def run(self):
global prediction
# establish connection with TORCS server
C = snakeoil.Client()
# load PID controller and set vehicle speed
pid = PID(1.0, 0.1, 0.1)
pid.setPoint(15.5)
try:
while True:
C.get_servers_input()
R = C.R.d
S = C.S.d
R['steer'] = prediction
R['accel'] = pid.update(S['speedX'])
R['accel'] = np.clip(R['accel'], 0, 0.1)
snakeoil.drive_example(C)
C.respond_to_server()
C.shutdown()
except KeyboardInterrupt:
print('\nShutdown requested. Exiting...')
class Controller(object):
def __init__(self, pid_x, pid_y, pid_z, pid_theta, bounding_box=True):
'''
@param: pid_x is a tuple such that (kp, ki, kd, integrator, derivator,
set_point)
@param: pid_y is a tuple such that (kp, ki, kd, integrator, derivator,
set_point)
@param: pid_z is a tuple such that (kp, ki, kd, integrator, derivator,
set_point)
@param: pid_theta is a tuple such that (kp, ki, kd, integrator,
derivator, set_point)
@param: bounding_box is a boolean that will initially turn the bounding
box on (True) or off (False). Default is True
'''
self.pid_x = PID()
self.pid_y = PID()
self.pid_z = PID()
self.pid_theta = PID()
# Set gains, integrators, derivators, and set points
self.pid_x.setKp(pid_x[0])
self.pid_x.setKi(pid_x[1])
self.pid_x.setKd(pid_x[2])
self.pid_x.setIntegrator(pid_x[3])
self.pid_x.setDerivator(pid_x[4])
self.pid_x.setPoint(pid_x[5])
self.pid_y.setKp(pid_y[0])
self.pid_y.setKi(pid_y[1])
self.pid_y.setKd(pid_y[2])
self.pid_y.setIntegrator(pid_y[3])
self.pid_y.setDerivator(pid_y[4])
self.pid_y.setPoint(pid_y[5])
self.pid_z.setKp(pid_z[0])
self.pid_z.setKi(pid_z[1])
self.pid_z.setKd(pid_z[2])
self.pid_z.setIntegrator(pid_z[3])
self.pid_z.setDerivator(pid_z[4])
self.pid_z.setPoint(pid_z[5])
self.pid_theta.setKp(pid_theta[0])
self.pid_theta.setKi(pid_theta[1])
self.pid_theta.setKd(pid_theta[2])
self.pid_theta.setIntegrator(pid_theta[3])
self.pid_theta.setDerivator(pid_theta[4])
self.pid_theta.setPoint(pid_theta[5])
# Should we use the bounding box?
self.use_bounding_box = bounding_box
def update(self, values):
'''
This updates each controller and returns the updated values as a
tuple
@param: values is a tuple with the current value for each degree of
freedom
'''
x_update = self.pid_x.update(values[0])
y_update = self.pid_y.update(values[0])
z_update = self.pid_z.update(values[0])
theta_update = self.pid_theta.update(values[0])
return (x_update, y_update, z_update, theta_update)
class LandingController(object):
def __init__(self):
# Stores the most recent navdata
self.recentNavdata = None
# Subscribe to the /ardrone/navdata topic, so we get updated whenever new information arrives from the drone
self.subscribeNavdata = rospy.Subscriber("ardrone/navdata", Navdata, self.__ReceiveNavdata)
# Allow us to publish to the steering topic
self.publishSteering = rospy.Publisher("ardrone/steering_commands", matrix33)
# Store the constants
self.constants = LandingConstants()
# The flag which we set via ctrl + c, when we want to stop the current loop
self.stopTask = False
# Attach the keyboard listener
signal.signal(signal.SIGINT, self.__SignalHandler)
# Create a timer, which is used to wait for the drone to execute the command, until the command to stop is sent
self.r = rospy.Rate(self.constants.COMMAND_PUBLISH_RATE)
# Create controllers, which weigh the steering commands according to different variables
self.findTagController = PID(1.0, 0.3, 0.5)
self.findTagController.setPoint(0.0)
# self.centerFrontController = PID(0.8, 0.01, 1.5)
# The one below worked pretty good
# self.centerFrontController = PID(0.8, 0.01, 0.5)
self.centerFrontController = PID(2.0, 0.0, 0.0)
self.centerFrontController.setPoint(0)
self.approachFrontController = PID(1.5, 2.0, 2.0)
self.approachFrontController.setPoint(0)
# self.centerBottomXController = PID(0.8, 0.5, 3.0)
# self.centerBottomXController = PID(0.8, 0.5, 1.0)
self.centerBottomXController = PID(0.8, 0.2, 0.6)
self.centerBottomXController.setPoint(0)
# self.centerBottomYController = PID(0.8, 0.5, 3.0)
# self.centerBottomYController = PID(0.8, 0.5, 1.0)
self.centerBottomYController = PID(0.8, 0.2, 0.6)
self.centerBottomYController.setPoint(0)
