def __init__(self, config_node):
Task.__init__(self)
self.pos_node = getNode("/position", True)
self.home_node = getNode("/task/home", True)
self.circle_node = getNode("/task/circle", True)
self.ap_node = getNode("/autopilot", True)
self.targets_node = getNode("/autopilot/targets", True)
self.nav_node = getNode("/navigation", True)
self.tecs_node = getNode("/config/autopilot/TECS", True)
self.t = 0.0
self.direction = "left"
self.radius_m = 100.0
self.name = config_node.getString("name")
if config_node.hasChild("direction"):
# only override the default if a value is given
self.direction = config_node.getString("direction")
if config_node.hasChild("radius_m"):
# only override the default if a value is given
self.radius_m = config_node.getFloat("radius_m")
# estimate the distance of the route (assuming loop_t is set correctly!)
steps = 1000
self.step = loop_t / float(steps)
t1 = 0
t2 = t1 + self.step
self.loop_dist = 0.0
while t2 <= loop_t + 0.5*self.step:
self.loop_dist += distance_t2t(t1, t2)
t1 = t2
t2 += self.step
print('route distance is approximately:', self.loop_dist)
def __init__(self, config_node):
Task.__init__(self)
self.pos_node = getNode("/position", True)
self.orient_node = getNode("/orientation", True)
self.circle_node = getNode("/task/circle", True)
self.ap_node = getNode("/autopilot", True)
self.nav_node = getNode("/navigation", True)
self.targets_node = getNode("/autopilot/targets", True)
self.coord_path = ""
self.direction = "left"
self.radius_m = 100.0
self.target_agl_ft = 0.0
self.target_speed_kt = 0.0
self.exit_agl_ft = 0.0
self.exit_heading_deg = 0.0
self.name = config_node.getString("name")
self.nickname = config_node.getString("nickname")
self.coord_path = config_node.getString("coord_path")
if config_node.hasChild("direction"):
# only override the default if a value is given
self.direction = config_node.getString("direction")
if config_node.hasChild("radius_m"):
# only override the default if a value is given
self.radius_m = config_node.getFloat("radius_m")
self.target_agl_ft = config_node.getFloat("altitude_agl_ft")
self.target_speed_kt = config_node.getFloat("speed_kt")
# this needs to be done at the end if a coord_path is provided
if self.coord_path != "":
self.coord_node = getNode(self.coord_path, True)
else:
self.coord_node = None
def __init__(self, config_node):
Task.__init__(self)
self.route_node = getNode('/task/route', True)
self.ap_node = getNode('/autopilot', True)
self.nav_node = getNode("/navigation", True)
self.targets_node = getNode('/autopilot/targets', True)
self.alt_agl_ft = 0.0
self.speed_kt = 30.0
self.saved_fcs_mode = ''
self.saved_nav_mode = ''
self.saved_agl_ft = 0.0
self.saved_speed_kt = 0.0
self.name = config_node.getString('name')
self.nickname = config_node.getString('nickname')
self.coord_path = config_node.getString('coord_path')
self.alt_agl_ft = config_node.getFloat('altitude_agl_ft')
self.speed_kt = config_node.getFloat('speed_kt')
# load a route if included in config tree
if control.route.build(config_node):
control.route.swap()
else:
print('Detected an internal inconsistency in the route')
print(' configuration. See earlier errors for details.')
