Ejemplo n.º 1
0
def main():
    speed = -.5	 # m/s
    min_altitude = 0.8  # mm
    max_altitudeGoal = 2.5# mm
    height_diff = 0 #mm
    timeout  = 300# seconds
    # pid_i = (kp, ki, kd, integrator, derivator, set_point)
    pid_x = (6, 0.625, 2.5, 0, 0, 500)
    pid_y = (6, 0.875, 3.75, 0, 0, 500)
    pid_z = (1,0,0,0,0,2.5)
    pid_theta = (1/260,0,0,0,0,0)

    # set the bounding box
    bbx = (375, 625)
    bby = (375, 625)
    bounding_box = True

    bbx_min, bbx_max = bbx
    bby_min, bby_max = bby

    yaw_min = 10
    yaw_max = 350

    # controller update values
    yaw_update = 0
    x_update   = 0
    y_update   = 0
    z_update   = 0

    navdata = nd()

    # Twist commands
    qc = Twist()

    land  = Landing(speed, min_altitude, height_diff, max_altitudeGoal, \
                    timeout, bbx, bby, pid_x, pid_y, pid_z, pid_theta)
    rate = rospy.Rate(200)

    while((land.state != 'land')):
        # print takeoff.state
        rate.sleep()

    while not rospy.is_shutdown():
        # always update the altitude
        # z_update = land.pid_z.update(z_update)
        # print("Theta %.2f"  % navdata.theta)
        # print("(%d, %d)"  % (navdata.tag_x, navdata.tag_y))

        if (navdata.tag_acquired):
            # If 10 < theta < 350 then let's rotate
            # if ((yaw_min < navdata.theta) and (navdata.theta < yaw_max)):
            if ((yaw_min < navdata.theta < yaw_max)):
                print "Yaw!"
                yaw_update  = land.pid_theta.update(navdata.theta)
            else:
                print "No yaw!"
                yaw_update = 0


            # is_in_box(minimum, maximum, position)
            if (land.is_in_box(bbx_min, bbx_max, navdata.tag_y) and land.is_in_box(bby_min, bby_max, navdata.tag_x)):
                # If the QC is in the bounding box then we should enter 'Hover'
                # mode and just hang there
                x_update = 0
                y_update = 0
                # # qc.angular.x = 0.0
                # qc.angular.y = 0.0
                # print("In the Box")

            else:
                # It's not in the bounding box therefore we should update the PIDs
                x_update  = land.pid_x.update(navdata.tag_x)
                y_update  = land.pid_y.update(navdata.tag_y)
                # print("%.3f" % land.pid_x.getError())

        # always update the altitude
        height_diff = land.max_altitudeGoal - land.altitude
        # We only want to execute these manuevers if we're in land mode
        if land.state == 'land':
            # print("%.3f m" % land.altitude)
            if(land.altitude > land.min_altitude):
                print("Go down")
                # qc.linear.z  = speed
                if(land.height_diff > land.min_altitude):
                    qc.linear.z = speed
                    rate.sleep()
                    print("Descending")
                elif(land.height_diff <= land.min_altitude):
                    qc.linear.z  = 0
            else:
            # elif((land.altitude < land.min_altitude)):
                if not (land.altitude == 0):
                    print("Eagle one has descended!")
                    land.land()
                    # To change states, we publish the fact that we've
                    # reached our land altitude
                    rospy.loginfo("Going to secure mode")
                    land.goto_secure()

        # qc.angular.z = yaw_update
        qc.linear.x  = x_update
        qc.linear.y  = y_update
        # qc.linear.z  = z_update

        land.pub_altitude.publish(qc)
        rate.sleep()
Ejemplo n.º 2
0
def state_cb(msg):
    global state
    state = msg.data

# pub_transition = rospy.Publisher('/smach/transition', String, queue_size=1)
sub_state = rospy.Subscriber('/smach/state', String, state_cb, queue_size=1000)
# Instantiate all of the modes
# Set all of the necessary parameters
# TODO instantiate these correctly i.e. correct parameters
# Land Mode Instantiation
land_speed = -1	 # m/s
land_min_alt = 1000  # mm
land_max_alt = 2000 # mm
land_height_diff = 0 #mm
land_timeout = 3 # seconds
land = Landing(land_speed, land_min_alt, land_height_diff, land_max_alt, land_timeout)

# Takeoff Mode Instantiation
takeoff_speed = 1 # percentage of max speed (kind of)
takeoff_max_alt = 2500  # mm
takeoff_timeout = 10 # seconds
takeoff_counter = 0 # times
takeoff_to_reac_timeout = 15 # seconds
takeoff = Takeoff(takeoff_speed, takeoff_max_alt, takeoff_timeout)