self.alignBottomController = PID()
self.alignBottomController.setPoint(0)
# Stores if we centered the tag once already (In that case, we can assume we are on a direct path
# towards the tag and can now move laterally instead of turning in one place)
self.wasTagCentered = False
# A flag to stop the loop for when we are done
self.success = False
# Some counters to evaluate how we are doing
self.searchCounter = 0
self.rotateCounter = 0
self.approachCounter = 0
self.centerCounter = 0
self.bottomCounter = 0
def __SignalHandler(self, frame, placeholderArgument):
"""
Sets the stopTask flag, so our loops stop when interrupted via keyboard
"""
self.stopTask = True
def __ReceiveNavdata(self, navdata):
"""
Stores the incoming navdata
"""
self.recentNavdata = navdata
def BringMeHome(self):
"""
Core function to land the drone.
It will turn the drone till it finds a 3-colored tag witht the front camera, approach this tag until
it sees a A4-tag on the bottom and will land the drone on this tag
"""
# This is the big loop for all the functions. It resets all flags and periodically asks for instructions to be sent to the drone.
if self.recentNavdata == None:
print "No navdata available, exiting"
return
# Reset flags
self.stopTask = False
self.wasTagCentered = False
self.success = False
# Reset the controllers
self.findTagController.setPoint(0)
self.centerFrontController.setPoint(0)
self.approachFrontController.setPoint(0)
self.centerBottomXController.setPoint(0)
self.centerBottomYController.setPoint(0)
self.alignBottomController.setPoint(0)
# Some counters to evaluate how we are doing
self.searchCounter = 0
self.rotateCounter = 0
self.approachCounter = 0
self.centerCounter = 0
self.bottomCounter = 0
# Get the drone up to a good height:
workingNavdata = self.recentNavdata
while workingNavdata.altd < 1450:
if self.stopTask:
# In case of keyboard interruption
break
workingNavdata = self.recentNavdata
self.ExecuteCommand(matrix33(0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0))
print "Gaining Altitude"
# Now we are at a proper height and we can start finding & approaching the tag
while not self.stopTask and not self.success:
# Create a copy of the current navdata, so it doesn't get refreshed while we work on it
workingNavdata = self.recentNavdata
# Receive the necessary actions
steeringCommand = self.TellMeWhatToDo(workingNavdata)
# Send them to the drone
self.ExecuteCommand(steeringCommand)
# In case we got stopped via the keyboard, we want to make sure that our last command is to stop the drone from
# doing anything
steeringCommand = self.constants.STOP_MOVING
self.ExecuteCommand(steeringCommand)
print "Steps searching: %i" % self.searchCounter
print "Steps rotating: %i" % self.rotateCounter
print "Steps approaching: %i" % self.approachCounter
print "Steps centering: %i" % self.centerCounter
print "Steps centering bottom tag %i " % self.bottomCounter
def ExecuteCommand(self, steeringCommand):
"""
Takes a matrix33, publishes it to the drone, and waits for a moment
"""
# Publish the command
self.publishSteering.publish(steeringCommand)
# Let the drone actually do that action for a moment
self.r.sleep()
# Stop the movement
# self.publishSteering.publish(self.constants.STOP_MOVING)
# Wait a moment for the drone to calm down
# self.r.sleep()
def TellMeWhatToDo(self, navdata):
"""
Gets the current navdata and returns a matrix33 with appropriate steering commands
Automatically decides which commands to send, based on the available tags
"""
# We got 3 cases: No tag visible, front tag visble, bottom tag visible
# Check where the tags are in the arrays in the navdata (You can check which information the navdata contains from the commandline with "rosmsg show ardrone/Navdata")
bottomTagIndex = self.GetBottomTagIndex(navdata)
frontTagIndex = self.GetFrontTagIndex(navdata)
if navdata.tags_count == 0:
# No tag visible
# We want the drone to turn in one place
print "Searching"
self.searchCounter += 1
steeringCommand = matrix33(0.0, 0.0, 0.0, self.constants.FIND_TAG_TURN_VELOCITY, 0.0, 0.0, 0.0, 0.0, 0.0)
return steeringCommand
# return self.constants.STOP_MOVING
elif bottomTagIndex > -1:
