Changeset 154 in flair-src


Ignore:
Timestamp:
Mar 1, 2017, 5:57:26 PM (5 years ago)
Author:
Sanahuja Guillaume
Message:

modifs

Location:
trunk/demos/OpticalFlow/uav
Files:
3 edited

Legend:

Unmodified
Added
Removed
  • trunk/demos/OpticalFlow/uav/build_x86_64/bin/setup_x4.xml

    r143 r154  
    2121     <PushButton value="0" name="reset pitch trim"/>
    2222    </GroupBox>
    23    <GroupBox name="consignes fo"><DoubleSpinBox name="debattement x" value="-1.0"/><DoubleSpinBox name="debattement y" value="1.0"/></GroupBox></Tab>
     23   <GroupBox name="consignes fo"><DoubleSpinBox name="debattement x" value="-1"/><DoubleSpinBox name="debattement y" value="1"/></GroupBox></Tab>
    2424   <Tab name="Mesures">
    2525    <DataPlot1D name="roll">
     
    175175      <DoubleSpinBox value="1" name="cutoff frequency"/>
    176176     </GroupBox>
    177     <GroupBox name="derivative"><DoubleSpinBox name="period, 0 for auto:" value="0.02"/></GroupBox><GroupBox name="Speed lowPass"><DoubleSpinBox name="period, 0 for auto" value="0.02"/><DoubleSpinBox name="cutoff frequency" value="2.00"/></GroupBox><GroupBox name="Acceleration lowPass"><DoubleSpinBox name="period, 0 for auto" value="0.02"/><DoubleSpinBox name="cutoff frequency" value="2.00"/></GroupBox></GridLayout>
     177    <GroupBox name="derivative"><DoubleSpinBox name="period, 0 for auto:" value="0.02"/></GroupBox><GroupBox name="Speed lowPass"><DoubleSpinBox name="period, 0 for auto" value="0.02"/><DoubleSpinBox name="cutoff frequency" value="2"/></GroupBox><GroupBox name="Acceleration lowPass"><DoubleSpinBox name="period, 0 for auto" value="0.02"/><DoubleSpinBox name="cutoff frequency" value="2"/></GroupBox></GridLayout>
    178178   </Tab>
    179179   <Tab name="Picture">
     
    239239    <GroupBox name="u_x">
    240240     <DoubleSpinBox value="0" name="period, 0 for auto"/>
    241      <DoubleSpinBox value="0.20" name="kp:"/>
    242      <DoubleSpinBox value="0.00" name="ki:"/>
    243      <DoubleSpinBox value="1.0" name="sat i:"/>
     241     <DoubleSpinBox value="0.2" name="kp:"/>
     242     <DoubleSpinBox value="0" name="ki:"/>
     243     <DoubleSpinBox value="1" name="sat i:"/>
    244244     <DoubleSpinBox value="0.005" name="kd:"/>
    245245     <DoubleSpinBox value="1" name="sat:"/>
     
    247247    <GroupBox name="u_y">
    248248     <DoubleSpinBox value="0" name="period, 0 for auto"/>
    249      <DoubleSpinBox value="0.20" name="kp:"/>
    250      <DoubleSpinBox value="0.00" name="ki:"/>
    251      <DoubleSpinBox value="1.0" name="sat i:"/>
     249     <DoubleSpinBox value="0.2" name="kp:"/>
     250     <DoubleSpinBox value="0" name="ki:"/>
     251     <DoubleSpinBox value="1" name="sat i:"/>
    252252     <DoubleSpinBox value="0.005" name="kd:"/>
    253253     <DoubleSpinBox value="1" name="sat:"/>
     
    284284  </DataPlot1D>
    285285 <DataPlot1D name="x_velocity_derivative" period="100" enabled="1"/><DataPlot1D name="y_velocity_derivative" period="100" enabled="1"/><DataPlot1D name="x_acceleration" period="100" enabled="1"/><DataPlot1D name="y_acceleration" period="100" enabled="1"/><DataPlot1D name="x speed (px/s)" period="100" enabled="1"/><DataPlot1D name="y speed (px/s)" period="100" enabled="1"/></Tab>
    286   </TabWidget>
     286  <Tab name="real speed"><DataPlot1D name="x speed (m/s)" period="100" enabled="1"/><DataPlot1D name="y speed (m/s)" period="100" enabled="1"/></Tab></TabWidget>
    287287<TabWidget name="App_TabWidget"><Tab name="x4_0"><PushButton name="save config on target" value="1"/></Tab></TabWidget><PushButton name="save config on target (x4_0)" value="1"/></root>
  • trunk/demos/OpticalFlow/uav/src/DemoOpticalFlow.cpp

