bfl_motor = new MeshSceneNode(this, motor, vector3df(70.71, -70.71, -17.5),
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136 | vector3df(90, 0, 0), texture);
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137 | MeshSceneNode *bfr_motor = new MeshSceneNode(this, motor, vector3df(70.71, 70.71, -17.5),
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138 | vector3df(90, 0, 0), texture);
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139 | MeshSceneNode *brl_motor = new MeshSceneNode(this, motor, vector3df(-70.71, -70.71, -17.5),
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140 | vector3df(90, 0, 0), texture);
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141 | MeshSceneNode *brr_motor = new MeshSceneNode(this, motor, vector3df(-70.71, 70.71, -17.5),
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142 | vector3df(90, 0, 0), texture);
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143 |
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144 | tfl_blade = new Blade(this, vector3df(70.71, -70.71, 17.5));
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145 | tfr_blade = new Blade(this, vector3df(70.71, 70.71, 17.5), vector3df(0, 0, 0), true);
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146 | trl_blade = new Blade(this, vector3df(-70.71, -70.71, 17.5), vector3df(0, 0, 0), true);
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147 | trr_blade = new Blade(this, vector3df(-70.71, 70.71, 17.5));
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148 |
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149 | bfl_blade = new Blade(this, vector3df(70.71, -70.71, -17.5));
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150 | bfr_blade = new Blade(this, vector3df(70.71, 70.71, -17.5), vector3df(0, 0, 0), true);
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151 | brl_blade = new Blade(this, vector3df(-70.71, -70.71, -17.5), vector3df(0, 0, 0),true);
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152 | brr_blade = new Blade(this, vector3df(-70.71, 70.71, -17.5));
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153 |
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154 | motor_speed_mutex = new Mutex(this);
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155 | for (int i = 0; i < 8; i++)
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156 | motor_speed[i] = 0;
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157 | ExtraDraw();
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158 | #endif
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159 | }
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160 |
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161 | X8::~X8() {
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162 | // les objets irrlicht seront automatiquement detruits (moteurs, helices,
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163 | // pales) par parenté
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164 | }
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165 |
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166 | #ifdef GL
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167 | void X8::AnimateModel(void) {
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168 | motor_speed_mutex->GetMutex();
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169 | tfl_blade->SetRotationSpeed(K_MOT * vector3df(0, 0,motor_speed[0]));
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170 | tfr_blade->SetRotationSpeed(-K_MOT * vector3df(0, 0,motor_speed[1]));
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171 | trl_blade->SetRotationSpeed(-K_MOT * vector3df(0, 0,motor_speed[2]));
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172 | trr_blade->SetRotationSpeed(K_MOT * vector3df(0, 0,motor_speed[3]));
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173 |
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174 | bfl_blade->SetRotationSpeed(-K_MOT * vector3df(0, 0,motor_speed[4]));
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175 | bfr_blade->SetRotationSpeed(K_MOT * vector3df(0, 0,motor_speed[5]));
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176 | brl_blade->SetRotationSpeed(K_MOT * vector3df(0, 0,motor_speed[6]));
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177 | brr_blade->SetRotationSpeed(-K_MOT * vector3df(0, 0,motor_speed[7]));
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178 | motor_speed_mutex->ReleaseMutex();
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179 |
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180 | if (armColorR->ValueChanged() == true || armColorG->ValueChanged() == true || armColorB->ValueChanged() == true) {
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181 | getGui()->getSceneManager()->getMeshManipulator()->setVertexColors(colored_arm, SColor(0,armColorR->Value(), armColorG->Value(), armColorB->Value()));
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182 | }
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183 |
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184 |
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185 | // adapt UAV size
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186 | if (arm_length->ValueChanged() == true) {
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187 | setScale(arm_length->Value());
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188 | }
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189 | }
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190 |
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191 | size_t X8::dbtSize(void) const {
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192 | return 6 * sizeof(float) + 4 * sizeof(float); // 6ddl+4helices
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193 | }
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194 |
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195 | void X8::WritedbtBuf(
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196 | char *dbtbuf) { /*
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197 | float *buf=(float*)dbtbuf;
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198 | vector3df vect=getPosition();
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199 | memcpy(buf,&vect.X,sizeof(float));
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200 | buf++;
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201 | memcpy(buf,&vect.Y,sizeof(float));
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202 | buf++;
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203 | memcpy(buf,&vect.Z,sizeof(float));
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204 | buf++;
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205 | vect=getRotation();
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206 | memcpy(buf,&vect.X,sizeof(float));
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207 | buf++;
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208 | memcpy(buf,&vect.Y,sizeof(float));
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209 | buf++;
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210 | memcpy(buf,&vect.Z,sizeof(float));
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211 | buf++;
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212 | memcpy(buf,&motors,sizeof(rtsimu_motors));*/
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213 | }
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214 |
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215 | void X8::ReaddbtBuf(
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216 | char *dbtbuf) { /*
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217 | float *buf=(float*)dbtbuf;
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218 | vector3df vect;
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219 | memcpy(&vect.X,buf,sizeof(float));
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220 | buf++;
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221 | memcpy(&vect.Y,buf,sizeof(float));
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222 | buf++;
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223 | memcpy(&vect.Z,buf,sizeof(float));
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224 | buf++;
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225 | setPosition(vect);
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226 | memcpy(&vect.X,buf,sizeof(float));
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227 | buf++;
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228 | memcpy(&vect.Y,buf,sizeof(float));
