class Aterriza: def __init__(self): self.controller = BasicDroneController() #Subscribers self.aterriza_sub = rospy.Subscriber('Aterriza',Empty,self.callback) def callback(self,data): self.controller.SendLand()
class LandDirective(AbstractDroneDirective): # sets up this directive def __init__(self): self.controller = BasicDroneController("Land Directive") # given the image and navdata of the drone, returns the following in order: # # A directive status int: # 1 if algorithm is finished and the drone is landing # # A tuple of (xspeed, yspeed, yawspeed, zspeed): # indicating the next instructions to fly the drone # # An image reflecting what is being done as part of the algorithm def RetrieveNextInstruction(self, image, navdata): rospy.logwarn(" __________ Drone is landing __________ ") self.controller.SendLand() return 1, (0, 0, 0, 0), image, (None, None), 0, 0, None
controller.SetCommand(0, 0, 0, 0) rospy.sleep(1) if __name__ == '__main__': rospy.init_node('preplanned_path', anonymous=True) pub1 = rospy.Publisher('/bebop/cmd_vel', Twist, queue_size=10) controller = BasicDroneController() controller.StartSendCommand() rospy.sleep(1) controller.SendTakeoff() print "Take off" controller.StartSendCommand() rospy.sleep(5) zigzag2() print "Down" controller.SetCommand(0, 0, 0, -0.25) rospy.sleep(3) #rospy.sleep(1) print "Land" controller.SendLand() #pub2 = rospy.Subscriber("/visualization_marker", Marker, detect_tag) #search_pattern() #reset_drone(pub1) #rospy.spin()
class DroneMaster(DroneVideo, FlightstatsReceiver): def __init__(self): # getting access to elements in DroneVideo and FlightstatsReciever super(DroneMaster, self).__init__() self.objectName = "NASA Airplane" self.startingAngle = 0 # backpack: 120/-55/95 # +100 for big objects, +50 for shorter objects. (Modifies how close drone is to object; smaller # > closer) # +10 for very small objects. self.yOffset = 0 # -30 for big objects, -15 for shorter objects. (Modifies how close drone is to object; larger # > closer) self.ySizeOffset = -30 # +75 for tall objects or using cube, 0 for shorter objects. (Modifies how high the drone should fly; smaller # > lower self.zOffset = 25 # Seting up a timestamped folder inside Flight_Info that will have the pictures & log of this flight self.droneRecordPath = ( expanduser("~") + "/drone_workspace/src/ardrone_lab/src/Flight_Info/" + datetime.datetime.now().strftime("%m-%d-%Y__%H:%M:%S, %A") + "_Flight_" + self.objectName + "/") if not os.path.exists(self.droneRecordPath): os.makedirs(self.droneRecordPath) #self.logger = Logger(self.droneRecordPath, "AR Drone Flight") #self.logger.Start() #import PID and color constants self.settingsPath = expanduser( "~" ) + "/drone_workspace/src/ardrone_lab/src/resources/calibrater_settings.txt" # initalizing the state machine that will handle which algorithms to run at which time; # the results of the algorithms will be used to control the drone self.stateMachine = StateMachine() # drone starts without any machine loaded, so that it can be controlled using the keyboard self.currMachine = None # initalizing helper objects self.pictureManager = PictureManager(self.droneRecordPath) self.controller = BasicDroneController("TraceCircle") self.startTimer = time.clock() # max height of drone, in mm; any higher and the drone will auto-land self.maxHeight = 2530 self.enableEmergency = False self.emergency = False self.captureRound = 0.5 self.oldBattery = -1 self.photoDirective = None # Each state machine that drone mastercan use is defined here; # When key is pressed, define the machine to be used and switch over to it. # Machines are defined as array of tuples. Each tuple represents a state's directive and duration # in the format (directive, stateduration, errorDirective). # ErrorDirectives are optional, so it can be just in the format # (directive, stateduration); # directive & errorDirective must subclass AbstractDroneDirective. def KeyListener(self): key = cv2.waitKey(1) & 0xFF # hover over orange if key == ord('1'): self.moveTime = 0.04 self.waitTime = 0 pidDirective = PIDHoverColorDirective2("orange") pidDirective.Reset() alg = [(pidDirective, 6)] #rospy.logwarn("test3") #alg = [(HoverColorDirective("orange"),6)] algCycles = -1 self.MachineSwitch(None, alg, algCycles, None, HOVER_ORANGE_MACHINE) # take picture if key == ord('3'): pictureName = self.pictureManager.Capture(self.cv_image) rospy.logwarn("Saved picture") # toggle camera elif key == ord('c'): self.controller.ToggleCamera() rospy.logwarn("Toggled Camera") # land (32 => spacebar) elif key == 32: self.controller.SendLand() rospy.logwarn( "***______--______-_***Landing Drone***_-______--_____***") # if there is a photo directive running, save pictures just in case self.SaveCachePictures() # save all pictures in cache elif key == ord('s'): self.SaveCachePictures() elif key == ord('q') or key == ord('t'): # main algorithm components self.moveTime = 0.20 self.waitTime = 0.10 flightAltitude = 1360 + self.zOffset objectAltitude = 1360 + self.zOffset angles = 8 # ~30 for big objects, ~ for small objects (can-sized) heightTolerance = 32 orangePlatformErrHoriz = (ReturnToColorDirective( 'orange', "blue", speedModifier=0.85), 4) orangePlatformErrParallel = (ReturnToColorDirective( 'orange', "pink", speedModifier=0.85), 4) blueLineErr = (ReturnToLineDirective('blue', speedModifier=0.85), 6) self.SaveCachePictures() self.photoDirective = CapturePhotoDirective( self.droneRecordPath, 30, 