class CrazyflieThread(threading.Thread):
def __init__(self, ctrl_message, state_message, message_lock, barrier):
threading.Thread.__init__(self)
self.ctrl = ctrl_message
self.state = state_message
self.lock = message_lock
self.cf = None
self.mc = None
self.scf = None
self.runSM = True
self.cmd_height_old = uglyConst.TAKEOFF_HEIGHT
self.b = barrier
self.descCounter = 0
def raise_exception(self):
self.runSM = False
#-- FSM condition funcitons
def isCloseXYP(self, r):
"""Determines if drone is within radius r and aligned."""
x = self.ctrl.errorx
y = self.ctrl.errory
if (np.sqrt(x*x+y*y) > r) or (np.abs(self.ctrl.erroryaw) > uglyConst.FAR_ANGL):
return False
else:
return True
def isCloseCone(self):
"""Determines if drone within an inverted cone (defined in constants)."""
x = self.ctrl.errorx
y = self.ctrl.errory
r = (self.mc._thread.get_height()-uglyConst.DIST_IGE)*uglyConst.FAR_CONE
if (np.sqrt(x*x+y*y) > r): # or (np.abs(self.ctrl.erroryaw) > uglyConst.FAR_ANGL):
return False
else:
return True
def isClosePix(self):
"""Determines if drone is within radius (in pixels, defined in constants)."""
x = self.ctrl.errorpixx
y = self.ctrl.errorpixy
if (np.sqrt(x*x+y*y) > uglyConst.CLOSE_PIX):
return False
else:
return True
def limOutputVel(self, vx, vy, vz):
"""Limits output of velocity controller."""
return min(vx, uglyConst.MAX_XVEL), min(vy, uglyConst.MAX_YVEL), min(vz, uglyConst.MAX_ZVEL)
#-- FSM state functions
def stateInit(self):
"""Initialize CF (scan, open link) and logging framework"""
#--- Scan for cf
cflib.crtp.init_drivers(enable_debug_driver=False)
print('Scanning interfaces for Crazyflies...')
available = cflib.crtp.scan_interfaces()
if len(available) == 0:
print("No cf found, aborting cf code.")
self.cf = None
else:
print('Crazyflies found:')
for i in available:
print(str(i[0]))
self.URI = 'radio://0/80/2M' #available[0][0]
self.cf = Crazyflie(rw_cache='./cache')
if self.cf is None:
self.b.wait()
print('Not running cf code.')
return None
self.scf = SyncCrazyflie(self.URI,cf=Crazyflie(rw_cache='./cache'))
self.scf.open_link()
self.mc = MotionCommander(self.scf)
self.file = open("ugly_log.txt","a")
#-- Barrier to wait for CV thread
self.b.wait()
self.lgr = UglyLogger(self.URI, self.scf, self.file)
self.enterTakingOff()
return self.stateTakingOff
def enterTakingOff(self):
"""Entry to state: Take off"""
print("enterTakingOff")
self.mc.take_off(uglyConst.TAKEOFF_HEIGHT,uglyConst.TAKEOFF_ZVEL)
def stateTakingOff(self):
"""State: Taking off"""
print("stateTakingOff")
if self.mc._thread.get_height() >= uglyConst.TAKEOFF_HEIGHT:
return self.stateSeeking
else:
time.sleep(0.05)
return self.stateTakingOff
def stateSeeking(self):
"""State: Seeking. Slowly ascend until marker is detected. TODO: Implement some kind of search algorithm (circle outward?)"""
self.mc._set_vel_setpoint(0.0, 0.0, 0.01, 0.0)
print("stateSeeking")
if self.state.isMarkerDetected:
return self.stateNearing
else:
time.sleep(0.05)
return self.stateSeeking
def stateNearing(self):
"""
State: Nearing
Control in pixel frame. Takes in error in pixels (note: camera coordinates), outputs velocity command in x,y,z. Z vel inversely proportional to radius.
"""
x = self.ctrl.errorpixx
y = self.ctrl.errorpixy
cmdx = y*uglyConst.PIX_Kx
cmdy = x*uglyConst.PIX_Ky
r = np.sqrt(x*x+y*y)
if r > 0.0:
cmdz = (1/r)*uglyConst.PIX_Kz
else:
cmdz = 1
cmdx, cmdy, cmdz = self.limOutputVel(cmdx, cmdy, cmdz)
self.mc._set_vel_setpoint(cmdx, cmdy, -cmdz, 0.0)
print("stateNearing")
if self.isClosePix() and self.mc._thread.get_height() < uglyConst.NEARING2APPROACH_HEIGHT:
self.state.cv_mode = uglyConst.CVMODE_POSE
return self.stateApproachin
else:
time.sleep(0.05)
return self.stateNearing
def stateApproachingXY(self):
"""
State: Approaching (XY plane)
Control in the horizontal XY plane and yaw angle.