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229 | buf++;
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230 | memcpy(&vect.Z,buf,sizeof(float));
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231 | buf++;
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232 | ((ISceneNode*)(this))->setRotation(vect);
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233 | memcpy(&motors,buf,sizeof(rtsimu_motors));
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234 | AnimateModele();*/
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235 | }
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236 | #endif // GL
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237 |
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238 | // states are computed on fixed frame NED
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239 | // x north
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240 | // y east
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241 | // z down
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242 | void X8::CalcModel(void) {
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243 | float tfl_speed, tfr_speed, trl_speed, trr_speed;
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244 | float bfl_speed, bfr_speed, brl_speed, brr_speed;
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245 | float u_roll, u_pitch, u_yaw, u_thrust;
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246 | float omega;
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247 | Time motorTime;
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248 | #ifdef GL
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249 | motor_speed_mutex->GetMutex();
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250 | #endif // GL
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251 | motors->GetSpeeds(motor_speed,&motorTime);
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252 | if((GetTime()-motorTime)/1000000>motorTimeout->Value()) {
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253 | for(int i=0;i<8;i++) {
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254 | if(motor_speed[i]!=0) {
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255 | //Printf("timout\n");
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256 | for(int i=0;i<8;i++) motor_speed[i]=0;
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257 | break;
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258 | }
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259 | }
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260 | }
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261 | #ifdef GL
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262 | motor_speed_mutex->ReleaseMutex();
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263 | #endif // GL
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264 | tfl_speed = motor_speed[0];
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265 | tfr_speed = motor_speed[1];
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266 | trl_speed = motor_speed[2];
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267 | trr_speed = motor_speed[3];
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268 | bfl_speed = motor_speed[4];
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269 | bfr_speed = motor_speed[5];
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270 | brl_speed = motor_speed[6];
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271 | brr_speed = motor_speed[7];
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272 |
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273 | omega = tfl_speed + brl_speed + trr_speed + bfr_speed - bfl_speed -
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274 | trl_speed - brr_speed - tfr_speed;
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275 |
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276 | /*
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277 | ** ===================================================================
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278 | ** u roll: roll torque
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279 | **
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280 | ** ===================================================================
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281 | */
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282 |
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283 | u_roll = arm_length->Value() * k_mot->Value() *
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284 | (sigma->Value() * tfl_speed * tfl_speed + bfl_speed * bfl_speed +
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285 | sigma->Value() * trl_speed * trl_speed + brl_speed * brl_speed -
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286 | sigma->Value() * tfr_speed * tfr_speed - bfr_speed * bfr_speed -
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287 | sigma->Value() * trr_speed * trr_speed - brr_speed * brr_speed) *
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288 | sqrtf(2) / 2;
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289 |
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290 | /// Classical Nonlinear model of a quadrotor ( This is the w_x angular speed
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291 | /// of the quadri in the body frame). It is a discrete integrator
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292 | // state[0].W.x=(dT()/j_roll->Value())*((j_yaw->Value()-j_pitch->Value())*state[-1].W.y*state[-1].W.z-j_r->Value()*state[-1].W.y*omega
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293 | // + u_roll) +state[-1].W.x;//Osamah
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294 | state[0].W.x =
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295 | (dT() / j_roll->Value()) *
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296 | ((j_pitch->Value() - j_yaw->Value()) * state[-1].W.y * state[-1].W.z -
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297 | j_r->Value() * state[-1].W.y * omega + u_roll) +
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298 | state[-1].W.x; // Majd
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299 |
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300 | // 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;
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301 |
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302 | /*
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303 | ** ===================================================================
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304 | ** u pitch : pitch torque
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305 | **
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306 | ** ===================================================================
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307 | */
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308 | u_pitch = arm_length->Value() * k_mot->Value() *
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309 | (sigma->Value() * tfl_speed * tfl_speed + bfl_speed * bfl_speed +
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310 | sigma->Value() * tfr_speed * tfr_speed + bfr_speed * bfr_speed -
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311 | sigma->Value() * trl_speed * trl_speed - brl_speed * brl_speed -
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312 | sigma->Value() * trr_speed * trr_speed - brr_speed * brr_speed) *
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313 | sqrtf(2) / 2;
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314 |
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315 | /// Classical Nonlinear model of a quadrotor ( This is the w_y angular speed
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316 | /// of the quadri in the body frame). It is a discrete integrator
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317 | // state[0].W.y=(dT()/j_pitch->Value())*((j_roll->Value()-j_yaw->Value())*state[-1].W.x*state[-1].W.z-j_r->Value()*state[-1].W.x*omega
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318 | // + u_pitch)+state[-1].W.y;//Osamah
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319 | state[0].W.y =
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320 | (dT() / j_pitch->Value()) *
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321 | ((j_yaw->Value() - j_roll->Value()) * state[-1].W.x * state[-1].W.z -
