From 848cc9201dd07fc1e927dfbb87ba4f576852e457 Mon Sep 17 00:00:00 2001 From: Yeeshukant Date: Sat, 24 Dec 2022 21:32:41 +0530 Subject: [PATCH 01/82] Uploaded all files --- Plutowrapper/IO.py | 19 +++ Plutowrapper/Pluto.egg-info/PKG-INFO | 8 + Plutowrapper/Pluto.egg-info/SOURCES.txt | 7 + .../Pluto.egg-info/dependency_links.txt | 1 + Plutowrapper/Pluto.egg-info/top_level.txt | 1 + Plutowrapper/arm.py | 22 +++ Plutowrapper/keyboard.py | 159 ++++++++++++++++++ Plutowrapper/kill.py | 8 + Plutowrapper/main.py | 18 ++ Plutowrapper/pluto/API/__init__.py | 1 + .../API/__pycache__/__init__.cpython-38.pyc | Bin 0 -> 188 bytes .../API/__pycache__/drone.cpython-38.pyc | Bin 0 -> 2832 bytes Plutowrapper/pluto/API/drone.py | 71 ++++++++ Plutowrapper/pluto/__init__.py | 2 + .../pluto/__pycache__/__init__.cpython-38.pyc | Bin 0 -> 191 bytes Plutowrapper/pluto/connector/__init__.py | 0 .../__pycache__/__init__.cpython-38.pyc | Bin 0 -> 146 bytes .../__pycache__/connect.cpython-38.pyc | Bin 0 -> 960 bytes Plutowrapper/pluto/connector/connect.py | 18 ++ Plutowrapper/pluto/msg/__init__.py | 0 .../msg/__pycache__/__init__.cpython-38.pyc | Bin 0 -> 143 bytes .../msg/__pycache__/cmdList.cpython-38.pyc | Bin 0 -> 332 bytes .../msg/__pycache__/parser.cpython-38.pyc | Bin 0 -> 1036 bytes .../msg/__pycache__/typeConst.cpython-38.pyc | Bin 0 -> 199 bytes .../msg/__pycache__/types.cpython-38.pyc | Bin 0 -> 1895 bytes Plutowrapper/pluto/msg/cmdList.py | 8 + Plutowrapper/pluto/msg/parser.py | 29 ++++ Plutowrapper/pluto/msg/receiver.py | 0 Plutowrapper/pluto/msg/types.py | 64 +++++++ Plutowrapper/requirements.txt | 0 Plutowrapper/setup.py | 12 ++ 31 files changed, 448 insertions(+) create mode 100644 Plutowrapper/IO.py create mode 100644 Plutowrapper/Pluto.egg-info/PKG-INFO create mode 100644 Plutowrapper/Pluto.egg-info/SOURCES.txt create mode 100644 Plutowrapper/Pluto.egg-info/dependency_links.txt create mode 100644 Plutowrapper/Pluto.egg-info/top_level.txt create mode 100644 Plutowrapper/arm.py create mode 100755 Plutowrapper/keyboard.py create mode 100644 Plutowrapper/kill.py create mode 100644 Plutowrapper/main.py create mode 100644 Plutowrapper/pluto/API/__init__.py create mode 100644 Plutowrapper/pluto/API/__pycache__/__init__.cpython-38.pyc create mode 100644 Plutowrapper/pluto/API/__pycache__/drone.cpython-38.pyc create mode 100644 Plutowrapper/pluto/API/drone.py create mode 100644 Plutowrapper/pluto/__init__.py create mode 100644 Plutowrapper/pluto/__pycache__/__init__.cpython-38.pyc create mode 100644 Plutowrapper/pluto/connector/__init__.py create mode 100644 Plutowrapper/pluto/connector/__pycache__/__init__.cpython-38.pyc create mode 100644 Plutowrapper/pluto/connector/__pycache__/connect.cpython-38.pyc create mode 100644 Plutowrapper/pluto/connector/connect.py create mode 100644 Plutowrapper/pluto/msg/__init__.py create mode 100644 Plutowrapper/pluto/msg/__pycache__/__init__.cpython-38.pyc create mode 100644 Plutowrapper/pluto/msg/__pycache__/cmdList.cpython-38.pyc create mode 100644 Plutowrapper/pluto/msg/__pycache__/parser.cpython-38.pyc create mode 100644 Plutowrapper/pluto/msg/__pycache__/typeConst.cpython-38.pyc create mode 100644 Plutowrapper/pluto/msg/__pycache__/types.cpython-38.pyc create mode 100644 Plutowrapper/pluto/msg/cmdList.py create mode 100644 Plutowrapper/pluto/msg/parser.py create mode 100644 Plutowrapper/pluto/msg/receiver.py create mode 100644 Plutowrapper/pluto/msg/types.py create mode 100644 Plutowrapper/requirements.txt create mode 100644 Plutowrapper/setup.py diff --git a/Plutowrapper/IO.py b/Plutowrapper/IO.py new file mode 100644 index 0000000..6f1a33d --- /dev/null +++ b/Plutowrapper/IO.py @@ -0,0 +1,19 @@ +from plutox import * +import time + +client = Drone() + +print("Arm") +client.arm() +time.sleep(2) + +print("Forward") +client.forward() +time.sleep(4) + +print("Backward") +client.backward() +time.sleep(4) + +print("Disarm") +client.disArm() diff --git a/Plutowrapper/Pluto.egg-info/PKG-INFO b/Plutowrapper/Pluto.egg-info/PKG-INFO new file mode 100644 index 0000000..481b573 --- /dev/null +++ b/Plutowrapper/Pluto.egg-info/PKG-INFO @@ -0,0 +1,8 @@ +Metadata-Version: 2.1 +Name: Pluto +Version: 0.0.1 +Summary: This API to connect Pluto Drone +Home-page: https://github.com/DaemonLab/Drone-Swarm +Author: IIT_Indore +Author-email: me210003009@iiti.ac.in +License: Open Source diff --git a/Plutowrapper/Pluto.egg-info/SOURCES.txt b/Plutowrapper/Pluto.egg-info/SOURCES.txt new file mode 100644 index 0000000..b9b3596 --- /dev/null +++ b/Plutowrapper/Pluto.egg-info/SOURCES.txt @@ -0,0 +1,7 @@ +README.md +setup.py +Pluto.egg-info/PKG-INFO +Pluto.egg-info/SOURCES.txt +Pluto.egg-info/dependency_links.txt +Pluto.egg-info/top_level.txt +pluto/__init__.py \ No newline at end of file diff --git a/Plutowrapper/Pluto.egg-info/dependency_links.txt b/Plutowrapper/Pluto.egg-info/dependency_links.txt new file mode 100644 index 0000000..8b13789 --- /dev/null +++ b/Plutowrapper/Pluto.egg-info/dependency_links.txt @@ -0,0 +1 @@ + diff --git a/Plutowrapper/Pluto.egg-info/top_level.txt b/Plutowrapper/Pluto.egg-info/top_level.txt new file mode 100644 index 0000000..c322261 --- /dev/null +++ b/Plutowrapper/Pluto.egg-info/top_level.txt @@ -0,0 +1 @@ +pluto diff --git a/Plutowrapper/arm.py b/Plutowrapper/arm.py new file mode 100644 index 0000000..aa0bcb1 --- /dev/null +++ b/Plutowrapper/arm.py @@ -0,0 +1,22 @@ +from plutox import * +import time + +t0 = time.time() + +#print(time.time()-t0) +client = Drone() + +print("Arm") +client.arm() +time.sleep(2) + +print("Forward") +client.forward() +time.sleep(4) + +print("Backward") +client.backward() +time.sleep(4) + +print("Disarm") +client.disArm() diff --git a/Plutowrapper/keyboard.py b/Plutowrapper/keyboard.py new file mode 100755 index 0000000..a18b37f --- /dev/null +++ b/Plutowrapper/keyboard.py @@ -0,0 +1,159 @@ +"Entry " +from pluto.API.drone import Drone +from pluto import * +import time + +import sys +from select import select +if sys.platform == 'win32': + import msvcrt +else: + import termios + import tty + +msg = """ + Control Your Drone! + --------------------------- + Moving around: + u i o + j k l + n m , + spacebar : arm or disarm + w : increase height + s : decrease height + q : take off + e : land + a : yaw left + d : yaw right + t : auto pilot on/off + Up arrow : go forward + Down arrow : go backward + Left arrow : go left + Right arrow : go right + CTRL+C to quit + """ +keyboard_control={ #dictionary containing the key pressed abd value associated with it + '[A': 10, # up arrow fwd pitch + '[D': 30, # left arrow left pitch + '[C': 40, # right arrow right roll + 'w':50, # increase throttle + 's':60, # decrease throttle + ' ': 70, # arm disarm + 'r':80, # + 't':90, + 'p':100, + '[B':110, # down arrow bkwd pitch + 'n':120, + 'q':130, # take off + 'e':140, # land + 'a':150, # left yaw + 'd':160, # right yaw + '+' : 15, + '1' : 25, + '2' : 30, + '3' : 35, + '4' : 45} + + #control_to_change_value=('u','o',',','z','c') + + +def getKey(settings): + """ + Function Name: getKey + Input: None + Output: keyboard charecter pressed + Logic: Determine the keyboard key pressed + Example call: getkey() + """ + + if sys.platform == 'win32': + # getwch() returns a string on Windows + key = msvcrt.getwch() + + tty.setraw(sys.stdin.fileno()) + rlist, _, _ = select([sys.stdin], [], [], 0.1) + if rlist: + key = sys.stdin.read(1) + if (key == '\x1b'): # \x1b is Escape key + key = sys.stdin.read(2) + sys.stdin.flush() + else: + key = '' + + termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings) + print(key) + return key + +def saveTerminalSettings(): + if sys.platform == 'win32': + return None + return termios.tcgetattr(sys.stdin) + +def restoreTerminalSettings(old_settings): + if sys.platform == 'win32': + return + termios.tcsetattr(sys.stdin, termios.TCSADRAIN, old_settings) + +def indentify_key(client,key_value): + + # cmd = MsgType() + if key_value == 70: + # if(cmd.rcAUX4 == 1500): + # disarm() + # else: + client.arm() + elif key_value == 10: + client.forward() + elif key_value == 30: + client.left() + elif key_value == 40: + client.right() + elif key_value == 80: + client.reset() + # elif key_value == 90: + # if(cmd.isAutoPilotOn == 1): + # cmd.isAutoPilotOn = 0 + # else: + # cmd.isAutoPilotOn = 1 + elif key_value == 50: + client.increase_height() + elif key_value == 60: + client.decrease_height() + elif key_value == 110: + client.backward() + elif key_value == 130: + client.takeOff() + elif key_value == 140: + client.land() + elif key_value == 150: + client.anticlockwise() + elif key_value == 160: + client.clockwise() + +if __name__ == '__main__': + settings = saveTerminalSettings() + + client = Drone() + + try: + print(msg) + while(1): + key = getKey(settings) + print("YO" , key , "YO", sep='') + if key in keyboard_control.keys(): + print("executed" , keyboard_control[key] , "]]]") + indentify_key(client,keyboard_control[key]) + # if (keyboard_control[key] == 70): + # client.arm() + #time.sleep(2) + + else: + if (key == '\x03'): # Ctrl+C break + break + + except Exception as e: + print(e) + + finally: + print(key) + restoreTerminalSettings(settings) diff --git a/Plutowrapper/kill.py b/Plutowrapper/kill.py new file mode 100644 index 0000000..b6cda44 --- /dev/null +++ b/Plutowrapper/kill.py @@ -0,0 +1,8 @@ +"Entry " +from pluto import * +import time + +if __name__ == '__main__': + client = Drone() + client.disArm() + time.sleep(5) diff --git a/Plutowrapper/main.py b/Plutowrapper/main.py new file mode 100644 index 0000000..5078f07 --- /dev/null +++ b/Plutowrapper/main.py @@ -0,0 +1,18 @@ +"Entry " +from pluto import * +import time + +if __name__ == '__main__': + client = Drone() + client.arm() + time.sleep(5) + print("Takeoff") + client.getIMU() + client.up() + time.sleep(5) + print("Landing") + client.forward() + time.sleep(5) + print("Disarm") + client.disArm() + time.sleep(5) diff --git a/Plutowrapper/pluto/API/__init__.py b/Plutowrapper/pluto/API/__init__.py new file mode 100644 index 0000000..7808cc8 --- /dev/null +++ b/Plutowrapper/pluto/API/__init__.py @@ -0,0 +1 @@ +from pluto.connector.connect import * diff --git a/Plutowrapper/pluto/API/__pycache__/__init__.cpython-38.pyc b/Plutowrapper/pluto/API/__pycache__/__init__.cpython-38.pyc new file mode 100644 index 0000000000000000000000000000000000000000..868fda9067f988038a7db6d014495cf215f05289 GIT binary patch literal 188 zcmWIL<>g`kf|P`%$!b9QF^Gc(44TX@fg%i=jJFuI z{4^P(#0zptOY-%S^YijjlS}f8V62r4Ma)2TVB(jhenx(7s(xa2aYkl|zDs_2UQT{u zO0j+bNN;#iVnIP_kv`ZUea8S#{rLFIyv&mLc)fzkTO2mI`6;D2sdkJ&(>{Z&1^`n^ BFUtS` literal 0 HcmV?d00001 diff --git a/Plutowrapper/pluto/API/__pycache__/drone.cpython-38.pyc b/Plutowrapper/pluto/API/__pycache__/drone.cpython-38.pyc new file mode 100644 index 0000000000000000000000000000000000000000..ad22fd1d41d058694f1dbb4b23b027ea1b9af7f3 GIT binary patch literal 2832 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leftFlip(self): + # self.sendData(self.msgType.command(6), "LeftFlip") + + def forward(self): + self.sendData(self.msgType.move("forward"), "Forward") + + def backward(self): + self.sendData(self.msgType.move("backward"), "Backward") + + def left(self): + self.sendData(self.msgType.move("left"), "Left") + + def right(self): + self.sendData(self.msgType.move("right"), "Right") + + def up(self): + self.sendData(self.msgType.move("up"), "Up") + + def down(self): + self.sendData(self.msgType.move("down"), "Right") + + def clockwise(self): + self.sendData(self.msgType.move("clck"), "Clockwise") + + def anticlockwise(self): + self.sendData(self.msgType.move("anticlck"), "Anticlockwise") + + def arm(self): + self.sendData(self.msgType.arming(True), "ARM") + + def disArm(self): + self.sendData(self.msgType.arming(False), "Disarm") + + def getIMU(self): + self.sendData(self.msgType.move("IMU"), "IMU") + + def sendData(self, data, err): + try: + print(data) + self.conn.write(data) + print(self.conn.read_very_eager()) + except: + print("Error While sending {} Data".format(err)) + + diff --git a/Plutowrapper/pluto/__init__.py b/Plutowrapper/pluto/__init__.py new file mode 100644 index 0000000..f3aba06 --- /dev/null +++ b/Plutowrapper/pluto/__init__.py @@ -0,0 +1,2 @@ +from .API.drone import * +__version__ = "0.0.1" \ No newline at end of file diff --git a/Plutowrapper/pluto/__pycache__/__init__.cpython-38.pyc b/Plutowrapper/pluto/__pycache__/__init__.cpython-38.pyc new file mode 100644 index 0000000000000000000000000000000000000000..570d15102d2106ba8d2482643eac66b82d1b58a9 GIT binary patch literal 191 zcmWIL<>g`k0;jx%$$CKgF^GcTZlX-=vg L$jV}nyEqsDyVNZV literal 0 HcmV?d00001 diff --git a/Plutowrapper/pluto/connector/__init__.py b/Plutowrapper/pluto/connector/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/Plutowrapper/pluto/connector/__pycache__/__init__.cpython-38.pyc b/Plutowrapper/pluto/connector/__pycache__/__init__.cpython-38.pyc new file 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a/Plutowrapper/pluto/msg/cmdList.py b/Plutowrapper/pluto/msg/cmdList.py new file mode 100644 index 0000000..ab1de4f --- /dev/null +++ b/Plutowrapper/pluto/msg/cmdList.py @@ -0,0 +1,8 @@ +MSP_SET_COMMAND = 217 # in cmd used for predefined commands +MSP_SET_RAW_RC = 200 # in cmd 8 rc channel + +MSP_STATUS = 101 # out cmd cycletime & errors_count & sensor present & box activation & current setting number +MSP_RAW_IMU = 102 # out 9 DOF +MSP_ATTITUDE = 108 # out 2 angles 1 heading +MSP_ALTITUDE = 109 # out altitude, variometer +MSP_ANALOG = 110 # out message vbat, powermetersum, rssi if available on RX \ No newline at end of file diff --git a/Plutowrapper/pluto/msg/parser.py b/Plutowrapper/pluto/msg/parser.py new file mode 100644 index 0000000..a4badbb --- /dev/null +++ b/Plutowrapper/pluto/msg/parser.py @@ -0,0 +1,29 @@ +import struct + + +class Parse: + def __init__(self): + self.HEADER = [b'$', b'M'] + self.DIRECTION = {"IN": b'<', "OUT": b'>'} # IN: to Drone OUT: From Drone + self.MSP_MSG_PARSE = '<3c2B%iHB' + + def convert(self, data, typeOfMsg): + lenOfData = len(data) + if data==[]: + msg = self.HEADER + [self.DIRECTION["IN"]] + [lenOfData * 2] + [102] + print(msg) + msg = struct.pack(self.MSP_MSG_PARSE[:-1] % 0, *msg) + + else: + msg = self.HEADER + [self.DIRECTION["IN"]] + [lenOfData * 2] + [typeOfMsg] + data + msg = struct.pack(self.MSP_MSG_PARSE[:-1] % lenOfData, *msg) + + print(struct.unpack(self.MSP_MSG_PARSE[:-1] % lenOfData , msg)) + + checksum = 0 + for i in msg[3:]: + checksum ^= i + + msg += bytes([checksum]) + return msg + diff --git a/Plutowrapper/pluto/msg/receiver.py b/Plutowrapper/pluto/msg/receiver.py new file mode 100644 index 0000000..e69de29 diff --git a/Plutowrapper/pluto/msg/types.py b/Plutowrapper/pluto/msg/types.py new file mode 100644 index 0000000..eee7f3b --- /dev/null +++ b/Plutowrapper/pluto/msg/types.py @@ -0,0 +1,64 @@ +from pluto.msg.parser import * +from pluto.msg.cmdList import * + + +class MsgType(): + def __init__(self): + self.parse = Parse() + + def command(self, cmd): + return self.parse.convert([cmd], MSP_SET_COMMAND) + + def arming(self, arm: bool): + RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW, RC_AUX1, RC_AUX2, RC_AUX3, RC_AUX4 = 1500, 1500, 1000, 1700, 1500, 1000, 1500, 1200 + data = [RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW, RC_AUX1, RC_AUX2, RC_AUX3, RC_AUX4] + if arm: + data[-1] = 1500 + return self.parse.convert(data, MSP_SET_RAW_RC) + else: + data[-1] = 901 + return self.parse.convert(data, MSP_SET_RAW_RC) + + def move(self, cmd): + RC_AUX1, RC_AUX2, RC_AUX3, RC_AUX4 = 1500, 1000, 1500, 1500 + + if cmd=="right": + RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW = 1500, 1700, 1500, 1500 + data = [RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW, RC_AUX1, RC_AUX2, RC_AUX3, RC_AUX4] + + if cmd=="left": + RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW = 1500, 1300, 1500, 1500 + data = [RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW, RC_AUX1, RC_AUX2, RC_AUX3, RC_AUX4] + + if cmd=="backward": + RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW = 1300, 1500, 1500, 1500 + data = [RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW, RC_AUX1, RC_AUX2, RC_AUX3, RC_AUX4] + + if cmd=="forward": + RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW = 1700, 1500, 1500, 1500 + data = [RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW, RC_AUX1, RC_AUX2, RC_AUX3, RC_AUX4] + + if cmd=="up": + RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW = 1500, 1800, 1500, 1500 + data = [RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW, RC_AUX1, RC_AUX2, RC_AUX3, RC_AUX4] + + if cmd=="down": + RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW = 1500, 1200, 1500, 1500 + data = [RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW, RC_AUX1, RC_AUX2, RC_AUX3, RC_AUX4] + + if cmd=="clck": + RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW = 1500, 1500, 1500, 1700 + data = [RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW, RC_AUX1, RC_AUX2, RC_AUX3, RC_AUX4] + + if cmd=="anticlck": + RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW = 1500, 1500, 1500, 1300 + data = [RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW, RC_AUX1, RC_AUX2, RC_AUX3, RC_AUX4] + + if cmd=="IMU": + data = [] + + return self.parse.convert(data, MSP_SET_RAW_RC) + + + + diff --git a/Plutowrapper/requirements.txt b/Plutowrapper/requirements.txt new file mode 100644 index 0000000..e69de29 diff --git a/Plutowrapper/setup.py b/Plutowrapper/setup.py new file mode 100644 index 0000000..7db13fa --- /dev/null +++ b/Plutowrapper/setup.py @@ -0,0 +1,12 @@ +from setuptools import setup + +setup( + name='Pluto', + version='0.0.1', + packages=['pluto'], + url='https://github.com/DaemonLab/Drone-Swarm', + license='Open Source', + author='IIT_Indore', + author_email='me210003009@iiti.ac.in', + description='This API to connect Pluto Drone' +) From 3138527fa83c90640c75a6b6503fbb18c1d14b2a Mon Sep 17 00:00:00 2001 From: Yeeshukant Date: Sun, 25 Dec 2022 13:41:25 +0530 Subject: [PATCH 02/82] PWM value changes for cmds in types.py --- Plutowrapper/keyboard.py | 2 +- Plutowrapper/pluto/msg/types.py | 24 ++++++++++-------------- 2 files changed, 11 insertions(+), 15 deletions(-) diff --git a/Plutowrapper/keyboard.py b/Plutowrapper/keyboard.py index a18b37f..1d9a65e 100755 --- a/Plutowrapper/keyboard.py +++ b/Plutowrapper/keyboard.py @@ -34,7 +34,7 @@ """ keyboard_control={ #dictionary containing the key pressed abd value associated with it '[A': 10, # up arrow fwd pitch - '[D': 30, # left arrow left pitch + '[D': 30, # left arrow left roll '[C': 40, # right arrow right roll 'w':50, # increase throttle 's':60, # decrease throttle diff --git a/Plutowrapper/pluto/msg/types.py b/Plutowrapper/pluto/msg/types.py index eee7f3b..45a84c1 100644 --- a/Plutowrapper/pluto/msg/types.py +++ b/Plutowrapper/pluto/msg/types.py @@ -10,7 +10,7 @@ def command(self, cmd): return self.parse.convert([cmd], MSP_SET_COMMAND) def arming(self, arm: bool): - RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW, RC_AUX1, RC_AUX2, RC_AUX3, RC_AUX4 = 1500, 1500, 1000, 1700, 1500, 1000, 1500, 1200 + RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW, RC_AUX1, RC_AUX2, RC_AUX3, RC_AUX4 = 1500, 1500, 1000, 1500, 1500, 1000, 1500, 1500 data = [RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW, RC_AUX1, RC_AUX2, RC_AUX3, RC_AUX4] if arm: data[-1] = 1500 @@ -20,45 +20,41 @@ def arming(self, arm: bool): return self.parse.convert(data, MSP_SET_RAW_RC) def move(self, cmd): - RC_AUX1, RC_AUX2, RC_AUX3, RC_AUX4 = 1500, 1000, 1500, 1500 + RC_AUX1, RC_AUX2, RC_AUX3, RC_AUX4 = 1500, 1500, 1500, 1500 if cmd=="right": - RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW = 1500, 1700, 1500, 1500 + RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW = 1600, 1500, 1500, 1500 data = [RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW, RC_AUX1, RC_AUX2, RC_AUX3, RC_AUX4] if cmd=="left": - RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW = 1500, 1300, 1500, 1500 + RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW = 1400, 1500, 1500, 1500 data = [RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW, RC_AUX1, RC_AUX2, RC_AUX3, RC_AUX4] if cmd=="backward": - RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW = 1300, 1500, 1500, 1500 + RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW = 1500, 1400, 1500, 1500 data = [RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW, RC_AUX1, RC_AUX2, RC_AUX3, RC_AUX4] if cmd=="forward": - RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW = 1700, 1500, 1500, 1500 + RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW = 1500, 1600, 1500, 1500 data = [RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW, RC_AUX1, RC_AUX2, RC_AUX3, RC_AUX4] if cmd=="up": - RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW = 1500, 1800, 1500, 1500 + RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW = 1500, 1500, 1800, 1500 data = [RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW, RC_AUX1, RC_AUX2, RC_AUX3, RC_AUX4] if cmd=="down": - RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW = 1500, 1200, 1500, 1500 + RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW = 1500, 1500, 1300, 1500 data = [RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW, RC_AUX1, RC_AUX2, RC_AUX3, RC_AUX4] if cmd=="clck": - RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW = 1500, 1500, 1500, 1700 + RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW = 1500, 1500, 1500, 1600 data = [RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW, RC_AUX1, RC_AUX2, RC_AUX3, RC_AUX4] if cmd=="anticlck": - RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW = 1500, 1500, 1500, 1300 + RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW = 1500, 1500, 1500, 1400 data = [RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW, RC_AUX1, RC_AUX2, RC_AUX3, RC_AUX4] if cmd=="IMU": data = [] return self.parse.convert(data, MSP_SET_RAW_RC) - - - - From 3f5917d7d620036ea6ef615523ceeade37fc50d6 Mon Sep 17 00:00:00 2001 From: Yeeshukant Date: Mon, 26 Dec 2022 14:42:26 +0530 Subject: [PATCH 03/82] repo reorganised as main --- .gitignore | 3 +++ Plutowrapper/pluto/API/__init__.py | 1 - .../API/__pycache__/__init__.cpython-38.pyc | Bin 188 -> 0 bytes .../pluto/API/__pycache__/drone.cpython-38.pyc | Bin 2832 -> 0 bytes .../__pycache__/__init__.cpython-38.pyc | Bin 146 -> 0 bytes .../connector/__pycache__/connect.cpython-38.pyc | Bin 960 -> 0 bytes Plutowrapper/pluto/msg/__init__.py | 0 {Plutowrapper => pypluto/examples}/IO.py | 0 {Plutowrapper => pypluto/examples}/arm.py | 0 {Plutowrapper => pypluto/examples}/kill.py | 0 {Plutowrapper => pypluto}/keyboard.py | 0 {Plutowrapper => pypluto}/main.py | 0 .../pypluto.egg-info}/PKG-INFO | 0 .../pypluto.egg-info}/SOURCES.txt | 0 .../pypluto.egg-info}/dependency_links.txt | 0 .../pypluto.egg-info}/top_level.txt | 0 .../pypluto/Comm}/__init__.py | 0 .../Comm}/__pycache__/__init__.cpython-38.pyc | Bin .../Comm}/__pycache__/cmdList.cpython-38.pyc | Bin .../Comm}/__pycache__/parser.cpython-38.pyc | Bin .../Comm}/__pycache__/typeConst.cpython-38.pyc | Bin .../Comm}/__pycache__/types.cpython-38.pyc | Bin .../msg/parser.py => pypluto/pypluto/Comm/msg.py | 0 .../pypluto/Comm/packets.py | 0 .../msg => pypluto/pypluto/Comm}/receiver.py | 0 .../connect.py => pypluto/pypluto/Comm/server.py | 0 .../pluto => pypluto/pypluto}/__init__.py | 0 .../pypluto}/__pycache__/__init__.cpython-38.pyc | Bin .../pypluto/commands/mov_func.py | 0 .../API/drone.py => pypluto/pypluto/pluto.py | 0 {Plutowrapper => pypluto}/requirements.txt | 0 {Plutowrapper => pypluto}/setup.py | 0 32 files changed, 3 insertions(+), 1 deletion(-) create mode 100644 .gitignore delete mode 100644 Plutowrapper/pluto/API/__init__.py delete mode 100644 Plutowrapper/pluto/API/__pycache__/__init__.cpython-38.pyc delete mode 100644 Plutowrapper/pluto/API/__pycache__/drone.cpython-38.pyc delete mode 100644 Plutowrapper/pluto/connector/__pycache__/__init__.cpython-38.pyc delete mode 100644 Plutowrapper/pluto/connector/__pycache__/connect.cpython-38.pyc delete mode 100644 Plutowrapper/pluto/msg/__init__.py rename {Plutowrapper => pypluto/examples}/IO.py (100%) rename {Plutowrapper => pypluto/examples}/arm.py (100%) rename {Plutowrapper => pypluto/examples}/kill.py (100%) rename {Plutowrapper => pypluto}/keyboard.py (100%) rename {Plutowrapper => pypluto}/main.py (100%) rename {Plutowrapper/Pluto.egg-info => pypluto/pypluto.egg-info}/PKG-INFO (100%) rename {Plutowrapper/Pluto.egg-info => pypluto/pypluto.egg-info}/SOURCES.txt (100%) rename {Plutowrapper/Pluto.egg-info => pypluto/pypluto.egg-info}/dependency_links.txt (100%) rename {Plutowrapper/Pluto.egg-info => pypluto/pypluto.egg-info}/top_level.txt (100%) rename {Plutowrapper/pluto/connector => pypluto/pypluto/Comm}/__init__.py (100%) rename {Plutowrapper/pluto/msg => pypluto/pypluto/Comm}/__pycache__/__init__.cpython-38.pyc (100%) rename {Plutowrapper/pluto/msg => pypluto/pypluto/Comm}/__pycache__/cmdList.cpython-38.pyc (100%) rename {Plutowrapper/pluto/msg => pypluto/pypluto/Comm}/__pycache__/parser.cpython-38.pyc (100%) rename {Plutowrapper/pluto/msg => pypluto/pypluto/Comm}/__pycache__/typeConst.cpython-38.pyc (100%) rename {Plutowrapper/pluto/msg => pypluto/pypluto/Comm}/__pycache__/types.cpython-38.pyc (100%) rename Plutowrapper/pluto/msg/parser.py => pypluto/pypluto/Comm/msg.py (100%) rename Plutowrapper/pluto/msg/cmdList.py => pypluto/pypluto/Comm/packets.py (100%) rename {Plutowrapper/pluto/msg => pypluto/pypluto/Comm}/receiver.py (100%) rename Plutowrapper/pluto/connector/connect.py => pypluto/pypluto/Comm/server.py (100%) rename {Plutowrapper/pluto => pypluto/pypluto}/__init__.py (100%) rename {Plutowrapper/pluto => pypluto/pypluto}/__pycache__/__init__.cpython-38.pyc (100%) rename Plutowrapper/pluto/msg/types.py => pypluto/pypluto/commands/mov_func.py (100%) rename Plutowrapper/pluto/API/drone.py => pypluto/pypluto/pluto.py (100%) rename {Plutowrapper => pypluto}/requirements.txt (100%) rename {Plutowrapper => pypluto}/setup.py (100%) diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..285b3ee --- /dev/null +++ b/.gitignore @@ -0,0 +1,3 @@ +# ignore cache files + +**/__pycache__ diff --git a/Plutowrapper/pluto/API/__init__.py b/Plutowrapper/pluto/API/__init__.py deleted file mode 100644 index 7808cc8..0000000 --- a/Plutowrapper/pluto/API/__init__.py +++ /dev/null @@ -1 +0,0 @@ -from pluto.connector.connect import * diff --git a/Plutowrapper/pluto/API/__pycache__/__init__.cpython-38.pyc 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8e8ff544624e71f36c9d3e3108c06a4fd881be97..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 146 zcmWIL<>g`k0;jx%$sqbMh(HF6K#l_t7qb9~6oz01O-8?!3`HPe1o6vUKO;XkRX;Ji zI3u$}-zC31FDE}SrC2{8r?ezLLcah+Rp=L|7L}zI>Bq-s=4F<|$LkeT-r}&y%}*)K MNwotR_!)>90D~$b7ytkO diff --git a/Plutowrapper/pluto/connector/__pycache__/connect.cpython-38.pyc b/Plutowrapper/pluto/connector/__pycache__/connect.cpython-38.pyc deleted file mode 100644 index 7f53624a19483b3c8dcc7abbad2e2bb18be76aaa..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 960 zcmZuv&2G~`5Z<+&*l`+uia@9*pAfm&YN-$)gpisF^^!