"""
#self.mc._set_vel_setpoint(self.ctrl.errorx*(uglyConst.Kx+self.ctrl.K), self.ctrl.errory*(uglyConst.Ky+self.ctrl.K), 0.0, 30.0)
self.mc._set_vel_setpoint(self.ctrl.errorx*uglyConst.Kx, self.ctrl.errory*uglyConst.Ky, 0.0, -self.ctrl.erroryaw*uglyConst.Kyaw)
print("stateApproachingXY")
if not self.isClosePix:
return self.stateNearing
if self.isCloseCone() and np.abs(self.ctrl.erroryaw) < uglyConst.FAR_ANGL:
return self.stateApproachingXYZ
else:
time.sleep(0.05)
return self.stateApproachingXY
def stateApproachingXYZ(self):
"""
State: Approaching
Control in world frame. Takes in error in meters, outputs velocity command in x,y. Constant vel cmd in z.
"""
self.mc._set_vel_setpoint(self.ctrl.errorx*uglyConst.Kx, self.ctrl.errory*uglyConst.Ky, -uglyConst.APPROACH_ZVEL, -self.ctrl.erroryaw*uglyConst.Kyaw)
print("stateApproachingXYZ")
if not self.isCloseCone:
return self.stateApproachingXY
elif self.mc._thread.get_height() < uglyConst.APPROACH2LANDING_HEIGHT:
return self.stateDescending
else:
time.sleep(0.05)
return self.stateApproachingXYZ
def stateDescending(self):
"""
State: Landing
Procedure: Descend to a set height, then stop and land.
"""
self.mc._set_vel_setpoint(self.ctrl.errorx*uglyConst.Kx*2.0, self.ctrl.errory*uglyConst.Ky*2.0, -uglyConst.LANDING_ZVEL, -self.ctrl.erroryaw*uglyConst.Kyaw)
print("stateDescending")
if self.mc._thread.get_height() > uglyConst.APPROACH2LANDING_HEIGHT:
return self.stateApproaching
elif self.mc._thread.get_height() < uglyConst.LANDING2LANDED_HEIGHT:
#self.exitLanding()
#return self.stateTerminating
return self.stateLanding
else:
time.sleep(0.01)
return self.stateDescending
def stateLanding(self):
""""""
self.mc._set_vel_setpoint(self.ctrl.errorx*uglyConst.Kx*4.0, self.ctrl.errory*uglyConst.Ky*4.0, -uglyConst.MAX_ZVEL, -self.ctrl.erroryaw*uglyConst.Kyaw*2.0)
self.descCounter += 1
print("stateLanding")
if self.descCounter > 10:
self.mc.land()
return self.stateTerminating
else:
time.sleep(0.01)
return self.stateLanding
def exitLanding(self):
"""
Exit from state: Landing
Stop movement (vel cmds=0), then descend.
"""
self.mc.land()
print("exitLandning")
def stateTerminating(self):
"""
State: Landed
Dummy state.
"""
print("stateTerminating")
return None
def run(self):
"""Main loop, state machine"""
try:
state = self.stateInit # initial state
self.stateNum = uglyConst.S0_INIT
while state and self.runSM:
state = state()
finally:
#-- Clean up
print('Stopping cf_thread')
if self.cf is not None:
if self.mc._is_flying: # if cf has not landed, do so
self.mc.stop()
print('Finally landing')
self.mc.land()
#-- Close link and logging
self.scf.close_link()
self.file.close()
class CF:
def __init__(self, scf, available):
# get yaw-angle and battery level of crazyflie
self.vbat, self.blevel, self.m1_pwm, self.temp = getCFparams(scf, available)
self.scf = scf
self.available = available
self.mc = MotionCommander(scf)
self.psi_limit = 0.7 # Don't cmd an angle less than this [deg]
self.des_angle = 0 # Set to zero initially
self.psi = 0
self.roll = 0
self.pitch = 0
self.theta = 0
self.phi = 0
def update(self, des_angle, eul, turnRate):
if 'psi' in eul and abs(des_angle) > self.psi_limit:
self.des_angle = des_angle
if des_angle > 0:
if not self.mc.turn_right(abs(self.des_angle), turnRate):
pass
else:
if not self.mc.turn_left(abs(self.des_angle), turnRate):
pass
# Compute current angle (yaw) of CF
self.vbat, self.blevel, self.m1_pwm, self.temp = getCFparams(self.scf, self.available)
return(self.vbat, self.blevel, self.m1_pwm, self.temp)
# Move cf left or right
def update_x(self, dist):
if dist is not None and dist != 0:
if not self.move_distance(0, -dist, 0):
pass
elif dist is not None and dist == 0 and self.des_angle == 0:
self.mc.stop()
def takeoff(self):
self.mc.take_off()
def land(self):
self.mc.land()
def move_distance(self, x, y, z):
'''
Move in a straight line, {CF frame}.