# Takeoff Mode Instantiation
emergency = Emergency()

# Take Picture Mode Instantiation
takepicture_time = 300 # seconds
# takepicture_max_time   = 3 # seconds
def main():
    speed = -.5  # m/s
    min_altitude = 0.8  # mm
    max_altitudeGoal = 2.5  # mm
    height_diff = 0  #mm
    timeout = 300  # seconds
    # pid_i = (kp, ki, kd, integrator, derivator, set_point)
    pid_x = (6, 0.625, 2.5, 0, 0, 500)
    pid_y = (6, 0.875, 3.75, 0, 0, 500)
    pid_z = (1, 0, 0, 0, 0, 2.5)
    pid_theta = (1 / 260, 0, 0, 0, 0, 0)

    # set the bounding box
    bbx = (375, 625)
    bby = (375, 625)
    bounding_box = True

    bbx_min, bbx_max = bbx
    bby_min, bby_max = bby

    yaw_min = 10
    yaw_max = 350

    # controller update values
    yaw_update = 0
    x_update = 0
    y_update = 0
    z_update = 0

    navdata = nd()

    # Twist commands
    qc = Twist()

    land  = Landing(speed, min_altitude, height_diff, max_altitudeGoal, \
                    timeout, bbx, bby, pid_x, pid_y, pid_z, pid_theta)
    rate = rospy.Rate(200)

    while ((land.state != 'land')):
        # print takeoff.state
        rate.sleep()

    while not rospy.is_shutdown():
        # always update the altitude
        # z_update = land.pid_z.update(z_update)
        # print("Theta %.2f"  % navdata.theta)
        # print("(%d, %d)"  % (navdata.tag_x, navdata.tag_y))

        if (navdata.tag_acquired):
            # If 10 < theta < 350 then let's rotate
            # if ((yaw_min < navdata.theta) and (navdata.theta < yaw_max)):
            if ((yaw_min < navdata.theta < yaw_max)):
                print "Yaw!"
                yaw_update = land.pid_theta.update(navdata.theta)
            else:
                print "No yaw!"
                yaw_update = 0

            # is_in_box(minimum, maximum, position)
            if (land.is_in_box(bbx_min, bbx_max, navdata.tag_y)
                    and land.is_in_box(bby_min, bby_max, navdata.tag_x)):
                # If the QC is in the bounding box then we should enter 'Hover'
                # mode and just hang there
                x_update = 0
                y_update = 0
                # # qc.angular.x = 0.0
                # qc.angular.y = 0.0
                # print("In the Box")

            else:
                # It's not in the bounding box therefore we should update the PIDs
                x_update = land.pid_x.update(navdata.tag_x)
                y_update = land.pid_y.update(navdata.tag_y)
                # print("%.3f" % land.pid_x.getError())

        # always update the altitude
        height_diff = land.max_altitudeGoal - land.altitude
        # We only want to execute these manuevers if we're in land mode
        if land.state == 'land':
            # print("%.3f m" % land.altitude)
            if (land.altitude > land.min_altitude):
                print("Go down")
                # qc.linear.z  = speed
                if (land.height_diff > land.min_altitude):
                    qc.linear.z = speed
                    rate.sleep()
                    print("Descending")
                elif (land.height_diff <= land.min_altitude):
                    qc.linear.z = 0
            else:
                # elif((land.altitude < land.min_altitude)):
                if not (land.altitude == 0):
                    print("Eagle one has descended!")
                    land.land()
                    # To change states, we publish the fact that we've
                    # reached our land altitude
                    rospy.loginfo("Going to secure mode")
                    land.goto_secure()

        # qc.angular.z = yaw_update
        qc.linear.x = x_update
        qc.linear.y = y_update
        # qc.linear.z  = z_update

        land.pub_altitude.publish(qc)
        rate.sleep()
Ejemplo n.º 4
0
    global state
    state = msg.data


# pub_transition = rospy.Publisher('/smach/transition', String, queue_size=1)
sub_state = rospy.Subscriber('/smach/state', String, state_cb, queue_size=1000)
# Instantiate all of the modes
# Set all of the necessary parameters
# TODO instantiate these correctly i.e. correct parameters
# Land Mode Instantiation
land_speed = -1  # m/s
land_min_alt = 1000  # mm
land_max_alt = 2000  # mm
land_height_diff = 0  #mm
land_timeout = 3  # seconds
land = Landing(land_speed, land_min_alt, land_height_diff, land_max_alt,
               land_timeout)

# Takeoff Mode Instantiation
takeoff_speed = 1  # percentage of max speed (kind of)
takeoff_max_alt = 2500  # mm
takeoff_timeout = 10  # seconds
takeoff_counter = 0  # times
takeoff_to_reac_timeout = 15  # seconds
takeoff = Takeoff(takeoff_speed, takeoff_max_alt, takeoff_timeout)

# Takeoff Mode Instantiation
emergency = Emergency()

# Take Picture Mode Instantiation
takepicture_time = 300  # seconds
# takepicture_max_time   = 3 # seconds