(StAH<7@NS8Vvm4eMP@~+M z2cZWJeIw*6Ctjf^X6!hLfU$P`&F<{%d^2;_YPkgDEcy}uq=fuJV^d5p-onauKrzB- zN<#9EFoT&3!ptipq>T1S+xiXXq#L8&l-2zwu*(T}lh9x;GnuuZp~-5jz96B+Z05kf z#u^Z-nY#y42p;Q1irePy%RPVh`3ryF-_4D^XEBDX1hE0@09JMn)SS*qMCJx)cnX5i zZrjN1&dG82@TiwJ3eY<~Ic=M{mGSgEv^z=)e$)#a1?WkoZ-{ar*6picB*#1$e$GaT z4m$FiNac`aK`)(ZIZ(sNgsWhJMv!s!6^!!dPcCyOiV~6ND5_y<7AQjNboOA)%&$CR zDEvwg*I^Zm_5sXxH2Ds!E`Za8d5z30K-K`*(c;rJMz1I(ABZsCLz95D(Vaa#R7xsu zFiKMHRj-Oqo*r?pVCwZRGtI|-yPh{RPX*U$@-eKR7Eoc@3KPiG=~4>yur`@rBRoG*pVgCapk#c<4{ zD0ic1EZH Date: Mon, 26 Dec 2022 14:59:19 +0530 Subject: [PATCH 04/82] changes for imu data --- pypluto/keyboard.py | 8 ++++++-- pypluto/pypluto/commands/mov_func.py | 11 ++++++++--- pypluto/pypluto/pluto.py | 4 +--- 3 files changed, 15 insertions(+), 8 deletions(-) diff --git a/pypluto/keyboard.py b/pypluto/keyboard.py index 1d9a65e..2c9ee58 100755 --- a/pypluto/keyboard.py +++ b/pypluto/keyboard.py @@ -1,8 +1,11 @@ "Entry " from pluto.API.drone import Drone from pluto import * + import time +#import threading + import sys from select import select if sys.platform == 'win32': @@ -39,8 +42,8 @@ 'w':50, # increase throttle 's':60, # decrease throttle ' ': 70, # arm disarm - 'r':80, # - 't':90, + 'r':80, # reset + 't':90, # autopilot 'p':100, '[B':110, # down arrow bkwd pitch 'n':120, @@ -150,6 +153,7 @@ def indentify_key(client,key_value): else: if (key == '\x03'): # Ctrl+C break break + client.getIMU() except Exception as e: print(e) diff --git a/pypluto/pypluto/commands/mov_func.py b/pypluto/pypluto/commands/mov_func.py index 45a84c1..5e2e4d8 100644 --- a/pypluto/pypluto/commands/mov_func.py +++ b/pypluto/pypluto/commands/mov_func.py @@ -54,7 +54,12 @@ def move(self, cmd): RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW = 1500, 1500, 1500, 1400 data = [RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW, RC_AUX1, RC_AUX2, RC_AUX3, RC_AUX4] - if cmd=="IMU": - data = [] - return self.parse.convert(data, MSP_SET_RAW_RC) + + def get_data(self,cmd): + + if cmd == "IMU": + pkt_type = MSP_RAW_IMU + data=[None]*9 + + return self.parse.convert(data, pkt_type) diff --git a/pypluto/pypluto/pluto.py b/pypluto/pypluto/pluto.py index 0e9f82b..109eec0 100644 --- a/pypluto/pypluto/pluto.py +++ b/pypluto/pypluto/pluto.py @@ -58,7 +58,7 @@ def disArm(self): self.sendData(self.msgType.arming(False), "Disarm") def getIMU(self): - self.sendData(self.msgType.move("IMU"), "IMU") + self.sendData(self.msgType.get_data("IMU"), "IMU") def sendData(self, data, err): try: @@ -67,5 +67,3 @@ def sendData(self, data, err): print(self.conn.read_very_eager()) except: print("Error While sending {} Data".format(err)) - - From 168aabea58b61a6881bf5bec677bb1b5f3ab1291 Mon Sep 17 00:00:00 2001 From: Yeeshukant Date: Mon, 26 Dec 2022 15:59:18 +0530 Subject: [PATCH 05/82] changes to get IMU data --- pypluto/pypluto/Comm/msg.py | 9 +--- pypluto/pypluto/commands/mov_func.py | 6 +-- pypluto/pypluto/pluto_keyb.py | 69 ++++++++++++++++++++++++++++ 3 files changed, 73 insertions(+), 11 deletions(-) create mode 100644 pypluto/pypluto/pluto_keyb.py diff --git a/pypluto/pypluto/Comm/msg.py b/pypluto/pypluto/Comm/msg.py index b775da0..7565978 100644 --- a/pypluto/pypluto/Comm/msg.py +++ b/pypluto/pypluto/Comm/msg.py @@ -28,11 +28,4 @@ def set_command(self, cmd): return self.parse([cmd], MSP_SET_COMMAND) def set_raw_rc(self, data): - return self.parse(data, MSP_SET_RAW_RC) - - - - - - - + return self.parse(data, MSP_SET_RAW_RC) \ No newline at end of file diff --git a/pypluto/pypluto/commands/mov_func.py b/pypluto/pypluto/commands/mov_func.py index 5e2e4d8..00eb392 100644 --- a/pypluto/pypluto/commands/mov_func.py +++ b/pypluto/pypluto/commands/mov_func.py @@ -1,10 +1,10 @@ -from pluto.msg.parser import * -from pluto.msg.cmdList import * +from pypluto.Comm.packets import * +from pypluto.Comm.msg import Message class MsgType(): def __init__(self): - self.parse = Parse() + self.parse = Message() def command(self, cmd): return self.parse.convert([cmd], MSP_SET_COMMAND) diff --git a/pypluto/pypluto/pluto_keyb.py b/pypluto/pypluto/pluto_keyb.py new file mode 100644 index 0000000..c9619d1 --- /dev/null +++ b/pypluto/pypluto/pluto_keyb.py @@ -0,0 +1,69 @@ +from pypluto.Comm.server import Connection +from pypluto.commands.mov_func import * + + +class Drone(): + def __init__(self, DroneIP="192.168.4.1", DronePort="23"): + self.DRONEIP = DroneIP + self.DRONEPORT = DronePort + self.conn = Connection(self.DRONEIP, self.DRONEPORT).connect() + self.msgType = MsgType() + + def takeOff(self): + self.sendData(self.msgType.command(1), "takeOff") + + def land(self): + self.sendData(self.msgType.command(2), "Land") + + # def backFlip(self): + # self.sendData(self.msgType.command(3), "BackFlip") + + # def frontFlip(self): + # self.sendData(self.msgType.command(4), "frontFlip") + + # def rightFlip(self): + # self.sendData(self.msgType.command(5), "rightFlip") + + # def leftFlip(self): + # self.sendData(self.msgType.command(6), "LeftFlip") + + def forward(self): + self.sendData(self.msgType.move("forward"), "Forward") + + def backward(self): + self.sendData(self.msgType.move("backward"), "Backward") + + def left(self): + self.sendData(self.msgType.move("left"), "Left") + + def right(self): + self.sendData(self.msgType.move("right"), "Right") + + def up(self): + self.sendData(self.msgType.move("up"), "Up") + + def down(self): + self.sendData(self.msgType.move("down"), "Right") + + def clockwise(self): + self.sendData(self.msgType.move("clck"), "Clockwise") + + def anticlockwise(self): + self.sendData(self.msgType.move("anticlck"), "Anticlockwise") + + def arm(self): + self.sendData(self.msgType.arming(True), "ARM") + + def disArm(self): + self.sendData(self.msgType.arming(False), "Disarm") + + def getIMU(self): + self.sendData(self.msgType.get_data("IMU"), "IMU") + + def sendData(self, data, err): + try: + print(data) + self.conn.write(data) + print(self.conn.read_very_eager()) + except: + print("Error While sending {} Data".format(err)) \ No newline at end of file From 0721eb5eb3a85b5fa0a07575562832583044a76f Mon Sep 17 00:00:00 2001 From: yeeshukant <79806119+Yeeshukant@users.noreply.github.com> Date: Mon, 9 Jan 2023 16:41:31 +0530 Subject: [PATCH 06/82] Create keyboard_control.md --- pypluto/keyboard_control.md | 19 +++++++++++++++++++ 1 file changed, 19 insertions(+) create mode 100644 pypluto/keyboard_control.md diff --git a/pypluto/keyboard_control.md b/pypluto/keyboard_control.md new file mode 100644 index 0000000..75e21ba --- /dev/null +++ b/pypluto/keyboard_control.md @@ -0,0 +1,19 @@ +### Control Pluto Drone using keyboard
+Run the ```keyboard.py``` file in terminal to control the drone flight interactively using the following keyboard keymap
+ + w ↑ + a s d ← ↓ → + + spacebar : arm + w : increase throttle + s : decrease throttle + q : take off + e : land + a : turn left (negative yaw) + d : turn right (positive yaw) + t : auto pilot on/off + Up arrow(↑) : go forward (positive pitch) + Down arrow(↓) : go backward (negative pitch) + Left arrow(←) : go left + Right arrow(→) : go right + CTRL+C to quit From fbffc4a277a1508350d9feaf914edc2d43c5fe55 Mon Sep 17 00:00:00 2001 From: Yeeshukant Date: Sun, 15 Jan 2023 18:06:50 +0530 Subject: [PATCH 07/82] all function in one file in pluto dir --- pluto/__init__.py | 1 + pluto/drone.py | 207 ++++++++++++++++++ pluto/enforce_types.py | 64 ++++++ pypluto/main.py | 16 +- .../Comm/__pycache__/__init__.cpython-38.pyc | Bin 143 -> 156 bytes .../Comm/__pycache__/msg.cpython-38.pyc | Bin 1274 -> 1281 bytes .../Comm/__pycache__/packets.cpython-38.pyc | Bin 318 -> 325 bytes .../Comm/__pycache__/server.cpython-38.pyc | Bin 1018 -> 1025 bytes .../pypluto/__pycache__/pluto.cpython-38.pyc | Bin 2648 -> 2670 bytes .../__pycache__/OUT_STREAM.cpython-38.pyc | Bin 2056 -> 2063 bytes .../__pycache__/movement.cpython-38.pyc | Bin 4041 -> 4048 bytes 11 files changed, 280 insertions(+), 8 deletions(-) create mode 100644 pluto/__init__.py create mode 100644 pluto/drone.py create mode 100644 pluto/enforce_types.py diff --git a/pluto/__init__.py b/pluto/__init__.py new file mode 100644 index 0000000..5053fb3 --- /dev/null +++ b/pluto/__init__.py @@ -0,0 +1 @@ +from .drone import Drone \ No newline at end of file diff --git a/pluto/drone.py b/pluto/drone.py new file mode 100644 index 0000000..b18e019 --- /dev/null +++ b/pluto/drone.py @@ -0,0 +1,207 @@ +import struct +import telnetlib +import numpy as np +from threading import Thread +from .enforce_types import enforce_types + +# threads_initialised = False +# check = False +# data = None +@enforce_types +class Drone: + def __init__(self, DroneIP="192.168.4.1", DronePort="23"): + self.DRONEIP = DroneIP + self.DRONEPORT = DronePort + try: + self.tn = telnetlib.Telnet(self.DRONEIP, self.DRONEPORT) + print("pluto connected") + except: + print("Error While Connecting to Pluto") + # global threads_initialised, data + # if not threads_initialised: + # write_thread = Thread(target=Drone.sendData(b'$M',"")) + # threads_initialised = True + # write_thread.start() + self.RC_ROLL, self.RC_PITCH, self.RC_THROTTLE, self.RC_YAW = 1500, 1500, 1500, 1500 + + + def disconnect(self): + self.tn.close() + print("Server connection closed") + + def message(self,data, typeOfMsg): + HEADER = [b'$', b'M'] + DIRECTION = {"IN": b'<', "OUT": b'>'} + MSP_MSG_PARSE = '<3c2B%iHB' + # typeofmsg 217 set or 200 rc + lenOfData = len(data) + msg = HEADER + [DIRECTION["IN"]] + [lenOfData * 2] + [typeOfMsg] + data + msg = struct.pack(MSP_MSG_PARSE[:-1] % lenOfData, *msg) + + checksum = 0 + for i in msg[3:]: + checksum ^= i + msg += bytes([checksum]) + return msg + + def arming(self, arm: bool): + """ + Parses the arm and disarm commands. + + Parameters + ---------- + arm : bool + True for arm and False for disarm. + Returns + ------- + parsed : bytes + The parsed data to be sent to the drone. + """ + + RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW, RC_AUX1, RC_AUX2, RC_AUX3, RC_AUX4 = 1500, 1500, 1000, 1500, 1200, 1500, 1500, 1500 + data = [RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW, RC_AUX1, RC_AUX2, RC_AUX3, RC_AUX4] + if arm: + data[-1] = 1500 + else: + data[-1] = 901 + + parsed = self.message(data, 200) + return parsed + + def takeoff(self): + data=[1] + parsed=self.message(data, 217) + self.sendData(parsed, "Takeoff") + + def land(self): + data=[2] + parsed=self.message(data, 217) + self.sendData(parsed, "land") + + def backflip(self): + data=[3] + parsed=self.message(data, 217) + self.sendData(parsed, "backflip") + + # def takeoff(self): + # RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW, RC_AUX1, RC_AUX2, RC_AUX3, RC_AUX4 = self.RC_ROLL, self.RC_PITCH, self.RC_THROTTLE+500, self.RC_YAW, 1500, 1000, 1500, 1500 + # data = [RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW, RC_AUX1, RC_AUX2, RC_AUX3, RC_AUX4] + # parsed = self.message(data, 200) + # self.sendData(parsed, "Takeoff") + + # def land(self): + # RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW, RC_AUX1, RC_AUX2, RC_AUX3, RC_AUX4 = self.RC_ROLL, self.RC_PITCH, self.RC_THROTTLE-200, self.RC_YAW, 1500, 1000, 1500, 1500 + # data = [RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW, RC_AUX1, RC_AUX2, RC_AUX3, RC_AUX4] + # parsed = self.message(data, 200) + # return parsed + + def trim(self, roll, pitch, throttle, yaw): + self.RC_ROLL += roll + self.RC_PITCH += pitch + self.RC_THROTTLE += throttle + self.RC_YAW += yaw + + + + def steer_cmd(self, direction:str, magnitude:int=100): + """ + Parses the steer commands. + + Parameters + ---------- + direction : str + Valid inputs - "forward", "backward", "left", "right", "up", "down". + magnitude : int + Magnitude over which the drone steers, -600 2100: + print("Clipping magnitude to 2100") + magnitude = 600 + if magnitude + 1500 < 900: + print("Clipping magnitude to 900") + magnitude = -600 + + change = { + "forward": np.array([0, magnitude, 0, 0]), + "backward": np.array([0, -magnitude, 0, 0]), + "left": np.array([-magnitude, 0, 0, 0]), + "right": np.array([magnitude, 0, 0, 0]), + "up": np.array([0, 0, magnitude, 0]), + "down": np.array([0, 0, -magnitude, 0]), + "clck": np.array([0, 0, 0, magnitude]), + "anticlck": np.array([0, 0, 0, -magnitude]), + } + + RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW, = center + change[direction] + data = [RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW, RC_AUX1, RC_AUX2, RC_AUX3, RC_AUX4] + parsed = self.message(data, 200) + return parsed + + def set_steer_data(self, magnitude): + """ + Parses the steer commands. + + Parameters + ---------- + magnitude : array-like + Magnitude of roll, pitch, throttle, and yaw commands -600 2100: + print("Clipping magnitude to 2100") + magnitude[i] = 600 + if magnitude[i] + 1500 < 900: + print("Clipping magnitude to 900") + magnitude[i] = -600 + + RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW, = center + np.array(magnitude) + data = [RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW, RC_AUX1, RC_AUX2, RC_AUX3, RC_AUX4] + parsed = self.message(data, 200) + return parsed + + def arm(self): + self.sendData(self.arming(True), "ARM") + + def disarm(self): + self.sendData(self.arming(False), "DISARM") + + def steer(self, direction:str, magnitude:int=100): + self.sendData(self.steer_cmd(direction, magnitude), f"STEER {direction}") + + def set_steer(self, magnitude): + if len(magnitude) != 4: + print("Invalid legth of message array. format: [roll, pitch, throttle, yaw]") + self.sendData(self.set_steer_data(magnitude), f"Sending {magnitude}") + + + def sendData(self, data, cmd): + # prev_data = data + # while (check): + try: + print(data) + self.tn.write(data) + #print(self.tn.read_very_eager()) + except: + print("Error While sending {} Data".format(cmd)) + + # if (not prev_data==data): + # break \ No newline at end of file diff --git a/pluto/enforce_types.py b/pluto/enforce_types.py new file mode 100644 index 0000000..7eb2731 --- /dev/null +++ b/pluto/enforce_types.py @@ -0,0 +1,64 @@ +""" +This file is based on a StackOverflow post by @301_Moved_Permanently. +See https://stackoverflow.com/a/50622643 +The code was adapted to be able to wrap all methods of a class by simply +adding the decorator to the class itself. +""" + +import inspect +import typing +from contextlib import suppress +from functools import wraps + + +def _is_unparameterized_special_typing(type_hint): + # Check for typing.Any, typing.Union, typing.ClassVar (without parameters) + if hasattr(typing, "_SpecialForm"): + return isinstance(type_hint, typing._SpecialForm) + elif hasattr(type_hint, "__origin__"): + return type_hint.__origin__ is None + else: + return False + + +def enforce_types(target): + """Class decorator adding type checks to all member functions + """ + def check_types(spec, *args, **kwargs): + parameters = dict(zip(spec.args, args)) + parameters.update(kwargs) + for name, value in parameters.items(): + with suppress(KeyError): # Assume un-annotated parameters can be any type + type_hint = spec.annotations[name] + if _is_unparameterized_special_typing(type_hint): + continue + + if hasattr(type_hint, "__origin__") and type_hint.__origin__ is not None: + actual_type = type_hint.__origin__ + elif hasattr(type_hint, "__args__") and type_hint.__args__ is not None: + actual_type = type_hint.__args__ + else: + actual_type = type_hint + + if not isinstance(value, actual_type): + raise TypeError("Unexpected type for '{}' (expected {} but found {})" + .format(name, type_hint, type(value))) + + def decorate(func): + spec = inspect.getfullargspec(func) + + @wraps(func) + def wrapper(*args, **kwargs): + check_types(spec, *args, **kwargs) + return func(*args, **kwargs) + + return wrapper + + if inspect.isclass(target): + members = inspect.getmembers(target, predicate=inspect.isfunction) + for name, func in members: + setattr(target, name, decorate(func)) + + return target + else: + return decorate(target) \ No newline at end of file diff --git a/pypluto/main.py b/pypluto/main.py index d7a3001..336fcd2 100644 --- a/pypluto/main.py +++ b/pypluto/main.py @@ -7,25 +7,25 @@ client2 = Drone("192.168.4.1","23") #client1.disarm() client2.disarm() - time.sleep(5) + #time.sleep(5) #client1.arm() # time.sleep(5) client2.arm() time.sleep(5) - client2.trim(5, -25, 0, 0) + #client2.trim(5, -25, 0, 0) #client1.steer("up",400) - # client2.steer("up",450) - start = time.time() - now = time.time() - gap = now -start + client2.steer("up",600) + #start = time.time() + #now = time.time() + #gap = now -start # while (gap < 5): # print("a") # now = time.time() # gap = now - start # client2.takeoff() - client2.takeoff() + #client2.takeoff() # client2.backFlip() - time.sleep(5) + time.sleep(2) client2.set_steer([0, 0, 220, 0]) time.sleep(1) diff --git a/pypluto/pypluto/Comm/__pycache__/__init__.cpython-38.pyc b/pypluto/pypluto/Comm/__pycache__/__init__.cpython-38.pyc index 164cc28e64c0f6fa3d9d9d6e89b76b28d11cc85b..119a64c410ff0d61d141d3bb11873ecc560ea1c6 100644 GIT binary patch delta 77 zcmeBYoWsZ+%FD~e00cAF9Gb{&W9F!zk)NBYUzwU(oKdRpTbY)blUl6rQk0*UsvBIM YSd^<@P+5>uT9OZ^o%3^ZCl<&90H;M7djJ3c delta 64 zcmbQk*w4rv%FD~e00d5X3ny~hXqxC}j&hNmgGn1 P7l5b={oLa8iM8?oM$r_u diff --git a/pypluto/pypluto/Comm/__pycache__/msg.cpython-38.pyc b/pypluto/pypluto/Comm/__pycache__/msg.cpython-38.pyc index fbb2dafb71bce96da42ff5537436c04fd4b663a2..2e51d0070f72fb1f48c21c31f60e7f8159b43f7f 100644 GIT binary patch delta 49 zcmeyx*~rBk%FD~e00d9g97>ko$Q#8dYNMZ#pPQ;*nVMRhQL67-nUBR@A)zcMwoIHOeGw=yj=C$)IuXKw%|Bo8bA delta 37 rcmX@gw2z59l$V!_0SFRn4o>90#b>FXk)NBYpIw}hS(2GG@s~FM!V3&K diff --git a/pypluto/pypluto/Comm/__pycache__/server.cpython-38.pyc b/pypluto/pypluto/Comm/__pycache__/server.cpython-38.pyc index 16a6bfee18c71dc05c6ee1eb3ce7f97acb8a7c8a..812e67dcd81a0e2af326cc623d615d9837f26e9a 100644 GIT binary patch delta 47 zcmeyx-pIin%FD~e00bvu4s7JMWfZm7&&bbB)vruVEzT&__pMCJ%t?5r B4wC=? delta 40 ucmZqV_{Gj0%FD~e00fCO2RCxtGV)pIXXNLm>Sq^cWR_%RZH{GJ!UO=*unVC8 diff --git a/pypluto/pypluto/__pycache__/pluto.cpython-38.pyc b/pypluto/pypluto/__pycache__/pluto.cpython-38.pyc index 8aae23dc3d18b5876edc3017822a4a06ab770294..2e85b16c7ab95f36886ceed5a659b57f519fc557 100644 GIT binary patch delta 106 zcmca1@=k;|l$V!_0SKO~Ih4F=BX1RxsHJ{Jer~FMWol}1MybAUWm;xVYVqc&OiNkS z#DEG*7-|@s85tQ$7#A?rFfIhLQW%06iZp;yn#@HiKx%R@hb;#Skio#r!MJ%E$00@l DT?HCN delta 84 zcmaDSazlhSl$V!_0SIa*98BJ@k++J8&qzNbKQ~oByEr4WBr|LC9HynLl6*iFB@7D~ jYZwlpK0D>oL4sGP-V-j`O&&bbB)vruVEzT&__pMCJ%tlpK0D@^92RCx_G4VO*XXNLm>Sq^cWR_%RZPsIY$O-_;uM2ws diff --git a/pypluto/pypluto/commands/__pycache__/movement.cpython-38.pyc b/pypluto/pypluto/commands/__pycache__/movement.cpython-38.pyc index f27a6e4de56cecb75f3ebbd4fb7d4cf2b611e095..b5874a47d32e8e85e71423dacbfa0ecd9ef7f650 100644 GIT binary patch delta 47 zcmX>pe?gu*l$V!_0SKO~Ikb^`HlwJkenx(7s(xi^YH>!XzHen(W=?AH<}Hk(d;nsz B4~+l- delta 40 ucmca0e^Q=1l$V!_0SII!9^A-1n~~2>KO;XkRX@8pBeNtkYx8bKQ9c0Uf(!is From fbe5d3ba8856d0dbaf7114ad179c318e0b682de5 Mon Sep 17 00:00:00 2001 From: Yeeshukant Date: Tue, 17 Jan 2023 19:50:46 +0530 Subject: [PATCH 08/82] latest code --- DroneS/PlutoX/Camera/marker.py | 167 ++++++++++++ DroneS/PlutoX/Control/newPID.py | 78 ++++++ DroneS/PlutoX/Control/newPIDmain.py | 196 ++++++++++++++ DroneS/PlutoX/Control/test.py | 198 ++++++++++++++ DroneS/PlutoX/InterFile/__init__.py | 2 + DroneS/PlutoX/InterFile/conn_marker_drone1.py | 35 +++ DroneS/PlutoX/__init__.py | 1 + DroneS/PlutoX/drone.py | 251 ++++++++++++++++++ DroneS/kill.py | 9 + DroneS/main.py | 26 ++ DroneS/master.py | 48 ++++ 11 files changed, 1011 insertions(+) create mode 100644 DroneS/PlutoX/Camera/marker.py create mode 100644 DroneS/PlutoX/Control/newPID.py create mode 100644 DroneS/PlutoX/Control/newPIDmain.py create mode 100644 DroneS/PlutoX/Control/test.py create mode 100644 DroneS/PlutoX/InterFile/__init__.py create mode 100644 DroneS/PlutoX/InterFile/conn_marker_drone1.py create mode 100644 DroneS/PlutoX/__init__.py create mode 100644 DroneS/PlutoX/drone.py create mode 100644 DroneS/kill.py create mode 100644 DroneS/main.py create mode 100644 DroneS/master.py diff --git a/DroneS/PlutoX/Camera/marker.py b/DroneS/PlutoX/Camera/marker.py new file mode 100644 index 0000000..d425d86 --- /dev/null +++ b/DroneS/PlutoX/Camera/marker.py @@ -0,0 +1,167 @@ +import cv2 +import numpy as np +import math +import time +# from + +CAMERA_HEIGHT = 1.9 #m + +#matrix_coefficients - Intrinsic matrix of the calibrated camera +MATRIX_COEFFICIENTS = np.array([[ + 1447.9804004365824, + 0.0, + 617.3063266183908 + ], + [ + 0.0, + 1448.4116664252433, + 289.02239681156016 + ], + [ + 0.0, + 0.0, + 1.0 + ]]) + +#distortion_coefficients - Distortion coefficients associated with our camera +DISTORTION_COEFFICIENTS = np.array([ + 0.0397515407032859, + 1.259291585298002, + -0.010631456171277863, + -0.00784841820297665, + -5.925444820936321 + ]) + + +class Aruco: + + ARUCO_DICT = { + "DICT_4X4_50": cv2.aruco.DICT_4X4_50, + "DICT_4X4_100": cv2.aruco.DICT_4X4_100, + "DICT_4X4_250": cv2.aruco.DICT_4X4_250, + "DICT_4X4_1000": cv2.aruco.DICT_4X4_1000, + "DICT_5X5_50": cv2.aruco.DICT_5X5_50, + "DICT_5X5_100": cv2.aruco.DICT_5X5_100, + "DICT_5X5_250": cv2.aruco.DICT_5X5_250, + "DICT_5X5_1000": cv2.aruco.DICT_5X5_1000, + "DICT_6X6_50": cv2.aruco.DICT_6X6_50, + "DICT_6X6_100": cv2.aruco.DICT_6X6_100, + "DICT_6X6_250": cv2.aruco.DICT_6X6_250, + "DICT_6X6_1000": cv2.aruco.DICT_6X6_1000, + "DICT_7X7_50": cv2.aruco.DICT_7X7_50, + "DICT_7X7_100": cv2.aruco.DICT_7X7_100, + "DICT_7X7_250": cv2.aruco.DICT_7X7_250, + "DICT_7X7_1000": cv2.aruco.DICT_7X7_1000, + "DICT_ARUCO_ORIGINAL": cv2.aruco.DICT_ARUCO_ORIGINAL, + "DICT_APRILTAG_16h5": cv2.aruco.DICT_APRILTAG_16h5, + "DICT_APRILTAG_25h9": cv2.aruco.DICT_APRILTAG_25h9, + "DICT_APRILTAG_36h10": cv2.aruco.DICT_APRILTAG_36h10, + "DICT_APRILTAG_36h11": cv2.aruco.DICT_APRILTAG_36h11 + } + + def __init__(self, arucoType): + self.arucoType = arucoType + self.arucoDict = cv2.aruco.Dictionary_get(self.ARUCO_DICT[self.arucoType]) + self.arucoParams = cv2.aruco.DetectorParameters_create() + + def detectMarkers(self,img): + #don't we need to use a gray img here? remember to change inputs to gray_img + #gray_img = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY) + return cv2.aruco.detectMarkers(img, self.arucoDict, parameters=self.arucoParams) + #cornersm, ids, rejected_img_points + + def get_pose(self, corners, ids, image, desiredVec, display=True): + + is_detected = False + pose = None + # print(f"corners, {corners} IDs: {ids}") + + if len(corners) > 0: + + + for (markerCorner, markerID) in zip(corners, ids): + try: + rvec, tvec, markerPoints = cv2.aruco.estimatePoseSingleMarkers(np.array(corners[0]), 0.02, cameraMatrix=MATRIX_COEFFICIENTS, distCoeffs=DISTORTION_COEFFICIENTS) + except cv2.error: + print("Pose Est error") + return pose, is_detected, image + + corners = markerCorner.reshape((4, 2)) + (topLeft, topRight, bottomRight, bottomLeft) = corners + + topRight = np.array([int(topRight[0]), int(topRight[1])]) + bottomRight = np.array([int(bottomRight[0]), int(bottomRight[1])]) + bottomLeft = np.array([int(bottomLeft[0]), int(bottomLeft[1])]) + topLeft = np.array([int(topLeft[0]), int(topLeft[1])]) + + cX, cY = (topLeft + bottomRight)//2 + hX, hY = (topLeft + topRight)//2 + tX, tY = hX-cX, hY-cY + yaw = np.arctan2(tY, tX) + # yaw = np.rad2deg(yaw) + + drone_height = CAMERA_HEIGHT - tvec[0,0,2] + + pose = np.array([cX,cY, drone_height,yaw]) + is_detected = True + if display: + cv2.line(image, topLeft, topRight, (0, 255, 0), 2) + cv2.line(image, topRight, bottomRight, (0, 255, 0), 2) + cv2.line(image, bottomRight, bottomLeft, (0, 255, 0), 2) + cv2.line(image, bottomLeft, topLeft, (0, 255, 0), 2) + + + cv2.circle(image, (cX, cY), 4, (0, 0, 255), -1) + + cv2.arrowedLine(image, (cX,cY), (hX,hY),(0, 0, 255)) + + # image = cv2.flip(image,1) + cv2.putText(image, f"Drone ID: {markerID} Height: {drone_height}",(topLeft[0], topLeft[1] - 10), cv2.FONT_HERSHEY_SIMPLEX, + 0.5, (0, 255, 0), 2) + # print("[Inference] ArUco marker ID: {}".format(markerID)) + + if display: + dX,dY = desiredVec + cv2.circle(image, (dX, dY), 7, (255, 0, 0), -1) + + + + return pose, is_detected, image + + + +def markerMainSender(connCam): #connCam + + cap = cv2.VideoCapture(3) + start = time.time() + + cap.set(cv2.CAP_PROP_FRAME_WIDTH, 1280) + cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 720) + + aruco_obj = Aruco("DICT_4X4_50") + + while cap.isOpened(): + + ret, image = cap.read() + + #Aruco Detection , pose Estimation Block + + corners, ids, rejected = aruco_obj.detectMarkers(image) + # detected_markers = (corners, ids, image, [550,192]) + pose, is_detected, detected_markers = aruco_obj.get_pose(corners, ids, image, [640,360], display=True) + cv2.imshow("Image", detected_markers) + + + # print(f"\n{i}--From Marker - Pose: {pose}") + connCam.send(pose) + + + key = cv2.waitKey(1) & 0xFF + if key == ord("q"): + break + + cv2.destroyAllWindows() + cap.release() + + +# markerMainSender(connCam='') \ No newline at end of file diff --git a/DroneS/PlutoX/Control/newPID.py b/DroneS/PlutoX/Control/newPID.py new file mode 100644 index 0000000..afde4b2 --- /dev/null +++ b/DroneS/PlutoX/Control/newPID.py @@ -0,0 +1,78 @@ +import numpy as np +import time +from PlutoX.Camera.marker import Aruco +import cv2 +# from PlutoX.Camera.ignore_poseEst import WebcamVideoStream + +KPx, KPy, KPz, KPyaw = 0.01, 0.01, 200, 100 +KIx, KIy, KIz, KIyaw = 0, 0, 0, 0 +KDx, KDy, KDz, KDyaw = 0, 0, 0, 0 + + + +YAW_TARGET = 1.5708 + + + +def go_to(pose, target, Err, ErrI): + """ + PID Control Loop + """ + xError, yError, zError, yawError = Err + xErrorI, yErrorI, zErrorI, yawErrorI = ErrI + + xTarget, yTarget, heightTarget = target + + + + xError_old = xError + yError_old = yError + zError_old = zError + yawError_old = yawError + + x, y, z, yaw = pose + + xError = xTarget-x + yError = yTarget-y + zError = heightTarget-z + yawError = YAW_TARGET-yaw + + + xErrorI += xError + yErrorI += yError + zErrorI += zError + yawErrorI += yawError + + # compute derivative (variation) of errors (D) + xErrorD = xError-xError_old + yErrorD = yError-yError_old + zErrorD = zError-zError_old + yawErrorD = yawError-yawError_old + + # compute commands + xCommand = KPx*xError + KIx*xErrorI + KDx*xErrorD + yCommand = KPy*yError + KIy*yErrorI + KDy*yErrorD + zCommand = KPz*zError + KIz*zErrorI + KDz*zErrorD + yawCommand = KPyaw*yawError + KIyaw*yawErrorI + KDyaw*yawErrorD + + pitch_command = np.cos(yaw)*xCommand + np.sin(yaw)*yCommand + + roll_command = -(np.sin(yaw)*xCommand - np.cos(yaw)*yCommand) + + throttle_command = zCommand + Err = [xError, yError, zError, yawError] + ErrI = [xErrorI, yErrorI, zErrorI, yawErrorI] + print(f"Yaw error: {yawError}") + + return roll_command, pitch_command, throttle_command, yawCommand, Err, ErrI + + + # drone.trim(roll_command,pitch_command, throttle_command, yawCommand) + + # if np.linalg.norm(np.array([xError, yError]))<10 and abs(zError)<0.05: + # print("Target Reached. Landing ...") + # drone.land() + # drone.disarm() + + + diff --git a/DroneS/PlutoX/Control/newPIDmain.py b/DroneS/PlutoX/Control/newPIDmain.py new file mode 100644 index 0000000..abf0cff --- /dev/null +++ b/DroneS/PlutoX/Control/newPIDmain.py @@ -0,0 +1,196 @@ +'''This file Receives pose values from marker.py ,& + computes the velocity commands for drone, sends