    r147 r154  
    9393        maxXSpeed=new DoubleSpinBox(opticalFlowGroupBox->NewRow(),"debattement x"," m/s",-5,5,0.1,1);
    9494        maxYSpeed=new DoubleSpinBox(opticalFlowGroupBox->LastRowLastCol(),"debattement y"," m/s",-5,5,0.1,1);
    95 
    96         opticalFlowReference=new cvmatrix((const Thread*)this,2,1,floatType);
    97         xVelocityPlot->AddCurve(opticalFlowReference->Element(0,0),DataPlot::Green,"consigne");
    98         yVelocityPlot->AddCurve(opticalFlowReference->Element(1,0),DataPlot::Green,"consigne");
     95 
     96  Tab* opticalFlowRealTab=new Tab(getFrameworkManager()->GetTabWidget(),"real speed");
     97  opticalFlowRealSpeed=new cvmatrix((const Thread*)this,2,1,floatType);
     98  opticalFlowReference=new cvmatrix((const Thread*)this,2,1,floatType);
     99  opticalFlowRealAcceleration=new cvmatrix((const Thread*)this,2,1,floatType);
     100  DataPlot1D* xRealVelocityPlot=new DataPlot1D(opticalFlowRealTab->NewRow(),"x speed (m/s)",-2,2);
     101        DataPlot1D* yRealVelocityPlot=new DataPlot1D(opticalFlowRealTab->LastRowLastCol(),"y speed (m/s)",-2,2);
     102  DataPlot1D* xRealAccelerationPlot=new DataPlot1D(opticalFlowRealTab->NewRow(),"x acceleration (m/s2)",-2,2);
     103        DataPlot1D* yRealAccelerationPlot=new DataPlot1D(opticalFlowRealTab->LastRowLastCol(),"y acceleration (m/s2)",-2,2);
     104  xRealVelocityPlot->AddCurve(opticalFlowRealSpeed->Element(0));
     105        xRealVelocityPlot->AddCurve(opticalFlowReference->Element(0),DataPlot::Blue,"consigne");
     106        yRealVelocityPlot->AddCurve(opticalFlowRealSpeed->Element(1));
     107  yRealVelocityPlot->AddCurve(opticalFlowReference->Element(1),DataPlot::Blue,"consigne");
     108  xRealAccelerationPlot->AddCurve(opticalFlowRealAcceleration->Element(0));
     109  yRealAccelerationPlot->AddCurve(opticalFlowRealAcceleration->Element(1));
    99110
    100111        customReferenceOrientation= new AhrsData(this,"reference");
     
    108119        opticalFlowReference->SetValue(0,0,GetJoystick()->GetAxisValue(1)*maxXSpeed->Value());//joy axis 0 maps to x displacement
    109120        opticalFlowReference->SetValue(1,0,GetJoystick()->GetAxisValue(0)*maxYSpeed->Value());//joy axis 1 maps to y displacement
     121        float focal=271.76;
     122        float z,dz;
     123        AltitudeValues(z, dz);
     124        float scale=z/focal;
     125        opticalFlowRealSpeed->SetValue(0,0,opticalFlowSpeed->Output(0,0)*scale);
     126        opticalFlowRealSpeed->SetValue(1,0,opticalFlowSpeed->Output(1,0)*scale);
     127        opticalFlowRealAcceleration->SetValue(0,0,opticalFlowAcceleration->Output(0,0)*scale);
     128        opticalFlowRealAcceleration->SetValue(1,0,opticalFlowAcceleration->Output(1,0)*scale);
    110129        break;
    111130    }
     
    146165    // /!\ in this demo, the target value is a speed (in m/s). As a consequence the error is the difference between the current speed and the target speed
    147166    Vector2D error, errorVariation; // in Uav coordinate system
    148     float focal=271.76;
    149     float z,dz;
    150     AltitudeValues(z, dz);
    151     float scale=z/focal;
    152     error.x=opticalFlowSpeed->Output(0,0)*scale-opticalFlowReference->Value(0,0);
    153     error.y=opticalFlowSpeed->Output(1,0)*scale-opticalFlowReference->Value(1,0);
    154     errorVariation.x=opticalFlowAcceleration->Output(0,0)*scale;
    155     errorVariation.y=opticalFlowAcceleration->Output(1,0)*scale;
     167
     168    error.x=opticalFlowRealSpeed->Value(0,0)-opticalFlowReference->Value(0,0);
     169    error.y=opticalFlowRealSpeed->Value(1,0)-opticalFlowReference->Value(1,0);
     170    errorVariation.x=opticalFlowRealAcceleration->Value(0,0);
     171    errorVariation.y=opticalFlowRealAcceleration->Value(1,0);
    156172//Printf("Altitude=%f, Error=(%f,%f)\n",z,error.x,error.y);
    157173
  • trunk/demos/OpticalFlow/uav/src/DemoOpticalFlow.h

    r142 r154  
    6666                                flair::gui::PushButton *startOpticalflow,*stopOpticalflow;
    6767                                void StartOpticalFlow(void);
     68        flair::core::cvmatrix *opticalFlowRealSpeed,*opticalFlowRealAcceleration;
    6869};
    6970
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