positive X is forward [cm]
positive Y is left [cm]
positive Z is up [cm]
'''
velocity = 0.08
x = x/100
y = y/100
z = z/100
distance = math.sqrt(x**2 + y**2 + z**2)
if x != 0:
flight_time = distance / velocity
velocity_x = velocity * x / distance
else:
velocity_x = 0
if y != 0:
velocity_y = velocity * y / distance
else:
velocity_y = 0
if z != 0:
velocity_z = velocity * z / distance
else:
velocity_z = 0
self.mc.start_linear_motion(velocity_x, velocity_y, velocity_z)
if x != 0:
time.sleep(flight_time)
return(False)
thread.setDaemon(True)
thread.start()
thread.join()
e2 = cv2.getTickCount()
t = (e2 - e1) / cv2.getTickFrequency()
exeTime.append(t)
calculator.writeDistance(frame)
cv2.imshow('frame', frame)
# print(calculator.distance_x)
if (calculator.distance_x == 0):
print("zero")
elif (calculator.distance_x > 30):
if (mc.isRunning):
mc.stop()
mc.start_linear_motion(0.1, 0.0, 0.0)
mc.setIsRunning(True)
print("para frente")
elif (calculator.distance_x < 25):
if (mc.isRunning):
mc.stop()
mc.start_linear_motion(-0.1, 0.0, 0.0)
mc.setIsRunning(True)
print("para tras")
else:
if (mc.isRunning):
mc.stop()
cont += 1
if cv2.waitKey(10) & 0xFF == ord('q'):
class Comm:
def __init__(self, link_uri):
""" Initialize and run the test with the specified link_uri """
self._cf = Crazyflie()
self.mc = MotionCommander(self._cf, default_height=1.05)
self._cf.connected.add_callback(self._connected)
self._cf.disconnected.add_callback(self._disconnected)
self._cf.connection_failed.add_callback(self._connection_failed)
self._cf.connection_lost.add_callback(self._connection_lost)
self._cf.open_link(link_uri)
print('Connecting to %s' % link_uri)
self.is_connected = True
def _connected(self, link_uri):
""" This callback is called from the Crazyflie API when a Crazyflie
has been connected and the TOCs have been downloaded."""
print('Connected to %s' % link_uri)
# The definition of the logconfig can be made before connecting
self._lg_stab = LogConfig(name='Stabilizer', period_in_ms=10)
self._lg_stab.add_variable('stabilizer.roll', 'float')
self._lg_stab.add_variable('stabilizer.pitch', 'float')
self._lg_stab.add_variable('stabilizer.yaw', 'float')
self._log_conf = LogConfig(name="Accel", period_in_ms=10)
self._log_conf.add_variable('acc.x', 'float')
self._log_conf.add_variable('acc.y', 'float')
self._log_conf.add_variable('acc.z', 'float')
# Adding the configuration cannot be done until a Crazyflie is
# connected, since we need to check that the variables we
# would like to log are in the TOC.
try:
self._cf.log.add_config(self._lg_stab)
# This callback will receive the data
self._lg_stab.data_received_cb.add_callback(self._stab_log_data)
# This callback will be called on errors
self._lg_stab.error_cb.add_callback(self._stab_log_error)
# Start the logging
self._lg_stab.start()
self._log = self._cf.log.add_config(self._log_conf)
if self._log_conf is not None:
self._log_conf.data_received_cb.add_callback(
self._log_accel_data)
self._log_conf.start()
else:
print("acc.x/y/z not found in log TOC")
except KeyError as e:
print('Could not start log configuration,'
'{} not found in TOC'.format(str(e)))
except AttributeError:
print('Could not add log config, bad configuration.')
# Start a separate thread to do the motor test.
# Do not hijack the calling thread!
self.is_connected = True
worker = Thread(target=self.flip_test)
worker.start()
def _log_accel_data(self, timestamp, data, logconf):
#print('[%d] Accelerometer: x=%.2f, y=%.2f, z=%.2f' %
# (timestamp, data['acc.x'], data['acc.y'], data['acc.z']))
"""This is from the basiclog file"""
def _stab_log_error(self, logconf, msg):
"""Callback from the log API when an error occurs"""
#print('Error when logging %s: %s' % (logconf.name, msg))
def _stab_log_data(self, timestamp, data, logconf):
"""Callback froma the log API when data arrives"""
#print('[%d][%s]: %s' % (timestamp, logconf.name, data))
def _connection_failed(self, link_uri, msg):
"""Callback when connection initial connection fails (i.e no Crazyflie
at the specified address)"""
print('Connection to %s failed: %s' % (link_uri, msg))
def _connection_lost(self, link_uri, msg):
"""Callback when disconnected after a connection has been made (i.e
Crazyflie moves out of range)"""
print('Connection to %s lost: %s' % (link_uri, msg))
def _disconnected(self, link_uri):
"""Callback when the Crazyflie is disconnected (called in all cases)"""
print('Disconnected from %s' % link_uri)
def flip_test(self):
# Below is attempt to implememnt algorithm found in https://www.research-collection.ethz.ch/bitstream/handle/20.500.11850/151399/eth-165-01.pdf?sequence=1
# Currently unknown how the provided initial values can make physical sense given the parameters of the Crazyflie (or any drone?)