them using drone.pyto='s plu''' + +from multiprocessing import Pipe +from PlutoX.drone import pluto +import numpy as np +import time +import matplotlib.pyplot as plt + +#Target coords +xTarget, yTarget, heightTarget = 640,360, 1.2 #pixel, pixel , height(m) +# 550,192 +#pid gains +KPx, KPy, KPz, KPyaw = 0.10, 0.15, 200 , 50 +KIx, KIy, KIz, KIyaw = 0, 0, 0, 0 +KDx, KDy, KDz, KDyaw = 0, 0, 0, 0 + + +#currently global , +#for telling drones final yaw orientation +YAW_TARGET = 1.5708 + + + +def pid(pose, target, Err, ErrI): + """ + PID Control Loop + """ + xError, yError, zError, yawError = Err + xErrorI, yErrorI, zErrorI, yawErrorI = ErrI + + xTarget, yTarget, heightTarget = target + + + + xError_old = xError + yError_old = yError + zError_old = zError + yawError_old = yawError + + x, y, z, yaw = pose + + xError = xTarget-x + yError = yTarget-y + zError = heightTarget-z + yawError = YAW_TARGET-yaw + + + xErrorI += xError + yErrorI += yError + zErrorI += zError + yawErrorI += yawError + + # compute derivative (variation) of errors (D) + xErrorD = xError-xError_old + yErrorD = yError-yError_old + zErrorD = zError-zError_old + yawErrorD = yawError-yawError_old + + # compute commands + xCommand = KPx*xError + KIx*xErrorI + KDx*xErrorD + yCommand = KPy*yError + KIy*yErrorI + KDy*yErrorD + zCommand = KPz*zError + KIz*zErrorI + KDz*zErrorD + + yawCommand = int( KPyaw*yawError + KIyaw*yawErrorI + KDyaw*yawErrorD) + pitch_command = int( np.cos(yaw)*xCommand + np.sin(yaw)*yCommand) + roll_command = int( -np.sin(yaw)*xCommand + np.cos(yaw)*yCommand ) + throttle_command = int(zCommand) + Err = [xError, yError, zError, yawError] + ErrI = [xErrorI, yErrorI, zErrorI, yawErrorI] + + return roll_command, pitch_command, throttle_command, yawCommand, Err, ErrI + + +def receiver_at_drone1(conn): + """ + Function to recieve data from pid file and + using drone_api velocity fns + we can send the cmd to drone from here + as soon as we recieve them + """ + + drone=pluto() + + # initialize PID controller + xError, yError, zError, yawError = 5, 5, 0.5, 0.3 + xErrorI, yErrorI, zErrorI, yawErrorI = 0, 0, 0, 0 + xErrorD, yErrorD, zErrorD, yawErrorD = 0, 0, 0, 0 + xError_old, yError_old, zError_old, yawError_old = 0, 0, 0, 0 + + Err = [xError, yError, zError, yawError] + ErrI = [xErrorI, yErrorI, zErrorI, yawErrorI] + path = [[0,0,0,0]] + print() + + #plotting work + # fig = plt.figure() + # ax = fig.add_subplot(1,1,1, projection="3d") + + drone.connect() + drone.trim(-7,5,0,0) + drone.disarm() + drone.arm() + # drone.trim(5,18,0,0) #akshit drone + + # drone.trim(-15,-5,0,0) #iit ddrone.trim(-15,-10,0,0)rone + # drone.trim(-5,2,0,0) + + # drone.takeoff() + drone.speedz(300,3) + # drone.speedz(0,5) + print("takeoff") + + timer=0 + roll_command, pitch_command, throttle_command, yawCommand = 0, 0, 30, 0 + + start = time.time() + + while True: + + + try: + pose = None + now = time.time() + delay = now-start + + if (conn.poll()): + pose = conn.recv() + print(f"\n{delay}--Frequency checker(receiving) , received pose {pose}-") + + if pose is None: + + now_time = time.time() + timeout_limit = now_time - start + + roll_command, pitch_command, throttle_command, yawCommand = 0, 0, 0, 0 + + # if timer>=1000: + if timeout_limit > 5 : + print("Aruco not detected ,landing") + drone.land() + + print(f"\ntimer :{timeout_limit}") + + + if pose is not None: + print(f"Pose is {pose}") + path.append(pose) + start = time.time() + + roll_command, pitch_command, throttle_command, yawCommand, Err, ErrI = pid(pose, [xTarget, yTarget, heightTarget], Err, ErrI) + + if np.sqrt((xTarget-pose[0])**2+(yTarget-pose[1])**2)<25: + print(f"Pose: {pose}") + print("Target Reached.") + + patht = np.array(path).T + # ax.plot(patht[0], patht[1], patht[2]) + # ax.set_zlabel("Z") + # ax.set_ylabel("Y") + # ax.set_xlabel("X") + #----------------------------- + #prev cmd if pose is none + + drone.speedz(throttle_command) + drone.speedx(roll_command) + drone.speedy(pitch_command) + drone.rotate(yawCommand) + + '''----------------------------''' + '''Very impt time.sleep ''' + #( if removed , it will not let you sleep)''' + time.sleep(0.03) + '''this sleep adjusts the running of this files while loop, + so that the rate of receiving from marker files is almost matched + to that of this file sending commands to drone using api ''' + + '''check freq of - + 1) Frequency checker , received pose + 2) Frequency sending ''' + '''-----------------------------''' + #---------------------------------- + + print(f"\nFrequecy checker(sending) , rcmd: {roll_command}, pcmd: {pitch_command}, tcmd:{throttle_command}, yawcmd:{yawCommand}") + + plt.pause(0.01) + + # np.linalg.norm(np.array([xError, yError]))<10 and + # if np.linalg.norm(np.array([xError, yError]))<10: + except KeyboardInterrupt: + break + + + + drone.land() + drone.disarm() \ No newline at end of file diff --git a/DroneS/PlutoX/Control/test.py b/DroneS/PlutoX/Control/test.py new file mode 100644 index 0000000..78db6f3 --- /dev/null +++ b/DroneS/PlutoX/Control/test.py @@ -0,0 +1,198 @@ +'''This file Receives pose values from marker.py ,& + computes the velocity commands for drone, sends them using drone.pyto='s plu''' + +from multiprocessing import Pipe +# from PlutoX.drone import pluto +import numpy as np +import time +import matplotlib.pyplot as plt + +#Target coords +xTarget, yTarget, heightTarget = 640,360, 1.0 #pixel, pixel , height(m) +550,192 +#pid gains +KPx, KPy, KPz, KPyaw = 0.01, 0.01, 200, 50 +KIx, KIy, KIz, KIyaw = 0, 0, 0, 0 +KDx, KDy, KDz, KDyaw = 0, 0, 0, 0 + + +#currently global , +#for telling drones final yaw orientation +YAW_TARGET = 1.5708 + + + +def pid(pose, target, Err, ErrI): + """ + PID Control Loop + """ + xError, yError, zError, yawError = Err + xErrorI, yErrorI, zErrorI, yawErrorI = ErrI + + xTarget, yTarget, heightTarget = target + + + + xError_old = xError + yError_old = yError + zError_old = zError + yawError_old = yawError + + x, y, z, yaw = pose + + xError = xTarget-x + yError = yTarget-y + zError = heightTarget-z + yawError = YAW_TARGET-yaw + + + xErrorI += xError + yErrorI += yError + zErrorI += zError + yawErrorI += yawError + + # compute derivative (variation) of errors (D) + xErrorD = xError-xError_old + yErrorD = yError-yError_old + zErrorD = zError-zError_old + yawErrorD = yawError-yawError_old + + # compute commands + xCommand = KPx*xError + KIx*xErrorI + KDx*xErrorD + yCommand = KPy*yError + KIy*yErrorI + KDy*yErrorD + zCommand = KPz*zError + KIz*zErrorI + KDz*zErrorD + + yawCommand = int( KPyaw*yawError + KIyaw*yawErrorI + KDyaw*yawErrorD) + pitch_command = int( np.cos(yaw)*xCommand + np.sin(yaw)*yCommand) + roll_command = int( -np.sin(yaw)*xCommand + np.cos(yaw)*yCommand ) + throttle_command = int(zCommand) + Err = [xError, yError, zError, yawError] + ErrI = [xErrorI, yErrorI, zErrorI, yawErrorI] + + return roll_command, pitch_command, throttle_command, yawCommand, Err, ErrI + + +def receiver_at_drone1(conn): + """ + Function to recieve data from pid file and + using drone_api velocity fns + we can send the cmd to drone from here + as soon as we recieve them + """ + + # drone=pluto() + + # initialize PID controller + xError, yError, zError, yawError = 5, 5, 0.5, 0.3 + xErrorI, yErrorI, zErrorI, yawErrorI = 0, 0, 0, 0 + xErrorD, yErrorD, zErrorD, yawErrorD = 0, 0, 0, 0 + xError_old, yError_old, zError_old, yawError_old = 0, 0, 0, 0 + + Err = [xError, yError, zError, yawError] + ErrI = [xErrorI, yErrorI, zErrorI, yawErrorI] + path = [[0,0,0,0]] + + #plotting work + fig = plt.figure() + ax = fig.add_subplot(1,1,1, projection="3d") + + # drone.connect() + # drone.disarm() + # drone.arm() + + # drone.trim(5,18,0,0) #akshit drone + + # drone.trim(-15,-5,0,0) #iit ddrone.trim(-15,-10,0,0)rone + + # drone.trim(0,0,0,0) + # drone.speedz(30,2) + + # drone.speedz(0,5) + print("takeoff") + + timer=0 + roll_command, pitch_command, throttle_command, yawCommand = 0, 0, 0, 0 + + + while True: + + start = time.time() + + try: + pose = None + now = time.time() + delay = now-start + + if (conn.poll()): + pose = conn.recv() + print(f"\n{delay}--Frequency checker(receiving) , received pose {pose}-") + + if pose is None: + + now_time = time.time() + timeout_limit = now_time - start + + # if timer>=1000: + if timeout_limit > 5 : + print("Aruco not detected ,landing") + # drone.land() + + print(f"\ntimer :{timer}") + + + if pose is not None: + print(f"Pose is {pose}") + path.append(pose) + timer = 0 + + roll_command, pitch_command, throttle_command, yawCommand, Err, ErrI = pid(pose, [xTarget, yTarget, heightTarget], Err, ErrI) + + if np.sqrt((xTarget-pose[0])**2+(yTarget-pose[1])**2)<25: + print(f"Pose: {pose}") + print("Target Reached.") + + patht = np.array(path).T + ax.plot(patht[0], patht[1], patht[2]) + ax.set_zlabel("Z") + ax.set_ylabel("Y") + ax.set_xlabel("X") + + #----------------------------- + #prev cmd if pose is none + + # drone.speedz(throttle_command) + # drone.speedx(roll_command) + # drone.speedy(pitch_command) + # drone.rotate(yawCommand) + + '''----------------------------''' + '''Very impt time.sleep ''' + #( if removed , it will not let you sleep)''' + time.sleep(0.03) + '''this sleep adjusts the running of this files while loop, + so that the rate of receiving from marker files is almost matched + to that of this file sending commands to drone using api ''' + + '''check freq of - + 1) Frequency checker , received pose + 2) Frequency sending ''' + '''-----------------------------''' + #---------------------------------- + + print(f"\nFrequecy checker(sending) , rcmd: {roll_command}, pcmd: {pitch_command}, tcmd:{throttle_command}, yawcmd:{yawCommand}") + # patht = np.array(path).T + # ax.plot(patht[0], patht[1], patht[2]) + # ax.set_zlabel("Z") + # ax.set_ylabel("Y") + # ax.set_xlabel("X") + plt.pause(0.01) + + # np.linalg.norm(np.array([xError, yError]))<10 and + # if np.linalg.norm(np.array([xError, yError]))<10: + except KeyboardInterrupt: + break + + + + # drone.land() + # drone.disarm() \ No newline at end of file diff --git a/DroneS/PlutoX/InterFile/__init__.py b/DroneS/PlutoX/InterFile/__init__.py new file mode 100644 index 0000000..bee5020 --- /dev/null +++ b/DroneS/PlutoX/InterFile/__init__.py @@ -0,0 +1,2 @@ +# from PlutoX.InterFile import fn_of_marker_drone1 + diff --git a/DroneS/PlutoX/InterFile/conn_marker_drone1.py b/DroneS/PlutoX/InterFile/conn_marker_drone1.py new file mode 100644 index 0000000..b470875 --- /dev/null +++ b/DroneS/PlutoX/InterFile/conn_marker_drone1.py @@ -0,0 +1,35 @@ +import multiprocessing +from multiprocessing import Pipe +import time +from PlutoX.Control.newPIDmain import receiver_at_drone1 +from PlutoX.Camera.marker import markerMainSender + + +#line below is for checking connectivity for testing sender , reciever functions +'''from PlutoX.InterFile.fn_of_marker_drone1 import sender_from_marker,receiver_at_drone''' + + + # creating new processes +def build_conn(): + + + #creates connection btw marker1 file and drone1 + connCam,connDrone1 = Pipe(duplex = True) + + p1 = multiprocessing.Process(target=markerMainSender, args=( [connCam])) + p2 = multiprocessing.Process(target=receiver_at_drone1, args=([connDrone1])) + + + + #first detect pose , then takeoff + p1.start() + print('\n-------Starting process Camera-------') + time.sleep(2) + + print("\n-----Starting Drone1--------") + p2.start() + + + p1.join() + p2.join() + diff --git a/DroneS/PlutoX/__init__.py b/DroneS/PlutoX/__init__.py new file mode 100644 index 0000000..b98917d --- /dev/null +++ b/DroneS/PlutoX/__init__.py @@ -0,0 +1 @@ +from .drone import pluto diff --git a/DroneS/PlutoX/drone.py b/DroneS/PlutoX/drone.py new file mode 100644 index 0000000..9f51e1d --- /dev/null +++ b/DroneS/PlutoX/drone.py @@ -0,0 +1,251 @@ + +import socket +import time +import math + +MSP_STATUS=101 # out cmd cycletime & errors_count & sensor present & box activation & current setting number +MSP_RAW_IMU=102 # 9 DOF +MSP_ATTITUDE=108 # 2 angles 1 heading +MSP_ALTITUDE=109 # altitude, variometer +MSP_ANALOG=110 # vbat, powermetersum, rssi if available on RX + +MSP_SET_RAW_RC=200 # 8 rc channel +MSP_SET_COMMAND=217 # setting commands + +class pluto: + + def __init__(self, DroneIP="192.168.4.1", DronePort=23): + self.DRONEIP = DroneIP + self.DRONEPORT = DronePort + self.BUFFER_SIZE = 1024 + + self.roll=1500 + self.pitch=1500 + self.throttle=1500 + self.yaw=1500 + self.aux1=1200 + self.aux2=1000 + self.aux3=1500 + self.aux4=1200 + + self.buffer_rc=bytearray([]) # rc data that has to be sent continuously + self.set=False + self.trim(0,0,0,0) + + def setzero(self): + self.set=True + + + def connect(self): + try: + self.mySocket = socket.socket(socket.AF_INET, socket.SOCK_STREAM) + self.mySocket.connect((self.DRONEIP, self.DRONEPORT)) + print("pluto connected") + except: + print("Cannot connect to pluto, please try again...") + + def disconnect(self): + self.mySocket.close() + print("pluto disconnected") + + def trim(self,Roll,Pitch,Throttle,Yaw): + + Roll=max(-100,min(Roll,100)) + Pitch=max(-100,min(Pitch,100)) + Throttle=max(-100,min(Throttle,100)) + Yaw=max(-100,min(Yaw,100)) + + self.roll=1500 + Roll + self.pitch=1500 + Pitch + self.throttle=1500 + Throttle + self.yaw=1500 + Yaw + + self.rc=[self.roll, self.pitch, self.throttle, self.yaw, self.aux1, self.aux2, self.aux3, self.aux4] + + + def create_sendMSPpacket(self, msg_type, msg): + self.buffer=bytearray([]) # data to be sent + headerArray=bytearray([36,77,60]) # header array "$","M","<" + self.buffer.extend(headerArray) + msg_len=2*len(msg) + self.buffer.append(msg_len) + self.buffer.append(msg_type) + if(msg_len>0): + for b in msg: + LSB=b%256 + MSB=math.floor(b/256) + self.buffer.append(LSB) + self.buffer.append(MSB) + CRCValue=0 + for b in self.buffer[3:]: + CRCValue=CRCValue^b + self.buffer.append(CRCValue) + + if(msg_type==200): + self.buffer_rc=self.buffer[:] + self.sendPacket(self.buffer) + else: + self.sendPacket(self.buffer_rc) + self.sendPacket(self.buffer) + + + + + def arm(self): + self.rc[2]=1000 + self.rc[-1]=1500 + self.create_sendMSPpacket(MSP_SET_RAW_RC,self.rc) + time.sleep(1) + + def disarm(self): + self.rc[2]=1300 + self.rc[-1]=1200 + self.create_sendMSPpacket(MSP_SET_RAW_RC,self.rc) + time.sleep(1) + + + + def box_arm(self): + self.rc[2]=1500 + self.rc[-1]=1500 + self.create_sendMSPpacket(MSP_SET_RAW_RC,self.rc) + time.sleep(0.5) + + + def clamp_rc(self,x:int): + return max(1000, min(2000,x)) + + def speedx(self,value,duration=0): + + no_of_loops=10*duration + self.rc[0]=self.clamp_rc(self.roll + value) + + while(no_of_loops>0): + self.create_sendMSPpacket(MSP_SET_RAW_RC,self.rc) + no_of_loops=no_of_loops-1 + time.sleep(0.1) + if(duration==0): + self.create_sendMSPpacket(MSP_SET_RAW_RC,self.rc) + #print(self.rc) + + + + def speedy(self,value,duration=0): + no_of_loops=10*duration + self.rc[1]=self.clamp_rc(self.pitch + value) + + while(no_of_loops>0): + self.create_sendMSPpacket(MSP_SET_RAW_RC,self.rc) + no_of_loops=no_of_loops-1 + time.sleep(0.1) + if(duration==0): + self.create_sendMSPpacket(MSP_SET_RAW_RC,self.rc) + #print(self.rc) + + + def speedz(self,value,duration=0): + no_of_loops=10*duration + self.rc[2]=self.clamp_rc(self.throttle + value) + + while(no_of_loops>0): + self.create_sendMSPpacket(MSP_SET_RAW_RC,self.rc) + no_of_loops=no_of_loops-1 + time.sleep(0.1) + if(duration==0): + self.create_sendMSPpacket(MSP_SET_RAW_RC,self.rc) + #print(self.rc) + + def rotate(self,value,duration=0): + no_of_loops=10*duration + self.rc[3]=self.clamp_rc(self.yaw + value) + + while(no_of_loops>0): + self.create_sendMSPpacket(MSP_SET_RAW_RC,self.rc) + no_of_loops=no_of_loops-1 + time.sleep(0.1) + if(duration==0): + self.create_sendMSPpacket(MSP_SET_RAW_RC,self.rc) + #print(self.rc) + + + def takeoff(self): + self.box_arm() + cmd=[1] + self.create_sendMSPpacket(MSP_SET_COMMAND,cmd) + self.speedz(0,3) + + + def land(self): + cmd=[2] + self.create_sendMSPpacket(MSP_SET_COMMAND,cmd) + self.speedz(0,5) + + + def flip(self): + cmd=[3] + self.create_sendMSPpacket(MSP_SET_COMMAND,cmd) + self.speedz(0,3) + + + def get_height(self,duration=0): + no_of_loops=10*duration + while(no_of_loops>0): + data=[] + self.create_sendMSPpacket(MSP_ALTITUDE,data) + data=self.recievePacket() + if(len(data)==12 & data[4]==109): + print(data[-2]) + no_of_loops=no_of_loops-1 + time.sleep(0.1) + if(duration==0): + data=[] + self.create_sendMSPpacket(MSP_ALTITUDE,data) + data=self.recievePacket() + if(len(data)==12 & data[4]==109): + print(data[-3]) + + def get_vario(self,duration=0): + no_of_loops=10*duration + while(no_of_loops>0): + data=[] + self.create_sendMSPpacket(MSP_ALTITUDE,data) + data=self.recievePacket() + if(len(data)==12 and data[4]==109): + print(data[-3] if data[-2]==0 else data[-3]-255) + no_of_loops=no_of_loops-1 + time.sleep(0.1) + if(duration==0): + data=[] + self.create_sendMSPpacket(MSP_ALTITUDE,data) + data=self.recievePacket() + if(len(data)==12 and data[4]==109): + print(data[-3] if data[-2]==0 else data[-3]-255) + + + def get_roll(self,duration=0): + no_of_loops=10*duration + while(no_of_loops>0): + data=[] + self.create_sendMSPpacket(MSP_ATTITUDE,data) + data=self.recievePacket() + if(len(data)==12 and data[4]==108): + #print(data[5] if data[6]==0 else data[5]-255) + print(data[6]) + no_of_loops=no_of_loops-1 + time.sleep(0.1) + if(duration==0): + data=[] + self.create_sendMSPpacket(MSP_ATTITUDE,data) + data=self.recievePacket() + if(len(data)==12 and data[4]==108): + print(data[5] if data[6]==0 else data[5]-255) + + + def sendPacket(self,buff): + #print(buff) + self.mySocket.send(buff) + + def recievePacket(self): + return self.mySocket.recv(self.BUFFER_SIZE) + + diff --git a/DroneS/kill.py b/DroneS/kill.py new file mode 100644 index 0000000..24a4b7f --- /dev/null +++ b/DroneS/kill.py @@ -0,0 +1,9 @@ + + +from PlutoX.drone import pluto +import time + +if __name__ == '__main__': + client =pluto() + client.disarm() + time.sleep(5) diff --git a/DroneS/main.py b/DroneS/main.py new file mode 100644 index 0000000..c462dc2 --- /dev/null +++ b/DroneS/main.py @@ -0,0 +1,26 @@ +from PlutoX import pluto + +# from subprocess import * +import time + +#necessary libraries + +# from PlutoX.Camera import poseEst + +drone=pluto() +drone.connect() +drone.trim(-7,5,0,0) +# drone.arm() +# drone.speedz(0,3) +drone.takeoff() +# # drone.speedz(50,3) +drone.speedz(0,4) +# # drone.speedy(20,4) +# # drone.speedy(-40) +# # drone.speedy(0) +drone.land() +drone.disarm() + + +# if __name__ == "__main__": +# poseEst.poseMain() diff --git a/DroneS/master.py b/DroneS/master.py new file mode 100644 index 0000000..785c33f --- /dev/null +++ b/DroneS/master.py @@ -0,0 +1,48 @@ +# from PlutoX.InterFile.conn_marker_drone1 import build_conn +import matplotlib +import multiprocessing +from multiprocessing import Pipe +import time +from PlutoX.Control.newPIDmain import receiver_at_drone1 +from PlutoX.Camera.marker import markerMainSender +# from PlutoX.Control.test import receiver_at_drone1 + + +# builds necessary connections of drone(1,2,...) & the camera file +def build_conn(): + + + #creates connection btw marker1 file and drone1 + connCam,connDrone1 = Pipe(duplex = True) + + + p1 = multiprocessing.Process(target=markerMainSender, args=( [connCam])) + p2 = multiprocessing.Process(target=receiver_at_drone1, args=([connDrone1])) + + + + #first detect pose , then takeoff + p1.start() + print('\n-------Starting process Camera-------') + time.sleep(2) + + # while(delay<5): + # now = time.time() + # delay = now-start + # time.sleep(1) #enough for camera to setup + # print("\nSetting up camera.......") + + print("\n-----Starting Drone1--------") + p2.start() + + + p1.join() + p2.join() + + + +if __name__ == "__main__": + + + build_conn() #starts camera file and drone1 file , also builds connection btw the two + From 108a7584fdd9d3d201a2dedfbfea5c447f71d26a Mon Sep 17 00:00:00 2001 From: Yeeshukant Date: Wed, 18 Jan 2023 18:37:19 +0530 Subject: [PATCH 09/82] camera calibration files --- camCalib/camera.py | 53 ++++++++++++++++++++++++++++++++++++++++++++++ camCalib/pics.py | 21 ++++++++++++++++++ 2 files changed, 74 insertions(+) create mode 100644 camCalib/camera.py create mode 100644 camCalib/pics.py diff --git a/camCalib/camera.py b/camCalib/camera.py new file mode 100644 index 0000000..cfbbe02 --- /dev/null +++ b/camCalib/camera.py @@ -0,0 +1,53 @@ +import numpy as np +import cv2 as cv +import glob +import json +from datetime import datetime + +criteria = (cv.TERM_CRITERIA_EPS + cv.TERM_CRITERIA_MAX_ITER, 30, 0.001) + +rows = 9 +columns = 7 +objp = np.zeros((rows*columns,3), np.float32) +objp[:,:2] = np.mgrid[0:columns,0:rows].T.reshape(-1,2) + +objpoints = [] +imgpoints = [] + +images = glob.glob('calibrate*.png') +print(len(images), "images found") + +for fname in images: + img = cv.imread(fname) + gray = cv.cvtColor(img, cv.COLOR_BGR2GRAY) + + chessboard_flags = cv.CALIB_CB_ADAPTIVE_THRESH + cv.CALIB_CB_FAST_CHECK + cv.CALIB_CB_NORMALIZE_IMAGE + ret, corners = cv.findChessboardCorners(gray, (columns,rows), chessboard_flags) + + if ret == True: + objpoints.append(objp) + corners2 = cv.cornerSubPix(gray,corners, (11,11), (-1,-1), criteria) + imgpoints.append(corners) + + cv.drawChessboardCorners(img, (columns,rows), corners2, ret) + cv.imshow('img', img) + cv.imwrite(f"chessboard_corners_{datetime.now().strftime('%Y%m%d_%H%M%S')}.png", img) + cv.waitKey(1500) + +ret, mtx, dist, rvecs, tvecs = cv.calibrateCamera(objpoints, imgpoints, gray.shape[::-1], None, None) + +camera = {} + +class NumpyEncoder(json.JSONEncoder): + def default(self, obj): + if isinstance(obj, np.ndarray): + return obj.tolist() + return json.JSONEncoder.default(self, obj) + +for variable in ['ret', 'mtx', 'dist', 'rvecs', 'tvecs']: + camera[variable] = eval(variable) + +with open("camera.json", 'w') as f: + json.dump(camera, f, indent=4, cls=NumpyEncoder) + +cv.destroyAllWindows() \ No newline at end of file diff --git a/camCalib/pics.py b/camCalib/pics.py new file mode 100644 index 0000000..14bcff0 --- /dev/null +++ b/camCalib/pics.py @@ -0,0 +1,21 @@ +import cv2 +from datetime import datetime +from imutils.video import VideoStream +import time + +vs = VideoStream(src=2).start() +time.sleep(2.0) + +while(True): + frame = vs.read() + + cv2.imshow('frame',frame) + + key = cv2.waitKey(1) & 0xFF + if key == ord('q'): + break + if key == ord('c'): + cv2.imwrite(f"calibrate_{datetime.now().strftime('%Y%m%d_%H%M%S')}.png", frame) + +vs.stop() +cv2.destroyAllWindows() \ No newline at end of file From 1b2a46e6f56c5a82ee5fbaf289ff270731e0cf47 Mon Sep 17 00:00:00 2001 From: Yeeshukant Date: Thu, 19 Jan 2023 19:32:14 +0530 Subject: [PATCH 10/82] api changes incorporated --- DroneS/PlutoX/Camera/CAM_CONFIGS_lenovo.py | 31 ++ DroneS/PlutoX/Control/newPIDmain.py | 25 +- DroneS/PlutoX/drone.py | 409 ++++++++++++++++++--- DroneS/main.py | 26 +- 4 files changed, 398 insertions(+), 93 deletions(-) create mode 100644 DroneS/PlutoX/Camera/CAM_CONFIGS_lenovo.py diff --git a/DroneS/PlutoX/Camera/CAM_CONFIGS_lenovo.py b/DroneS/PlutoX/Camera/CAM_CONFIGS_lenovo.py new file mode 100644 index 0000000..d509ea1 --- /dev/null +++ b/DroneS/PlutoX/Camera/CAM_CONFIGS_lenovo.py @@ -0,0 +1,31 @@ +import numpy as np + +CAMERA_HEIGHT = 1.8 #m + +#matrix_coefficients - Intrinsic matrix of the calibrated camera +MATRIX_COEFFICIENTS = np.array([ + [ + 289.1084845919912, + 0.0, + 309.4435568215443 + ], + [ + 0.0, + 293.8920476148095, + 242.59815032382136 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ]) + +#distortion_coefficients - Distortion coefficients associated with our camera +DISTORTION_COEFFICIENTS = np.array([ + -0.2868759826260511, + 0.20730330782367065, + 0.016643787447130097, + -0.02460910630108414, + -0.06969337867772066 + ]) \ No newline at end of file diff --git a/DroneS/PlutoX/Control/newPIDmain.py b/DroneS/PlutoX/Control/newPIDmain.py index abf0cff..f43ae86 100644 --- a/DroneS/PlutoX/Control/newPIDmain.py +++ b/DroneS/PlutoX/Control/newPIDmain.py @@ -8,10 +8,10 @@ import matplotlib.pyplot as plt #Target coords -xTarget, yTarget, heightTarget = 640,360, 1.2 #pixel, pixel , height(m) +xTarget, yTarget, heightTarget = 640,360, 1.0 #pixel, pixel , height(m) # 550,192 #pid gains -KPx, KPy, KPz, KPyaw = 0.10, 0.15, 200 , 50 +KPx, KPy, KPz, KPyaw = 0.25, 0.25, 200 , 70 KIx, KIy, KIz, KIyaw = 0, 0, 0, 0 KDx, KDy, KDz, KDyaw = 0, 0, 0, 0 @@ -100,19 +100,18 @@ def receiver_at_drone1(conn): drone.connect() drone.trim(-7,5,0,0) drone.disarm() - drone.arm() + # drone.arm() # drone.trim(5,18,0,0) #akshit drone # drone.trim(-15,-5,0,0) #iit ddrone.trim(-15,-10,0,0)rone # drone.trim(-5,2,0,0) - # drone.takeoff() - drone.speedz(300,3) - # drone.speedz(0,5) + drone.takeoff() + # drone.throttle_speed(300,3) print("takeoff") timer=0 - roll_command, pitch_command, throttle_command, yawCommand = 0, 0, 30, 0 + roll_command, pitch_command, throttle_command, yawCommand = 0, 0, 0, 0 start = time.time() @@ -133,7 +132,7 @@ def receiver_at_drone1(conn): now_time = time.time() timeout_limit = now_time - start - roll_command, pitch_command, throttle_command, yawCommand = 0, 0, 0, 0 + roll_command, pitch_command, throttle_command, yawCommand = 0, 0, 20, 0 # if timer>=1000: if timeout_limit > 5 : @@ -162,10 +161,10 @@ def receiver_at_drone1(conn): #----------------------------- #prev cmd if pose is none - drone.speedz(throttle_command) - drone.speedx(roll_command) - drone.speedy(pitch_command) - drone.rotate(yawCommand) + drone.throttle_speed(20) + drone.roll_speed(roll_command) + drone.pitch_speed(pitch_command) + drone.yaw_speed(yawCommand) '''----------------------------''' '''Very impt time.sleep ''' @@ -193,4 +192,4 @@ def receiver_at_drone1(conn): drone.land() - drone.disarm() \ No newline at end of file + drone.disarm() diff --git a/DroneS/PlutoX/drone.py b/DroneS/PlutoX/drone.py index 9f51e1d..bb512cf 100644 --- a/DroneS/PlutoX/drone.py +++ b/DroneS/PlutoX/drone.py @@ -1,7 +1,15 @@ - import socket import time import math +import sys +from select import select +if sys.platform == 'win32': + import msvcrt +else: + import termios + import tty + + MSP_STATUS=101 # out cmd cycletime & errors_count & sensor present & box activation & current setting number MSP_RAW_IMU=102 # 9 DOF @@ -11,7 +19,7 @@ MSP_SET_RAW_RC=200 # 8 rc channel MSP_SET_COMMAND=217 # setting commands - +RETRY_COUNT=5 # no of retries before getting required data class pluto: def __init__(self, DroneIP="192.168.4.1", DronePort=23): @@ -29,12 +37,10 @@ def __init__(self, DroneIP="192.168.4.1", DronePort=23): self.aux4=1200 self.buffer_rc=bytearray([]) # rc data that has to be sent continuously - self.set=False self.trim(0,0,0,0) - - def setzero(self): - self.set=True + + def connect(self): try: @@ -88,7 +94,7 @@ def create_sendMSPpacket(self, msg_type, msg): self.sendPacket(self.buffer_rc) self.sendPacket(self.buffer) - + def arm(self): @@ -115,7 +121,7 @@ def box_arm(self): def clamp_rc(self,x:int): return max(1000, min(2000,x)) - def speedx(self,value,duration=0): + def roll_speed(self,value,duration=0): no_of_loops=10*duration self.rc[0]=self.clamp_rc(self.roll + value) @@ -126,11 +132,10 @@ def speedx(self,value,duration=0): time.sleep(0.1) if(duration==0): self.create_sendMSPpacket(MSP_SET_RAW_RC,self.rc) - #print(self.rc) - def