quit()
def __init__(self, config_node):
Task.__init__(self)
self.task_node = getNode("/task", True)
self.ap_node = getNode("/autopilot", True)
self.engine_node = getNode("/controls/engine", True)
self.name = config_node.getString("name")
self.nickname = config_node.getString("nickname")
def __init__(self, config_node):
Task.__init__(self)
self.sensors_node = getNode("/sensors", True)
self.gps_node = getNode("/sensors/gps", True)
self.home_node = getNode("/task/home", True)
self.task_node = getNode("/task", True)
self.completed = False
self.name = config_node.getString("name")
def __init__(self, config_node):
Task.__init__(self)
self.pos_node = getNode("/position", True)
self.home_node = getNode("/task/home", True)
self.home_node.setBool("valid", False)
self.startup_node = getNode("/task/startup", True)
self.gps_node = getNode("/sensors/gps", True)
self.name = config_node.getString("name")
def __init__(self, config_node):
Task.__init__(self)
self.name = config_node.getString("name")
self.ap_node = getNode("/autopilot", True)
self.locks_node = getNode("/autopilot/locks", True)
self.last_master_switch = False
self.last_fcs_mode = ''
def __init__(self, config_node):
Task.__init__(self)
self.targets_node = getNode("/autopilot/targets", True)
self.config_node = config_node
self.engine_node = getNode("/controls/engine", True)
self.glide_node = getNode("/task/glide", True)
self.pos_node = getNode("/position", True)
self.name = config_node.getString("name")
self.running = False
self.last_enable = True # so we don't start out with a enable event
def __init__(self, config_node):
Task.__init__(self)
self.imu_node = getNode("/sensors/imu", True)
self.config_node = config_node
self.excite_node = getNode("/task/excite", True)
self.name = config_node.getString("name")
self.index = 0
self.start_time = 0.0
self.type = ''
self.running = False
self.last_trigger = True # so we don't start out with a trigger event
def __init__(self, config_node):
Task.__init__(self)
self.flight_node = getNode("/controls/flight", True)
self.imu_node = getNode("/sensors/imu", True)
self.name = config_node.getString("name")
if config_node.hasChild("speed_secs"):
self.speed_secs = float(config_node.getString("speed_secs"))
if self.speed_secs < 1.0:
self.speed_secs = 1.0
else:
self.speed_secs = 5
def __init__(self, config_node):
Task.__init__(self)
self.status_node = getNode("/status", True)
self.task_node = getNode("/task", True)
self.remote_link_node = getNode("/comms/remote_link", True)
self.remote_link_node.setString("link", "inactive")
self.link_state = False
self.push_task = ""
self.name = config_node.getString("name")
self.timeout_sec = config_node.getFloat("timeout_sec")
if self.timeout_sec < 1.0:
# set a sane default if none provided
self.timetout_sec = 60.0
self.action = config_node.getString("action")
def __init__(self, config_node):
Task.__init__(self)
self.switches = []
self.name = config_node.getString("name")
children = config_node.getChildren(expand=True)
#print "switches task children:", children
for child_name in children:
if re.match("switch", child_name):
switch = Switch(config_node.getChild(child_name))
#print switch.__dict__
self.switches.append(switch)
def __init__(self, config_node):
Task.__init__(self)
self.act_node = getNode("/actuators", True)
self.gps_node = getNode("/sensors/gps", True)
self.task_node = getNode("/task", True)
# initial defaults are locked down (this is kind of a big deal!)
self.master_safety = True
self.safety_mode = 'on_ground'
self.airborne_latch = False
self.act_node.setBool("throttle_safety", True)
self.name = config_node.getString("name")
if config_node.hasChild("safety_mode"):
self.safety_mode = config_node.getString('safety_mode')
def __init__(self, config_node):
Task.__init__(self)
self.pos_node = getNode("/position", True)
self.home_node = getNode("/task/home", True)
self.circle_node = getNode("/task/circle/active", True)
self.ap_node = getNode("/autopilot", True)
self.targets_node = getNode("/autopilot/targets", True)
self.nav_node = getNode("/navigation", True)