# Sweet, the bottom tag is visible!
print "Centering bottom tag"
self.bottomCounter += 1
# We need to check if we are turned the right way above the tag
currentAngle = navdata.tags_orientation[bottomTagIndex]
# Actually this step doesn't seem to be necessary so we skip it
# It should have led to a bigger precision, but mostly the drone is oriented the right way
return self.LandingPreparations(navdata)
# if currentAngle > 170.0 and currentAngle < 190.0:
# # Ok, so we are turned correctly, we need to center the bottom tag now. If it is centered
# # the command to land will be returned
# return self.LandingPreparations(navdata)
# else:
# # We need to turn the drone on the spot
# return self.AlignBottomTag(navdata)
else:
# Only the front tag is visble
# Now we got 2 cases:
# - We are still in the spot we started and we are trying to center it (Meaning we are turning on the spot)
# - We are already on our way towards that tag
# The x position is represented in values between 0 - 1000 from left to right
x = navdata.tags_xc[frontTagIndex]
if x > 450 and x < 550:
# It is pretty centered, set the flag and start approaching
self.wasTagCentered = True
print "Approaching"
self.approachCounter += 1
return self.TellMeApproach(navdata)
else:
# Check if we already centered it once
if self.wasTagCentered:
# We did? Ok, then lets move laterally
print "Centering laterally"
self.centerCounter += 1
return self.TellMeCenter(navdata)
else:
# The tag hasn't been centered yet, turn on the spot
print "Turning"
self.rotateCounter += 1
return self.TellMeFindTag(navdata)
def TellMeFindTag(self, navdata):
"""
Returns a matrix33 with appropriate commands to center the front tag in the field of view,
where those commands will turn the drone on the spot
"""
tagIndex = self.GetFrontTagIndex(navdata)
# We feed the controller with values between -1 and 1, and we receive factors, with which we multiply the speed at which the
# drone is turned
controller_input = (navdata.tags_xc[tagIndex] - 500.0) / 500.0
controller_output = self.findTagController.update(controller_input)
# Sometimes the controller might want to do some drastic actions, which we want to avoid
controller_output = self.findTagController.avoid_drastic_corrections(controller_output)
return matrix33(
0.0, 0.0, 0.0, controller_output * self.constants.FIND_TAG_TURN_VELOCITY, 0.0, 0.0, 0.0, 0.0, 0.0
)
def TellMeCenter(self, navdata):
"""
Returns a matrix33 with appropriate commands to center the front tag in the field of view,
where those commands will move the drone laterally
"""
tagIndex = self.GetFrontTagIndex(navdata)
controller_input = (navdata.tags_xc[tagIndex] - 500.0) / 500.0
controller_output = self.centerFrontController.update(controller_input)
controller_output = self.centerFrontController.avoid_drastic_corrections(controller_output)
# Thing is, the corrections done by the controller will have a pretty huge impact once we are
# close to the tag, therefore we reduce those corrections depending on the distance from the tag
# reducingFactor = self.constants.reduceFactor * navdata.tags_distance[tagIndex] / self.constants.reduceDistance
reducingFactor = navdata.tags_distance[tagIndex] / self.constants.reduceDistance
if reducingFactor > 1:
reducingFactor = 1
sidewardsMovement = reducingFactor * controller_output * self.constants.TAG_CENTER_VELOCITY
return matrix33(0.0, sidewardsMovement, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0)
def TellMeApproach(self, navdata):
"""
Returns a matrix33 whith commands to approach the tag up to a certain distance
"""
tagIndex = self.GetFrontTagIndex(navdata)