speedy(self,value,duration=0): + def pitch_speed(self,value,duration=0): no_of_loops=10*duration self.rc[1]=self.clamp_rc(self.pitch + value) @@ -140,10 +145,10 @@ def speedy(self,value,duration=0): time.sleep(0.1) if(duration==0): self.create_sendMSPpacket(MSP_SET_RAW_RC,self.rc) - #print(self.rc) + - def speedz(self,value,duration=0): + def throttle_speed(self,value,duration=0): no_of_loops=10*duration self.rc[2]=self.clamp_rc(self.throttle + value) @@ -153,9 +158,9 @@ def speedz(self,value,duration=0): time.sleep(0.1) if(duration==0): self.create_sendMSPpacket(MSP_SET_RAW_RC,self.rc) - #print(self.rc) + - def rotate(self,value,duration=0): + def yaw_speed(self,value,duration=0): no_of_loops=10*duration self.rc[3]=self.clamp_rc(self.yaw + value) @@ -165,80 +170,182 @@ def rotate(self,value,duration=0): time.sleep(0.1) if(duration==0): self.create_sendMSPpacket(MSP_SET_RAW_RC,self.rc) - #print(self.rc) + def reset_speed(self): + self.rc[:4]=[self.roll,self.pitch,self.throttle,self.yaw] + self.create_sendMSPpacket(MSP_SET_RAW_RC,self.rc) + def takeoff(self): self.box_arm() cmd=[1] self.create_sendMSPpacket(MSP_SET_COMMAND,cmd) - self.speedz(0,3) + self.throttle_speed(0,3) def land(self): cmd=[2] self.create_sendMSPpacket(MSP_SET_COMMAND,cmd) - self.speedz(0,5) + self.throttle_speed(0,5) + self.disarm() def flip(self): cmd=[3] self.create_sendMSPpacket(MSP_SET_COMMAND,cmd) - self.speedz(0,3) + self.throttle_speed(0,3) - def get_height(self,duration=0): - no_of_loops=10*duration - while(no_of_loops>0): + + def read16(self,arr): + if((arr[1]&0x80) ==0): + return ((arr[1] << 8) + (arr[0]&0xff)) # for positive values + else: + return (-65535 + (arr[1] << 8) + (arr[0]&0xff)) # for negative values + + + ################################################## MSP_ALTITUDE ############################################################# + + def get_height(self): data=[] self.create_sendMSPpacket(MSP_ALTITUDE,data) - data=self.recievePacket() - if(len(data)==12 & data[4]==109): - print(data[-2]) - no_of_loops=no_of_loops-1 - time.sleep(0.1) - if(duration==0): + for i in range(5): + data=self.recievePacket() + if(len(data)==12 & data[4]==109): + return self.read16(data[5:7]) + + + def get_vario(self): data=[] self.create_sendMSPpacket(MSP_ALTITUDE,data) - data=self.recievePacket() - if(len(data)==12 & data[4]==109): - print(data[-3]) - - def get_vario(self,duration=0): - no_of_loops=10*duration - while(no_of_loops>0): + for i in range(RETRY_COUNT): + data=self.recievePacket() + if(len(data)==12 & data[4]==109): + return self.read16(data[-3:-1]) + + + + ###################################################### MSP_ATTITUDE ######################################################### + + def get_roll(self): data=[] - self.create_sendMSPpacket(MSP_ALTITUDE,data) - data=self.recievePacket() - if(len(data)==12 and data[4]==109): - print(data[-3] if data[-2]==0 else data[-3]-255) - no_of_loops=no_of_loops-1 - time.sleep(0.1) - if(duration==0): + self.create_sendMSPpacket(MSP_ATTITUDE,data) + for i in range(RETRY_COUNT): + data=self.recievePacket() + if(len(data)==12 and data[4]==108): + return self.read16(data[5:7])/10 + + + def get_pitch(self): data=[] - self.create_sendMSPpacket(MSP_ALTITUDE,data) - data=self.recievePacket() - if(len(data)==12 and data[4]==109): - print(data[-3] if data[-2]==0 else data[-3]-255) + self.create_sendMSPpacket(MSP_ATTITUDE,data) + for i in range(RETRY_COUNT): + data=self.recievePacket() + if(len(data)==12 and data[4]==108): + return self.read16(data[7:9])/10 - def get_roll(self,duration=0): - no_of_loops=10*duration - while(no_of_loops>0): + def get_yaw(self): data=[] self.create_sendMSPpacket(MSP_ATTITUDE,data) - data=self.recievePacket() - if(len(data)==12 and data[4]==108): - #print(data[5] if data[6]==0 else data[5]-255) - print(data[6]) - no_of_loops=no_of_loops-1 - time.sleep(0.1) - if(duration==0): + for i in range(RETRY_COUNT): + data=self.recievePacket() + if(len(data)==12 and data[4]==108): + return self.read16(data[9:11]) + + + ###################################################### MSP_RAW_IMU ########################################################## + + def get_acc_x(self): data=[] - self.create_sendMSPpacket(MSP_ATTITUDE,data) + self.create_sendMSPpacket(MSP_RAW_IMU,data) + for i in range(RETRY_COUNT): + data=self.recievePacket() + if(len(data)==24 and data[4]==102): + return self.read16(data[5:7]) + + + def get_acc_y(self): + data=[] + self.create_sendMSPpacket(MSP_RAW_IMU,data) + for i in range(RETRY_COUNT): + data=self.recievePacket() + if(len(data)==24 and data[4]==102): + return self.read16(data[7:9]) + + + def get_acc_z(self): + data=[] + self.create_sendMSPpacket(MSP_RAW_IMU,data) + for i in range(RETRY_COUNT): + data=self.recievePacket() + if(len(data)==24 and data[4]==102): + return self.read16(data[9:11]) + + + def get_gyro_x(self): + data=[] + self.create_sendMSPpacket(MSP_RAW_IMU,data) + for i in range(RETRY_COUNT): + data=self.recievePacket() + if(len(data)==24 and data[4]==102): + return self.read16(data[11:13]) + + + def get_gyro_y(self): + data=[] + self.create_sendMSPpacket(MSP_RAW_IMU,data) + for i in range(RETRY_COUNT): + data=self.recievePacket() + if(len(data)==24 and data[4]==102): + return self.read16(data[13:15]) + + + def get_gyro_z(self): + data=[] + self.create_sendMSPpacket(MSP_RAW_IMU,data) + for i in range(RETRY_COUNT): + data=self.recievePacket() + if(len(data)==24 and data[4]==102): + return self.read16(data[15:17]) + + + def get_mag_x(self): + data=[] + self.create_sendMSPpacket(MSP_RAW_IMU,data) + for i in range(RETRY_COUNT): + data=self.recievePacket() + if(len(data)==24 and data[4]==102): + return self.read16(data[17:19]) + + + def get_mag_y(self): + data=[] + self.create_sendMSPpacket(MSP_RAW_IMU,data) + for i in range(RETRY_COUNT): + data=self.recievePacket() + if(len(data)==24 and data[4]==102): + return self.read16(data[19:21]) + + + def get_mag_z(self): + data=[] + self.create_sendMSPpacket(MSP_RAW_IMU,data) + for i in range(RETRY_COUNT): + data=self.recievePacket() + if(len(data)==24 and data[4]==102): + return self.read16(data[21:23]) + + +###################################################### MSP_ANALOG ############################################################### + + def get_battery(self): + data=[] + self.create_sendMSPpacket(MSP_ANALOG,data) data=self.recievePacket() - if(len(data)==12 and data[4]==108): - print(data[5] if data[6]==0 else data[5]-255) + if(len(data)>5 and data[4]==110): + return data[5]/10 + def sendPacket(self,buff): @@ -249,3 +356,189 @@ def recievePacket(self): return self.mySocket.recv(self.BUFFER_SIZE) +###################################################### KEYBOARD_CONTROL ######################################################### + + + def getKey(self,settings): + """ + Function Name: getKey + Input: None + Output: keyboard charecter pressed + Logic: Determine the keyboard key pressed + Example call: getkey() + """ + + if sys.platform == 'win32': + # getwch() returns a string on Windows + key = msvcrt.getwch() + print("Key sent from Windows: '", key, "'") + else: + tty.setraw(sys.stdin.fileno()) + rlist, _, _ = select([sys.stdin], [], [], 0.1) + if rlist: + key = sys.stdin.read(1) + if (key == '\x1b'): # \x1b is Escape key + key = sys.stdin.read(2) + sys.stdin.flush() + else: + key = '' + + termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings) + print("Key sent from Linux: ", key) + return key + + def saveTerminalSettings(self): + if sys.platform == 'win32': + return None + return termios.tcgetattr(sys.stdin) + + def restoreTerminalSettings(self,old_settings): + if sys.platform == 'win32': + return termios.tcsetattr(sys.stdin, termios.TCSADRAIN, old_settings) + + def indentify_key(self,key_value): + + if key_value == 70: + if self.armed: + self.disarm() + self.armed = not self.armed + else: + self.arm() + self.armed = not self.armed + + elif key_value == 10: + print("Forward key detected") + self.pitch_speed(200) # forward + + elif key_value == 30: + print("Left key detected") + self.roll_speed(-200) # left + + elif key_value == 40: + print("Right key detected") + self.roll_speed(200) # right + + elif key_value == 80: + self.reset_speed() + + elif key_value == 50: + self.throttle_speed(400) # increase height + + elif key_value == 60: + self.throttle_speed(-200) # decrease_height + + elif key_value == 110: + print("Backward key detected") + self.pitch_speed(-200) # backwards + + elif key_value == 130: + self.takeoff() + + elif key_value == 140: + self.land() + + elif key_value == 150: + self.yaw_speed(-300) # yaw left + + elif key_value == 160: + self.yaw_speed(300) # yaw right + + elif key_value == 42: # windows special key + key2 = msvcrt.getwch() + print("Special key detected: ", key2) + + # check for windows special key type + if key2 == 'H': # up arrow + print("Forward key detected") + self.pitch_speed(200) # forward + + elif key2 == 'K': # left arrow + print("Left key detected") + self.roll_speed(-200) # left + + elif key2 == 'M': # right arrow' + print("Right key detected") + self.roll_speed(200) # right + + elif key2 == 'P': # down arrow + print("Backward key detected") + self.pitch_speed(-200) + + + def keyboard_control(self,stat=False): + + self.disarm() + self.armed = False + msg=""" + Control Your Drone! + --------------------------- + spacebar : arm or disarm + w : increase height + s : decrease height + q : take off + e : land + a : yaw left + d : yaw right + Up arrow : go forward + Down arrow : go backward + Left arrow : go left + Right arrow : go right + CTRL+C to quit + """ + self.keyboard_controls={ #dictionary containing the key pressed abd value associated with it + '[A': 10, # up arrow fwd pitch + '[D': 30, # left arrow left roll + '[C': 40, # right arrow right roll + 'w':50, # increase throttle + 's':60, # decrease throttle + ' ': 70, # arm disarm + 'r':80, # reset + 't':90, # autopilot + 'p':100, + '[B':110, # down arrow bkwd pitch + 'n':120, + 'q':130, # take off + 'e':140, # land + 'a':150, # left yaw + 'd':160, # right yaw + '+' : 15, + '1' : 25, + '2' : 30, + '3' : 35, + '4' : 45, + # Windows arrow key + 'à': 42 + # 'àH': 10, # up arrow fwd pitch (Windows) + # 'àK': 30, # left arrow left roll (Windows) + # 'àM': 40, # right arrow right roll (Windows) + # 'àP': 110 # down arrow bkwd pitch (Windows) + } + + self.win_arrowkey = False + + self.settings = self.saveTerminalSettings() + print(msg) + try: + while(True): + if(stat): + print("Roll :",self.get_roll(), "Pitch :",self.get_pitch(), "Yaw :",self.get_yaw(), "Battery :",self.get_battery()) + key = self.getKey(self.settings) + if key in self.keyboard_controls.keys(): + print("executed" , self.keyboard_controls[key] , "]]]") + self.indentify_key(self.keyboard_controls[key]) + + else: + if(self.armed): + self.reset_speed() + print("Other key: ", key) + if (key == '\x03'): + print("Ctrl+C detected") + self.disarm() # Ctrl+C break + break + + except Exception as e: + print(e) + + finally: + print(key) + self.restoreTerminalSettings(self.settings) diff --git a/DroneS/main.py b/DroneS/main.py index c462dc2..ab3d47c 100644 --- a/DroneS/main.py +++ b/DroneS/main.py @@ -1,26 +1,8 @@ from PlutoX import pluto - -# from subprocess import * -import time - -#necessary libraries - -# from PlutoX.Camera import poseEst - +import time drone=pluto() -drone.connect() -drone.trim(-7,5,0,0) -# drone.arm() -# drone.speedz(0,3) -drone.takeoff() -# # drone.speedz(50,3) -drone.speedz(0,4) -# # drone.speedy(20,4) -# # drone.speedy(-40) -# # drone.speedy(0) -drone.land() +drone.connect() drone.disarm() +#print(drone.get_vario()) - -# if __name__ == "__main__": -# poseEst.poseMain() +drone.keyboard_control() From ec4c62bf17c58ab57c195534d2d9bf8e2c4d4524 Mon Sep 17 00:00:00 2001 From: Yeeshukant Date: Thu, 19 Jan 2023 22:39:17 +0530 Subject: [PATCH 11/82] latest pid values --- DroneS/PlutoX/Control/newPIDmain.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/DroneS/PlutoX/Control/newPIDmain.py b/DroneS/PlutoX/Control/newPIDmain.py index f43ae86..adc2b2a 100644 --- a/DroneS/PlutoX/Control/newPIDmain.py +++ b/DroneS/PlutoX/Control/newPIDmain.py @@ -11,7 +11,7 @@ xTarget, yTarget, heightTarget = 640,360, 1.0 #pixel, pixel , height(m) # 550,192 #pid gains -KPx, KPy, KPz, KPyaw = 0.25, 0.25, 200 , 70 +KPx, KPy, KPz, KPyaw = 0.225, 0.18, 200 , 70 KIx, KIy, KIz, KIyaw = 0, 0, 0, 0 KDx, KDy, KDz, KDyaw = 0, 0, 0, 0 @@ -132,7 +132,7 @@ def receiver_at_drone1(conn): now_time = time.time() timeout_limit = now_time - start - roll_command, pitch_command, throttle_command, yawCommand = 0, 0, 20, 0 + roll_command, pitch_command, throttle_command, yawCommand = 0, 0, 25, 0 # if timer>=1000: if timeout_limit > 5 : @@ -161,7 +161,7 @@ def receiver_at_drone1(conn): #----------------------------- #prev cmd if pose is none - drone.throttle_speed(20) + drone.throttle_speed(25) drone.roll_speed(roll_command) drone.pitch_speed(pitch_command) drone.yaw_speed(yawCommand) @@ -169,7 +169,7 @@ def receiver_at_drone1(conn): '''----------------------------''' '''Very impt time.sleep ''' #( if removed , it will not let you sleep)''' - time.sleep(0.03) + time.sleep(0.05) '''this sleep adjusts the running of this files while loop, so that the rate of receiving from marker files is almost matched to that of this file sending commands to drone using api ''' From a6fe5066f671982da6f4bf52cd36a03d50087488 Mon Sep 17 00:00:00 2001 From: harshahb <85894544+harshahb@users.noreply.github.com> Date: Sat, 21 Jan 2023 08:27:09 +0000 Subject: [PATCH 12/82] Task 1 final 21/1/2023 --- Drone Swarm/PlutoX/__init__.py | 1 + Drone Swarm/PlutoX/drone.py | 595 +++++++++++++++++++++++++++++++++ Drone Swarm/main.py | 12 + 3 files changed, 608 insertions(+) create mode 100644 Drone Swarm/PlutoX/__init__.py create mode 100644 Drone Swarm/PlutoX/drone.py create mode 100644 Drone Swarm/main.py diff --git a/Drone Swarm/PlutoX/__init__.py b/Drone Swarm/PlutoX/__init__.py new file mode 100644 index 0000000..b98917d --- /dev/null +++ b/Drone Swarm/PlutoX/__init__.py @@ -0,0 +1 @@ +from .drone import pluto diff --git a/Drone Swarm/PlutoX/drone.py b/Drone Swarm/PlutoX/drone.py new file mode 100644 index 0000000..b3f559f --- /dev/null +++ b/Drone Swarm/PlutoX/drone.py @@ -0,0 +1,595 @@ + +import socket +import time +import math +import sys +from select import select +if sys.platform == 'win32': + import msvcrt +else: + import termios + import tty + + + +MSP_STATUS=101 # out cmd cycletime & errors_count & sensor present & box activation & current setting number +MSP_RAW_IMU=102 # 9 DOF +MSP_ATTITUDE=108 # 2 angles 1 heading +MSP_ALTITUDE=109 # altitude, variometer +MSP_ANALOG=110 # vbat, powermetersum, rssi if available on RX + +MSP_SET_RAW_RC=200 # 8 rc channel +MSP_SET_COMMAND=217 # setting commands +RETRY_COUNT=3 # no of retries before getting required data +class pluto: + + def __init__(self, DroneIP="192.168.4.1", DronePort=23): + self.DRONEIP = DroneIP + self.DRONEPORT = DronePort + self.BUFFER_SIZE = 4096 + + self.roll=1500 + self.pitch=1500 + self.throttle=1500 + self.yaw=1500 + self.aux1=1200 + self.aux2=1000 + self.aux3=1500 + self.aux4=1200 + + self.buffer_rc=bytearray([]) # rc data that has to be sent continuously + self.trim(0,0,0,0) + + + + + def connect(self): + try: + self.mySocket = socket.socket(socket.AF_INET, socket.SOCK_STREAM) + self.mySocket.connect((self.DRONEIP, self.DRONEPORT)) + # self.mySocket_1 = socket.socket(socket.AF_INET, socket.SOCK_STREAM) + # self.mySocket_1.connect((self.DRONEIP, self.DRONEPORT)) + print("pluto connected") + except: + print("Cannot connect to pluto, please try again...") + + def disconnect(self): + self.mySocket.close() + print("pluto disconnected") + + def trim(self,Roll,Pitch,Throttle,Yaw): + + Roll=max(-100,min(Roll,100)) + Pitch=max(-100,min(Pitch,100)) + Throttle=max(-100,min(Throttle,100)) + Yaw=max(-100,min(Yaw,100)) + + self.roll=1500 + Roll + self.pitch=1500 + Pitch + self.throttle=1500 + Throttle + self.yaw=1500 + Yaw + + self.rc=[self.roll, self.pitch, self.throttle, self.yaw, self.aux1, self.aux2, self.aux3, self.aux4] + + + def create_sendMSPpacket(self, msg_type, msg): + self.buffer=bytearray([]) # data to be sent + headerArray=bytearray([36,77,60]) # header array "$","M","<" + self.buffer.extend(headerArray) + msg_len=2*len(msg) + self.buffer.append(msg_len) + self.buffer.append(msg_type) + if(msg_len>0): + for b in msg: + LSB=b%256 + MSB=math.floor(b/256) + self.buffer.append(LSB) + self.buffer.append(MSB) + CRCValue=0 + for b in self.buffer[3:]: + CRCValue=CRCValue^b + self.buffer.append(CRCValue) + + if(msg_type==200): + self.buffer_rc=self.buffer[:] + self.sendPacket(self.buffer) + else: + self.sendPacket(self.buffer_rc) + self.sendPacket(self.buffer) + + + + + def arm(self): + self.rc[2]=1000 + self.rc[-1]=1500 + self.create_sendMSPpacket(MSP_SET_RAW_RC,self.rc) + time.sleep(1) + + def disarm(self): + self.rc[2]=1300 + self.rc[-1]=1200 + self.create_sendMSPpacket(MSP_SET_RAW_RC,self.rc) + time.sleep(1) + + + + def box_arm(self): + self.rc[2]=1500 + self.rc[-1]=1500 + self.create_sendMSPpacket(MSP_SET_RAW_RC,self.rc) + time.sleep(0.5) + + + def clamp_rc(self,x:int): + return max(1000, min(2000,x)) + + def roll_speed(self,value,duration=0): + + no_of_loops=10*duration + self.rc[0]=self.clamp_rc(self.roll + value) + + while(no_of_loops>0): + self.create_sendMSPpacket(MSP_SET_RAW_RC,self.rc) + no_of_loops=no_of_loops-1 + time.sleep(0.1) + if(duration==0): + self.create_sendMSPpacket(MSP_SET_RAW_RC,self.rc) + + + + def pitch_speed(self,value,duration=0): + no_of_loops=10*duration + self.rc[1]=self.clamp_rc(self.pitch + value) + + while(no_of_loops>0): + self.create_sendMSPpacket(MSP_SET_RAW_RC,self.rc) + no_of_loops=no_of_loops-1 + time.sleep(0.1) + if(duration==0): + self.create_sendMSPpacket(MSP_SET_RAW_RC,self.rc) + + + + def throttle_speed(self,value,duration=0): + no_of_loops=10*duration + self.rc[2]=self.clamp_rc(self.throttle + value) + + while(no_of_loops>0): + self.create_sendMSPpacket(MSP_SET_RAW_RC,self.rc) + no_of_loops=no_of_loops-1 + time.sleep(0.1) + if(duration==0): + self.create_sendMSPpacket(MSP_SET_RAW_RC,self.rc) + + + def yaw_speed(self,value,duration=0): + no_of_loops=10*duration + self.rc[3]=self.clamp_rc(self.yaw + value) + + while(no_of_loops>0): + self.create_sendMSPpacket(MSP_SET_RAW_RC,self.rc) + no_of_loops=no_of_loops-1 + time.sleep(0.1) + if(duration==0): + self.create_sendMSPpacket(MSP_SET_RAW_RC,self.rc) + + def reset_speed(self): + self.rc[:4]=[self.roll,self.pitch,self.throttle,self.yaw] + self.create_sendMSPpacket(MSP_SET_RAW_RC,self.rc) + + + def takeoff(self): + self.box_arm() + cmd=[1] + self.create_sendMSPpacket(MSP_SET_COMMAND,cmd) + self.throttle_speed(0,3) + + + def land(self): + cmd=[2] + self.create_sendMSPpacket(MSP_SET_COMMAND,cmd) + self.throttle_speed(0,5) + self.disarm() + + + def flip(self): + cmd=[3] + self.create_sendMSPpacket(MSP_SET_COMMAND,cmd) + self.throttle_speed(0,3) + + + + def read16(self,arr): + if((arr[1]&0x80) ==0): + return ((arr[1] << 8) + (arr[0]&0xff)) # for positive values + else: + return (-65535 + (arr[1] << 8) + (arr[0]&0xff)) # for negative values + + + ################################################## MSP_ALTITUDE ############################################################# + + def get_height(self): + data=[] + self.create_sendMSPpacket(MSP_ALTITUDE,data) + for i in range(RETRY_COUNT): + data=self.recievePacket() + i=0 + while(i Date: Sun, 22 Jan 2023 18:32:36 +0530 Subject: [PATCH 13/82] Update keyboard_control.md --- docs/keyboard_control.md | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/docs/keyboard_control.md b/docs/keyboard_control.md index 09f6b2b..2593ef3 100644 --- a/docs/keyboard_control.md +++ b/docs/keyboard_control.md @@ -4,13 +4,14 @@ Run the ```keyboard.py``` file in terminal to control the drone flight interacti w ↑ a s d ← ↓ → - spacebar : arm + spacebar : arm / disarm w : increase throttle s : decrease throttle q : take off e : land a : turn left (negative yaw) d : turn right (positive yaw) + p : flip Up arrow(↑) : go forward (positive pitch) Down arrow(↓) : go backward (negative pitch) Left arrow(←) : go left From d182ee59b8077f5b32701b8eb1d62e6888c70026 Mon Sep 17 00:00:00 2001 From: KshitijBhat Date: Sun, 22 Jan 2023 18:40:19 +0530 Subject: [PATCH 14/82] cleanup --- pypluto/__pycache__/sender.cpython-38.pyc | Bin 1128 -> 0 bytes pypluto/__pycache__/stage1.cpython-38.pyc | Bin 774 -> 0 bytes pypluto/__pycache__/stage2.cpython-38.pyc | Bin 613 -> 0 bytes pypluto/examples/IO.py | 19 - pypluto/examples/arm.py | 22 - pypluto/examples/kill.py | 8 - pypluto/keyboard.py | 200 ------- pypluto/kill.py | 10 - pypluto/main.py | 37 -- pypluto/master.py | 48 -- pypluto/pypluto.egg-info/PKG-INFO | 10 - pypluto/pypluto.egg-info/SOURCES.txt | 7 - pypluto/pypluto.egg-info/dependency_links.txt | 1 - pypluto/pypluto.egg-info/top_level.txt | 1 - pypluto/pypluto/ArUco/CAM_CONFIGS.py | 29 - .../__pycache__/CAM_CONFIGS.cpython-38.pyc | Bin 466 -> 0 bytes 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-time.sleep(4) - -print("Backward") -client.backward() -time.sleep(4) - -print("Disarm") -client.disArm() diff --git a/pypluto/examples/kill.py b/pypluto/examples/kill.py deleted file mode 100644 index 869cd02..0000000 --- a/pypluto/examples/kill.py +++ /dev/null @@ -1,8 +0,0 @@ -"Entry " -from pypluto import * -import time - -if __name__ == '__main__': - client = Drone() - client.disArm() - time.sleep(5) diff --git a/pypluto/keyboard.py b/pypluto/keyboard.py deleted file mode 100644 index 85f18a2..0000000 --- a/pypluto/keyboard.py +++ /dev/null @@ -1,200 +0,0 @@ -from pypluto.pluto import * - -#import threading - -import sys -from select import select -if sys.platform == 'win32': - import msvcrt -else: - import termios - import tty - -is_armed = False -msg = """ - Control Your Drone! - --------------------------- - spacebar : arm or disarm - w : increase height - s : decrease height - q : take off - e : land - a : yaw left - d : yaw right - Up arrow : go forward - Down arrow : go backward - Left arrow : go left - Right arrow : go right - CTRL+C to quit - """ -keyboard_control={ #dictionary containing the key pressed abd value associated with it - '[A': 10, # up arrow fwd pitch - '[D': 30, # left arrow left roll - '[C': 40, # right arrow right roll - 'w':50, # increase throttle - 's':60, # decrease throttle - ' ': 70, # arm disarm - 'r':80, # reset - 't':90, # autopilot - 'p':100, - '[B':110, # down arrow bkwd pitch - 'n':120, - 'q':130, # take off - 'e':140, # land - 'a':150, # left yaw - 'd':160, # right yaw - '+' : 15, - '1' : 25, - '2' : 30, - '3' : 35, - '4' : 45, - # Windows arrow key - 'à': 42 - # 'àH': 10, # up arrow fwd pitch (Windows) - # 'àK': 30, # left arrow left roll (Windows) - # 'àM': 40, # right arrow right roll (Windows) - # 'àP': 110 # down arrow bkwd pitch (Windows) - } - -win_arrowkey = False - -def getKey(settings): - """ - Function Name: getKey - Input: None - Output: keyboard charecter pressed - Logic: Determine the keyboard key pressed - Example call: getkey() - """ - - if sys.platform == 'win32': - # getwch() returns a string on Windows - key = msvcrt.getwch() - print("Key sent from Windows: '", key, "'") - else: - tty.setraw(sys.stdin.fileno()) - rlist, _, _ = select([sys.stdin], [], [], 0.1) - if rlist: - key = sys.stdin.read(1) - if (key == '\x1b'): # \x1b is Escape key - key = sys.stdin.read(2) - sys.stdin.flush() - else: - key = '' - - termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings) - print("Key sent from Linux: ", key) - return key - -def saveTerminalSettings(): - if sys.platform == 'win32': - return None - return termios.tcgetattr(sys.stdin) - -def restoreTerminalSettings(old_settings): - if sys.platform == 'win32': - return - termios.tcsetattr(sys.stdin, termios.TCSADRAIN, old_settings) - -def indentify_key(client,key_value): - """ - Function to identify the key pressed and call - the corresponding command function defined in movement.py - and pluto.py - """ - global is_armed - if key_value == 70: - if is_armed: - client.disarm() - is_armed = not is_armed - else: - client.arm() - is_armed = not is_armed - - elif key_value == 10: - print("Forward key detected") - client.steer("forward",200) # forward - - elif key_value == 30: - print("Left key detected") - client.steer("left",200) # left - - elif key_value == 40: - print("Right key detected") - client.steer("right",200) # right - - elif key_value == 80: - client.reset() - - elif key_value == 50: - client.steer("up",400) # increase height - - elif key_value == 60: - client.steer("down",20) # decrease_height - - elif key_value == 110: - print("Backward key detected") - client.steer("backward",200) # backwards - - elif key_value == 130: - client.takeoff() - - elif key_value == 140: - client.land() - - elif key_value == 150: - client.steer("anticlck",300) # yaw left - - elif key_value == 160: - client.steer("clck",300) # yaw right - - elif key_value == 42: # windows special key - key2 = msvcrt.getwch() - print("Special key detected: ", key2) - - # check for windows special key type - if key2 == 'H': # up arrow - print("Forward key detected") - client.steer("forward",200) # forward - - elif key2 == 'K': # left arrow - print("Left key detected") - client.steer("left",200) # left - - elif key2 == 'M': # right arrow' - print("Right key detected") - client.steer("right",200) # right - - elif key2 == 'P': # down arrow - print("Backward key detected") - client.steer("backward",200) # backwards - - -if __name__ == '__main__': - settings = saveTerminalSettings() - - client = Drone() - client.disarm() - - try: - print(msg) - while(True): - key = getKey(settings) - if key in keyboard_control.keys(): - print("executed" , keyboard_control[key] , "]]]") - indentify_key(client,keyboard_control[key]) - - else: - client.steer("up",0) - print("Other key: ", key) - if (key == '\x03'): - print("Ctrl+C detected") - client.disarm() # Ctrl+C break - break - - except Exception as e: - print(e) - - finally: - print(key) - restoreTerminalSettings(settings) diff --git a/pypluto/kill.py b/pypluto/kill.py deleted file mode 100644 index c60ef7a..0000000 --- a/pypluto/kill.py +++ /dev/null @@ -1,10 +0,0 @@ -"Entry " -from pypluto.pluto import * -import time - -if __name__ == '__main__': - client = Drone() - client.land() - time.sleep(5) - client.disarm() - #time.sleep(5) diff --git a/pypluto/main.py b/pypluto/main.py deleted file mode 100644 index d7a3001..0000000 --- a/pypluto/main.py +++ /dev/null @@ -1,37 +0,0 @@ -"Entry " -from pypluto.pluto import * -import time - -if __name__ == '__main__': - #client1 = Drone("192.168.17.144","23") - client2 = Drone("192.168.4.1","23") - #client1.disarm() - client2.disarm() - time.sleep(5) - #client1.arm() - # time.sleep(5) - client2.arm() - time.sleep(5) - client2.trim(5, -25, 0, 0) - #client1.steer("up",400) - # client2.steer("up",450) - start = time.time() - now = time.time() - gap = now -start - # while (gap < 5): - # print("a") - # now = time.time() - # gap = now - start - # client2.takeoff() - client2.takeoff() - # client2.backFlip() - time.sleep(5) - - client2.set_steer([0, 0, 220, 0]) - time.sleep(1) - # time.sleep(5) - #client1.land() - client2.land() - time.sleep(4) - #client1.disarm() - client2.disarm() diff --git a/pypluto/master.py b/pypluto/master.py deleted file mode 100644 index 6f26af6..0000000 --- a/pypluto/master.py +++ /dev/null @@ -1,48 +0,0 @@ -# from PlutoX.InterFile.conn_marker_drone1 import build_conn - -import multiprocessing -from multiprocessing import Pipe -import time -from pypluto.control.drone_pid1 import pid_publisher -from pypluto.ArUco.marker import pose_publisher - - - -# builds necessary connections of drone(1,2,...) & the camera file -def build_conn(): - - - #creates connection btw marker1 file and drone1 - connCam,connDrone1 = Pipe(duplex = True) - - - - p1 = multiprocessing.Process(target=pose_publisher, args=( [connCam])) - p2 = multiprocessing.Process(target=pid_publisher, args=([connDrone1])) - - - - #first detect pose , then takeoff - p1.start() - print('\n-------Starting process Camera-------') - time.sleep(2) - - # while(delay<5): - # now = time.time() - # delay = now-start - # time.sleep(1) #enough for camera to setup - # print("\nSetting up camera.......") - - print("\n-----Starting Drone1--------") - p2.start() - - p1.join() - p2.join() - - - - -if __name__ == "__main__": - - - build_conn() diff --git a/pypluto/pypluto.egg-info/PKG-INFO b/pypluto/pypluto.egg-info/PKG-INFO deleted file mode 100644 index 2cb1e64..0000000 --- a/pypluto/pypluto.egg-info/PKG-INFO +++ /dev/null @@ -1,10 +0,0 @@ -Metadata-Version: 1.0 -Name: pypluto -Version: 0.0.1 -Summary: This API to connect Pluto Drone -Home-page: https://github.com/DaemonLab/Drone-Swarm -Author: IIT_Indore -Author-email: UNKNOWN -License: Open Source -Description: UNKNOWN -Platform: UNKNOWN diff --git a/pypluto/pypluto.egg-info/SOURCES.txt b/pypluto/pypluto.egg-info/SOURCES.txt deleted file mode 100644 index eb77ff8..0000000 --- a/pypluto/pypluto.egg-info/SOURCES.txt +++ /dev/null @@ -1,7 +0,0 @@ -setup.py -pypluto/__init__.py -pypluto/pluto.py -pypluto.egg-info/PKG-INFO -pypluto.egg-info/SOURCES.txt -pypluto.egg-info/dependency_links.txt -pypluto.egg-info/top_level.txt \ No newline at end of file diff --git a/pypluto/pypluto.egg-info/dependency_links.txt b/pypluto/pypluto.egg-info/dependency_links.txt deleted file mode 100644 index 8b13789..0000000 --- a/pypluto/pypluto.egg-info/dependency_links.txt +++ /dev/null @@ -1 +0,0 @@ - diff --git a/pypluto/pypluto.egg-info/top_level.txt b/pypluto/pypluto.egg-info/top_level.txt deleted file mode 100644 index 24e0c6e..0000000 --- a/pypluto/pypluto.egg-info/top_level.txt +++ /dev/null @@ -1 +0,0 @@ -pypluto diff --git a/pypluto/pypluto/ArUco/CAM_CONFIGS.py b/pypluto/pypluto/ArUco/CAM_CONFIGS.py deleted file mode 100644 index 40ec80d..0000000 --- a/pypluto/pypluto/ArUco/CAM_CONFIGS.py +++ /dev/null @@ -1,29 +0,0 @@ -import numpy as np -CAMERA_HEIGHT = 1.65 #m - -#matrix_coefficients - Intrinsic matrix of the calibrated camera -MATRIX_COEFFICIENTS = np.array([[ - 1447.9804004365824, - 0.0, - 617.3063266183908 - ], - [ - 0.0, - 1448.4116664252433, - 289.02239681156016 - ], - [ - 0.0, - 0.0, - 1.0 - ]]) - -#distortion_coefficients - Distortion coefficients associated with our camera -DISTORTION_COEFFICIENTS = np.array([ - 0.0397515407032859, - 1.259291585298002, - -0.010631456171277863, - -0.00784841820297665, - -5.925444820936321 - ]) - \ No newline at end of file diff --git a/pypluto/pypluto/ArUco/__pycache__/CAM_CONFIGS.cpython-38.pyc b/pypluto/pypluto/ArUco/__pycache__/CAM_CONFIGS.cpython-38.pyc deleted file mode 100644 index 6357ebb14a50f2900e9034fcfde9d9cfbade8337..