self.tecs_node = getNode("/config/autopilot/TECS", True)
self.t = 0.0
self.name = config_node.getString("name")
self.function = self.rose
if config_node.getString("function") == "simple":
self.function = self.simple_func
if config_node.getString("function") == "rose":
self.function = self.rose
if config_node.getString("function") == "lemniscate":
self.function = self.lemniscate
self.radius_m = 200.0
if config_node.hasChild("radius_m"):
self.radius_m = config_node.getFloat("radius_m")
self.vertical_m = 20.0
if config_node.hasChild("vertical_m"):
self.vertical_m = config_node.getFloat("vertical_m")
self.min_kt = self.tecs_node.getFloat("min_kt")
if config_node.hasChild("min_kt"):
self.min_kt = config_node.getFloat("min_kt")
self.max_kt = self.tecs_node.getFloat("max_kt")
if config_node.hasChild("max_kt"):
self.max_kt = config_node.getFloat("max_kt")
# estimate a dt that roughly approximates 1 meter (doesn't
# have to be perfect)
loop_t = math.pi * 2
steps = 1000
self.step = loop_t / float(steps)
t1 = 0
t2 = t1 + self.step
self.loop_dist = 0.0
while t2 <= loop_t + 0.5 * self.step:
self.loop_dist += self.distance_t2t(t1, t2)
t1 = t2
t2 += self.step
print("parametric: 2*pi distance is approximately:", self.loop_dist)
self.para_dt = 1.0 / self.loop_dist
print("parametric: dt (approx 1m):", self.para_dt)
def __init__(self, config_node):
Task.__init__(self)
self.task_node = getNode("/task", True)
self.preflight_node = getNode("/task/preflight", True)
self.ap_node = getNode("/autopilot", True)
self.targets_node = getNode("/autopilot/targets", True)
self.imu_node = getNode("/sensors/imu", True)
self.flight_node = getNode("/controls/flight", True)
#self.saved_fcs_mode = ""
self.timer = 0.0
self.duration_sec = 60.0
self.name = config_node.getString("name")
# copy to /task/preflight
if config_node.hasChild("duration_sec"):
self.duration_sec = config_node.getFloat("duration_sec")
self.preflight_node.setFloat("duration_sec", self.duration_sec)
def __init__(self, config_node):
Task.__init__(self)
self.imu_node = getNode("/sensors/imu", True)
self.chirp_node = getNode("/task/chirp", True)
self.signal_node = getNode("/controls/signal", True)
self.name = config_node.getString("name")
self.nickname = config_node.getString("nickname")
self.start_time = 0.0
self.k = 0.0
# rad/sec is hz*2*pi
if config_node.hasChild("freq_start_rad_sec"):
self.freq_start = float(
config_node.getString("freq_start_rad_sec"))
if self.freq_start < 0.1: self.freq_start = 0.1
if self.freq_start > 100.0: self.freq_start = 100.0
else:
self.freq_start = 6.2830
self.chirp_node.setFloat("freq_start_rad_sec", self.freq_start)
if config_node.hasChild("freq_end_rad_sec"):
self.freq_end = float(config_node.getString("freq_end_rad_sec"))
if self.freq_end < 0.1: self.freq_end = 0.1
if self.freq_end > 100.0: self.freq_end = 100.0
else:
self.freq_end = 62.83
self.chirp_node.setFloat("freq_end_rad_sec", self.freq_end)
if config_node.hasChild("duration_sec"):
self.dur_sec = float(config_node.getString("duration_sec"))
if self.dur_sec < 1: self.dur_sec = 1
if self.dur_sec > 100: self.dur_sec = 100
else:
self.dur_sec = 20
self.chirp_node.setFloat("duration_sec", self.dur_sec)
if config_node.hasChild("amplitude"):
self.amplitude = float(config_node.getString("amplitude"))
if self.amplitude < 0.001: self.amplitude = 0.001
if self.amplitude > 1: self.amplitude = 1
else:
self.amplitude = 0.1
self.chirp_node.setFloat("amplitude", self.amplitude)
if config_node.hasChild("inject"):
self.inject = config_node.getString("inject")
else:
self.inject = "aileron"
self.signal_node.setString("inject", self.inject)
self.last_trigger = True # so we don't start out with a trigger event
self.running = False
def __init__(self, config_node):
Task.__init__(self)
self.pos_node = getNode("/position", True)
self.vel_node = getNode("/velocity", True)
self.task_node = getNode("/task", True)
self.status_node = getNode("/status", True)
self.is_airborne = False
self.off_alt_agl_ft = 0.0
self.off_airspeed_kt = 0.0
self.on_alt_agl_ft = 0.0