# We want the drone to stop at a certain point in front of the tag
# Also, we want it to go full speed up to controllerDistance away from that point, followed by a
# distance, where the controller handles the speed (The controller isn't given the actual distance but a float value representing how
# far away we are. It then returns a factor, with which we multiply our TAG_APPROACH_VELOCITY)
controller_input = (
navdata.tags_distance[tagIndex] - self.constants.desiredDistance
) / self.constants.controllerDistance
controller_output = self.approachFrontController.update(controller_input)
# The output value needs to be inverted, avoid drastic controller outputs
controller_output = -self.approachFrontController.avoid_drastic_corrections(controller_output)
return matrix33(
controller_output * self.constants.TAG_APPROACH_VELOCITY, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
)
def LandingPreparations(self, navdata):
"""
Returns the appropriate commands to center the bottom tag. Once it is centered, it returns the command to land
"""
tagIndex = self.GetBottomTagIndex(navdata)
tagXPosition = navdata.tags_xc[tagIndex]
tagYPosition = navdata.tags_yc[tagIndex]
controller_input_y = (tagYPosition - 500.0) / 500.0
controller_input_x = (tagXPosition - 500.0) / 500.0
if not (tagYPosition > 400 and tagYPosition < 600) or not (tagXPosition > 400 and tagXPosition < 600):
# We aren't centered, now we determine in which direction we are more off, so we can deal with that one first
if (controller_input_y * controller_input_y) > (controller_input_x * controller_input_x):
controller_output_y = self.centerBottomYController.update(controller_input_y)
# controller_output_y = self.centerBottomYController.avoid_drastic_corrections(controller_output_y)
print "Y"
print controller_input_y
print controller_output_y
return matrix33(
controller_output_y * self.constants.CENTER_BOTTOM_Y_VELOCITY,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
)
else:
controller_output_x = self.centerBottomXController.update(controller_input_x)
# controller_output_x = self.centerBottomXController.avoid_drastic_corrections(controller_output_x)
print "X"
print controller_input_x
print controller_output_x
return matrix33(
0.0,
controller_output_x * self.constants.CENTER_BOTTOM_X_VELOCITY,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
)
else:
print "READY"
# return self.constants.STOP_MOVING
# Tag is centered in both directions, we are done, we can land!
self.success = True
return matrix33(0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0)
def AlignBottomTag(self, navdata):
"""
Returns the command to orient the drone in a 180° angle over the bottom tag
"""
tagIndex = self.GetBottomTagIndex(navdata)
controller_input = navdata.tags_orientation[tagIndex] - 180.0 / 360.0
controller_output = self.alignBottomController.update(controller_input)
controller_output = self.alignBottomController.avoid_drastic_corrections(controller_output)
return matrix33(
0.0, 0.0, 0.0, controller_output * self.constants.ALIGN_BOTTOM_TAG_VELOCITY, 0.0, 0.0, 0.0, 0.0, 0.0
)
def GetBottomTagIndex(self, navdata):
"""
returns the index in the given navdata of the bottom tag
returns -1 if none is found
"""
for tagtype in navdata.tags_type:
if tagtype == self.constants.bottomTagType:
return navdata.tags_type.index(tagtype)
return -1
def GetFrontTagIndex(self, navdata):
"""
returns the index in the current navdata of the front tag
returns -1 if none is found
"""
for tagtype in navdata.tags_type:
if tagtype == self.constants.frontTagType:
return navdata.tags_type.index(tagtype)
return -1
def BringMeCenterRotate(self):
"""
A test method that only rotates the drone
"""
# Reset flags
self.stopTask = False
self.wasTagCentered = False
self.findTagController.setPoint(0)
while not self.stopTask and (