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 466 zcmWIL<>g`kf@0_W$$OX>7#@Q-$bcQlaRB0CHz1M1kiwY55XG3n6vdRvxPUo@IfW&K 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a/pypluto/pypluto/ArUco/marker.py +++ /dev/null @@ -1,137 +0,0 @@ -import cv2 -import numpy as np -from pypluto.ArUco.CAM_CONFIGS import * -import time - -class Aruco: - - ARUCO_DICT = { - "DICT_4X4_50": cv2.aruco.DICT_4X4_50, - "DICT_4X4_100": cv2.aruco.DICT_4X4_100, - "DICT_4X4_250": cv2.aruco.DICT_4X4_250, - "DICT_4X4_1000": cv2.aruco.DICT_4X4_1000, - "DICT_5X5_50": cv2.aruco.DICT_5X5_50, - "DICT_5X5_100": cv2.aruco.DICT_5X5_100, - "DICT_5X5_250": cv2.aruco.DICT_5X5_250, - "DICT_5X5_1000": cv2.aruco.DICT_5X5_1000, - "DICT_6X6_50": cv2.aruco.DICT_6X6_50, - "DICT_6X6_100": cv2.aruco.DICT_6X6_100, - "DICT_6X6_250": cv2.aruco.DICT_6X6_250, - "DICT_6X6_1000": cv2.aruco.DICT_6X6_1000, - "DICT_7X7_50": cv2.aruco.DICT_7X7_50, - "DICT_7X7_100": cv2.aruco.DICT_7X7_100, - "DICT_7X7_250": cv2.aruco.DICT_7X7_250, - "DICT_7X7_1000": cv2.aruco.DICT_7X7_1000, - "DICT_ARUCO_ORIGINAL": cv2.aruco.DICT_ARUCO_ORIGINAL, - "DICT_APRILTAG_16h5": cv2.aruco.DICT_APRILTAG_16h5, - "DICT_APRILTAG_25h9": cv2.aruco.DICT_APRILTAG_25h9, - "DICT_APRILTAG_36h10": cv2.aruco.DICT_APRILTAG_36h10, - "DICT_APRILTAG_36h11": cv2.aruco.DICT_APRILTAG_36h11 - } - - def __init__(self, arucoType): - self.arucoType = arucoType - self.arucoDict = cv2.aruco.Dictionary_get(self.ARUCO_DICT[self.arucoType]) - self.arucoParams = cv2.aruco.DetectorParameters_create() - - def detectMarkers(self,img): - #don't we need to use a gray img here? remember to change inputs to gray_img - #gray_img = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY) - return cv2.aruco.detectMarkers(img, self.arucoDict, parameters=self.arucoParams) - #cornersm, ids, rejected_img_points - - def get_pose(self, corners, ids, image, desiredVec, display=True): - - is_detected = False - pose = None - # print(f"corners, {corners} IDs: {ids}") - - if len(corners) > 0: - - - for (markerCorner, markerID) in zip(corners, ids): - try: - rvec, tvec, markerPoints = cv2.aruco.estimatePoseSingleMarkers(np.array(corners[0]), 0.02, cameraMatrix=MATRIX_COEFFICIENTS, distCoeffs=DISTORTION_COEFFICIENTS) - except cv2.error: - print("Pose Est error") - return pose, is_detected, image - - corners = markerCorner.reshape((4, 2)) - (topLeft, topRight, bottomRight, bottomLeft) = corners - - topRight = np.array([int(topRight[0]), int(topRight[1])]) - bottomRight = np.array([int(bottomRight[0]), int(bottomRight[1])]) - bottomLeft = np.array([int(bottomLeft[0]), int(bottomLeft[1])]) - topLeft = np.array([int(topLeft[0]), int(topLeft[1])]) - - cX, cY = (topLeft + bottomRight)//2 - hX, hY = (topLeft + topRight)//2 - tX, tY = hX-cX, hY-cY - yaw = np.arctan2(tY, tX) - # yaw = np.rad2deg(yaw) - - drone_height = CAMERA_HEIGHT - tvec[0,0,2] - - pose = np.array([cX,cY, drone_height,yaw]) - is_detected = True - if display: - cv2.line(image, topLeft, topRight, (0, 255, 0), 2) - cv2.line(image, topRight, bottomRight, (0, 255, 0), 2) - cv2.line(image, bottomRight, bottomLeft, (0, 255, 0), 2) - cv2.line(image, bottomLeft, topLeft, (0, 255, 0), 2) - - - cv2.circle(image, (cX, cY), 4, (0, 0, 255), -1) - - cv2.arrowedLine(image, (cX,cY), (hX,hY),(0, 0, 255)) - - # image = cv2.flip(image,1) - cv2.putText(image, f"Drone ID: {markerID} Height: {drone_height}",(topLeft[0], topLeft[1] - 10), cv2.FONT_HERSHEY_SIMPLEX, - 0.5, (0, 255, 0), 2) - # print("[Inference] ArUco marker ID: {}".format(markerID)) - - if display: - dX,dY = desiredVec - cv2.circle(image, (dX, dY), 7, (255, 0, 0), -1) - - - - return pose, is_detected, image - - - -def pose_publisher(connCam): #connCam - - cap = cv2.VideoCapture(2) - start = time.time() - - cap.set(cv2.CAP_PROP_FRAME_WIDTH, 1280) - cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 720) - - aruco_obj = Aruco("DICT_4X4_50") - - while cap.isOpened(): - - ret, image = cap.read() - - #Aruco Detection , pose Estimation Block - - corners, ids, rejected = aruco_obj.detectMarkers(image) - # detected_markers = (corners, ids, image, [550,192]) - pose, is_detected, detected_markers = aruco_obj.get_pose(corners, ids, image, [640,360], display=True) - cv2.imshow("Image", detected_markers) - - - # print(f"\n{i}--From Marker - Pose: {pose}") - connCam.send(pose) - - - key = cv2.waitKey(1) & 0xFF - if key == ord("q"): - break - - cv2.destroyAllWindows() - cap.release() - -if __name__ == "__main__": - pose_publisher(connCam='') diff --git a/pypluto/pypluto/Comm/__pycache__/msg.cpython-38.pyc b/pypluto/pypluto/Comm/__pycache__/msg.cpython-38.pyc deleted file mode 100644 index fbb2dafb71bce96da42ff5537436c04fd4b663a2..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 1274 zcma)5&2G~`5Z+y{9Vawx`B9 z&Z%(a2@rxKkHL*sz*kN=bK?RtPK~0T7->Jx%#LTio!Q+j77GN#i@*5~IUzsMm=*(! z7qIjafFzQ3iHl#>r8`6#E|c6fHi$H(^^QpEl(}5e7AfV%5Ko*EP3Y422dLxk06sdW zg@N$`mVN{f5SK~cqof8RX2pj?~bPTt4vpLsdkV`Q|tZbSbB1(c;pJJU1U54}!*C zUANslBxvka!J8P+HrMv|1OHGD!-RIy=1*WgO*Qb84zQ3$n=qR`V7ClT=V^h>(vxD= z)-=vX#+ji0ucw$HCZD0J5&gni*OUQgoBIxR>~E@w2R_Wz%Zx&f&&I zrpZjU9he(j&7KzqLL>zt!oD1KQJ)dw?a=E^cGN|zf(KK#5$+=3bC?1ggE9f|a%&sF 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z)_e#(_8++L8@_Vl7kXl59j8%YRvypp%raylR_^AF@nFF?O;tNl-5RS>8q9^(!-xVfO7!7W}{5YOaQ zZo}W=H8`uDJKZFXMWDhYzOHv(?Yf} zRS#qmi=)0*(?LIx>Wau3biLkdkCKUKe@RE73de1oe>V6&l#}-Ke2R@$|86pwv{NC! z3F%JHbKCdBI8?rW2Pss*5n6$fZI@`1*ez=Uiut8sjP;uPJ_OklMScMPF|Z#Sm#BfM ztU?1=G0#8;st2qxROSPT+518tqnB-Jpv|DrUhwSkp_GYio{hptG)p*Z;uNT((^ zLLHjjTLXDh(`zw_FH>S2hy-^W4=2L+bI12537'} # IN: to Drone OUT: From Drone - self.MSP_MSG_PARSE = '<3c2B%iHB' - - def parse(self, data, typeOfMsg): - #print("Data = " , data) - lenOfData = len(data) - msg = self.HEADER + [self.DIRECTION["IN"]] + [lenOfData * 2] + [typeOfMsg] + data - #print(msg) - msg = struct.pack(self.MSP_MSG_PARSE[:-1] % lenOfData, *msg) - - # Checksum calc is XOR between , and (each byte) - checksum = 0 - for i in msg[3:]: - checksum ^= i - # Add checksum at the end of the msg - msg += bytes([checksum]) - return msg - - def set_command(self, cmd): - return self.parse(cmd, MSP_SET_COMMAND) - - def set_raw_rc(self, data): - return self.parse(data, MSP_SET_RAW_RC) - - - - - - - diff --git a/pypluto/pypluto/Comm/packets.py b/pypluto/pypluto/Comm/packets.py deleted file mode 100644 index ab1de4f..0000000 --- a/pypluto/pypluto/Comm/packets.py +++ /dev/null @@ -1,8 +0,0 @@ -MSP_SET_COMMAND = 217 # in cmd used for predefined commands -MSP_SET_RAW_RC = 200 # in cmd 8 rc channel - -MSP_STATUS = 101 # out cmd cycletime & errors_count & sensor present & box activation & current setting number -MSP_RAW_IMU = 102 # out 9 DOF -MSP_ATTITUDE = 108 # out 2 angles 1 heading -MSP_ALTITUDE = 109 # out altitude, variometer -MSP_ANALOG = 110 # out message vbat, powermetersum, rssi if available on RX \ No newline at end of file diff --git a/pypluto/pypluto/Comm/server.py b/pypluto/pypluto/Comm/server.py deleted file mode 100644 index 620f684..0000000 --- a/pypluto/pypluto/Comm/server.py +++ /dev/null @@ -1,29 +0,0 @@ -import telnetlib - - -''' -const int PORT = 23; -const char* IP_ADDRESS = "192.168.4.1"; -const int CAMERA_PORT = 9060; -const char* CAMERA_IP_ADDRESS = "192.168.0.1"; -''' - - - -class Connection(): - def __init__(self, DroneIP="192.168.4.1", DronePort="23"): - self.DRONEIP = DroneIP - self.DRONEPORT = DronePort - print("Connecting to Pluto......") - - def connect(self): - try: - self.tn = telnetlib.Telnet(self.DRONEIP, self.DRONEPORT) - print("pluto connected") - return self.tn - except: - print("Error While Connecting to Pluto") - - def disconnect(self): - self.tn.close() - print("Server connection closed") diff --git a/pypluto/pypluto/__init__.py b/pypluto/pypluto/__init__.py deleted file mode 100644 index 1c90634..0000000 --- a/pypluto/pypluto/__init__.py +++ /dev/null @@ -1,4 +0,0 @@ -from pypluto.Comm.server import Connection -from pypluto.Comm.msg import Message -from pypluto.pluto import Drone -from pypluto.commands.movement import Move diff --git a/pypluto/pypluto/__pycache__/__init__.cpython-38.pyc b/pypluto/pypluto/__pycache__/__init__.cpython-38.pyc deleted file mode 100644 index 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file mode 100644 index b02b225..0000000 --- a/pypluto/pypluto/commands/OUT_STREAM.py +++ /dev/null @@ -1,123 +0,0 @@ -from ast import literal_eval -from pypluto.Comm.server import Connection -from pypluto.Comm.msg import Message -import numpy as np -import time - -msg_rc = b'$M<\x10\xc8\xdc\x05\xdc\x05\xdc\x05\xdc\x05\xb0\x04\xe8\x03\xdc\x05\xb0\x04\xea' #put message after setting 1500,1500,1200,1500,1500,1500,1500,1500 -#msg_rc = b'$M<\x10\xc8\xdc\x05\xdc\x05\xe8\x03\xa4\x06\xdc\x05\xe8\x03\xdc\x05\xdc\x05\xa3' -msg_set_cmd = "D_cmd" - -flag_set_cmd = False -flag_imu = False -flag_attitude = False -flag_altitude = False -flag_ACC_CALIB = False -flag_MAG_CALIB = False -flag_SET_TRIM = False - -msg_imu = "" #put the IMU send msg here -msg_attitude = "" #put the attitude send msg here -msg_altitude = "" #put the altitude send msg here -msg_ACC_CALIB = "" #put the ACC_CALIB send msg here -msg_MAG_CALIB = "" #put the MAG_CALIB send msg here -msg_SET_TRIM = "" #put the SET_TRIM send msg here -data = [] - -t_set_cmd = time.time() - -class out_stream(): - - def __init__(self, DroneIP="192.168.4.1", DronePort="23"): - self.DRONEIP = DroneIP - self.DRONEPORT = DronePort - print(DroneIP , DronePort) - self.conn = Connection(self.DRONEIP, self.DRONEPORT).connect() - - - def getData(self, child_conn): #Make async if too slow - - - global msg_rc - global msg_set_cmd - global flag_set_cmd - global flag_imu - global flag_attitude - global flag_altitude - global flag_ACC_CALIB - global flag_MAG_CALIB - global flag_SET_TRIM - - while(True): - try: - if not child_conn.poll(): #Might want a do-while loop instead - #print(msg_rc[9],msg_rc[10]) - self.conn.write(msg_rc) # changes 00;07 - time.sleep(0.05) - if flag_set_cmd: - self.conn.write(msg_set_cmd) - - if flag_imu: - self.conn.write(msg_imu) - - if flag_attitude: - self.conn.write(msg_attitude) - - if flag_altitude: #Put flags into bool sections to reduce computation - self.conn.write(msg_altitude) - - if flag_ACC_CALIB: - 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- "up": np.array([0, 0, magnitude, 0]), - "down": np.array([0, 0, -magnitude, 0]), - "clck": np.array([0, 0, 0, magnitude]), - "anticlck": np.array([0, 0, 0, -magnitude]), - } - - self.RC_ROLL, self.RC_PITCH, self.RC_THROTTLE, self.RC_YAW, = center + change[direction] - data = [self.RC_ROLL, self.RC_PITCH, self.RC_THROTTLE, self.RC_YAW, RC_AUX1, RC_AUX2, RC_AUX3, RC_AUX4] - parsed = self.msg.set_raw_rc(data) - return parsed - - def set_steer_data(self, magnitude): - """ - Parses the steer commands. - - Parameters - ---------- - magnitude : array-like - Magnitude of roll, pitch, throttle, and yaw commands -600 2100: - print("Clipping magnitude to 2100") - magnitude[i] = 600 - if magnitude[i] + 1500 < 900: - print("Clipping magnitude to 900") - magnitude[i] = -600 - - RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW, = center + np.array(magnitude) - data = [RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW, RC_AUX1, RC_AUX2, RC_AUX3, RC_AUX4] - parsed = self.msg.set_raw_rc(data) - return parsed diff --git 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height(m) - -#pid gains -KPx, KPy, KPz, KPyaw = 0.05, 0.05, 500, 150 -KIx, KIy, KIz, KIyaw = 0, 0, 0, 0 -KDx, KDy, KDz, KDyaw = 0, 0, 0, 0 - - -#currently global , -#for telling drones final yaw orientation -YAW_TARGET = 1.5708 - -# Radius of target threshold -THRESHOLD_R = 5 - - - -def pid(pose, target, Err, ErrI): - """ - PID Control Loop - """ - xError, yError, zError, yawError = Err - xErrorI, yErrorI, zErrorI, yawErrorI = ErrI - - xTarget, yTarget, heightTarget = target - - - - xError_old = xError - yError_old = yError - zError_old = zError - yawError_old = yawError - - x, y, z, yaw = pose - - xError = xTarget-x - yError = yTarget-y - zError = heightTarget-z - yawError = YAW_TARGET-yaw - - - xErrorI += xError - yErrorI += yError - zErrorI += zError - yawErrorI += yawError - - # compute derivative (variation) of errors (D) - xErrorD = xError-xError_old - yErrorD = yError-yError_old - zErrorD = zError-zError_old - yawErrorD = yawError-yawError_old - - # compute commands - xCommand = KPx*xError + KIx*xErrorI + KDx*xErrorD - yCommand = KPy*yError + KIy*yErrorI + KDy*yErrorD - zCommand = KPz*zError + KIz*zErrorI + KDz*zErrorD - - yawCommand = int( KPyaw*yawError + KIyaw*yawErrorI + KDyaw*yawErrorD) - pitch_command = int( np.cos(yaw)*xCommand + np.sin(yaw)*yCommand) - roll_command = int( -np.sin(yaw)*xCommand + np.cos(yaw)*yCommand ) - throttle_command = int(zCommand) - Err = [xError, yError, zError, yawError] - ErrI = [xErrorI, yErrorI, zErrorI, yawErrorI] - - return roll_command, pitch_command, throttle_command, yawCommand, Err, ErrI - - -def pid_publisher(conn): - """ - Function to recieve data from pid file and - using drone_api velocity fns - we can send the cmd to drone from here - as soon as we recieve them - """ - - drone = Drone() - - # initialize PID controller - # xError, yError, zError, yawError = 5, 5, 0.5, 0.3 - xError, yError, zError, yawError = 0, 0, 0.0, 0.0 - xErrorI, yErrorI, zErrorI, yawErrorI = 0, 0, 0, 0 - xErrorD, yErrorD, zErrorD, yawErrorD = 0, 0, 0, 0 - xError_old, yError_old, zError_old, yawError_old = 0, 0, 0, 0 - - Err = [xError, yError, zError, yawError] - ErrI = [xErrorI, yErrorI, zErrorI, yawErrorI] - path = [] - # fig = plt.figure() - # ax = fig.add_subplot(1,1,1, projection="3d") - - drone.disarm() - time.sleep(5) - drone.arm() - time.sleep(5) - drone.steer("up",350) - time.sleep(2) - - # drone.proc.close() - print("takeoff") - - timer=0 - roll_command, pitch_command, throttle_command, yawCommand = 0, 0, 0, 0 - drone.set_steer([roll_command, pitch_command, throttle_command, yawCommand]) - - - start = time.time() - while True: - - try: - pose = None - now = time.time() - delay = now-start - - if (conn.poll()): - pose = conn.recv() - print(f"\n{delay}--Frequency checker(receiving) , received pose {pose}-") - - if pose is None: - - now_time = time.time() - timeout_limit = now_time - start - - # if timer>=1000: - if timeout_limit > 5 : - print("Aruco not detected ,landing") - drone.land() - break - - print(f"\ntimer :{timer}") - - - if pose is not None: - start = time.time() - - print(f"Pose is {pose}") - path.append(pose) - timer = 0 - - roll_command, pitch_command, throttle_command, yawCommand, Err, ErrI = pid(pose, [xTarget, yTarget, heightTarget], Err, ErrI) - - if np.sqrt((xTarget-pose[0])**2+(yTarget-pose[1])**2) Date: Sun, 22 Jan 2023 18:41:59 +0530 Subject: [PATCH 15/82] remove unnecessary files --- Drone Swarm/{PlutoX => pypluto}/__init__.py | 0 Drone Swarm/{PlutoX => pypluto}/drone.py | 1 - 2 files changed, 1 deletion(-) rename Drone Swarm/{PlutoX => pypluto}/__init__.py (100%) rename Drone Swarm/{PlutoX => pypluto}/drone.py (96%) diff --git a/Drone Swarm/PlutoX/__init__.py b/Drone Swarm/pypluto/__init__.py similarity index 100% rename from Drone Swarm/PlutoX/__init__.py rename to Drone Swarm/pypluto/__init__.py diff --git a/Drone Swarm/PlutoX/drone.py b/Drone Swarm/pypluto/drone.py similarity index 96% rename from Drone Swarm/PlutoX/drone.py rename to Drone Swarm/pypluto/drone.py index b3f559f..2c2b762 100644 --- a/Drone Swarm/PlutoX/drone.py +++ b/Drone Swarm/pypluto/drone.py @@ -1,4 +1,3 @@ - import socket import time import math From e28a06cfa9ce85df4465e199bc0609dc2f4d02a2 Mon Sep 17 00:00:00 2001 From: Rohan Jha <95472555+rohanjha04@users.noreply.github.com> Date: Sun, 22 Jan 2023 18:57:01 +0530 Subject: [PATCH 16/82] Update requirements.txt --- requirements.txt | 1 + 1 file changed, 1 insertion(+) diff --git a/requirements.txt b/requirements.txt index 72e3a0e..1c6fb37 100644 --- a/requirements.txt +++ b/requirements.txt @@ -1,3 +1,4 @@ +python==3.7 or higher numpy==1.17.4 opencv_contrib_python==4.6.0.66 setuptools==45.2.0 From b3dae2a9290385af81493adbf106c3cf3fb542f0 Mon Sep 17 00:00:00 2001 From: Sairaj Loke <104747561+SairajLoke@users.noreply.github.com> Date: Sun, 22 Jan 2023 20:30:09 +0530 Subject: [PATCH 17/82] Create setup.py --- setup.py | 16 ++++++++++++++++ 1 file changed, 16 insertions(+) create mode 100644 setup.py diff --git a/setup.py b/setup.py new file mode 100644 index 0000000..67fcb0a --- /dev/null +++ b/setup.py @@ -0,0 +1,16 @@ +from setuptools import setup + +setup( + name='pypluto', + version='0.0.1', + packages=['pypluto'], + url='https://github.com/DaemonLab/Drone-Swarm', + license='Open Source', + description='This API to connect Pluto Drone', + install_requires= [ + 'python>=3.7', + 'numpy==1.17.4', + 'opencv_contrib_python==4.6.0.66', + 'setuptools==45.2.0' + ] +) From e1ccc7cfb25b2519bec2592deee026830844839d Mon Sep 17 00:00:00 2001 From: Sairaj Loke <104747561+SairajLoke@users.noreply.github.com> Date: Sun, 22 Jan 2023 20:33:55 +0530 Subject: [PATCH 18/82] Rename setup.py to Drone Swarm/setup.py --- setup.py => Drone Swarm/setup.py | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename setup.py => Drone Swarm/setup.py (100%) diff --git a/setup.py b/Drone Swarm/setup.py similarity index 100% rename from setup.py rename to Drone Swarm/setup.py From f7b0b0999c73a5b1eaca8a69be0a5e0a9022b8be Mon Sep 17 00:00:00 2001 From: Rohan Jha <95472555+rohanjha04@users.noreply.github.com> Date: Sun, 22 Jan 2023 20:52:50 +0530 Subject: [PATCH 19/82] Update requirements.txt --- requirements.txt | 1 - 1 file changed, 1 deletion(-) diff --git a/requirements.txt b/requirements.txt index 1c6fb37..72e3a0e 100644 --- a/requirements.txt +++ b/requirements.txt @@ -1,4 +1,3 @@ -python==3.7 or higher numpy==1.17.4 opencv_contrib_python==4.6.0.66 setuptools==45.2.0 From bff215eb5e13d81219e3f1eb0b69ac95dd12116b Mon Sep 17 00:00:00 2001 From: rohanjha04 Date: Sun, 22 Jan 2023 21:18:28 +0530 Subject: [PATCH 20/82] Adds comments and wrapping --- Drone Swarm/.DS_Store | Bin 0 -> 6148 bytes Drone Swarm/main.py | 8 +- Drone Swarm/pypluto/drone.py | 130 +++++++++++++++++++++++++++++---- Drone Swarm/pypluto/enforce.py | 58 +++++++++++++++ Drone Swarm/setup.py | 16 ---- 5 files changed, 178 insertions(+), 34 deletions(-) create mode 100644 Drone Swarm/.DS_Store create mode 100644 Drone Swarm/pypluto/enforce.py delete mode 100644 Drone Swarm/setup.py diff --git a/Drone Swarm/.DS_Store b/Drone Swarm/.DS_Store new file mode 100644 index 0000000000000000000000000000000000000000..1d45cadc7c4a8f2e650dd7a7e6dc72dfde73cf40 GIT binary patch literal 6148 zcmeHKO-sW-5S?wSO({YT3Oz1(En2OJ;w9F4@M=U4DmAf1gE3p$)FP#jv;G*b{u2L= z&g^c*TJ@+!W?=Ts?!HN~Z^M27fT;IdYXBtxaL@@e1uVWW>L;JFjBUvw3jK@~=)nC! zq%MPKip>qPr~u7f9&W*h5MuZ+e=5Kp`Ym?RS6;PYL~NX6^a%QpfHJfF&VKrt9SnM% zAkysTpc93?q*{FunQU%uKJVn6qI2$DtAUsJNxxV3yQfq;QYs3@u^$|V?Lo7&xToU8 z594-MCxopwQqE4oxTOYl)sI^}o$Hwnr{ENtrSfpNv01Cg+S=BrB8S`S)r#DxZH`6- zXK8tL=dgJb-Nx!cj}ip_(b^U)j^Po5Pa52L-8fS5750p?#%xAbfE8c`W>EpVRyoC4 z{5bw5R)7`wQw3;!km!W2#nhl)IKQh|L=c)|DR0a8Y{pG z{3``SuHiN6I3&BbP7RLsT8VyvPDZ@c;Cl)NdMidQZN+7DZP+d;Ky)pp2C)T=4+2^S KE?9wIRp1Se&1NzH literal 0 HcmV?d00001 diff --git a/Drone Swarm/main.py b/Drone Swarm/main.py index cae72ef..28e25c5 100644 --- a/Drone Swarm/main.py +++ b/Drone Swarm/main.py @@ -1,8 +1,12 @@ from PlutoX import pluto import time +#A sample program to test the drone API drone=pluto() -drone.connect() -drone.keyboard_control(True) +drone.connect() +# drone.arm() +# time.sleep(2) +# drone.disarm() +drone.keyboard_control() diff --git a/Drone Swarm/pypluto/drone.py b/Drone Swarm/pypluto/drone.py index 2c2b762..843b3f7 100644 --- a/Drone Swarm/pypluto/drone.py +++ b/Drone Swarm/pypluto/drone.py @@ -1,8 +1,10 @@ -import socket + +import socket #To form the connection between the drone and the laptop import time import math import sys from select import select +from .enforce import enforce_types #To wrap the pluto class if sys.platform == 'win32': import msvcrt else: @@ -20,13 +22,14 @@ MSP_SET_RAW_RC=200 # 8 rc channel MSP_SET_COMMAND=217 # setting commands RETRY_COUNT=3 # no of retries before getting required data +@enforce_types class pluto: - def __init__(self, DroneIP="192.168.4.1", DronePort=23): + def __init__(self, DroneIP="192.168.4.1", DronePort=23): #default pluto settings self.DRONEIP = DroneIP self.DRONEPORT = DronePort self.BUFFER_SIZE = 4096 - + #Initailizing the values self.roll=1500 self.pitch=1500 self.throttle=1500 @@ -37,32 +40,38 @@ def __init__(self, DroneIP="192.168.4.1", DronePort=23): self.aux4=1200 self.buffer_rc=bytearray([]) # rc data that has to be sent continuously - self.trim(0,0,0,0) + self.trim(0,0,0,0) #To stabalize the drone. Initally the trim values are set to 0 and can be changed according to the drift of the drone def connect(self): + ''' + Function to form the connection with thr drone + ''' try: self.mySocket = socket.socket(socket.AF_INET, socket.SOCK_STREAM) self.mySocket.connect((self.DRONEIP, self.DRONEPORT)) - # self.mySocket_1 = socket.socket(socket.AF_INET, socket.SOCK_STREAM) - # self.mySocket_1.connect((self.DRONEIP, self.DRONEPORT)) print("pluto connected") except: print("Cannot connect to pluto, please try again...") def disconnect(self): + ''' + Function to close the connection + ''' self.mySocket.close() print("pluto disconnected") def trim(self,Roll,Pitch,Throttle,Yaw): - + ''' + Function to set the trim values to make the drone stable + ''' Roll=max(-100,min(Roll,100)) Pitch=max(-100,min(Pitch,100)) Throttle=max(-100,min(Throttle,100)) Yaw=max(-100,min(Yaw,100)) - + #Update the values self.roll=1500 + Roll self.pitch=1500 + Pitch self.throttle=1500 + Throttle @@ -72,6 +81,9 @@ def trim(self,Roll,Pitch,Throttle,Yaw): def create_sendMSPpacket(self, msg_type, msg): + ''' + Function to compose and send message packets to the drone + ''' self.buffer=bytearray([]) # data to be sent headerArray=bytearray([36,77,60]) # header array "$","M","<" self.buffer.extend(headerArray) @@ -99,13 +111,19 @@ def create_sendMSPpacket(self, msg_type, msg): - def arm(self): + def arm(self): + ''' + Function to arm the drone + ''' self.rc[2]=1000 self.rc[-1]=1500 self.create_sendMSPpacket(MSP_SET_RAW_RC,self.rc) time.sleep(1) def disarm(self): + ''' + Function to disarm the drone + ''' self.rc[2]=1300 self.rc[-1]=1200 self.create_sendMSPpacket(MSP_SET_RAW_RC,self.rc) @@ -114,6 +132,9 @@ def disarm(self): def box_arm(self): + ''' + Function called before takeoff, user does not directly use it + ''' self.rc[2]=1500 self.rc[-1]=1500 self.create_sendMSPpacket(MSP_SET_RAW_RC,self.rc) @@ -121,10 +142,13 @@ def box_arm(self): def clamp_rc(self,x:int): + #Not called by the user return max(1000, min(2000,x)) - def roll_speed(self,value,duration=0): - + def roll_speed(self,value,duration=0): + ''' + Function to set the roll (x-axis movement) to the drone + ''' no_of_loops=10*duration self.rc[0]=self.clamp_rc(self.roll + value) @@ -137,7 +161,10 @@ def roll_speed(self,value,duration=0): - def pitch_speed(self,value,duration=0): + def pitch_speed(self,value,duration=0): + ''' + Function to set the pitch (y-axis movement) to the drone + ''' no_of_loops=10*duration self.rc[1]=self.clamp_rc(self.pitch + value) @@ -151,6 +178,9 @@ def pitch_speed(self,value,duration=0): def throttle_speed(self,value,duration=0): + ''' + Function to set the throttle (z-axis movement) to the drone + ''' no_of_loops=10*duration self.rc[2]=self.clamp_rc(self.throttle + value) @@ -162,7 +192,10 @@ def throttle_speed(self,value,duration=0): self.create_sendMSPpacket(MSP_SET_RAW_RC,self.rc) - def yaw_speed(self,value,duration=0): + def yaw_speed(self,value,duration=0): + ''' + Function to set the yaw (rotation about z-axis) to the drone + ''' no_of_loops=10*duration self.rc[3]=self.clamp_rc(self.yaw + value) @@ -174,11 +207,17 @@ def yaw_speed(self,value,duration=0): self.create_sendMSPpacket(MSP_SET_RAW_RC,self.rc) def reset_speed(self): + ''' + Function to reset the roll, pitch, throttle, yaw values for the drone + ''' self.rc[:4]=[self.roll,self.pitch,self.throttle,self.yaw] self.create_sendMSPpacket(MSP_SET_RAW_RC,self.rc) def takeoff(self): + ''' + Function to takeoff the drone + ''' self.box_arm() cmd=[1] self.create_sendMSPpacket(MSP_SET_COMMAND,cmd) @@ -186,6 +225,9 @@ def takeoff(self): def land(self): + ''' + Function to land the drone + ''' cmd=[2] self.create_sendMSPpacket(MSP_SET_COMMAND,cmd) self.throttle_speed(0,5) @@ -193,6 +235,9 @@ def land(self): def flip(self): + ''' + Function for backflip + ''' cmd=[3] self.create_sendMSPpacket(MSP_SET_COMMAND,cmd) self.throttle_speed(0,3) @@ -200,6 +245,10 @@ def flip(self): def read16(self,arr): + ''' + Function to unpack the byte array to extract the values + Will not be used by the user directly + ''' if((arr[1]&0x80) ==0): return ((arr[1] << 8) + (arr[0]&0xff)) # for positive values else: @@ -209,6 +258,9 @@ def read16(self,arr): ################################################## MSP_ALTITUDE ############################################################# def get_height(self): + ''' + Function to return the value of height from the sensors of the drone + ''' data=[] self.create_sendMSPpacket(MSP_ALTITUDE,data) for i in range(RETRY_COUNT): @@ -221,6 +273,9 @@ def get_height(self): def get_vario(self): + ''' + Function to return the value of rate of change of altitude from the sensors of the drone + ''' data=[] self.create_sendMSPpacket(MSP_ALTITUDE,data) for i in range(RETRY_COUNT): @@ -241,6 +296,9 @@ def get_vario(self): ###################################################### MSP_ATTITUDE ######################################################### def get_roll(self): + ''' + Function to return the value of roll from the drone + ''' data=[] self.create_sendMSPpacket(MSP_ATTITUDE,data) for i in range(RETRY_COUNT): @@ -253,6 +311,9 @@ def get_roll(self): def get_pitch(self): + ''' + Function to return the value of pitch from the drone + ''' data=[] self.create_sendMSPpacket(MSP_ATTITUDE,data) for i in range(RETRY_COUNT): @@ -264,6 +325,9 @@ def get_pitch(self): return self.read16(data[i+3:i+5])/10 def get_yaw(self): + ''' + Function to return the value of yaw from the drone + ''' data=[] self.create_sendMSPpacket(MSP_ATTITUDE,data) for i in range(RETRY_COUNT): @@ -278,6 +342,9 @@ def get_yaw(self): ###################################################### MSP_RAW_IMU ########################################################## def get_acc_x(self): + ''' + Function to return the value of accelerometer(x-axis) from the drone + ''' data=[] self.create_sendMSPpacket(MSP_RAW_IMU,data) for i in range(RETRY_COUNT): @@ -289,6 +356,9 @@ def get_acc_x(self): return self.read16(data[i+1:i+3]) def get_acc_y(self): + ''' + Function to return the value of accelerometer(y-axis) from the drone + ''' data=[] self.create_sendMSPpacket(MSP_RAW_IMU,data) for i in range(RETRY_COUNT): @@ -301,6 +371,9 @@ def get_acc_y(self): def get_acc_z(self): + ''' + Function to return the value of accelerometer(z-axis) from the drone + ''' data=[] self.create_sendMSPpacket(MSP_RAW_IMU,data) for i in range(RETRY_COUNT): @@ -313,6 +386,9 @@ def get_acc_z(self): def get_gyro_x(self): + ''' + Function to return the value of gyrometer(x-axis) from the drone + ''' data=[] self.create_sendMSPpacket(MSP_RAW_IMU,data) for i in range(RETRY_COUNT): @@ -325,6 +401,9 @@ def get_gyro_x(self): def get_gyro_y(self): + ''' + Function to return the value of gyrometer(y-axis) from the drone + ''' data=[] self.create_sendMSPpacket(MSP_RAW_IMU,data) for i in range(RETRY_COUNT): @@ -336,6 +415,9 @@ def get_gyro_y(self): return self.read16(data[i+9:i+11]) def get_gyro_z(self): + ''' + Function to return the value of gyrometer(z-axis) from the drone + ''' data=[] self.create_sendMSPpacket(MSP_RAW_IMU,data) for i in range(RETRY_COUNT): @@ -348,6 +430,9 @@ def get_gyro_z(self): def get_mag_x(self): + ''' + Function to return the value of magnetometer(x-axis) from the drone + ''' data=[] self.create_sendMSPpacket(MSP_RAW_IMU,data) for i in range(RETRY_COUNT): @@ -360,6 +445,9 @@ def get_mag_x(self): def get_mag_y(self): + ''' + Function to return the value of magnetometer(y-axis) from the drone + ''' data=[] self.create_sendMSPpacket(MSP_RAW_IMU,data) for i in range(RETRY_COUNT): @@ -371,6 +459,9 @@ def get_mag_y(self): return self.read16(data[i+15:i+17]) def get_mag_z(self): + ''' + Function to return the value of magnetometer(z-axis) from the drone + ''' data=[] self.create_sendMSPpacket(MSP_RAW_IMU,data) for i in range(RETRY_COUNT): @@ -385,6 +476,9 @@ def get_mag_z(self): ###################################################### MSP_ANALOG ############################################################### def get_battery(self): + ''' + Function to return the value of battery in volts from the drone + ''' data=[] self.create_sendMSPpacket(MSP_ANALOG,data) for i in range(RETRY_COUNT): @@ -396,7 +490,7 @@ def get_battery(self): return data[i+1]/10 - + '''Function to send and recieve data packets''' def sendPacket(self,buff): self.mySocket.send(buff) @@ -486,6 +580,9 @@ def indentify_key(self,key_value): elif key_value == 140: self.land() + + elif key_value == 100: + self.flip() elif key_value == 150: self.yaw_speed(-300) # yaw left @@ -519,7 +616,7 @@ def keyboard_control(self,stat=False): self.disarm() self.armed = False - """ + msg=""" Control Your Drone! --------------------------- spacebar : arm or disarm @@ -535,6 +632,7 @@ def keyboard_control(self,stat=False): Right arrow : go right CTRL+C to quit """ + print(msg) self.keyboard_controls={ #dictionary containing the key pressed abd value associated with it '[A': 10, # up arrow fwd pitch '[D': 30, # left arrow left roll @@ -544,7 +642,7 @@ def keyboard_control(self,stat=False): ' ': 70, # arm disarm 'r':80, # reset 't':90, # autopilot - 'p':100, + 'p':100, #backflip '[B':110, # down arrow bkwd pitch 'n':120, 'q':130, # take off diff --git a/Drone Swarm/pypluto/enforce.py b/Drone Swarm/pypluto/enforce.py new file mode 100644 index 0000000..b1fd074 --- /dev/null +++ b/Drone Swarm/pypluto/enforce.py @@ -0,0 +1,58 @@ +import inspect +import typing +from contextlib import suppress +from functools import wraps + +# This is a file to wrap the pluto class made in drone.py. +def _is_unparameterized_special_typing(type_hint): + # Check for typing.Any, typing.Union, typing.ClassVar (without parameters) + #This is because __origin__ does not work for any typing._SpecialForm + if hasattr(typing, "_SpecialForm"): + return isinstance(type_hint, typing._SpecialForm) + elif hasattr(type_hint, "__origin__"): + return type_hint.__origin__ is None + else: + return False + + +def enforce_types(target): + #Class decorator adding type checks to all member functions + # type_check-> wrap + def check_types(spec, *args, **kwargs): + parameters = dict(zip(spec.args, args)) + parameters.update(kwargs) + for name, value in parameters.items(): + with suppress(KeyError): # Assume un-annotated parameters can be any type + type_hint = spec.annotations[name] + if _is_unparameterized_special_typing(type_hint): + continue + + if hasattr(type_hint, "__origin__") and type_hint.__origin__ is not None: + actual_type = type_hint.__origin__ + elif hasattr(type_hint, "__args__") and type_hint.__args__ is not None: + actual_type = type_hint.__args__ + else: + actual_type = type_hint + + if not isinstance(value, actual_type): + raise TypeError("Unexpected type for '{}' (expected {} but found {})" + .format(name, type_hint, type(value))) + + def decorate(func): + spec = inspect.getfullargspec(func) + + @wraps(func) #wrapping done + def wrapper(*args, **kwargs): + check_types(spec, *args, **kwargs) + return func(*args, **kwargs) + + return wrapper + + if inspect.isclass(target): + members = inspect.getmembers(target, predicate=inspect.isfunction) + for name, func in members: + setattr(target, name, decorate(func)) + + return target + else: + return decorate(target) \ No newline at end of file diff --git a/Drone Swarm/setup.py b/Drone Swarm/setup.py deleted file mode 100644 index 67fcb0a..0000000 --- a/Drone Swarm/setup.py +++ /dev/null @@ -1,16 +0,0 @@ -from setuptools import setup - -setup( - name='pypluto', - version='0.0.1', - packages=['pypluto'], - url='https://github.com/DaemonLab/Drone-Swarm', - license='Open Source', - description='This API to connect Pluto Drone', - install_requires= [ - 'python>=3.7', - 'numpy==1.17.4', - 'opencv_contrib_python==4.6.0.66', - 'setuptools==45.2.0' - ] -) From ee7828489481af906db72f04732d73a93e723813 Mon Sep 17 00:00:00 2001 From: KshitijBhat Date: Sun, 22 Jan 2023 22:12:09 +0530 Subject: [PATCH 21/82] restructure and add files for PID --- Drone-Swarm/kill.py | 9 + {Drone Swarm => Drone-Swarm}/main.py | 2 +- Drone-Swarm/master.py | 40 +++ .../pypluto/Camera/CAM_CONFIGS_lenovo.py | 31 ++ Drone-Swarm/pypluto/Camera/marker.py | 265 ++++++++++++++++++ Drone-Swarm/pypluto/Control/PIDmain.py | 234 ++++++++++++++++ .../pypluto/__init__.py | 0 {Drone Swarm => Drone-Swarm}/pypluto/drone.py | 0 8 files changed, 580 insertions(+), 1 deletion(-) create mode 100644 Drone-Swarm/kill.py rename {Drone Swarm => Drone-Swarm}/main.py (67%) create mode 100644 Drone-Swarm/master.py create mode 100644 Drone-Swarm/pypluto/Camera/CAM_CONFIGS_lenovo.py create mode 100644 Drone-Swarm/pypluto/Camera/marker.py create mode 100644 Drone-Swarm/pypluto/Control/PIDmain.py rename {Drone Swarm => Drone-Swarm}/pypluto/__init__.py (100%) rename {Drone Swarm => Drone-Swarm}/pypluto/drone.py (100%) diff --git a/Drone-Swarm/kill.py b/Drone-Swarm/kill.py new file mode 100644 index 0000000..24a4b7f --- /dev/null +++ b/Drone-Swarm/kill.py @@ -0,0 +1,9 @@ + + +from PlutoX.drone import pluto +import time + +if __name__ == '__main__': + client =pluto() + client.disarm() + time.sleep(5) diff --git a/Drone Swarm/main.py b/Drone-Swarm/main.py similarity index 67% rename from Drone Swarm/main.py rename to Drone-Swarm/main.py index cae72ef..a9a67b3 100644 --- a/Drone Swarm/main.py +++ b/Drone-Swarm/main.py @@ -1,4 +1,4 @@ -from PlutoX import pluto +from pypluto import pluto import time drone=pluto() drone.connect() diff --git a/Drone-Swarm/master.py b/Drone-Swarm/master.py new file mode 100644 index 0000000..d12136c --- /dev/null +++ b/Drone-Swarm/master.py @@ -0,0 +1,40 @@ +import matplotlib +import multiprocessing +from multiprocessing import Pipe +import time +from pypluto.Control.PIDmain import receiver_at_drone1 +from pypluto.Camera.marker import markerMainSender + + +# builds necessary connections of drone(1,2,...) & the camera file +def build_conn(): + + + #creates connection btw marker1 file and drone1 + connCam,connDrone1 = Pipe(duplex = True) + + + p1 = multiprocessing.Process(target=markerMainSender, args=( [connCam])) + p2 = multiprocessing.Process(target=receiver_at_drone1, args=([connDrone1])) + + + + #first detect pose , then takeoff + p1.start() + print('\n-------Starting process Camera-------') + time.sleep(2) + + print("\n-----Starting Drone1--------") + p2.start() + + + p1.join() + p2.join() + + + +if __name__ == "__main__": + + + build_conn() #starts camera file and drone1 file , also builds connection btw the two + diff --git a/Drone-Swarm/pypluto/Camera/CAM_CONFIGS_lenovo.py b/Drone-Swarm/pypluto/Camera/CAM_CONFIGS_lenovo.py new file mode 100644 index 0000000..d509ea1 --- /dev/null +++ b/Drone-Swarm/pypluto/Camera/CAM_CONFIGS_lenovo.py @@ -0,0 +1,31 @@ +import numpy as np + +CAMERA_HEIGHT = 1.8 #m + +#matrix_coefficients - Intrinsic matrix of the calibrated camera +MATRIX_COEFFICIENTS = np.array([ + [ + 289.1084845919912, + 0.0, + 309.4435568215443 + ], + [ + 0.0, + 293.8920476148095, + 242.59815032382136 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ]) + +#distortion_coefficients - Distortion coefficients associated with our camera +DISTORTION_COEFFICIENTS = np.array([ + -0.2868759826260511, + 0.20730330782367065, + 0.016643787447130097, + -0.02460910630108414, + -0.06969337867772066 + ]) \ No newline at end of file diff --git a/Drone-Swarm/pypluto/Camera/marker.py b/Drone-Swarm/pypluto/Camera/marker.py new file mode 100644 index 0000000..f1fda99 --- /dev/null +++ b/Drone-Swarm/pypluto/Camera/marker.py @@ -0,0 +1,265 @@ +import cv2 +import numpy as np +import math +import time +# from + +CAMERA_HEIGHT = 1.9 # + +Aruco_ref_dist = 2.2 # may be same as camera ht if we use it that way +Aruco_ht_pixels_grnd =0 #ht in pixels when aruco on ground( reference dist) +Aruco_width_pixels_grnd = 18 #wdth in pixels when aruco on ground( reference dist) +Aruco_len_pixels_grnd = 18 + +#new +#matrix_coefficients - Intrinsic matrix of the calibrated camera +# MATRIX_COEFFICIENTS = np.array([[ +# 464.8192469875138, +# 0.0, +# 330.94525650909304 +# ], +# [ +# 0.0, +# 468.11321340402986, +# 219.95374647133153 +# ], +# [ +# 0.0, +# 0.0, +# 1.0 +# ]]) + +# # #distortion_coefficients - Distortion coefficients associated with our camera +# DISTORTION_COEFFICIENTS = np.array([ +# -0.033875901439185716, +# 0.029365508680956807, +# -0.0009132809734765359, +# 0.004165081566793737, +# -0.0191803679654891]) + + + +#old +#matrix_coefficients - Intrinsic matrix of the calibrated camera +MATRIX_COEFFICIENTS = np.array([[ + 1447.9804004365824, + 0.0, + 617.3063266183908 + ], + [ + 0.0, + 1448.4116664252433, + 289.02239681156016 + ], + [ + 0.0, + 0.0, + 1.0 + ]]) + +#distortion_coefficients - Distortion coefficients associated with our camera +DISTORTION_COEFFICIENTS = np.array([ + 0.0397515407032859, + 1.259291585298002, + -0.010631456171277863, + -0.00784841820297665, + -5.925444820936321 + ]) + +class Aruco: + + ARUCO_DICT = { + "DICT_4X4_50": cv2.aruco.DICT_4X4_50, + "DICT_4X4_100": cv2.aruco.DICT_4X4_100, + "DICT_4X4_250": cv2.aruco.DICT_4X4_250, + "DICT_4X4_1000": cv2.aruco.DICT_4X4_1000, + "DICT_5X5_50": cv2.aruco.DICT_5X5_50, + "DICT_5X5_100": cv2.aruco.DICT_5X5_100, + "DICT_5X5_250": cv2.aruco.DICT_5X5_250, + "DICT_5X5_1000": cv2.aruco.DICT_5X5_1000, + "DICT_6X6_50": cv2.aruco.DICT_6X6_50, + "DICT_6X6_100": cv2.aruco.DICT_6X6_100, + "DICT_6X6_250": cv2.aruco.DICT_6X6_250, + "DICT_6X6_1000": cv2.aruco.DICT_6X6_1000, + "DICT_7X7_50": cv2.aruco.DICT_7X7_50, + "DICT_7X7_100": cv2.aruco.DICT_7X7_100, + "DICT_7X7_250": cv2.aruco.DICT_7X7_250, + "DICT_7X7_1000": cv2.aruco. DICT_7X7_1000, + "DICT_ARUCO_ORIGINAL": cv2.aruco.DICT_ARUCO_ORIGINAL, + "DICT_APRILTAG_16h5": cv2.aruco.DICT_APRILTAG_16h5, + "DICT_APRILTAG_25h9": cv2.aruco.DICT_APRILTAG_25h9, + "DICT_APRILTAG_36h10": cv2.aruco.DICT_APRILTAG_36h10, + "DICT_APRILTAG_36h11": cv2.aruco.DICT_APRILTAG_36h11 + } + + def __init__(self, arucoType): + self.arucoType = arucoType + self.arucoDict = cv2.aruco.Dictionary_get(self.ARUCO_DICT[self.arucoType]) + self.arucoParams = cv2.aruco.DetectorParameters_create() + + def detectMarkers(self,img): + #don't we need to use a gray img here? remember to change inputs to gray_img + #gray_img = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY) + return cv2.aruco.detectMarkers(img, self.arucoDict, parameters=self.arucoParams) + #cornersm, ids, prejected_img_points + + def get_pose(self, corners, ids, image, desiredVec, display=True): + + is_detected = False + pose = None + # print(f"corners, {corners} IDs: {ids}") + + if len(corners) > 0: + print("detected") + + for (markerCorner, markerID) in zip(corners, ids): + # try: + rvec, tvec, markerPoints = cv2.aruco.estimatePoseSingleMarkers(np.array(corners[0]), 0.02, cameraMatrix=MATRIX_COEFFICIENTS, distCoeffs=DISTORTION_COEFFICIENTS) + # except cv2.error: + # print("Pose Est error") + # return pose, is_detected, image + + corners = markerCorner.reshape((4, 2)) + (topLeft, topRight, bottomRight, bottomLeft) = corners + + topRight = np.array([int(topRight[0]), int(topRight[1])]) + bottomRight = np.array([int(bottomRight[0]), int(bottomRight[1])]) + bottomLeft = np.array([int(bottomLeft[0]), int(bottomLeft[1])]) + topLeft = np.array([int(topLeft[0]), int(topLeft[1])]) + + #-----------------------------------for drone ht calc + + deltax1 = topRight[0]- bottomRight[0] + deltay1 = topRight[1]- bottomRight[1] + len1 = np.sqrt( np.power(deltax1,2) + np.power(deltay1,2) ) + dist_l1 = Aruco_ref_dist*(1-(Aruco_len_pixels_grnd/ len1)) + dist_l1 = round(dist_l1 , 3) + + deltax2 = topLeft[0]- bottomLeft[0] + deltay2 = topLeft[1]- bottomLeft[1] + len2 = np.sqrt( np.power(deltax2,2) + np.power(deltay2,2) ) + dist_l2 = Aruco_ref_dist*(1-(Aruco_len_pixels_grnd/ len2)) + dist_l2 = round(dist_l2 , 3) + + + deltax3 = topRight[0]- topLeft[0] + deltay3 = topRight[1]- topLeft[1] + width1 = np.sqrt( np.power(deltax3,2) + np.power(deltay3,2) ) + dist_w1 = Aruco_ref_dist*(1-(Aruco_width_pixels_grnd/ width1)) + dist_w1 = round(dist_w1 , 3) + + deltax4 = bottomRight[0]- bottomLeft[0] + deltay4 = bottomRight[1]- bottomLeft[1] + width2 = np.sqrt( np.power(deltax4,2) + np.power(deltay4,2) ) + dist_w2 = Aruco_ref_dist*(1-(Aruco_width_pixels_grnd/ width2)) + dist_w2 = round(dist_w2 , 3) + + + distmax = round( max( max(dist_l1 , dist_l2 ) , max( dist_w1 , dist_w2) ) ,3 ) + + + #------------------------------------ + + + cX, cY = (topLeft + bottomRight)//2 + hX, hY = (topLeft + topRight)//2 + tX, tY = hX-cX, hY-cY + yaw = np.arctan2(tY, tX) + # yaw = np.rad2deg(yaw) + + + drone_height = CAMERA_HEIGHT - tvec[0,0,2] + + pose = np.array([cX,cY, drone_height,yaw]) + is_detected = True + if display: + cv2.line(image, topLeft, topRight, (0, 255, 0), 2) + cv2.line(image, topRight, bottomRight, (0, 255, 0), 2) + cv2.line(image, bottomRight, bottomLeft, (0, 255, 0), 2) + cv2.line(image, bottomLeft, topLeft, (0, 255, 0), 2) + + + cv2.circle(image, (cX, cY), 4, (0, 0, 255), -1) + + cv2.arrowedLine(image, (cX,cY), (hX,hY),(0, 0, 255)) + + # cv2.putText(image , f"width1{round(width1,3)} ,width2{round(width2,3)} , len1{round(len1,3)} , len2{round(len2,3)}", + # (20, 200), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 0, 255), 2) + + cv2.putText(image , f"distmax:{distmax} ", + (20, 400), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (255, 255, 0), 2) + + # cv2.putText(image , f"Aruco Dist from Cam: w:{aruco_curr_width} l:{aruco_curr_len}", + # (topLeft[0]+400, topLeft[1] -50 ), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 0, 255), 2) + + + # cv2.putText(image , f"Aruco Dist from Cam: wdist:{dist_w} ldist:{dist_l} final:{dist_aruco}", + # (topLeft[0]+400, topLeft[1] -50 ), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 0, 255), 2) + # image = cv2.flip(image,1) + # cv2.putText(image, f"Drone ID: {markerID} Height: {drone_height} ", + # (topLeft[0]-20, topLeft[1] - 10), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0), 2) + # cv2.putText(image, f"Pose: {pose}", + # (topLeft[0]-400, topLeft[1] - 50), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0), 2) + # print("[Inference] ArUco marker ID: {}".format(markerID)) + + if display: + dX,dY = desiredVec + cv2.circle(image, (dX, dY), 7, (255, 0, 0), -1) + + + + return pose, is_detected, image, + + + +def markerMainSender(connCam): #connCam + + cameraID = 2 + target_array = [ + [914, 149], + [921, 422], + [365, 432], + [375, 162], + [914, 149] +] + target=0 + xTarget, yTarget = target_array[0] + cap = cv2.VideoCapture(cameraID) + start = time.time() + + cap.set(cv2.CAP_PROP_FRAME_WIDTH, 1280) + cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 720) + + aruco_obj = Aruco("DICT_4X4_50") + + prevdist = 0 + alpha = 0.1 + while cap.isOpened(): + + ret, image = cap.read() + + #Aruco Detection , pose Estimation Block + + corners, ids, rejected = aruco_obj.detectMarkers(image) + # detected_markers = (corners, ids, image, [550,192]) + pose, is_detected, detected_markers = aruco_obj.get_pose(corners, ids, image, [xTarget,yTarget], display=True) + cv2.imshow("Image", detected_markers) + if pose is not None: + if np.sqrt((xTarget-pose[0])**2+(yTarget-pose[1])**2)<100: + target += 1 + if target<5: + xTarget, yTarget = target_array[target] + + # print(f"\n{i}--From Marker - Pose: {pose}") + # connCam.send(pose) + + + key = cv2.waitKey(1) & 0xFF + if key == ord("q"): + break + + cv2.destroyAllWindows() + cap.release() + + +markerMainSender(connCam='') \ No newline at end of file diff --git a/Drone-Swarm/pypluto/Control/PIDmain.py b/Drone-Swarm/pypluto/Control/PIDmain.py new file mode 100644 index 0000000..77355ed --- /dev/null +++ b/Drone-Swarm/pypluto/Control/PIDmain.py @@ -0,0 +1,234 @@ +'''This file Receives pose values from marker.py ,& + computes the velocity commands for drone, sends them using drone.pyto='s plu''' + +from multiprocessing import Pipe +from pypluto.drone import pluto +import numpy as np +import time +import matplotlib.pyplot as plt + +#Target coords +target_array = [ + [914, 149], + [921, 422], + [365, 432], + [375, 162], + [914, 149] +] +xTarget, yTarget, heightTarget = target_array[0][0],target_array[0][1], 1.0 #pixel, pixel , height(m) +# 550,192 +#pid gains +KPx, KPy, KPz, KPyaw = 0.3, 0.1, 200 , 70 +KIx, KIy, KIz, KIyaw = 0, 0, 0, 0 +KDx, KDy, KDz, KDyaw = 5, 5, 0, 0 + + +#currently global , +#for telling drones final yaw orientation +YAW_TARGET = 1.5708 + + + +def pid(pose, target, Err, ErrI): + """ + PID Control Loop + """ + xError, yError, zError, yawError = Err + xErrorI, yErrorI, zErrorI, yawErrorI = ErrI + + xTarget, yTarget, heightTarget = target + + + + xError_old = xError + yError_old = yError + zError_old = zError + yawError_old = yawError + + x, y, z, yaw = pose + + xError = xTarget-x + yError = yTarget-y + zError = heightTarget-z + yawError = YAW_TARGET-yaw + + + xErrorI += xError + yErrorI += yError + zErrorI += zError + yawErrorI += yawError + + # compute derivative (variation) of errors (D) + xErrorD = xError-xError_old + yErrorD = yError-yError_old + zErrorD = zError-zError_old + yawErrorD = yawError-yawError_old + + # compute commands + xCommand = KPx*xError + KIx*xErrorI + KDx*xErrorD + yCommand = KPy*yError + KIy*yErrorI + KDy*yErrorD + zCommand = KPz*zError + KIz*zErrorI + KDz*zErrorD + + yawCommand = int( KPyaw*yawError + KIyaw*yawErrorI + KDyaw*yawErrorD) + pitch_command = int( np.cos(yaw)*xCommand + np.sin(yaw)*yCommand) + roll_command = int( -np.sin(yaw)*xCommand + np.cos(yaw)*yCommand ) + throttle_command = int(zCommand) + Err = [xError, yError, zError, yawError] + ErrI = [xErrorI, yErrorI, zErrorI, yawErrorI] + + return roll_command, pitch_command, throttle_command, yawCommand, Err, ErrI + + +def receiver_at_drone1(conn): + """ + Function to recieve data from pid file and + using drone_api velocity fns + we can send the cmd to drone from here + as soon as we recieve them + """ + global xTarget, yTarget, heightTarget + drone=pluto() + + # initialize PID controller + xError, yError, zError, yawError = 0, 0, 0, 0 + xErrorI, yErrorI, zErrorI, yawErrorI = 0, 0, 0, 0 + xErrorD, yErrorD, zErrorD, yawErrorD = 0, 0, 0, 0 + xError_old, yError_old, zError_old, yawError_old = 0, 0, 0, 0 + + Err = [xError, yError, zError, yawError] + ErrI = [xErrorI, yErrorI, zErrorI, yawErrorI] + path = [[0,0,0,0]] + print() + + #plotting work + # fig,ax = plt.subplots() + # fig2, ax2 = plt.subplots() + + # ax = fig.add_subplot(1,1,1, projection="3d") + + drone.connect() + drone.trim(0, 0, 0, 0) + drone.disarm() + drone.arm() + # drone.trim(5,18,0,0) #akshit drone + + # drone.trim(-15,-5,0,0) #iit ddrone.trim(-15,-10,0,0)rone + # drone.trim(-5,2,0,0) + + # drone.takeoff() + # drone.throttle_speed(0,1) + drone.throttle_speed(300,3) + print("takeoff") + + timer=0 + roll_command, pitch_command, throttle_command, yawCommand = 0, 0, 0, 0 + + start = time.time() + target = 0 + + roll_log = [] + pitch_log = [] + + + while True: + + + try: + pose = None + # now = time.time() + # delay = now-start + + if (conn.poll()): + pose = conn.recv() + # print(f"\n{delay}--Frequency checker(receiving) , received pose {pose}-") + + if pose is None: + + now_time = time.time() + timeout_limit = now_time - start + + roll_command, pitch_command, throttle_command, yawCommand = 0, 0, 0, 0 + + # if timer>=1000: + if timeout_limit > 5 : + print("Aruco not detected ,landing") + drone.land() + break + + print(f"\ntimer :{timeout_limit}") + + + if pose is not None: + # print(f"Pose is {pose}") + path.append(pose) + start = time.time() + + roll_command, pitch_command, throttle_command, yawCommand, Err, ErrI = pid(pose, [xTarget, yTarget, heightTarget], Err, ErrI) + + if np.sqrt((xTarget-pose[0])**2+(yTarget-pose[1])**2)<100: + print(f"Pose: {pose}") + print("Target Reached.") + target += 1 + if target==5: + print("Task Completed\nLanding") + break + xTarget, yTarget = target_array[target] + + + + # patht = np.array(path).T + # roll_log.append(roll_command) + # pitch_log.append(pitch_command) + # ax.plot(roll_log) + # ax.plot(pitch_log) + + # plt.pause(0.008) + + + # ax.plot(patht[0], patht[1], patht[2]) + # ax.set_zlabel("Z") + # ax.set_ylabel("Y") + # ax.set_xlabel("X") + #----------------------------- + #prev cmd if pose is none + if (roll_command>150): + roll_command=150 + if (pitch_command>150): + pitch_command=150 + + drone.throttle_speed(10) + drone.roll_speed(roll_command) + drone.pitch_speed(pitch_command) + drone.yaw_speed(yawCommand) + + '''----------------------------''' + '''Very impt time.sleep ''' + #( if removed , it will not let you sleep)''' + time.sleep(0.03) + '''this sleep adjusts the running of this files while loop, + so that the rate of receiving from marker files is almost matched + to that of this file sending commands to drone using api ''' + + '''check freq of - + 1) Frequency checker , received pose + 2) Frequency sending ''' + '''-----------------------------''' + #---------------------------------- + if not roll_command==0: + + print(f"\nFrequecy checker(sending) , rcmd: {roll_command}, pcmd: {pitch_command}, tcmd:{throttle_command}, yawcmd:{yawCommand}") + + plt.pause(0.01) + + # np.linalg.norm(np.array([xError, yError]))<10 and + # if np.linalg.norm(np.array([xError, yError]))<10: + except KeyboardInterrupt: + break + + + + drone.land() + drone.disarm() + # while conn.poll(): + # a = conn.recv() + # conn.close() diff --git a/Drone Swarm/pypluto/__init__.py b/Drone-Swarm/pypluto/__init__.py similarity index 100% rename from Drone Swarm/pypluto/__init__.py rename to Drone-Swarm/pypluto/__init__.py diff --git a/Drone Swarm/pypluto/drone.py b/Drone-Swarm/pypluto/drone.py similarity index 100% rename from Drone Swarm/pypluto/drone.py rename to Drone-Swarm/pypluto/drone.py From 8da75c5eaa4b587f8e5180e914c080d479294663 Mon Sep 17 00:00:00 2001 From: Sairaj Loke <104747561+SairajLoke@users.noreply.github.com> Date: Sun, 22 Jan 2023 22:26:52 +0530 Subject: [PATCH 22/82] Setup and links yet to be modified, --- README.md | 218 ++++++++++++++++++++++++++++++++++++++---------------- 1 file changed, 155 insertions(+), 63 deletions(-) diff --git a/README.md b/README.md index cda16e9..35be945 100644 --- a/README.md +++ b/README.md @@ -1,26 +1,90 @@ -
-[![Issues][issues-shield]][issues-url] +
# Drone Swarm Python API for controlling The Pluto 1.2 nano drone +#add a real gif/photo of our drone here + [![](https://img.shields.io/badge/License-GPLv3-blue.svg)]() +## Index + + + + 1.