self.on_airspeed_kt = 0.0
self.name = config_node.getString("name")
self.off_alt_agl_ft = config_node.getFloat("off_alt_agl_ft")
self.off_airspeed_kt = config_node.getFloat("off_airspeed_kt")
self.on_alt_agl_ft = config_node.getFloat("on_alt_agl_ft")
self.on_airspeed_kt = config_node.getFloat("on_airspeed_kt")
self.flight_accum = 0.0
self.flight_start = 0.0
def __init__(self, config_node):
Task.__init__(self)
self.name = config_node.getString("name")
self.imu_node = getNode("/sensors/imu", True)
self.config_imu_node = getNode("/config/drivers/Aura4/imu", True)
self.task_calib_node = getNode("/task/calibrate", True)
self.state = 0
self.armed = False
self.samples = []
self.p_filt = LowPass(time_factor=0.1)
self.q_filt = LowPass(time_factor=0.1)
self.r_filt = LowPass(time_factor=0.1)
self.ax_filt = LowPass(time_factor=0.2)
self.ay_filt = LowPass(time_factor=0.2)
self.az_filt = LowPass(time_factor=0.2)
self.F = 1.0 # fitted/output intensity
self.b = np.zeros([3, 1])
self.A_1 = np.eye(3)
def __init__(self, config_node):
Task.__init__(self)
self.pos_node = getNode("/position", True)
self.orient_node = getNode("/orientation", True)
self.circle_active_node = getNode("/task/circle/active", True)
self.circle_standby_node = getNode("/task/circle/standby", True)
self.nav_node = getNode("/navigation", True)
self.targets_node = getNode("/autopilot/targets", True)
self.direction = "left"
self.radius_m = 100.0
self.name = config_node.getString("name")
if config_node.hasChild("direction"):
# only override the default if a value is given
self.direction = config_node.getString("direction")
if config_node.hasChild("radius_m"):
# only override the default if a value is given
self.radius_m = config_node.getFloat("radius_m")
def __init__(self, config_node):
Task.__init__(self)
self.ap_node = getNode("/autopilot", True)
self.task_node = getNode("/task", True)
self.pos_node = getNode("/position", True)
self.vel_node = getNode("/velocity", True)
self.orient_node = getNode("/orientation", True)
self.targets_node = getNode("/autopilot/targets", True)
self.imu_node = getNode("/sensors/imu", True)
self.flight_node = getNode("/controls/flight", True)
self.engine_node = getNode("/controls/engine", True)
self.complete_agl_ft = 150.0
self.mission_agl_ft = 300.0
self.target_speed_kt = 25.0
self.roll_gain = 0.5
self.roll_limit = 5.0
self.rudder_enable = False
self.rudder_gain = 1.0
self.rudder_max = 1.0
self.control_limit = 1.0
self.flaps = 0.0
self.last_ap_master = False
self.relhdg = 0.0
self.name = config_node.getString("name")
self.nickname = config_node.getString("nickname")
self.completion_agl_ft = config_node.getFloat("completion_agl_ft")
self.mission_agl_ft = config_node.getFloat("mission_agl_ft")
self.target_speed_kt = config_node.getFloat("speed_kt")
self.roll_gain = config_node.getFloat("roll_gain")
self.roll_limit = config_node.getFloat("roll_limit")
self.rudder_enable = config_node.getBool("rudder_enable")
self.rudder_gain = config_node.getFloat("rudder_gain")
self.rudder_max = config_node.getFloat("rudder_max")
self.flaps = config_node.getFloat("flaps")
self.target_pitch_deg = None
if config_node.hasChild("target_pitch_deg"):
self.target_pitch_deg = config_node.getFloat("target_pitch_deg")
def __init__(self, config_node):
Task.__init__(self)
self.imu_node = getNode("/sensors/imu", True)
self.pos_node = getNode("/position", True)
self.orient_node = getNode("/orientation", True)
self.flight_node = getNode("/controls/flight", True)
self.task_node = getNode("/task", True)
self.comms_node = getNode( '/comms', True)
self.name = config_node.getString("name")
self.nickname = config_node.getString("nickname")
self.start_time = 0.0
self.max_attitude = 20.0
if config_node.hasChild("trigger"):
self.trigger_name = config_node.getString("trigger")
else:
self.trigger_name = "gear"
if config_node.hasChild("forward_fov_deg"):
self.forward_fov_deg = config_node.getFloat("forward_fov_deg")
if self.forward_fov_deg < 10: self.forward_fov_deg = 10
if self.forward_fov_deg > 170: self.forward_fov_deg = 170