# U1 = 0.9 * beta_max
# U2 = 0.5 * (beta_max + beta_min)
# U3 = beta_min
# U4 = U2
# U5 = U1
# theta_dd1 = -(beta_max - U1) / (alpha * L)
# theta_dd2 = (beta_max - beta_min) / (2.0 * alpha * L)
# theta_dd3 = 0.0
# theta_dd4 = -theta_dd2
# theta_dd5 = (beta_max - U5) / (alpha * L)
# T3 = (2 * pi - (theta_d_max ** 2) / (2 * theta_dd2))
# T2 = (theta_d_max - theta_dd1 * T1)
print 'Enter to take off'
c = raw_input()
self.mc.take_off()
print 'Enter to flip'
c = raw_input()
print 'Beginning test...'
# Accelerate up
tic = time.time()
while time.time() - tic < 0.1:
self.mc._cf.commander.send_setpoint(0, 0, 0, max_thrust)
time.sleep(0.01)
# Max differential thrust
tic = time.time()
while time.time() - tic < 0.14:
self.mc._cf.commander.send_setpoint(360 * 8, 0, 0, max_thrust)
time.sleep(0.01)
# Coast
time.sleep(0.01)
# Stop rotate
tic = time.time()
while time.time() - tic < 0.15:
self.mc._cf.commander.send_setpoint(-360 * 8, 0, 0, max_thrust)
time.sleep(0.01)
# Accelerate up
tic = time.time()
while time.time() - tic < 0.9:
self.mc._cf.commander.send_setpoint(0, 0, 0, max_thrust)
time.sleep(0.01)
while True:
self.mc.stop()
time.sleep(0.01)
class CrazyflieControl:
def __init__(self, name, crazyflie):
# Instantiate motion commander
self._cf = crazyflie
self._name = name
self._mc = MotionCommander(self._cf)
# Topic Publishers
self._velocity_setpoint_pub = rospy.Publisher(self._name +
'/velocity_setpoint',
Vector3,
queue_size=10)
"""
Services hosted for this crazyflie controller
"""
self._reset_position_estimator_srv = rospy.Service(
self._name + '/reset_position_estimator', ResetPositionEstimator,
self._reset_position_estimator_cb)
self._send_hover_setpoint_srv = rospy.Service(
self._name + '/send_hover_setpoint', SendHoverSetpoint,
self._send_hover_setpoint_cb)
self._set_param_srv = rospy.Service(self._name + '/set_param',
SetParam, self._set_param_cb)
self._velocity_control_srv = rospy.Service(
self._name + '/velocity_control', VelocityControl,
self._velocity_control_cb)
"""
Action servers for this crazyflie controller
"""
self._position_control_as = actionlib.SimpleActionServer(
self._name + '/position_control', PositionControlAction,
self._position_control_cb, False)
self._position_control_as.start()
"""
Service Callbacks
"""
def _reset_position_estimator_cb(self, req):
pass
def _send_hover_setpoint_cb(self, req):
vx = req.vx
vy = req.vy
z = req.z
yaw_rate = req.yaw_rate
self._cf.commander.send_hover_setpoint(vx, vy, yaw_rate, z)
return []
def _set_param_cb(self, req):
self._cf.param.set_value(req.param, req.value)
print("set %s to %s" % (req.param, req.value))
return SetParamResponse()
def _velocity_control_cb(self, req):
try:
obj = pickle.loads(req.pickle)
print(self._mc)
if isinstance(obj, SetVelSetpoint):
self._mc._set_vel_setpoint(obj.vx, obj.vy, obj.vz,
obj.rate_yaw)
elif isinstance(obj, StartBack):
self._mc.start_back(velocity=obj.velocity)
elif isinstance(obj, StartCircleLeft):
self._mc.start_circle_left(obj.radius_m, velocity=obj.velocity)
elif isinstance(obj, StartCircleRight):
self._mc.start_turn_right(obj.radius_m, velocity=obj.velocity)
elif isinstance(obj, StartDown):
self._mc.start_down(velocity=obj.velocity)
elif isinstance(obj, StartForward):
self._mc.start_forward(velocity=obj.velocity)
elif isinstance(obj, StartLeft):
self._mc.start_left(velocity=obj.velocity)
elif isinstance(obj, StartLinearMotion):
self._mc.start_linear_motion(obj.vx, obj.vy, obj.vz)
elif isinstance(obj, StartRight):
self._mc.start_right(velocity=obj.velocity)
elif isinstance(obj, StartTurnLeft):
self._mc.start_turn_left(rate=obj.rate)
elif isinstance(obj, StartTurnRight):
self._mc.start_turn_right(rate=obj.rate)
elif isinstance(obj, StartUp):
self._mc.start_up(velocity=obj.velocity)
elif isinstance(obj, Stop):