Project Description

+ 2.

Repository Structure

+ 3.

Tech Stack

+ 4.

Getting Started ( Linux / Windows)

+ 5.

Usage

+ + a. Pre-Programmed Execution + b. Camera Feedback Execution + c. Keyboard Control + d. Manually stopping (killing) the drone + +6.

Demo

+ + + + +
+ +## 1. Project Description + +*Task 1*: +Develop a Python wrapper for India's one and only number-one-selling educational nano drone, The Pluto. + +*Task 2*: +Hovering a pluto drone on a particular height using ArUco Tag. +Set a web camera (which is not included in the kit) on the ceiling. +- A. Get a pose estimation of the drone using ArUco tag on the drone. +- B. Add PID to the script for controlling the droneC +- C. Hover the drone in one position. +- D. Move the drone in rectangular motion (1 x 2 meter) + +*Task 3*: +Pluto Swarming (A second drone will be provided - both the drones should fly +at the same time) +A. Generate one more ArUco tag and place it on the second drone. +B. Initially, Drone2 will be at position0, and drone1 will be at position1. Write +commands to move Drone1 from position1 to position2. When Drone1 reaches +position2, drone2 should follow drone1 and reach position1 automatically. +C. Same way, create a rectangle motion. (1 x 2 meter) +D. Record a video and make the final submission similarly as the previous one. + + +
-## Project Description +## 2.Repository Structure -*Task 1*: Develop a Python wrapper for India's one and only number-one-selling educational nano drone, The Pluto. -*Task 2*: Hovering a pluto drone on a particular height using ArUco Tag. Set a web camera (which is not included in the kit) on the ceiling. +| |Folder |Description | +|----------------|-------------------------------|-----------------------------| +|1. | Drone Swarm | Main Python package | +|2. |docs - functions.md | Explanation of Drone Functionalities| +| |docs - keyboard_control | Guide to use keyboard control| +| |docs - camera_control.md | Guide to use camera feedback to control drone| +|| -*Task 3*: Pluto Swarming (A second drone will be provided - both the drones should fly at the same time) +
-## Getting Started +## 3. Tech Stack + +- python>=3.7 +- numpy==1.17.4 +- opencv_contrib_python==4.6.0.66 +- setuptools==45.2.0 +- matplotlib==3.1.2 + + +
+ +## 4. Getting Started - Linux ### Prerequisites @@ -28,12 +92,54 @@ API for controlling The Pluto 1.2 nano drone The API is tested with the ```PrimusV4-Pluto_1_2-1.hex``` firmware installed on Pluto Drone. -If ```pip3``` is not installed, install it using the following command on **linux** +If ```pip3``` is not installed, install it using the following command in Terminal + ```shell $ sudo apt update $ sudo apt install python3-pip ``` -and for **Windows** + +##### Using a Python environment is recommended considering the dependencies +```shell +$ pip install virtualenv +``` +Now check your installation +``` +$ virtualenv --version +``` +Create a virtual environment now inside an appropriate folder, +this in for specific python version +``` +$ virtualenv -p /usr/bin/python3 Drone_Env +``` +After this command, a folder named **Drone_Env** will be created. + +Now at last we just need to activate it, using command +``` +$ source Drone_Env/bin/activate +``` +Now you are in a Drone's Python virtual environment + +#check below cmds + +``` +$ git clone https://github.com//Drone-Swarm.git #add appropriate +$ cd Drone-Swarm +$ python3 install setup.py +$ pip3 install -e . + +``` + +You can deactivate environment using +``` +$ deactivate +``` + + + +
+ +## Getting Started - **Windows** Download [get-pip.py](https://bootstrap.pypa.io/get-pip.py) using cmd prompt ``` curl https://bootstrap.pypa.io/get-pip.py -o get-pip.py @@ -46,75 +152,61 @@ Install the External Dependencies using the following command ``` pip install -r requirements.txt ``` +
+### 5. Usage -

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- -### Usage +#### a. Pre-Programmed Execution -Use the ```main.py``` template file for programming the drone movement.
-or refer to the following sample program. +Use the ```main.py``` template file for pre-programming the drone movement( without using any external camera) .
+ +Following is a sample program. +note: you might need to change the trim values depending on your drone. ```python -from pypluto.pluto import * +from pypluto import pluto if __name__ == '__main__': - client = Drone() - - client.disarm() - time.sleep(5) - - client.arm() - time.sleep(5) - - client.trim(50, -50, 0, 0) - client.steer("up",400) - time.sleep(4) - - client.land() - time.sleep(4) - - client.disarm() -``` - -For detailed explanation on use of various movement functions refer to [functions.md](https://github.com/DaemonLab/Drone-Swarm/blob/main/docs/functions.md)
- -User can also control the drone from keyboard by running the ```keyboard.py``` file in terminal / command prompt. Instructions for control via keyboard can be found in [keyboard_control.md](https://github.com/DaemonLab/Drone-Swarm/blob/main/docs/keyboard_control.md) - -### Manually stopping (killing) the drone + #initializing the drone + drone=pluto() + drone.connect() + drone.disarm() + + #drone plan execution + drone.trim(-2,2,0,0) + drone.takeoff() + drone.throttle_speed(0,3) + + #closing the execution + drone.land() + drone.disarm() -Sometimes, it may happen that the python program using the API may end without deactivating (landing and/or disarming) the drone, and the drone may stay on. In that case, one can run the ```kill.py``` script, which will send the required commands to properly deactivate the drone. +``` -## Roadmap +For detailed explanation of use of various movement functions, refer to [functions.md](https://github.com//Drone-Swarm/blob/main/docs/functions.md)
-### Finalized -- [x] Basic Control Commands -- [x] Sending commands continously with threading -- [x] Keyboard Control -- [x] ArUco Detection -- [x] Multiple Drones -- [ ] PID balancing with ArUco -- [ ] Take sensor data for height +#### b. Camera Feedback Execution +Instructions for controlling the drone using camera setup can be found here- +[camera_pid.md](https://github.com//Drone-Swarm/blob/main/docs/camera_pid.md) -
-### Ideas +#### c. Keyboard Control -- [ ] Modes and other flips -- [ ] Amphibian support +User can also control the drone from keyboard by running the ```keyboard.py``` file in terminal/command prompt. +Instructions for control via keyboard can be found in [keyboard_control.md](https://github.com//Drone-Swarm/blob/main/docs/keyboard_control.md) -

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-## Contact Us +### d. Manually stopping (killing) the drone -Members : +Sometimes, it may happen that the python program using the API may end without deactivating (landing and/or disarming) the drone, and the drone may stay on. In that case, one can run the ```kill.py``` script, which will send the required commands to properly deactivate the drone. + +
+ +## Demo + +Link to Drive : + +