0.014, self.objectName, angles, objectAltitude, self.startingAngle) # 0.018 alg = [(OrientLineDirective('PARALLEL', 'pink', 'orange', flightAltitude, heightTolerance, self.yOffset, self.ySizeOffset), 1, orangePlatformErrParallel), (SetCameraDirective("FRONT"), 1), (IdleDirective("Pause for setting camera to front"), 25), (self.photoDirective, 1), (SetCameraDirective("BOTTOM"), 1), (IdleDirective("Pause for setting camera to bottom"), 25), (OrientLineDirective('PERPENDICULAR', 'blue', 'orange', flightAltitude), 5, orangePlatformErrHoriz), (FollowLineDirective('blue', speed=0.09), 6, blueLineErr)] # land on the 8th angle end = [(OrientLineDirective('PARALLEL', 'pink', 'orange', flightAltitude, heightTolerance, self.yOffset, self.ySizeOffset), 1, orangePlatformErrParallel), (SetCameraDirective("FRONT"), 1), (IdleDirective("Pause for setting camera to bottom"), 25), (self.photoDirective, 1), (LandDirective(), 1), (IdleDirective("Pause for land"), 25), (self.photoDirective, 1, None, "SavePhotos")] if key == ord('q'): #doesn't auto takeoff self.MachineSwitch(None, alg, angles - 1, end, AUTO_CIRCLE_MACHINE) if key == ord('t'): # does the entire circle algorithm, in order; takes off by itself init = [ (SetupDirective(), 1), (IdleDirective("Pause for setup"), 10), (FlatTrimDirective(), 1), (IdleDirective("Pause for flat trim"), 10), (SetCameraDirective("BOTTOM"), 1), (IdleDirective(" Pause for seting camera"), 10), (TakeoffDirective(), 1), (IdleDirective("Pause for takeoff"), 120), (ReturnToOriginDirective('orange', 50), 7), (FindPlatformAltitudeDirective('orange', flightAltitude + 200), 5), #( ReachAltitudeDirective(flightAltitude, 85), 2) ] self.MachineSwitch(init, alg, angles - 1, end, AUTO_CIRCLE_MACHINE) # just contains a machine to test any particular directive elif key == ord('b'): self.moveTime = 0.04 self.waitTime = 0.14 error = (ReturnToLineDirective('blue', speedModifier=0.4), 10) blueLineErr = (ReturnToLineDirective('blue'), 10) #orangePlatformErr = (ReturnToColorDirective('orange'), 10) orangePlatformErr = None orangePlatformErrHoriz = (ReturnToColorDirective('orange', "blue"), 10) #testalg = ( OrientLineDirective( 'PARALLEL', 'pink', 'orange', 1360, 150, self.yOffset, self.ySizeOffset), 1, orangePlatformErr) #testalg = ( PIDOrientLineDirective( 'PERPENDICULAR', 'blue', 'orange', self.settingsPath ), 4, error) #testalg = ( FollowLineDirective('blue', speed = 0.25), 6, blueLineErr) #testalg = ( OrientLineDirective('PERPENDICULAR', 'blue', 'orange', 700), 8, orangePlatformErrHoriz) #testalg = ( CapturePhotoDirective(self.droneRecordPath, 10, 0.3), 1 ) testalg = (MultiCenterTestDirective("orange"), 6) algCycles = -1 alg = [testalg] self.MachineSwitch(None, alg, algCycles, None, TEST_MACHINE) # Taking in some machine's definition of states and a string name, # provides a "switch" for loading and removing the machines that # drone master uses to control the drone def MachineSwitch(self, newMachineInit, newMachineAlg, newMachineAlgCycles, newMachineEnd, newMachineName): # pause the current state self.controller.SetCommand(0, 0, 0, 0) oldMachine = self.currMachine # if the current machine is toggled again with the same machine, # remove the machine and return back to the idle if oldMachine == newMachineName: self.currMachine = None # Otherwise, just switch to the machine else: self.stateMachine.DefineMachine(newMachineInit, newMachineAlg, newMachineAlgCycles, newMachineEnd, self) self.currMachine = newMachineName rospy.logwarn('======= Drone Master: Changing from the "' + str(oldMachine) + '" machine to the "' + str(self.currMachine) + '" machine =======') # This is called every time a frame (in self.cv_image) is updated. # Runs an iteration of the current state machine to get the next set of instructions, depending on the # machine's current state. def ReceivedVideo(self): # checks altitude; if it is higher than allowed, then drone will land currHeightReg = self.flightInfo["altitude"][1] if currHeightReg == '?': currHeightReg = 0 currHeightCalc = self.flightInfo["SVCLAltitude"][1] if currHeightCalc != -1: height = currHeightCalc else: height = currHeightReg #rospy.logwarn( "reg: " + str(currHeightReg) + " Calc: " + str(currHeightCalc) + #" avg: " + str(height)) if self.enableEmergency and height > self.maxHeight: self.controller.SendLand() self.emergency = True if self.emergency: rospy.logwarn("***** EMERGENCY LANDING: DRONE'S ALTITUDE IS " + str(height) + " mm; MAX IS " + str(self.maxHeight) + " mm *****") rospy.logwarn( "***______--______-_***Landing Drone***_-______--_____***") # if there is a photo directive running, save pictures just in case if self.photoDirective != None: self.photoDirective.SavePhotos(None, None) self.photoDirective = None # If no machine is loaded, then drone master does nothing # (so that the drone may be controlled with the keyboard) if self.currMachine == None: pass else: # retrieving the instructions for whatever state the machine is in # and commanding the drone to move accordingly droneInstructions, segImage, moveTime, waitTime = self.stateMachine.GetUpdate( self.cv_image, self.flightInfo) self.cv_image = segImage self.MoveFixedTime(droneInstructions[0], droneInstructions[1], droneInstructions[2], droneInstructions[3], moveTime, waitTime) # draws battery display and height for info Window color = (255, 255, 255) if self.flightInfo["batteryPercent"][1] != "?": batteryPercent = int(self.flightInfo["batteryPercent"][1]) sum = int(batteryPercent * .01 * (255 + 255)) if sum > 255: base = 255 overflow = sum - 255 else: base = sum overflow = 0 green = base red = 255 - overflow color = (0, green, red) batteryPercent = str(batteryPercent) + "%" if self.flightInfo["batteryPercent"][1] != self.oldBattery: self.oldBattery = self.flightInfo["batteryPercent"][1] self.info = np.zeros((70, 100, 3), np.uint8) cv2.putText(self.info, batteryPercent, (10, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, color, 1, cv2.LINE_AA) #cv2.putText(self.info, str(int(height)) + " mm", #(50,120), cv2.FONT_HERSHEY_SIMPLEX, 1, (255,255,255),1,cv2.LINE_AA) # this function will go a certain speed for a set amount of time, then rest for wait_time # of cycles def MoveFixedTime(self, xSpeed, ySpeed, yawSpeed, zSpeed, move_time, wait_time): # Moving if time.clock() < (self.startTimer + move_time) or wait_time == 0: xSetSpeed = xSpeed ySetSpeed = ySpeed yawSetSpeed = yawSpeed zSetSpeed = zSpeed # Waiting else: xSetSpeed = 0 ySetSpeed = 0 yawSetSpeed = 0 zSetSpeed = 0 # Resetting timer, so that drone moves again if time.clock() > (self.startTimer + move_time + wait_time): self.startTimer = time.clock() self.controller.SetCommand(xSetSpeed, ySetSpeed, yawSetSpeed, zSetSpeed) # logs info #self.logger.Log( #" altitude: " + str(self.flightInfo["altitude"]) + #" yawSpeed: " + str(yawSetSpeed) + " zSpeed: " + str(zSetSpeed) ) # if there is a photo directive running, save pictures def SaveCachePictures(self): rospy.logwarn("saving cache pictures") if self.photoDirective != None: self.photoDirective.SavePhotos(None, None) self.photoDirective = None else: rospy.logwarn("none") # this is called by ROS when the node shuts down def ShutdownTasks(self): self.logger.Stop()
class KeyboardController(object): def __init__(self): # initalize gui window (pygame) pygame.init() self.screen = pygame.display.set_mode((640, 480)) pygame.display.set_caption("Keyboard Controller") (self.screen).fill(GREY) background = pygame.image.load(expanduser("~")+"/drone_ws/src/ardrone_lab/src/resources/KeyboardCommands4.png") self.screen.blit(background,[0,0]) pygame.display.update() self.keyPub = rospy.Publisher('/controller/keyboard',ROSString) # setup controller + its variables self.controller = BasicDroneController("Keyboard") self.speed = 1 self.pitch = 0 self.roll = 0 self.yaw_velocity = 0 self.z_velocity = 0 def startController(self): # while gui is still running, continusly polls for keypresses gameExit = False while not gameExit: for event in pygame.event.get(): # checking when keys are pressing down if event.type == pygame.KEYDOWN and self.controller is not None: self.keyPub.publish(str(event.key)) if event.key == pygame.K_t: #switches camera to bottom when it launches self.controller.SendTakeoff() self.controller.SwitchCamera(1) print( "Takeoff") elif event.key == pygame.K_g: self.controller.SendLand() rospy.logwarn("-------- LANDING DRONE --------") print ("Land") elif event.key == pygame.K_ESCAPE: self.controller.SendEmergency() print ("Emergency Land") elif event.key == pygame.K_c: self.controller.ToggleCamera() print ("toggle camera") elif event.key == pygame.K_z: self.controller.FlatTrim() else: if event.key == pygame.K_w: self.pitch = self.speed elif event.key == pygame.K_s: self.pitch = self.speed*-1 elif event.key == pygame.K_a: self.roll = self.speed print ("Roll Left") elif event.key == pygame.K_d: self.roll = self.speed*-1 print ("Roll Right") elif event.key == pygame.K_q: self.yaw_velocity = self.speed print ("Yaw Left") elif event.key == pygame.K_e: self.yaw_velocity = self.speed*-1 print ("Yaw Right") elif event.key == pygame.K_r: self.z_velocity = self.speed*1 print ("Increase Altitude") elif event.key == pygame.K_f: self.z_velocity = self.speed*-1 print ("Decrease Altitude") self.controller.SetCommand(self.roll, self.pitch, self.yaw_velocity, self.z_velocity) if event.type == pygame.KEYUP: if (event.key == pygame.K_w or event.key == pygame.K_s or event.key == pygame.K_a or event.key == pygame.K_d or event.key == pygame.K_q or event.key == pygame.K_e or event.key == pygame.K_r or event.key == pygame.K_f): self.pitch = 0 self.roll = 0 self.z_velocity = 0 self.yaw_velocity = 0 self.controller.SetCommand(self.roll, self.pitch, self.yaw_velocity, self.z_velocity) if event.type == pygame.QUIT: gameExit = True pygame.display.quit() pygame.quit()
class AutoDrive(object): def __init__(self): self.rotZ = 0 self.Zlock = Lock() self.image = None self.imageLock = Lock() self.bridge = CvBridge() rospy.init_node('ardrone_keyboard_controller') self.controller = BasicDroneController() self.subNavdata = rospy.Subscriber('/ardrone/navdata', Navdata, self.receiveNavdata) self.image_sub = rospy.Subscriber("/ardrone/bottom/image_raw", Image, self.reciveImage) self.action = 0 # 0 takeoff status , 1 go foward def reciveImage(self, data): try: cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8") self.processImage(cv_image) except CvBridgeError as e: print(e) #process recived image ,change the drone's action def processImage(self, img): cv2.imwrite('./drone.jpg', img) self.action = 1 def turnLeft(self): #self.Zlock.acquire() self.controller.SetCommand(pitch=0) while (self.rotZ <= 179): self.controller.SetCommand(yaw_velocity=1) self.controller.SetCommand(yaw_velocity=0) #self.Zlock.release() def receiveNavdata(self, navdata): self.Zlock.acquire() self.rotZ = navdata.rotZ print self.rotZ self.Zlock.release() def drive(self): start_time = rospy.get_rostime() while not rospy.is_shutdown(): curent = rospy.get_rostime() if (curent - start_time) < rospy.Duration(1, 0): self.controller.SendTakeoff() self.status = 0 elif (curent - start_time) < rospy.Duration(22, 0): self.controller.SetCommand(pitch=1) self.status = 1 elif (curent - start_time) < rospy.Duration(23, 0): self.controller.SetCommand(pitch=0) self.status = 2 elif (curent - start_time) < rospy.Duration(24, 0): #self.controller.SetCommand(yaw_velocity=2) self.turnLeft() self.status = 3 rate = rospy.Rate(1) elif (curent - start_time) < rospy.Duration(40.5, 0): self.controller.SetCommand(pitch=1) self.status = 4 else: self.controller.SetCommand(pitch=0) self.controller.SendLand()