self._mc.stop()
else:
return 'Object is not a valid velocity command'
except Exception as e:
print(str(e))
raise e
return 'ok'
"""
Action Implementations
"""
def _position_control_cb(self, goal):
try:
obj = pickle.loads(goal.pickle)
if isinstance(obj, Back):
self._mc.back(obj.distance_m, velocity=obj.velocity)
elif isinstance(obj, CircleLeft):
self._mc.circle_left(obj.radius_m,
velocity=obj.velocity,
angle_degrees=obj.angle_degrees)
elif isinstance(obj, CircleRight):
self._mc.circle_right(obj.radius_m,
velocity=obj.velocity,
angle_degrees=obj.angle_degrees)
elif isinstance(obj, Down):
self._mc.down(obj.distance_m, velocity=obj.velocity)
elif isinstance(obj, Forward):
self._mc.forward(obj.distance_m, velocity=obj.velocity)
elif isinstance(obj, Land):
self._mc.land(velocity=obj.velocity)
elif isinstance(obj, Left):
self._mc.left(obj.distance_m, velocity=obj.velocity)
elif isinstance(obj, MoveDistance):
self._mc.move_distance(obj.x,
obj.y,
obj.z,
velocity=obj.velocity)
elif isinstance(obj, Right):
self._mc.right(obj.distance_m, velocity=obj.velocity)
elif isinstance(obj, TakeOff):
self._mc.take_off(height=obj.height, velocity=obj.velocity)
elif isinstance(obj, TurnLeft):
self._mc.turn_left(obj.angle_degrees, rate=obj.rate)
elif isinstance(obj, TurnRight):
self._mc.turn_right(obj.angle_degrees, rate=obj.rate)
elif isinstance(obj, Up):
self._mc.up(obj.distance_m, velocity=obj.velocity)
except Exception as e:
print('Exception in action server %s' % self._name +
'/position_control')
print(str(e))
print('Action aborted')
self._position_control_as.set_aborted()
return
self._position_control_as.set_succeeded()
def _takeoff(self, goal):
try:
self._mc.take_off(height=goal.height)
time.sleep(5)
except BaseException as e:
self._takeoff_as.set_aborted()
print(e)
return
self._takeoff_as.set_succeeded(TakeOffResult(True))
def _land(self, goal):
try:
self._mc.land(velocity=goal.velocity)
except BaseException as e:
self._land_as.set_aborted()
print(e)
return
self._land_as.set_succeeded(LandResult(True))
def _move_distance(self, goal):
try:
x = goal.x
y = goal.y
z = goal.z
velocity = goal.velocity
dist = np.sqrt(x**2 + y**2 + z**2)
vx = x / dist * velocity
vy = y / dist * velocity
vz = z / dist * velocity
# self._velocity_setpoint_pub.publish(Vector3(vx, vy, vz))
self._mc.move_distance(x, y, z, velocity=velocity)
# self._velocity_setpoint_pub.publish(Vector3(vx, vy, vz))
except BaseException as e:
self._move_distance_as.set_aborted()
print(e)
return
self._move_distance_as.set_succeeded()
class FlightCtrl:
#initialize variables for attitude tracking
yawInit = 0
yawCurr = 0
theta = 0
rtCoef = [0, -1]
lfCoef = [0, 1]
fwCoef = [1, 0]
bkCoef = [-1, 0]
lvSpeed = 0.3
def __init__(self, _scf):
self.mc = MotionCommander(_scf, default_height=0.7)
self.scf = _scf
self.scf.open_link()
def perform_gesture(self, g_id):
global consecDoubleTaps
global inMotion
d = 0.3
if g_id[0] == DOUBLE_TAP:
if self.mc._is_flying:
print("Hovering...")
#mc.stop()
self.resetYawInit()
else:
consecDoubleTaps = 0
print("Taking off...")
inMotion = True
self.mc.take_off()
inMotion = False
self.resetYawInit()
threadUpdate = Thread(target=self._updateYaw,
args=(self.scf, ))
threadUpdate.start()
elif g_id[0] == NO_POSE and g_id[1] == yaw_id:
print("Roll...")
inMotion = True
self.mc.move_distance(0, math.copysign(d, g_id[2]), 0)
inMotion = False
"""if (g_id[2] > 0):
#turn left
print("turning left")
inMotion = True
self.mc.move_distance(self.lvSpeed * self.lfCoef[0], self.lvSpeed * self.lfCoef[1], 0)
inMotion = False
else:
#turn right
print("turning right")
inMotion = True
self.mc.move_distance(self.lvSpeed * self.rtCoef[0], self.lvSpeed * self.rtCoef[1], 0)
inMotion = False
"""
elif g_id[0] == NO_POSE and g_id[1] == pitch_id:
print("Pitch...")