self.recentNavdata.tags_xc[self.GetFrontTagIndex(self.recentNavdata)] > 480
or self.recentNavdata.tags_xc[self.GetFrontTagIndex(self.recentNavdata)] < 520
):
# Create a copy of the current navdata, so it doesn't get refreshed while we work on it
workingNavdata = self.recentNavdata
if workingNavdata.tags_count == 0:
# No tag visible
# We want the drone to turn in one place
steeringCommand = matrix33(
0.0, 0.0, 0.0, self.constants.FIND_TAG_TURN_VELOCITY, 0.0, 0.0, 0.0, 0.0, 0.0
)
else:
# Receive the necessary actions
steeringCommand = self.TellMeFindTag(workingNavdata)
self.ExecuteCommand(steeringCommand)
print "Done"
def BringMeCenterLateral(self):
"""
A test method that only moves the drone laterally
"""
# Reset flags
self.stopTask = False
self.wasTagCentered = False
self.centerFrontController.setPoint(0)
while not self.stopTask:
# Create a copy of the current navdata, so it doesn't get refreshed while we work on it
workingNavdata = self.recentNavdata
# Receive the necessary actions
steeringCommand = self.TellMeCenter(workingNavdata)
self.ExecuteCommand(steeringCommand)
def GetMeAligned(self):
"""
Test method that rotates the drone above the bottom tag
"""
# Reset flags
self.stopTask = False
self.wasTagCentered = False
self.alignBottomController.setPoint(0)
while not self.stopTask:
workingNavdata = self.recentNavdata
steeringCommand = self.AlignBottomTag(workingNavdata)
self.ExecuteCommand(steeringCommand)
def GetMeReady(self):
"""
Test method, that centers the drone above the bottom tag
"""
# Reset flags
self.stopTask = False
self.wasTagCentered = False
self.centerBottomXController.setPoint(0)
self.centerBottomYController.setPoint(0)
while not self.stopTask:
workingNavdata = self.recentNavdata
steeringCommand = self.LandingPreparations(workingNavdata)
self.ExecuteCommand(steeringCommand)
class Controller(object):
def __init__(self, pid_x, pid_y, pid_z, pid_theta, bounding_box=True):
'''
@param: pid_x is a tuple such that (kp, ki, kd, integrator, derivator,
set_point)
@param: pid_y is a tuple such that (kp, ki, kd, integrator, derivator,
set_point)
@param: pid_z is a tuple such that (kp, ki, kd, integrator, derivator,
set_point)
@param: pid_theta is a tuple such that (kp, ki, kd, integrator,
derivator, set_point)
@param: bounding_box is a boolean that will initially turn the bounding
box on (True) or off (False). Default is True
'''
self.pid_x = PID()
self.pid_y = PID()
self.pid_z = PID()
self.pid_theta = PID()
# Set gains, integrators, derivators, and set points
self.pid_x.setKp(pid_x[0])
self.pid_x.setKi(pid_x[1])
self.pid_x.setKd(pid_x[2])
self.pid_x.setIntegrator(pid_x[3])
self.pid_x.setDerivator(pid_x[4])
self.pid_x.setPoint(pid_x[5])
self.pid_y.setKp(pid_y[0])
self.pid_y.setKi(pid_y[1])
self.pid_y.setKd(pid_y[2])
self.pid_y.setIntegrator(pid_y[3])
self.pid_y.setDerivator(pid_y[4])
self.pid_y.setPoint(pid_y[5])
self.pid_z.setKp(pid_z[0])
self.pid_z.setKi(pid_z[1])
self.pid_z.setKd(pid_z[2])
self.pid_z.setIntegrator(pid_z[3])
self.pid_z.setDerivator(pid_z[4])
self.pid_z.setPoint(pid_z[5])
self.pid_theta.setKp(pid_theta[0])
self.pid_theta.setKi(pid_theta[1])
self.pid_theta.setKd(pid_theta[2])
self.pid_theta.setIntegrator(pid_theta[3])
self.pid_theta.setDerivator(pid_theta[4])
self.pid_theta.setPoint(pid_theta[5])
# Should we use the bounding box?
self.use_bounding_box = bounding_box
def update(self, values):
'''
This updates each controller and returns the updated values as a
tuple
@param: values is a tuple with the current value for each degree of
freedom
'''
x_update = self.pid_x.update(values[0])
y_update = self.pid_y.update(values[0])
z_update = self.pid_z.update(values[0])
theta_update = self.pid_theta.update(values[0])
return (x_update, y_update, z_update, theta_update)