else:
self.forward_fov_deg = 60
self.fov2_tan = math.tan(self.forward_fov_deg*0.5 * d2r)
if config_node.hasChild("lateral_fov_deg"):
self.lateral_fov_deg = config_node.getFloat("lateral_fov_deg")
if self.lateral_fov_deg < 10: self.lateral_fov_deg = 10
if self.lateral_fov_deg > 170: self.lateral_fov_deg = 170
else:
self.lateral_fov_deg = 60
if config_node.hasChild("overlap"):
self.overlap = config_node.getFloat("overlap")
if self.overlap < 0: self.overlap = 0
if self.overlap > 1: self.overlap = 1
else:
self.overlap = 0.7
self.min_interval = 0.5
self.max_interval = 10.0
self.trigger_state = False
self.trigger_time = 0.0
self.last_lat = 0.0
self.last_lon = 0.0
def __init__(self, config_node):
Task.__init__(self)
self.name = config_node.getString("name")
self.imu_node = getNode("/sensors/imu", True)
self.config_imu_node = getNode("/config/drivers/Aura4/imu", True)
self.task_node = getNode("/task", True)
self.state = 0
self.ax_slow = LowPass(time_factor=1.0)
self.ax_fast = LowPass(time_factor=0.2)
self.ay_slow = LowPass(time_factor=1.0)
self.ay_fast = LowPass(time_factor=0.2)
self.az_slow = LowPass(time_factor=1.0)
self.az_fast = LowPass(time_factor=0.2)
self.armed = False
self.ref = [ [ 0, 0, -g ],
[ 0, 0, g ],
[ -g, 0, 0 ],
[ g, 0, 0 ],
[ 0, -g, 0 ],
[ 0, g, 0 ] ]
self.meas = list(self.ref) # copy
self.checked = {}
def __init__(self, config_node):
Task.__init__(self)
self.task_node = getNode("/task", True)
self.home_node = getNode("/task/home", True)
self.land_node = getNode("/task/land", True)
self.circle_node = getNode("/task/circle", True)
self.route_node = getNode("/task/route", True)
self.ap_node = getNode("/autopilot", True)
self.nav_node = getNode("/navigation", True)
self.pos_node = getNode("/position", True)
self.vel_node = getNode("/velocity", True)
self.orient_node = getNode("/orientation", True)
self.flight_node = getNode("/controls/flight", True)
self.engine_node = getNode("/controls/engine", True)
self.imu_node = getNode("/sensors/imu", True)
self.targets_node = getNode("/autopilot/targets", True)
self.pilot_node = getNode("/sensors/pilot_input", True)
# get task configuration parameters
self.name = config_node.getString("name")
self.nickname = config_node.getString("nickname")
self.lateral_offset_m = config_node.getFloat("lateral_offset_m")
self.glideslope_deg = config_node.getFloat("glideslope_deg")
if self.glideslope_deg < 0.01:
self.glideslope_deg = 6.0
self.turn_radius_m = config_node.getFloat("turn_radius_m")
if self.turn_radius_m < 1.0:
self.turn_radius_m = 75.0
self.direction = config_node.getString("direction")
if self.direction == "":
self.direction = "left"
self.extend_final_leg_m = config_node.getFloat("extend_final_leg_m")
self.alt_bias_ft = config_node.getFloat("alt_bias_ft")
self.approach_speed_kt = config_node.getFloat("approach_speed_kt")
if self.approach_speed_kt < 0.1:
self.approach_speed_kt = 25.0
self.flare_pitch_deg = config_node.getFloat("flare_pitch_deg")
self.flare_seconds = config_node.getFloat("flare_seconds")
if self.flare_seconds < 0.1:
self.flare_seconds = 5.0
if config_node.hasChild("flaps"):
self.flaps = config_node.getFloat("flaps")
else:
self.flaps = 0.0
# copy to /task/land
self.land_node.setFloat("lateral_offset_m", self.lateral_offset_m)
self.land_node.setFloat("glideslope_deg", self.glideslope_deg)
self.land_node.setFloat("turn_radius_m", self.turn_radius_m)
self.land_node.setString("direction", self.direction)
self.land_node.setFloat("extend_final_leg_m", self.extend_final_leg_m)
self.land_node.setFloat("altitude_bias_ft", self.alt_bias_ft)
self.land_node.setFloat("approach_speed_kt", self.approach_speed_kt)
self.land_node.setFloat("flare_pitch_deg", self.flare_pitch_deg)
self.land_node.setFloat("flare_seconds", self.flare_seconds)
self.side = -1.0
self.flare = False
self.flare_start_time = 0.0
self.approach_throttle = 0.0
self.approach_pitch = 0.0
self.flare_pitch_range = 0.0
self.final_heading_deg = 0.0
self.final_leg_m = 0.0
self.dist_rem_m = 0.0
self.circle_capture = False
self.gs_capture = False