inMotion = True
self.mc.move_distance(-math.copysign(d, g_id[2]), 0, 0)
inMotion = False
"""if (g_id[2] < 0):
#move forward
print("moving forward")
inMotion = True
self.mc.move_distance(self.lvSpeed * self.fwCoef[0], self.lvSpeed * self.fwCoef[1], 0)
inMotion = False
else:
#move backward
print("moving backward")
inMotion = True
self.mc.move_distance(self.lvSpeed * self.bkCoef[0], self.lvSpeed * self.bkCoef[1], 0)
inMotion = False
"""
elif g_id[0] == FINGERS_SPREAD and g_id[1] == pitch_id:
if g_id[2] > 0:
if self.mc._thread.get_height() + d < self.mc.max_height:
print("Up...")
inMotion = True
self.mc.up(d)
inMotion = False
else:
print("Max. height %.2fm reached: requested height: %.2f"
) % (self.mc.max_height,
self.mc._thread.get_height() + d)
else:
if self.mc._thread.get_height() - d < self.mc.min_height:
print("Down...")
inMotion = True
self.mc.down(d)
inMotion = False
else:
print("Max. height %.2fm reached: requested height: %.2f"
) % (self.mc.max_height,
self.mc._thread.get_height() + d)
elif g_id[0] == FIST and g_id[1] == yaw_id:
print('Yaw...')
if g_id[2] > 0:
inMotion = True
self.mc.turn_left(30)
inMotion = False
else:
inMotion = True
self.mc.turn_right(30)
inMotion = False
elif g_id[0] == LAND:
print("Landing...")
inMotion = True
self.mc.land()
inMotion = False
else: #rest behaviour
if self.mc._is_flying:
inMotion = True
self.mc.stop()
inMotion = False
"""Functions to update attitude by reading storage text file"""
def updateCoef(self):
try:
self.theta = (self.yawCurr - self.yawInit) * (3.1415926 / 180)
self.rtCoef = [-sin(self.theta), -cos(self.theta)]
self.lfCoef = [sin(self.theta), cos(self.theta)]
self.fwCoef = [cos(self.theta), -sin(self.theta)]
self.bkCoef = [-cos(self.theta), sin(self.theta)]
except Exception, e:
print str(e)
print("Update failed")
def key_ctrl(self, scf):
mc = MotionCommander(scf)
mc._reset_position_estimator()
print 'Spacebar to start'
raw_input()
pygame.display.set_mode((400, 300))
print 'WASD for throttle & yaw; arrow keys for left/right/forward/backward'
print 'Spacebar to land'
vel_x = 0
vel_y = 0
vel_z = 0
yaw_rate = 0
try:
mc.take_off()
#set inital Yaw value
with open('SensorMaster.txt', 'r') as stbFile:
stbLines = stbFile.readlines()
while len(stbLines) == 0:
with open('SensorMaster.txt', 'r') as stbFile:
stbLines = stbFile.readlines()
currAttitude = stbLines[len(stbLines) - 1]
need, to, currentYaw, test = currAttitude.split(',')
self.yawCurr = float(currentYaw)
Thread(target=self._updateYaw, args=(scf, )).start()
while True:
for event in pygame.event.get():
if event.type == pygame.KEYDOWN:
if event.key == pygame.K_w:
vel_z = 0.3
if event.key == pygame.K_SPACE:
print 'Space pressed, landing'
mc.land()
time.sleep(2)
print 'Closing link...'
scf.close_link()
print 'Link closed'
pygame.quit()
sys.exit(0)
if event.key == pygame.K_a:
yaw_rate = -45
if event.key == pygame.K_s:
vel_z = -0.3
if event.key == pygame.K_d:
yaw_rate = 45
if event.key == pygame.K_UP:
#vel_x = 0.3
vel_x = 0.2 * self.fwCoef[0]
vel_y = 0.2 * self.fwCoef[1]
print('vel_x = %.2f, vel_y = %.2f' %
(vel_x * self.fwCoef[0],
vel_y * self.fwCoef[1]))
print("the current yaw is:")
print(self.yawCurr)
if event.key == pygame.K_DOWN:
#vel_x = -0.3
vel_x = 0.2 * self.bkCoef[0]
vel_y = 0.2 * self.bkCoef[1]
print('vel_x = %.2f, vel_y = %.2f' %
(vel_x * self.bkCoef[0],
vel_y * self.bkCoef[1]))
print("the current yaw is:")
print(self.yawCurr)
if event.key == pygame.K_LEFT:
#vel_y = 0.3
vel_x = 0.2 * self.lfCoef[0]
vel_y = 0.2 * self.lfCoef[1]
print('vel_x = %.2f, vel_y = %.2f' %
(vel_x * self.bkCoef[0],
vel_y * self.bkCoef[1]))
print("the current yaw is:")
print(self.yawCurr)
if event.key == pygame.K_RIGHT:
#vel_y = -0.3
vel_x = 0.2 * self.rtCoef[0]
vel_y = 0.2 * self.rtCoef[1]
print('vel_x = %.2f, vel_y = %.2f' %
(vel_x * self.bkCoef[0],
vel_y * self.bkCoef[1]))
print("the current yaw is:")
print(self.yawCurr)
if event.key == pygame.K_r:
#set recalibrate initial Yaw value
with open('SensorMaster.txt', 'r') as stbFile:
stbLines = stbFile.readlines()
while len(stbLines) == 0:
with open('SensorMaster.txt', 'r') as stbFile:
stbLines = stbFile.readlines()
print("yaw angle recalibrated :")
newInitAttitude = stbLines[len(stbLines) - 1]
need, to, initYaw, test = newInitAttitude.split(
',')
print(initYaw)
self.yawInit = float(initYaw)
if event.key == pygame.K_RCTRL:
mc.stop()
if event.type == pygame.KEYUP:
if event.key == pygame.K_w or event.key == pygame.K_s:
vel_z = 0
if event.key == pygame.K_a or event.key == pygame.K_d:
yaw_rate = 0
if event.key == pygame.K_UP or event.key == pygame.K_DOWN:
vel_x = 0
if event.key == pygame.K_LEFT or event.key == pygame.K_RIGHT:
vel_y = 0
mc._set_vel_setpoint(vel_x, vel_y, vel_z, yaw_rate)
except KeyboardInterrupt:
print('\nShutting down...')