class LQR_sim: def __init__(self): self.start_flying = True self.stop_flying = False self.return_to_home = False self.is_takeoff = False # self.PID = SimplePID() self.drone_position_x = 0 self.drone_position_y = 0 self.drone_position_z = 0 self.drone_velocity_x = 0 self.drone_velocity_y = 0 self.drone_velocity_z = 0 self.drone_acceleration_x = 0 self.drone_acceleration_y = 0 self.drone_acceleration_z = 0 self.target_position_x = 0 self.target_position_y = 0 self.target_position_z = 0 self.target_velocity_x = 0 self.target_velocity_y = 0 self.target_velocity_z = 0 self.drone_yaw = 0 self.drone_yaw_radians = 0 self.vx = 0 self.vy = 0 self.vx1 = 0 self.vy1 = 0 self.ax = 0 self.ay = 0 self.controller = BasicDroneController() self.subNavdata = rospy.Subscriber('/ardrone/navdata',Navdata,self.ReceiveNavdata) self.logger = logging.getLogger('LQR_simulation') self.fileHandler_message = logging.StreamHandler(BufferedWriter(FileIO("LQR_simulation_data" + time.strftime("%Y%m%d-%H%M%S") + ".log", "w"))) self.logger.addHandler(self.fileHandler_message) self.formatter_message = logging.Formatter('%(message)s') self.fileHandler_message.setFormatter(self.formatter_message) self.logger.setLevel(LoggerWarningLevel) self.logger.info('Time;target_position_x,target_position_y,target_position_z;target_velocity_x,target_velocity_y,target_velocity_z;drone_position_x,drone_position_y,drone_position_z;drone_velocity_x,drone_velocity_y,drone_velocity_z,vx1,vy1,ax,ay') self.logger_land = logging.getLogger('LQR_simulation_land') self.fileHandler_message = logging.StreamHandler(BufferedWriter(FileIO("LQR_simulation_PD_land_data" + time.strftime("%Y%m%d-%H%M%S") + ".log", "w"))) self.logger_land.addHandler(self.fileHandler_message) self.formatter_message = logging.Formatter('%(message)s') self.fileHandler_message.setFormatter(self.formatter_message) self.logger_land.setLevel(LoggerWarningLevel) self.logger_land.info('Time;target_position_x,target_position_y,target_position_z;target_velocity_x,target_velocity_y,target_velocity_z;drone_position_x,drone_position_y,drone_position_z;drone_velocity_x,drone_velocity_y,drone_velocity_z,vx1,vy1,ax,ay') def show_gazebo_models(self): try: model_coordinates = rospy.ServiceProxy('/gazebo/get_model_state', GetModelState) resp_coordinates_robot1 = model_coordinates('robot1', '') resp_coordinates_quadrotor = model_coordinates('quadrotor', '') self.target_position_x = resp_coordinates_robot1.pose.position.x self.target_position_y = resp_coordinates_robot1.pose.position.y self.target_position_z = resp_coordinates_robot1.pose.position.z self.target_velocity_x = resp_coordinates_robot1.twist.linear.x self.target_velocity_y = resp_coordinates_robot1.twist.linear.y self.target_velocity_z = resp_coordinates_robot1.twist.linear.z self.drone_position_x = resp_coordinates_quadrotor.pose.position.x self.drone_position_y = resp_coordinates_quadrotor.pose.position.y self.drone_position_z = resp_coordinates_quadrotor.pose.position.z self.drone_velocity_x = resp_coordinates_quadrotor.twist.linear.x self.drone_velocity_y = resp_coordinates_quadrotor.twist.linear.y self.drone_velocity_z = resp_coordinates_quadrotor.twist.linear.z distance = math.sqrt((self.drone_position_x-self.target_position_x)**2 + (self.drone_position_y-self.target_position_y)**2) print "distance:",distance except rospy.ServiceException as e: rospy.loginfo("Get Model State service call failed: {0}".format(e)) def sleep(self, sec): while(sec and not rospy.is_shutdown()): if(detect==1): break time.sleep(1) sec -= 1 def reset_drone(self): self.controller.SetCommand(0,0,0,0) def fight_control(self, roll, pitch, z_velocity, yaw_velocity): self.controller.SetCommand(roll, pitch, z_velocity, yaw_velocity) def yaw_control(delf, degrees): if degrees > 0 and degrees < 180: self.controller.SetCommand(0,0,0,-0.5) else: self.controller.SetCommand(0,0,0, 0.5) def take_off(self, hight): if hight > self.drone_position_z: self.controller.SetCommand(0,0,1,0) # print "go up, current hight:%f, desired hight:%f" % (self.drone_position_z, hight) else: self.is_takeoff = True # print "take off successful" def dlqr(self, A, B, Q, R): """Solve the discrete time lqr controller. x[k+1] = A x[k] + B u[k] cost = sum x[k].T*Q*x[k] + u[k].T*R*u[k] """ #ref Bertsekas, p.151 #first, try to solve the ricatti equation X = np.matrix(scipy.linalg.solve_discrete_are(A, B, Q, R)) #compute the LQR gain K = np.matrix(scipy.linalg.inv(B.T*X*B+R)*(B.T*X*A)) eigVals, eigVecs = scipy.linalg.eig(A-B*K) return K, X, eigVals def land(self): self.record_land_data() u = [ self.target_position_x - self.drone_position_x, self.target_position_y - self.drone_position_y, 0 ] u_dot = [ self.target_velocity_x - self.drone_velocity_x, self.target_velocity_y - self.drone_velocity_y, 0 ] A = np.array([[1, 0, dt, 0], \ [0, 1, 0, dt], \ [0, 0, 1, 0 ], \ [0, 0, 0, 1 ]]) B = np.array([[dt**2/2, 0], \ [0, dt**2/2], \ [dt, 0], \ [0, dt]]) Q = q * np.array([[1, 0, 0, 0], \ [0, 1, 0, 0], \ [0, 0, 10, 0 ], \ [0, 0, 0, 10 ]]) R = (1-q) * np.array([[2, 0],\ [0, 2]]) state_error = - np.array([[u[0]], [u[1]], [u_dot[0]], [u_dot[1]]]) K, S, E = self.dlqr(A, B, Q, R) a = np.dot(-K, state_error) self.ax = a[0] self.ay = a[1] # ax = np.clip(ax, -5, 5) # ay = np.clip(ay, -5, 5) vx = self.drone_velocity_x + self.ax*0.1 vy = self.drone_velocity_y + self.ay*0.1 self.vx1 = math.cos(self.drone_yaw_radians)*vx + math.sin(self.drone_yaw_radians)*vy self.vy1 = -math.sin(self.drone_yaw_radians)*vx + math.cos(self.drone_yaw_radians)*vy self.fight_control(self.vx1, self.vy1, -0.5, 0) # self.yaw_control(180) if self.drone_position_z < 0.2: self.controller.SendLand() else: return def LQR_controller(self): u = [ self.target_position_x - self.drone_position_x, self.target_position_y - self.drone_position_y, 0 ] u_dot = [ self.target_velocity_x - self.drone_velocity_x, self.target_velocity_y - self.drone_velocity_y, 0 ] A = np.array([[1, 0, dt, 0], \ [0, 1, 0, dt], \ [0, 0, 1, 0 ], \ [0, 0, 0, 1 ]]) B = np.array([[dt**2/2, 0], \ [0, dt**2/2], \ [dt, 0], \ [0, dt]]) Q = q * np.array([[1, 0, 0, 0], \ [0, 1, 0, 0], \ [0, 0, 10, 0 ], \ [0, 0, 0, 10 ]]) R = (1-q) * np.array([[2, 0],\ [0, 2]]) state_error = - np.array([[u[0]], [u[1]], [u_dot[0]], [u_dot[1]]]) K, S, E = self.dlqr(A, B, Q, R) a = np.dot(-K, state_error) self.ax = a[0] self.ay = a[1] # self.ax = np.clip(self.ax, -3, 3) # self.ay = np.clip(self.ay, -3, 3) self.vx = self.drone_velocity_x + self.ax*0.1 self.vy = self.drone_velocity_y + self.ay*0.1 self.vx1 = math.cos(self.drone_yaw_radians)*self.vx + math.sin(self.drone_yaw_radians)*self.vy self.vy1 = -math.sin(self.drone_yaw_radians)*self.vx + math.cos(self.drone_yaw_radians)*self.vy # self.vx1 = np.clip(self.vx1, -5, 5) # self.vy1 = np.clip(self.vy1, -5, 5) # self.fight_control(self.vx1, -self.vy1, 0, 0) self.fight_control(self.vx1, self.vy1, 0, 0) # desired_angle = 0 # input_yaw = desired_angle - self.drone_yaw # self.yaw_control(input_yaw) def record_data(self): self.logger.info('%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f' % \ ( time.time(), self.target_position_x, self.target_position_y, self.target_position_z, self.target_velocity_x, self.target_velocity_y, self.target_velocity_z, self.drone_position_x, self.drone_position_y, self.drone_position_z, self.drone_velocity_x, self.drone_velocity_y, self.drone_velocity_z, self.vx1, self.vy1, self.ax, self.ay, self.vx, self.vy, self.drone_yaw, self.drone_acceleration_x, self.drone_acceleration_y, self.drone_acceleration_z )) def record_land_data(self): self.logger_land.info('%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f' % \ ( time.time(), self.target_position_x, self.target_position_y, self.target_position_z, self.target_velocity_x, self.target_velocity_y, self.target_velocity_z, self.drone_position_x, self.drone_position_y, self.drone_position_z, self.drone_velocity_x, self.drone_velocity_y, self.drone_velocity_z, self.vx1, self.vy1, self.ax, self.ay, self.vx, self.vy, self.drone_yaw, self.drone_acceleration_x, self.drone_acceleration_y, self.drone_acceleration_z )) def CallbackUserCommand(self, data): self.start_flying = data.point.x == 1 self.stop_flying = data.point.y == 1 self.return_to_home = data.point.z == 1 def CallbackAcceleartion(self, data): self.drone_acceleration_x = data.linear_acceleration.x self.drone_acceleration_y = data.linear_acceleration.y self.drone_acceleration_z = data.linear_acceleration.z def ReceiveNavdata(self, data): self.drone_yaw = data.rotZ self.drone_yaw_radians = math.radians(self.drone_yaw) # print "yaw angle", self.drone_yaw , self.drone_yaw_radians def TimerCallback(self, event): self.show_gazebo_models() if self.is_takeoff == False: self.take_off(TakeOffHight) else: distance_2D = math.sqrt((self.drone_position_x - self.target_position_x)**2 + (self.drone_position_y - self.target_position_y)**2) if distance_2D < 0.2 and EnableLanding: self.land() else: self.LQR_controller() self.record_data()
class PN_sim: def __init__(self): self.start_flying = True self.stop_flying = False self.return_to_home = False self.is_takeoff = False self.drone_position_x = 0 self.drone_position_y = 0 self.drone_position_z = 0 self.drone_velocity_x = 0 self.drone_velocity_y = 0 self.drone_velocity_z = 0 self.target_position_x = 0 self.target_position_y = 0 self.target_position_z = 0 self.target_velocity_x = 0 self.target_velocity_y = 0 self.target_velocity_z = 0 self.vx = 0 self.vy = 0 self.vx1 = 0 self.vy1 = 0 self.ax = 0 self.ay = 0 self.controller = BasicDroneController() self.subNavdata = rospy.Subscriber('/ardrone/navdata',Navdata,self.ReceiveNavdata) self.logger = logging.getLogger('PN_simulation') self.fileHandler_message = logging.StreamHandler(BufferedWriter(FileIO("PN_simulation_data" + time.strftime("%Y%m%d-%H%M%S") + ".log", "w"))) self.logger.addHandler(self.fileHandler_message) self.formatter_message = logging.Formatter('%(message)s') self.fileHandler_message.setFormatter(self.formatter_message) self.logger.setLevel(LoggerWarningLevel) self.logger.info('Time;target_position_x,target_position_y,target_position_z;target_velocity_x,target_velocity_y,target_velocity_z;drone_position_x,drone_position_y,drone_position_z;drone_velocity_x,drone_velocity_y,drone_velocity_z,vx1,vy1,ax,ay') self.logger_land = logging.getLogger('PN_simulation_land') self.fileHandler_message = logging.StreamHandler(BufferedWriter(FileIO("PN_simulation_PD_land_data" + time.strftime("%Y%m%d-%H%M%S") + ".log", "w"))) self.logger_land.addHandler(self.fileHandler_message) self.formatter_message = logging.Formatter('%(message)s') self.fileHandler_message.setFormatter(self.formatter_message) self.logger_land.setLevel(LoggerWarningLevel) self.logger_land.info('Time;target_position_x,target_position_y,target_position_z;target_velocity_x,target_velocity_y,target_velocity_z;drone_position_x,drone_position_y,drone_position_z;drone_velocity_x,drone_velocity_y,drone_velocity_z,vx1,vy1,ax,ay') def show_gazebo_models(self): try: model_coordinates = rospy.ServiceProxy('/gazebo/get_model_state', GetModelState) resp_coordinates_robot1 = model_coordinates('robot1', '') resp_coordinates_quadrotor = model_coordinates('quadrotor', '') self.target_position_x = resp_coordinates_robot1.pose.position.x self.target_position_y = resp_coordinates_robot1.pose.position.y self.target_position_z = resp_coordinates_robot1.pose.position.z self.target_velocity_x = resp_coordinates_robot1.twist.linear.x self.target_velocity_y = resp_coordinates_robot1.twist.linear.y self.target_velocity_z = resp_coordinates_robot1.twist.linear.z self.drone_position_x = resp_coordinates_quadrotor.pose.position.x self.drone_position_y = resp_coordinates_quadrotor.pose.position.y self.drone_position_z = resp_coordinates_quadrotor.pose.position.z self.drone_velocity_x = resp_coordinates_quadrotor.twist.linear.x self.drone_velocity_y = resp_coordinates_quadrotor.twist.linear.y self.drone_velocity_z = resp_coordinates_quadrotor.twist.linear.z distance = math.sqrt((self.drone_position_x-self.target_position_x)**2 + (self.drone_position_y-self.target_position_y)**2) print "distance:",distance except rospy.ServiceException as e: rospy.loginfo("Get Model State service call failed: {0}".format(e)) def sleep(self, sec): while(sec and not rospy.is_shutdown()): if(detect==1): break time.sleep(1) sec -= 1 def reset_drone(self): self.controller.SetCommand(0,0,0,0) def fight_control(self, roll, pitch, z_velocity, yaw_velocity): self.controller.SetCommand(roll, pitch, z_velocity, yaw_velocity) def yaw_control(delf, degrees): if degrees == self.drone_yaw: return else: error_yaw = self.drone_yaw - degrees if error_yaw > 0 and error < 180: self.controller.SetCommand(0,0,0,1) else: self.controller.SetCommand(0,0,0,-1) def take_off(self, hight): if hight > self.drone_position_z: self.controller.SetCommand(0,0,1,0) # print "go up, current hight:%f, desired hight:%f" % (self.drone_position_z, hight) else: self.is_takeoff = True # print "take off successful" def land(self): self.record_land_data() u = [ self.target_position_x - self.drone_position_x, self.target_position_y - self.drone_position_y, 0 ] u_dot = [ self.target_velocity_x - self.drone_velocity_x, self.target_velocity_y - self.drone_velocity_y, 0 ] lamda = 4 Kp = 1 Kd = 2 m = 1.5 # I guess the mass is 0.5 kg g = 9.8 a_tan = np.dot(Kp,u) + np.dot(Kd,u_dot) a = a_tan self.ax = a[0] self.ay = a[1] # ax = np.clip(ax, -5, 5) # ay = np.clip(ay, -5, 5) vx = self.drone_velocity_x + self.ax*0.1 vy = self.drone_velocity_y + self.ay*0.1 self.vx1 = math.cos(self.drone_yaw_radians)*vx + math.sin(self.drone_yaw_radians)*vy self.vy1 = math.sin(self.drone_yaw_radians)*vx - math.cos(self.drone_yaw_radians)*vy self.fight_control(self.vx1, -self.vy1, -0.5, 0) if self.drone_position_z < 0.2: self.controller.SendLand() else: return # self.record_land_data() # u = [ self.target_position_x - self.drone_position_x, # self.target_position_y - self.drone_position_y, # 0 ] # u_dot = [ self.target_velocity_x - self.drone_velocity_x, # self.target_velocity_y - self.drone_velocity_y, # 0 ] # A = np.array([[1, 0, dt, 0], \ # [0, 1, 0, dt], \ # [0, 0, 1, 0 ], \ # [0, 0, 0, 1 ]]) # B = np.array([[dt**2/2, 0], \ # [0, dt**2/2], \ # [dt, 0], \ # [0, dt]]) # q = 0.1 # Q = q * np.eye(4) # R = (1-q) * np.eye(2) # state_error = - np.array([[u[0]], [u[1]], [u_dot[0]], [u_dot[1]]]) # K, S, E = control.lqr(A, B, Q, R) # a = np.dot(-K, state_error) # self.ax = a[0] # self.ay = a[1] # # ax = np.clip(ax, -5, 5) # # ay = np.clip(ay, -5, 5) # vx = self.drone_velocity_x + self.ax*0.1 # vy = self.drone_velocity_y + self.ay*0.1 # self.vx1 = math.cos(self.drone_yaw_radians)*vx + math.sin(self.drone_yaw_radians)*vy # self.vy1 = -math.sin(self.drone_yaw_radians)*vx + math.cos(self.drone_yaw_radians)*vy # self.fight_control(self.vx1, self.vy1, -0.5, 0) # if self.drone_position_z < 0.2: # self.controller.SendLand() # else: # return def PN_controller(self): u = [ self.target_position_x - self.drone_position_x, self.target_position_y - self.drone_position_y, 0 ] u_dot = [ self.target_velocity_x - self.drone_velocity_x, self.target_velocity_y - self.drone_velocity_y, 0 ] lamda = 4 Kp = 1 Kd = 2 m = 1.5 # I guess the mass is 0.5 kg g = 9.8 Omiga = np.cross(u,u_dot)/np.dot(u,u) a_nor = -lamda*np.linalg.norm(u_dot)*np.cross(u/np.linalg.norm(u), Omiga) a_tan = np.dot(Kp,u) + np.dot(Kd,u_dot) a = a_nor + a_tan self.ax = a[0] self.ay = a[1] # ax = np.clip(ax, -5, 5) # ay = np.clip(ay, -5, 5) self.vx = self.drone_velocity_x + self.ax*0.1 self.vy = self.drone_velocity_y + self.ay*0.1 self.vx1 = math.cos(self.drone_yaw_radians)*self.vx + math.sin(self.drone_yaw_radians)*self.vy self.vy1 = math.sin(self.drone_yaw_radians)*self.vx - math.cos(self.drone_yaw_radians)*self.vy # self.fight_control(self.vx1, -self.vy1, 0, 0) if self.drone_position_z < 0.5: self.fight_control(self.vx1, -self.vy1, 0, 0) else: self.fight_control(self.vx1, -self.vy1, 0, 0) def record_data(self): self.logger.info('%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f' % \ ( time.time(), self.target_position_x, self.target_position_y, self.target_position_z, self.target_velocity_x, self.target_velocity_y, self.target_velocity_z, self.drone_position_x, self.drone_position_y, self.drone_position_z, self.drone_velocity_x, self.drone_velocity_y, self.drone_velocity_z, self.vx1, self.vy1, self.ax, self.ay, self.vx, self.vy, self.drone_yaw )) def record_land_data(self): self.logger_land.info('%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f' % \ ( time.time(), self.target_position_x, self.target_position_y, self.target_position_z, self.target_velocity_x, self.target_velocity_y, self.target_velocity_z, self.drone_position_x, self.drone_position_y, self.drone_position_z, self.drone_velocity_x, self.drone_velocity_y, self.drone_velocity_z, self.vx1, self.vy1, self.ax, self.ay, self.vx, self.vy, self.drone_yaw )) def CallbackUserCommand(self, data): self.start_flying = data.point.x == 1 self.stop_flying = data.point.y == 1 self.return_to_home = data.point.z == 1 def ReceiveNavdata(self, data): self.drone_yaw = data.rotZ self.drone_yaw_radians = math.radians(self.drone_yaw) def TimerCallback(self, event): self.show_gazebo_models() if self.is_takeoff == False: self.take_off(TakeOffHight) else: distance_2D = math.sqrt((self.drone_position_x - self.target_position_x)**2 + (self.drone_position_y - self.target_position_y)**2) if distance_2D < 0.2: self.land() else: self.PN_controller() self.record_data()
class Calibrater(object): def __init__(self): # initalizing gui window (pygame) pygame.init() self.screen = pygame.display.set_mode((353, 576)) pygame.display.set_caption("Calibrater Controller") (self.screen).fill(GREY) background = pygame.image.load( expanduser("~") + "/drone_workspace/src/ardrone_lab/src/resources/PID_Calibrater.png" ) self.screen.blit(background, [0, 0]) pygame.display.update() self.controller = BasicDroneController("Keyboard") self.editValue = None # config file path self.settingsPath = expanduser( "~" ) + "/drone_workspace/src/ardrone_lab/src/resources/calibrater_settings.txt" self.Kp, self.Ki, self.Kd = self.GetSettings() self.increment = 0.001 # reads the PID values from the last line of the file def GetSettings(self): # read a text file as a list of lines # find the last line, change to a file you have fileHandle = open(self.settingsPath, 'r') last = fileHandle.readlines() fileHandle.close() last = str(last[len(last) - 1]).split() p, i, d = [float(x) for x in last] return p, i, d # writes the current PID values to the file def WriteAll(self): calibraterFile = open(self.settingsPath, 'a') calibraterFile.write(str(self.Kp) + " ") calibraterFile.write(str(self.Ki) + " ") calibraterFile.write(str(self.Kd) + "\n") calibraterFile.close() rospy.logwarn("P = " + str(self.Kp) + " I = " + str(self.Ki) + " D = " + str(self.Kd)) def setPID(self, Kp, Ki, Kd): self.Kp = Kp self.Ki = Ki self.Kd = Kd def isZero(self, alpha): if (alpha < 0.0000000000000001): return 0.0 else: return alpha def startController(self): # while gui is still running, continusly polls for keypresses gameExit = False while not gameExit: for event in pygame.event.get(): # checking when keys are pressing down if event.type == pygame.KEYDOWN and self.controller is not None: #P,I,D = self.GetSettings() #self.setPID(P,I,D) if event.key == pygame.K_SPACE: self.controller.SendLand() print "Land" elif event.key == pygame.K_ESCAPE: self.controller.SendEmergency() print "Emergency Land" elif event.key == pygame.K_c: self.controller.ToggleCamera() print "toggle camera" elif event.key == pygame.K_p: if (self.editValue != CALIBRATE_P): self.editValue = CALIBRATE_P else: self.editValue = None elif event.key == pygame.K_i: if (self.editValue != CALIBRATE_I): self.editValue = CALIBRATE_I else: self.editValue = None elif event.key == pygame.K_d: if (self.editValue != CALIBRATE_D): self.editValue = CALIBRATE_D else: self.editValue = None elif event.key == pygame.K_UP: if (self.editValue == CALIBRATE_P): self.Kp += self.increment self.Kp = self.isZero(self.Kp) #rospy.logwarn("P: " + str(self.Kp)) self.WriteAll() elif (self.editValue == CALIBRATE_I): self.Ki += self.increment self.Ki = self.isZero(self.Ki) #rospy.logwarn("I: " + str(self.Ki)) self.WriteAll() elif (self.editValue == CALIBRATE_D): self.Kd += self.increment self.Kd = self.isZero(self.Kd) #rospy.logwarn("D: " + str(self.Kd)) self.WriteAll() elif event.key == pygame.K_DOWN: if (self.editValue == CALIBRATE_P): self.Kp = self.Kp - self.increment self.Kp = self.isZero(self.Kp) #rospy.logwarn("P: " + str(self.Kp)) self.WriteAll() elif (self.editValue == CALIBRATE_I): self.Ki = self.Ki - self.increment self.Ki = self.isZero(self.Ki) #rospy.logwarn("I: " + str(self.Ki)) self.WriteAll() elif (self.editValue == CALIBRATE_D): self.Kd = self.Kd - self.increment self.Kd = self.isZero(self.Kd) #rospy.logwarn("D: " + str(self.Kd)) self.WriteAll() elif event.key == pygame.K_KP4: self.Kp = self.isZero(self.Kp + self.increment) self.WriteAll() elif event.key == pygame.K_KP1: self.Kp = self.isZero(self.Kp - self.increment) self.WriteAll() elif event.key == pygame.K_KP5: self.Ki = self.isZero(self.Ki + self.increment) self.WriteAll() elif event.key == pygame.K_KP2: self.Ki = self.isZero(self.Ki - self.increment) self.WriteAll() elif event.key == pygame.K_KP6: self.Kd = self.isZero(self.Kd + self.increment) self.WriteAll() elif event.key == pygame.K_KP3: self.Kd = self.isZero(self.Kd - self.increment) self.WriteAll() if event.type == pygame.KEYUP: if (event.key == pygame.K_w or event.key == pygame.K_s or event.key == pygame.K_a or event.key == pygame.K_d or event.key == pygame.K_q or event.key == pygame.K_e or event.key == pygame.K_r or event.key == pygame.K_f): pass if event.type == pygame.QUIT: gameExit = True pygame.display.quit() pygame.quit() # this is called by ROS when the node shuts down def ShutdownTasks(self): # at maximum, only keeps 20 pid values in the file lines = open(self.settingsPath).readlines() numLines = 20 if len(lines) < 20: numLines = len(lines) open(self.settingsPath, 'w').writelines(lines[-numLines:len(lines)])