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322 | j_r->Value() * state[-1].W.x * omega + u_pitch) +
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323 | state[-1].W.y; // Majd
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324 |
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325 | // 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;
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326 |
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327 | /*
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328 | ** ===================================================================
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329 | ** u yaw : yaw torque
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330 | **
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331 | ** ===================================================================
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332 | */
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333 | u_yaw = c_mot->Value() * (tfl_speed * tfl_speed - bfl_speed * bfl_speed +
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334 | trr_speed * trr_speed - brr_speed * brr_speed -
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335 | tfr_speed * tfr_speed + bfr_speed * bfr_speed -
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336 | trl_speed * trl_speed + brl_speed * brl_speed);
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337 |
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338 | /// Classical Nonlinear model of a quadrotor ( This is the w_z angular speed
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339 | /// of the quadri in the body frame). It is a discrete integrator
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340 | // state[0].W.z=(dT()/j_yaw->Value())* u_yaw +state[-1].W.z;//Osamah
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341 | state[0].W.z =
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342 | (dT() / j_yaw->Value()) * ((j_roll->Value() - j_pitch->Value()) *
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343 | state[-1].W.x * state[-1].W.y +
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344 | u_yaw) +
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345 | state[-1].W.z; // Majd
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346 |
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347 | // state[0].W.z=(dT()/j_yaw->Value())*(u_yaw-f_air_lat->Value()*state[-1].W.z)+state[-1].W.z;
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348 |
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349 | // compute quaternion from W
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350 | // Quaternion derivative: dQ = 0.5*(Q*Qw)
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351 | Quaternion dQ = state[-1].Quat.GetDerivative(state[0].W);
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352 |
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353 | // Quaternion integration
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354 | state[0].Quat = state[-1].Quat + dQ * dT();
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355 | state[0].Quat.Normalize();
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356 |
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357 | // Calculation of the thrust from the reference speed of motors
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358 | u_thrust =
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359 | k_mot->Value() * S->Value() *
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360 | (sigma->Value() * tfl_speed * tfl_speed +
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361 | sigma->Value() * tfr_speed * tfr_speed +
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362 | sigma->Value() * trl_speed * trl_speed +
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363 | sigma->Value() * trr_speed * trr_speed + bfl_speed * bfl_speed +
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364 | bfr_speed * bfr_speed + brl_speed * brl_speed + brr_speed * brr_speed);
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365 | Vector3D<double> vect(0, 0, -u_thrust);
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366 | vect.Rotate(state[0].Quat);
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367 |
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368 | /*
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369 | ** ===================================================================
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370 | ** x double integrator
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371 | **
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372 | ** ===================================================================
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373 | */
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374 | state[0].Pos.x =
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375 | (dT() * dT() / m->Value()) *
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376 | (vect.x -
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377 | f_air_lat->Value() * (state[-1].Pos.x - state[-2].Pos.x) / dT()) +
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378 | 2 * state[-1].Pos.x - state[-2].Pos.x;
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379 | state[0].Vel.x = (state[0].Pos.x - state[-1].Pos.x) / dT();
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380 |
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381 | /*
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382 | ** ===================================================================
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383 | ** y double integrator
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384 | **
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385 | ** ===================================================================
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386 | */
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387 | state[0].Pos.y =
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388 | (dT() * dT() / m->Value()) *
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389 | (vect.y -
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390 | f_air_lat->Value() * (state[-1].Pos.y - state[-2].Pos.y) / dT()) +
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391 | 2 * state[-1].Pos.y - state[-2].Pos.y;
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392 | state[0].Vel.y = (state[0].Pos.y - state[-1].Pos.y) / dT();
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393 |
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394 | /*
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395 | ** ===================================================================
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396 | ** z double integrator
|
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397 | **
|
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398 | ** ===================================================================
|
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399 | */
|
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400 | state[0].Pos.z =
|
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401 | (dT() * dT() / m->Value()) *
|
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402 | (vect.z +
|
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403 | f_air_vert->Value() * (state[-1].Pos.z - state[-2].Pos.z) / dT() +
|
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404 | m->Value() * G) +
|
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405 | 2 * state[-1].Pos.z - state[-2].Pos.z;
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406 | state[0].Vel.z = (state[0].Pos.z - state[-1].Pos.z) / dT();
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407 |
|
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408 | #ifndef GL
|
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409 | if (state[0].Pos.z < 0)
|
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410 | state[0].Pos.z = 0;
|
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411 | #endif
|
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412 | }
|
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413 |
|
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414 | } // end namespace simulator
|
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415 | } // end namespace flair
|
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