scf.close_link()
except Exception, e:
print str(e)
scf.close_link()
class Aruco_tracker():
def __init__(self, distance):
"""
Inicialização dos drivers, parâmetros do controle PID e decolagem do drone.
"""
self.distance = distance
self.pid_foward = PID(distance, 0.01, 0.0001, 0.01, 500, -500, 0.7,
-0.7)
self.pid_yaw = PID(0, 0.33, 0.0, 0.33, 500, -500, 100, -100)
self.pid_angle = PID(0.0, 0.01, 0.0, 0.01, 500, -500, 0.3, -0.3)
self.pid_height = PID(0.0, 0.002, 0.0002, 0.002, 500, -500, 0.3, -0.2)
cflib.crtp.init_drivers(enable_debug_driver=False)
self.factory = CachedCfFactory(rw_cache='./cache')
self.URI4 = 'radio://0/40/2M/E7E7E7E7E4'
self.cf = Crazyflie(rw_cache='./cache')
self.sync = SyncCrazyflie(self.URI4, cf=self.cf)
self.sync.open_link()
self.mc = MotionCommander(self.sync)
self.cont = 0
self.notFoundCount = 0
self.calculator = DistanceCalculator()
self.cap = cv2.VideoCapture(1)
self.mc.take_off()
time.sleep(1)
def search_marker(self):
"""
Interrompe o movimento se nao encontrar o marcador por tres frames
consecutivos. Após 4 segundos, inicia movimento de rotação para
procurar pelo marcador.
"""
if ((3 <= self.notFoundCount <= 20) and self.mc.isRunning):
self.mc.stop()
self.mc.setIsRunning(False)
elif (self.notFoundCount > 20):
self.mc._set_vel_setpoint(0.0, 0.0, 0.0, 80)
self.mc.setIsRunning(True)
return
def update_motion(self):
"""
Atualiza as velocidades utilizando controlador PID.
"""
horizontal_distance = self.calculator.horizontal_distance
vertical_distance = self.calculator.vertical_distance
x_distance = self.calculator.distance_x
alpha = self.calculator.alpha
velocity_x = self.pid_foward.update(x_distance)
Velocity_z = self.pid_height.update(vertical_distance)
if (x_distance < (self.distance + 10)):
velocity_y = self.pid_angle.update(alpha)
else:
velocity_y = 0
velocity_z = 0
yaw = self.pid_yaw.update(horizontal_distance)
self.mc._set_vel_setpoint(velocity_x, velocity_y, 0, yaw)
self.mc.setIsRunning(True)
return
def track_marker(self):
"""
Programa principal, drone segue um marcador aruco.
"""
while (self.cap.isOpened()):
ret, frame = self.cap.read()
if (frame is None):
break
if (self.cont % 6 == 0):
thread = threading.Thread(
target=self.calculator.calculateDistance, args=(frame, ))
thread.setDaemon(True)
thread.start()
if (self.calculator.markerFound):
self.notFoundCount = 0
self.update_motion()
else:
self.notFoundCount += 1
self.search_marker()
self.calculator.writeDistance(frame)
cv2.imshow('frame', frame)
self.cont += 1
if cv2.waitKey(10) & 0xFF == ord('q'):
self.mc.land()
cv2.destroyAllWindows()
break
cv2.waitKey()
self.sync.close_link()
class Drone:
def __init__(self, URI):
cflib.crtp.init_drivers(enable_debug_driver=False)
self.cf = Crazyflie(ro_cache=None, rw_cache='./cache')
# Connect callbacks from the Crazyflie API
self.cf.connected.add_callback(self.connected)
self.cf.disconnected.add_callback(self.disconnected)
# Connect to the Crazyflie
self.cf.open_link(URI)
# Tool to process the data from drone's sensors
# self.processing = Processing()
self.motion_commander = MotionCommander(self.cf)
time.sleep(3)
self.motion_commander.take_off(0.3, 0.2)
time.sleep(1)
self.motion_commander.start_forward(0.15)
time.sleep(0.5)
self.stop_recording = []
thread.start_new_thread(self.land_command, ())
self.start_mission()
def land_command(self):
raw_input()
self.stop_recording.append(True)
print('Landing...')
self.motion_commander.stop()
self.motion_commander.land(0.2)
time.sleep(1)
def start_mission(self):
rate = rospy.Rate(4000)
while not self.stop_recording:
print('fly')
self.sendHoverCommand()
rate.sleep()
def sendHoverCommand(self):
"""
Change UAV flight direction based on obstacles detected with multiranger.