class Fly: def __init__(self): #Drone's odometry subscriber self.sub_odom = rospy.Subscriber("/drone_control/odom_converted", Odometry, self.callback_odom) #Aruco's data subscribers self.sub_aruco = rospy.Subscriber("/drone_control/aruco_detected", Bool, self.callback_detected) self.sub_aruco_center = rospy.Subscriber("/drone_control/aruco_center", Float32MultiArray, self.callback_center) self.sub_aruco_id = rospy.Subscriber("/drone_control/aruco_id", Int8, self.callback_id) #Drone's linear and anglar velocity publishers self.pub = rospy.Publisher('/cmd_vel', Twist, queue_size=1) self.pub_angle = rospy.Publisher('/drone_control/drone_angle', Float32, queue_size=1) self.controller = BDC() self.twist = Twist() #Drone's coordinates self.drone_x = 0 self.drone_y = 0 self.drone_z = 0 #angle towards aruco marker self.angle = 0 #Difference between drone's angle and its destination self.diff_angle = 0 self.aruco_center = (320, 180) self.Image_center = (320, 180) self.old_aruco_center = None #The variable is incremented each frame the aruco marker is detected self.detection_counter = 0 #Aruco markers' coordinates dictionary self.dest_dict = OrderedDict() self.dest_dict['1'] = (3, -14) self.dest_dict['10'] = (-14, 2) self.dest_dict['20'] = (-4, 13) self.dest_dict['50'] = (11, 4) self.dest_dict['100'] = (0, 0) self.dest_id = self.dest_dict.keys()[0] self.marker_coords = self.dest_dict[self.dest_id] #Additional boolean variables self.aruco_id = None self.detected = False self.rotated = False self.on_target = False def callback_id(self, message): #Get aruco's id self.aruco_id = message.data def callback_center(self, message): #Get aruco's center coordinates (in pixels) self.aruco_center = message.data def rotate_2_angle_and_fly(self): #Rotate towards the next marker if self.diff_angle >= 5: self.controller.SetCommand(yaw_velocity=0.3, pitch=0) elif self.diff_angle <= -5: self.controller.SetCommand(yaw_velocity=-0.3, pitch=0) #If the angle is correct fly forward to the next marker else: self.controller.SetCommand(pitch=1) def land_on_target(self): #Calculate the difference (in pixels) between image's center and detected aruco's center x_diff = self.Image_center[0] - self.aruco_center[0] y_diff = self.Image_center[1] - self.aruco_center[1] x_diff = x_diff / (self.Image_center[0]) y_diff = y_diff / (self.Image_center[1]) #Drone's landing movement is slower if aruco marker's visibility keeps getting obstructed if self.detection_counter <= 2: self.controller.SetCommand(pitch=x_diff * 0.3, roll=y_diff * 0.3, z_velocity=-0.5) else: self.controller.SetCommand(pitch=x_diff, roll=y_diff, z_velocity=-0.3) #If the drone is low enough commence a built-in landing sequence if self.drone_z < 1.5: self.controller.SetCommand(pitch=0, roll=0, z_velocity=0) self.controller.SendLand() #If the drone has landed, prepare for the next destination if self.dest_dict and self.controller.status == DroneStatus.Landed: self.on_target = True self.dest_dict.popitem(last=False) self.dest_id = self.dest_dict.keys()[0] self.marker_coords = self.dest_dict[self.dest_id] self.detection_counter = 0 rospy.sleep(3) self.on_target = False else: print("Finished flying!") def callback_odom(self, odom): #Get drone's coordinates self.drone_x = odom.pose.pose.position.x self.drone_y = odom.pose.pose.position.y self.drone_z = odom.pose.pose.position.z #Find an angle towards aruco marker angle = math.degrees( self.calculate_angle((self.drone_x, self.drone_y), self.marker_coords)) #Get an angular difference between destination's angle and drone's current angle self.diff_angle = angle - self.controller.rotation print("kat:", self.controller.rotation) print("kurs:", angle) print("diff:", self.diff_angle) #Take off if the drone is on the ground if self.controller.status == DroneStatus.Landed and self.dest_dict and not self.on_target: self.controller.SendTakeoff() #Keep going up if the drone is flying low if self.controller.status == DroneStatus.Flying and self.drone_z < 10: self.controller.SetCommand(z_velocity=2) #If the drone is high enough, fly towards the next destination elif self.controller.status == DroneStatus.Flying and self.drone_z >= 10: self.rotate_2_angle_and_fly() def callback_detected(self, message): self.detected = message.data #If the proper aruco marker is detected, begin landing on it if self.detected and self.aruco_id == int(self.dest_id): self.detection_counter += 1 self.land_on_target() def calculate_angle(self, point1, point2): #Calculate an angle towards aruco marker angle = math.atan2((point2[1] - point1[1]), (point2[0] - point1[0])) print('wspolrzedne drona:', point1[0], point1[1]) print('wspolrzedne markera:', point2[0], point2[1]) return angle