"""
if is_close(self.measurement['front']
) and self.measurement['left'] > self.measurement['right']:
print('FRONT RIGHT')
self.motion_commander.stop()
self.motion_commander.turn_left(60, 70)
self.motion_commander.start_forward(0.15)
if is_close(self.measurement['front']
) and self.measurement['left'] < self.measurement['right']:
print('FRONT LEFT')
self.motion_commander.stop()
self.motion_commander.turn_right(60, 70)
self.motion_commander.start_forward(0.15)
if is_close(self.measurement['left']):
print('LEFT')
self.motion_commander.right(0.1, 0.2)
self.motion_commander.stop()
self.motion_commander.turn_right(45, 70)
self.motion_commander.start_forward(0.15)
if is_close(self.measurement['right']):
print('RIGHT')
self.motion_commander.left(0.1, 0.2)
self.motion_commander.stop()
self.motion_commander.turn_left(45, 70)
self.motion_commander.start_forward(0.15)
def disconnected(self, URI):
print('Disconnected')
def connected(self, URI):
print('We are now connected to {}'.format(URI))
# The definition of the logconfig can be made before connecting
lpos = LogConfig(name='Position', period_in_ms=100)
lpos.add_variable('lighthouse.x')
lpos.add_variable('lighthouse.y')
lpos.add_variable('lighthouse.z')
lpos.add_variable('stabilizer.roll')
lpos.add_variable('stabilizer.pitch')
lpos.add_variable('stabilizer.yaw')
try:
self.cf.log.add_config(lpos)
lpos.data_received_cb.add_callback(self.pos_data)
lpos.start()
except KeyError as e:
print('Could not start log configuration,'
'{} not found in TOC'.format(str(e)))
except AttributeError:
print('Could not add Position log config, bad configuration.')
lmeas = LogConfig(name='Meas', period_in_ms=100)
lmeas.add_variable('range.front')
lmeas.add_variable('range.back')
lmeas.add_variable('range.up')
lmeas.add_variable('range.left')
lmeas.add_variable('range.right')
lmeas.add_variable('range.zrange')
lmeas.add_variable('stabilizer.roll')
lmeas.add_variable('stabilizer.pitch')
lmeas.add_variable('stabilizer.yaw')
try:
self.cf.log.add_config(lmeas)
lmeas.data_received_cb.add_callback(self.meas_data)
lmeas.start()
except KeyError as e:
print('Could not start log configuration,'
'{} not found in TOC'.format(str(e)))
except AttributeError:
print('Could not add Measurement log config, bad configuration.')
lbat = LogConfig(
name='Battery',
period_in_ms=500) # read battery status with 2 Hz rate
lbat.add_variable('pm.vbat', 'float')
try:
self.cf.log.add_config(lbat)
lbat.data_received_cb.add_callback(self.battery_data)
lbat.start()
except KeyError as e:
print('Could not start log configuration,'
'{} not found in TOC'.format(str(e)))
except AttributeError:
print('Could not add Measurement log config, bad configuration.')
def pos_data(self, timestamp, data, logconf):
# Transformation according to https://wiki.bitcraze.io/doc:lighthouse:setup
position = [
-data['lighthouse.z'], -data['lighthouse.x'], data['lighthouse.y']
# data['stateEstimate.x'],
# data['stateEstimate.y'],
# data['stateEstimate.z']
]
orientation = [
data['stabilizer.roll'], data['stabilizer.pitch'],
data['stabilizer.yaw']
]
self.position = position
self.orientation = orientation
# self.processing.set_position(position, orientation)
def meas_data(self, timestamp, data, logconf):
measurement = {
'roll': data['stabilizer.roll'],
'pitch': data['stabilizer.pitch'],
'yaw': data['stabilizer.yaw'],
'front': data['range.front'],
'back': data['range.back'],
'up': data['range.up'],
'down': data['range.zrange'],
'left': data['range.left'],
'right': data['range.right']
}
self.measurement = measurement
# self.processing.set_measurement(measurement)
def battery_data(self, timestamp, data, logconf):
self.V_bat = data['pm.vbat']
# print('Battery status: %.2f [V]' %self.V_bat)
if self.V_bat <= V_BATTERY_TO_GO_HOME:
self.battery_state = 'needs_charging'
# print('Battery is not charged: %.2f' %self.V_bat)
elif self.V_bat >= V_BATTERY_CHARGED:
self.battery_state = 'fully_charged'