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From bca95bf9dd5636fb7b301fb7cf4cb2e1d2799eb2 Mon Sep 17 00:00:00 2001 From: yeeshukant <79806119+Yeeshukant@users.noreply.github.com> Date: Mon, 23 Jan 2023 00:28:49 +0530 Subject: [PATCH 23/82] reset speed in keyboard control --- Drone-Swarm/pypluto/drone.py | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/Drone-Swarm/pypluto/drone.py b/Drone-Swarm/pypluto/drone.py index 843b3f7..80287a9 100644 --- a/Drone-Swarm/pypluto/drone.py +++ b/Drone-Swarm/pypluto/drone.py @@ -675,8 +675,7 @@ def keyboard_control(self,stat=False): self.indentify_key(self.keyboard_controls[key]) else: - if(self.armed): - self.reset_speed() + self.reset_speed() #print("Other key: ", key) if (key == '\x03'): #print("Ctrl+C detected") From e8200e45bb7bd7fbd96bfe04e062553d2477e80b Mon Sep 17 00:00:00 2001 From: KshitijBhat Date: Mon, 23 Jan 2023 18:47:26 +0530 Subject: [PATCH 24/82] pid chages --- Drone-Swarm/pypluto/Camera/marker.py | 2 +- Drone-Swarm/pypluto/Control/PIDmain.py | 17 +++++++++++------ 2 files changed, 12 insertions(+), 7 deletions(-) diff --git a/Drone-Swarm/pypluto/Camera/marker.py b/Drone-Swarm/pypluto/Camera/marker.py index f1fda99..699884e 100644 --- a/Drone-Swarm/pypluto/Camera/marker.py +++ b/Drone-Swarm/pypluto/Camera/marker.py @@ -110,7 +110,7 @@ def get_pose(self, corners, ids, image, desiredVec, display=True): # print(f"corners, {corners} IDs: {ids}") if len(corners) > 0: - print("detected") + # print("detected") for (markerCorner, markerID) in zip(corners, ids): # try: diff --git a/Drone-Swarm/pypluto/Control/PIDmain.py b/Drone-Swarm/pypluto/Control/PIDmain.py index 77355ed..c95d9b9 100644 --- a/Drone-Swarm/pypluto/Control/PIDmain.py +++ b/Drone-Swarm/pypluto/Control/PIDmain.py @@ -20,7 +20,7 @@ #pid gains KPx, KPy, KPz, KPyaw = 0.3, 0.1, 200 , 70 KIx, KIy, KIz, KIyaw = 0, 0, 0, 0 -KDx, KDy, KDz, KDyaw = 5, 5, 0, 0 +KDx, KDy, KDz, KDyaw = 3, 5, 0, 0 #currently global , @@ -165,6 +165,15 @@ def receiver_at_drone1(conn): roll_command, pitch_command, throttle_command, yawCommand, Err, ErrI = pid(pose, [xTarget, yTarget, heightTarget], Err, ErrI) + if (roll_command>100): + roll_command=100 + elif (roll_command<-100): + roll_command=-100 + if (pitch_command>100): + pitch_command=100 + elif (pitch_command<-100): + pitch_command=-100 + if np.sqrt((xTarget-pose[0])**2+(yTarget-pose[1])**2)<100: print(f"Pose: {pose}") print("Target Reached.") @@ -191,10 +200,6 @@ def receiver_at_drone1(conn): # ax.set_xlabel("X") #----------------------------- #prev cmd if pose is none - if (roll_command>150): - roll_command=150 - if (pitch_command>150): - pitch_command=150 drone.throttle_speed(10) drone.roll_speed(roll_command) @@ -204,7 +209,7 @@ def receiver_at_drone1(conn): '''----------------------------''' '''Very impt time.sleep ''' #( if removed , it will not let you sleep)''' - time.sleep(0.03) + time.sleep(0.04) '''this sleep adjusts the running of this files while loop, so that the rate of receiving from marker files is almost matched to that of this file sending commands to drone using api ''' From 0b51f404f1616bb30aa796781fb0738e34b5989d Mon Sep 17 00:00:00 2001 From: Kshitij M Bhat <85498394+KshitijBhat@users.noreply.github.com> Date: Mon, 23 Jan 2023 20:09:58 +0530 Subject: [PATCH 25/82] Create task2.md --- docs/task2.md | 16 ++++++++++++++++ 1 file changed, 16 insertions(+) create mode 100644 docs/task2.md diff --git a/docs/task2.md b/docs/task2.md new file mode 100644 index 0000000..5169b2d --- /dev/null +++ b/docs/task2.md @@ -0,0 +1,16 @@ +# Task 2 + +## Camera calibration +The camera used the task 2 is Lenovo 300 FHD Webcam with FHD 1080P 2.1 Megapixel CMOS Camera and an Ultra-Wide 95 Lens. + +## Pose Estimation +The pose of the drone is obtained from the Aruco marker attached on the drone. The cv2.aruco library, available in the opencv-contrib-python package, is used to detect the drone and its pose, specifically it's x-y coordinates in pixels, height in meters and yaw in radians. + + + +## PID control + + +## Running + +To run the PID control task, run ``master.py`` which will further start two parallel processes for pose estimation and PID control. From 6175aba0852aab77658cacb32cd1453c49541146 Mon Sep 17 00:00:00 2001 From: Kshitij M Bhat <85498394+KshitijBhat@users.noreply.github.com> Date: Mon, 23 Jan 2023 20:22:47 +0530 Subject: [PATCH 26/82] Update task2.md --- docs/task2.md | 2 ++ 1 file changed, 2 insertions(+) diff --git a/docs/task2.md b/docs/task2.md index 5169b2d..7435602 100644 --- a/docs/task2.md +++ b/docs/task2.md @@ -3,12 +3,14 @@ ## Camera calibration The camera used the task 2 is Lenovo 300 FHD Webcam with FHD 1080P 2.1 Megapixel CMOS Camera and an Ultra-Wide 95 Lens. + ## Pose Estimation The pose of the drone is obtained from the Aruco marker attached on the drone. The cv2.aruco library, available in the opencv-contrib-python package, is used to detect the drone and its pose, specifically it's x-y coordinates in pixels, height in meters and yaw in radians. ## PID control +![task2](https://user-images.githubusercontent.com/85498394/214069904-bb4d0453-a588-4788-a607-307372c79802.jpg) ## Running From 68ab99a1424bd31b75f313919d1e9ef8dd1457c0 Mon Sep 17 00:00:00 2001 From: Kshitij M Bhat <85498394+KshitijBhat@users.noreply.github.com> Date: Mon, 23 Jan 2023 20:27:32 +0530 Subject: [PATCH 27/82] Update task2.md --- docs/task2.md | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/docs/task2.md b/docs/task2.md index 7435602..6b44637 100644 --- a/docs/task2.md +++ b/docs/task2.md @@ -10,7 +10,10 @@ The pose of the drone is obtained from the Aruco marker attached on the drone. T ## PID control -![task2](https://user-images.githubusercontent.com/85498394/214069904-bb4d0453-a588-4788-a607-307372c79802.jpg) + +

+ Task 2 +

## Running From e0306ae021958c7b910e8d730ffc007fea4924bc Mon Sep 17 00:00:00 2001 From: yeeshukant <79806119+Yeeshukant@users.noreply.github.com> Date: Mon, 23 Jan 2023 22:15:33 +0530 Subject: [PATCH 28/82] Update keyboard_control.md --- docs/keyboard_control.md | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/docs/keyboard_control.md b/docs/keyboard_control.md index 2593ef3..7e063f7 100644 --- a/docs/keyboard_control.md +++ b/docs/keyboard_control.md @@ -1,5 +1,8 @@ ### Control Pluto Drone using keyboard
-Run the ```keyboard.py``` file in terminal to control the drone flight interactively using the following keyboard keymap
+To control the drone flight interactively using the following keyboard keymap call the keyboard_control() function from the ```main.py``` +```python3 +drone.keyboard_control() +``` w ↑ a s d ← ↓ → From 9bed7c8e92701cd7d771c891c0c1ccddf199c0b9 Mon Sep 17 00:00:00 2001 From: Sairaj Loke <104747561+SairajLoke@users.noreply.github.com> Date: Tue, 24 Jan 2023 00:47:09 +0530 Subject: [PATCH 29/82] Update README.md --- README.md | 135 +++++++++++++++++++++++++++++++++++++++--------------- 1 file changed, 99 insertions(+), 36 deletions(-) diff --git a/README.md b/README.md index 35be945..7eed641 100644 --- a/README.md +++ b/README.md @@ -1,4 +1,5 @@ +
# Drone Swarm Python @@ -11,22 +12,31 @@ API for controlling The Pluto 1.2 nano drone -## Index +## Table of Contents - 1.

Project Description

- 2.

Repository Structure

- 3.

Tech Stack

- 4.

Getting Started ( Linux / Windows)

- 5.

Usage

- - a. Pre-Programmed Execution - b. Camera Feedback Execution - c. Keyboard Control - d. Manually stopping (killing) the drone +

1. Project Description

+

2. Repository Structure

+

3. Tech Stack

+

4. Getting Started ( Linux / Windows)

+ + -

a. Prerequisite

+ -

b. Setting Up

+ + - Python Env for Linux(Optional) + - pypluto package in Linux + - pypluto package in Windows + +

5. Usage

-6.

Demo

+- a. Pre-Programmed Execution +- b. Camera Feedback Execution +- c. Keyboard Control +- d. Manually stopping (killing) the drone + + +

6. Demo

@@ -58,18 +68,47 @@ C. Same way, create a rectangle motion. (1 x 2 meter) D. Record a video and make the final submission similarly as the previous one. -
+

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-## 2.Repository Structure -| |Folder |Description | -|----------------|-------------------------------|-----------------------------| -|1. | Drone Swarm | Main Python package | -|2. |docs - functions.md | Explanation of Drone Functionalities| -| |docs - keyboard_control | Guide to use keyboard control| -| |docs - camera_control.md | Guide to use camera feedback to control drone| -|| +
+ + +## 2. Repository structure +
+├─docs
+│    │  functions.md
+│    └─keyboard_control.md
+│  
+├─pypluto
+│    ├─pypluto
+│    │   ├─Camera
+│    │   |   | cam_configs.py
+│    │   |   └─marker.py
+│    │   |
+│    │   ├─Control
+│    │   |   └─ PIDmain.py
+│    │   | 
+│    │   |  __init__.py
+│    │   |  drone.py
+│    │   └─ enforce.py
+│    │  
+│    │   kill.py
+│    │   main.py
+│    │   master.py
+│    └─  setup.py???
+│    
+├─PrimusV4-Pluto_1_2-1.hex
+|
+├─Tasks
+│    │  Task1.md
+│    │  Task2.md
+│    └─ Task3.md
+│
+└─requirements.txt
+
+
@@ -82,10 +121,16 @@ D. Record a video and make the final submission similarly as the previous one. - matplotlib==3.1.2 +

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+ + +
## 4. Getting Started - Linux +
+ ### Prerequisites @@ -99,7 +144,13 @@ $ sudo apt update $ sudo apt install python3-pip ``` -##### Using a Python environment is recommended considering the dependencies +
+ +
+ **Setting up a Python-Environment(Optional)** +
+ + ```shell $ pip install virtualenv ``` @@ -107,39 +158,46 @@ Now check your installation ``` $ virtualenv --version ``` -Create a virtual environment now inside an appropriate folder, -this in for specific python version +Now create a virtual environment inside an appropriate folder, type +this in terminal for specific python-3 version ``` $ virtualenv -p /usr/bin/python3 Drone_Env ``` After this command, a folder named **Drone_Env** will be created. -Now at last we just need to activate it, using command +Now at last we just need to activate it, using the command ``` $ source Drone_Env/bin/activate ``` -Now you are in a Drone's Python virtual environment - -#check below cmds +Now you are in a Drone's Python virtual environment , follow the following cmds for installation of packages +Note: +You can deactivate environment using ``` -$ git clone https://github.com//Drone-Swarm.git #add appropriate -$ cd Drone-Swarm -$ python3 install setup.py -$ pip3 install -e . - +$ deactivate ``` +
+ + +
+ +## Setting up pypluto package in Linux -You can deactivate environment using ``` -$ deactivate +$ git clone repo_name +$ cd pypluto +$ python3 install setup.py +$ pip install -e . ( don't know exactly) +$ need to check after this ``` +

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+
-## Getting Started - **Windows** +## Setting up pypluto package in Windows Download [get-pip.py](https://bootstrap.pypa.io/get-pip.py) using cmd prompt ``` curl https://bootstrap.pypa.io/get-pip.py -o get-pip.py @@ -152,6 +210,11 @@ Install the External Dependencies using the following command ``` pip install -r requirements.txt ``` + + +

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+ +
### 5. Usage From 50a897f4a018f5904c439c15f9f2450c3d4c79da Mon Sep 17 00:00:00 2001 From: Sairaj Loke <104747561+SairajLoke@users.noreply.github.com> Date: Tue, 24 Jan 2023 00:49:47 +0530 Subject: [PATCH 30/82] Update README.md --- README.md | 1 + 1 file changed, 1 insertion(+) diff --git a/README.md b/README.md index 7eed641..a4f3e37 100644 --- a/README.md +++ b/README.md @@ -273,3 +273,4 @@ Link to Drive :

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+ From f0256c8980ca9f1a0e4bc11ff64989144befff22 Mon Sep 17 00:00:00 2001 From: Sairaj Loke <104747561+SairajLoke@users.noreply.github.com> Date: Tue, 24 Jan 2023 00:51:34 +0530 Subject: [PATCH 31/82] Update README.md --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index a4f3e37..ddb331d 100644 --- a/README.md +++ b/README.md @@ -127,7 +127,7 @@ D. Record a video and make the final submission similarly as the previous one.
-## 4. Getting Started - Linux +## 4. Getting Started
From 13ccc0f030de808474a2d52a28e88c32ae8fd176 Mon Sep 17 00:00:00 2001 From: Rohan Jha <95472555+rohanjha04@users.noreply.github.com> Date: Tue, 24 Jan 2023 00:52:00 +0530 Subject: [PATCH 32/82] Update and rename functions.md to Task1.md --- docs/Task1.md | 86 +++++++++++++++++++++++++++++++++++++++++++++++ docs/functions.md | 73 ---------------------------------------- 2 files changed, 86 insertions(+), 73 deletions(-) create mode 100644 docs/Task1.md delete mode 100644 docs/functions.md diff --git a/docs/Task1.md b/docs/Task1.md new file mode 100644 index 0000000..12bb538 --- /dev/null +++ b/docs/Task1.md @@ -0,0 +1,86 @@ +## Commands + +### Initialisation +Initialising drone object with ```Drone IP``` and ```Port``` as arguements. If nothing is given as arguement, the default values defined in ```pluto.py``` are used. +```python +client = Drone("192.168.4.1","23") +``` +###Connecting and disconnecting the drone +For connecting the drone, initalise an object of class pluto and call +```python +client.connect() +``` +To disconnect the drone +```python +client.disconnect() +``` + +### Arming and Disarming the drone +For arming and disarming the drone, use the following functions +```python +client.arm() # arm the drone +``` +```python +client.disarm() # disarm the drone +``` + +### Takeoff and Landing +```python +client.takeoff() # take off +client.land() # land +``` + +### Flips +Currently, only one type of flip is supported in the API (backflips). +```python +client.flip() +``` + +### Steering the drone in a particular direction +The drone can be steered in a particular direction by setting the values of throttle, pitch, roll and yaw. +```python +client.roll_speed(100,2) #A roll of 100 for 2 seconds +client.pitch_speed(100,2) #A pitch of 100 for 2 seconds +client.throttle_speed(100,2) #A throttle of 100 for 2 seconds +client.yaw_speed(100,2) #A yaw of 100 for 2 seconds +``` +To reset the drone commands to the intial values, call +```python +client.reset_speed() +``` + +### Setting Trim +To balance the drift in drone at central values of ```Roll, Pitch,Throttle, Yaw```, the trim function +```python +client.trim(5,-5,0,0) +``` +The argument format is +``` +(roll, pitch, throttle, yaw) +``` +The sign of values should be opposite to which the drift is observed.
+For Roll: right hand side is positive
+For Pitch: forward positive
+For Throttle: upwards is positive
+For Yaw: Clockwise positive + +### For receiving data from the drone +To receive data from the drone, the following functions can be called: +```python +client.get_height() #Returns height of the drone +client.get_vario() #Returns the rate of change of height +client.get_roll() #Returns the value of roll of the drone +client.get_pitch() #Returns the value of pitch of the drone +client.get_yaw() #Returns the value of yaw of the drone +client.acc_x() #Returns the value of accelerometer(x-axis) of the drone +client.acc_y() #Returns the value of accelerometer(y-axis) of the drone +client.acc_z() #Returns the value of accelerometer(z-axis) of the drone +client.get_gyro_x() #Returns the value of gyrometer(x-axis) of the drone +client.get_gyro_y() #Returns the value of gyrometer(y-axis) of the drone +client.get_gyro_z() #Returns the value of gyrometer(z-axis) of the drone +client.get_mag_x() #Returns the value of magnetometer(x-axis) of the drone +client.get_mag_y() #Returns the value of magnetometer(y-axis) of the drone +client.get_mag_z() #Returns the value of magnetometer(z-axis) of the drone +client.get_battery() #Returns the value of battery of the drone in volts +``` + diff --git a/docs/functions.md b/docs/functions.md deleted file mode 100644 index a6f2130..0000000 --- a/docs/functions.md +++ /dev/null @@ -1,73 +0,0 @@ -## Commands - -### Initialisation -Initialising drone object with ```Drone IP``` and ```Port``` as arguements. If nothing is given as arguement, the default values defined in ```pluto.py``` are used. -```python -client = Drone("192.168.4.1","23") -``` - -### Arming and Disarming the drone -For arming and disarming the drone, use the following functions -```python -client.arm() # arm the drone -time.sleep(5) -``` -```python -client.disarm() # disarm the drone -time.sleep(5) -``` -Note: After **Arm** and **Disarm** some delay is important - -### Takeoff and Landing -```python -client.takeoff() # take off -client.land() # land -``` - -### Flips - -Currently, only one type of flip is supported in the API (backflips). Other types of flips (frontflips, rightflips and leftflips) will be implemented soon. -```python -client.backflip() -``` - -### Steering the drone in a particular direction -Use the following function to steer the drone in a particular direction -```python -client.steer("up", 400) -``` -The first argument is the direction of steer, and it can take the following values (case-sensitive) -```python -direction = ["forward", "backward", "left", "right", "up", "down"] -``` -The second argument specifies the magnitude over which the drone steers. If nothing is specified by user, the default value of 100 is used. -``` --600 < magnitude < 600 -``` -The final values, which the drone receives is 1500+Magnitude -### Set manual values for steering -One can also use the ```set_steer()``` function to manually set the values of drone ```roll, pitch, throttle, yaw``` values. - -```python -client.set_steer([100, 100, 0, 50]) -``` - -The argument sent is an array, magnitude, which has the following format -```python -magnitude = [roll, pitch, throttle, yaw] -``` - -### Setting Trim -To balance the drift in drone at central values of ```Roll, Pitch,Throttle, Yaw```, the trim function -```python -client.trim(5,-5,0,0) -``` -The argument format is -``` -(roll, pitch, throttle, yaw) -``` -The sign of values should be opposite to which the drift is observed.
-For Roll: right hand side is positive
-For Pitch: forward positive
-For Throttle: upwards is positive
-For Yaw: Clockwise positive From 8fa9f9e6584abaecf40bd1bd5eeb54baeaf967ba Mon Sep 17 00:00:00 2001 From: Rohan Jha <95472555+rohanjha04@users.noreply.github.com> Date: Tue, 24 Jan 2023 01:08:23 +0530 Subject: [PATCH 33/82] Update README.md --- README.md | 21 ++++++++++++++------- 1 file changed, 14 insertions(+), 7 deletions(-) diff --git a/README.md b/README.md index ddb331d..4d3cbcf 100644 --- a/README.md +++ b/README.md @@ -136,6 +136,7 @@ D. Record a video and make the final submission similarly as the previous one. The API is tested with the ```PrimusV4-Pluto_1_2-1.hex``` firmware installed on Pluto Drone. +Ensure that git is installed on the system. If ```pip3``` is not installed, install it using the following command in Terminal @@ -184,19 +185,19 @@ $ deactivate ## Setting up pypluto package in Linux ``` -$ git clone repo_name +$ git clone https://github.com/DaemonLab/Drone-Swarm/edit/Drone_Swarm_Task_1/ $ cd pypluto -$ python3 install setup.py -$ pip install -e . ( don't know exactly) -$ need to check after this ``` - +Install the External Dependencies using the following command +``` +pip install -r requirements.txt +```

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- +**Note: For MacOS, follow the same procedure as Linux**
## Setting up pypluto package in Windows Download [get-pip.py](https://bootstrap.pypa.io/get-pip.py) using cmd prompt ``` @@ -206,6 +207,12 @@ To install run the following command using cmd prompt ``` python /path/to/get-pip.py ``` + Run the following commands: +``` +$ git clone https://github.com/DaemonLab/Drone-Swarm/edit/Drone_Swarm_Task_1/ +$ cd pypluto +``` + Install the External Dependencies using the following command ``` pip install -r requirements.txt @@ -262,7 +269,7 @@ Instructions for control via keyboard can be found in [keyboard_control.md](http ### d. Manually stopping (killing) the drone -Sometimes, it may happen that the python program using the API may end without deactivating (landing and/or disarming) the drone, and the drone may stay on. In that case, one can run the ```kill.py``` script, which will send the required commands to properly deactivate the drone. +In case the drone does not arm after running ```main.py```, which may happen due to improper disarming of the drone, you can run ```kill.py``` instead of disconnecting the drone to disarm it properly and then run ```main.py``` to get regular operation
From ffd52ff4e005117b5de3db0981b840b0ce8cfa93 Mon Sep 17 00:00:00 2001 From: Rohan Jha <95472555+rohanjha04@users.noreply.github.com> Date: Tue, 24 Jan 2023 01:13:18 +0530 Subject: [PATCH 34/82] Update README.md --- README.md | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index 4d3cbcf..1df8867 100644 --- a/README.md +++ b/README.md @@ -197,7 +197,9 @@ pip install -r requirements.txt
-**Note: For MacOS, follow the same procedure as Linux**
+ +**Note: For MacOS, follow the same procedure as Linux** + ## Setting up pypluto package in Windows Download [get-pip.py](https://bootstrap.pypa.io/get-pip.py) using cmd prompt ``` From 5bd38f60c5c27debc8ed85b811b94d519ace9986 Mon Sep 17 00:00:00 2001 From: yeeshukant <79806119+Yeeshukant@users.noreply.github.com> Date: Tue, 24 Jan 2023 01:17:21 +0530 Subject: [PATCH 35/82] camera calibration files --- camCalib/camera.py | 53 ++++++++++++++++++++++++++++++++++++++++++++++ camCalib/pics.py | 21 ++++++++++++++++++ 2 files changed, 74 insertions(+) create mode 100644 camCalib/camera.py create mode 100644 camCalib/pics.py diff --git a/camCalib/camera.py b/camCalib/camera.py new file mode 100644 index 0000000..cfbbe02 --- /dev/null +++ b/camCalib/camera.py @@ -0,0 +1,53 @@ +import numpy as np +import cv2 as cv +import glob +import json +from datetime import datetime + +criteria = (cv.TERM_CRITERIA_EPS + cv.TERM_CRITERIA_MAX_ITER, 30, 0.001) + +rows = 9 +columns = 7 +objp = np.zeros((rows*columns,3), np.float32) +objp[:,:2] = np.mgrid[0:columns,0:rows].T.reshape(-1,2) + +objpoints = [] +imgpoints = [] + +images = glob.glob('calibrate*.png') +print(len(images), "images found") + +for fname in images: + img = cv.imread(fname) + gray = cv.cvtColor(img, cv.COLOR_BGR2GRAY) + + chessboard_flags = cv.CALIB_CB_ADAPTIVE_THRESH + cv.CALIB_CB_FAST_CHECK + cv.CALIB_CB_NORMALIZE_IMAGE + ret, corners = cv.findChessboardCorners(gray, (columns,rows), chessboard_flags) + + if ret == True: + objpoints.append(objp) + corners2 = cv.cornerSubPix(gray,corners, (11,11), (-1,-1), criteria) + imgpoints.append(corners) + + cv.drawChessboardCorners(img, (columns,rows), corners2, ret) + cv.imshow('img', img) + cv.imwrite(f"chessboard_corners_{datetime.now().strftime('%Y%m%d_%H%M%S')}.png", img) + cv.waitKey(1500) + +ret, mtx, dist, rvecs, tvecs = cv.calibrateCamera(objpoints, imgpoints, gray.shape[::-1], None, None) + +camera = {} + +class NumpyEncoder(json.JSONEncoder): + def default(self, obj): + if isinstance(obj, np.ndarray): + return obj.tolist() + return json.JSONEncoder.default(self, obj) + +for variable in ['ret', 'mtx', 'dist', 'rvecs', 'tvecs']: + camera[variable] = eval(variable) + +with open("camera.json", 'w') as f: + json.dump(camera, f, indent=4, cls=NumpyEncoder) + +cv.destroyAllWindows() \ No newline at end of file diff --git a/camCalib/pics.py b/camCalib/pics.py new file mode 100644 index 0000000..14bcff0 --- /dev/null +++ b/camCalib/pics.py @@ -0,0 +1,21 @@ +import cv2 +from datetime import datetime +from imutils.video import VideoStream +import time + +vs = VideoStream(src=2).start() +time.sleep(2.0) + +while(True): + frame = vs.read() + + cv2.imshow('frame',frame) + + key = cv2.waitKey(1) & 0xFF + if key == ord('q'): + break + if key == ord('c'): + cv2.imwrite(f"calibrate_{datetime.now().strftime('%Y%m%d_%H%M%S')}.png", frame) + +vs.stop() +cv2.destroyAllWindows() \ No newline at end of file From 5598aad4510f3d1d838ddcb4ef96b3fc00dad4e8 Mon Sep 17 00:00:00 2001 From: yeeshukant <79806119+Yeeshukant@users.noreply.github.com> Date: Tue, 24 Jan 2023 14:15:14 +0530 Subject: [PATCH 36/82] Update kill.py --- Drone-Swarm/kill.py | 9 +++------ 1 file changed, 3 insertions(+), 6 deletions(-) diff --git a/Drone-Swarm/kill.py b/Drone-Swarm/kill.py index 24a4b7f..d608514 100644 --- a/Drone-Swarm/kill.py +++ b/Drone-Swarm/kill.py @@ -1,9 +1,6 @@ - - -from PlutoX.drone import pluto -import time +from pypluto import pluto if __name__ == '__main__': - client =pluto() + client = pluto() + client.connect() client.disarm() - time.sleep(5) From 5e4854a31ac46b0c48ad4a203bb28752c3719bd3 Mon Sep 17 00:00:00 2001 From: yeeshukant <79806119+Yeeshukant@users.noreply.github.com> Date: Tue, 24 Jan 2023 14:24:42 +0530 Subject: [PATCH 37/82] Update marker.py --- Drone-Swarm/pypluto/Camera/marker.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/Drone-Swarm/pypluto/Camera/marker.py b/Drone-Swarm/pypluto/Camera/marker.py index 699884e..d267272 100644 --- a/Drone-Swarm/pypluto/Camera/marker.py +++ b/Drone-Swarm/pypluto/Camera/marker.py @@ -214,7 +214,7 @@ def get_pose(self, corners, ids, image, desiredVec, display=True): def markerMainSender(connCam): #connCam - cameraID = 2 + cameraID = 2 # your camera id on pc target_array = [ [914, 149], [921, 422], @@ -251,7 +251,7 @@ def markerMainSender(connCam): #connCam xTarget, yTarget = target_array[target] # print(f"\n{i}--From Marker - Pose: {pose}") - # connCam.send(pose) + connCam.send(pose) key = cv2.waitKey(1) & 0xFF @@ -262,4 +262,4 @@ def markerMainSender(connCam): #connCam cap.release() -markerMainSender(connCam='') \ No newline at end of file +# markerMainSender(connCam='') From 0fd0162c92eb44cd3072cbbf713fd9e993aefc8f Mon Sep 17 00:00:00 2001 From: Kshitij M Bhat <85498394+KshitijBhat@users.noreply.github.com> Date: Tue, 24 Jan 2023 17:00:11 +0530 Subject: [PATCH 38/82] Update PIDmain.py --- Drone-Swarm/pypluto/Control/PIDmain.py | 55 +------------------------- 1 file changed, 2 insertions(+), 53 deletions(-) diff --git a/Drone-Swarm/pypluto/Control/PIDmain.py b/Drone-Swarm/pypluto/Control/PIDmain.py index c95d9b9..7104c04 100644 --- a/Drone-Swarm/pypluto/Control/PIDmain.py +++ b/Drone-Swarm/pypluto/Control/PIDmain.py @@ -5,7 +5,6 @@ from pypluto.drone import pluto import numpy as np import time -import matplotlib.pyplot as plt #Target coords target_array = [ @@ -15,8 +14,8 @@ [375, 162], [914, 149] ] -xTarget, yTarget, heightTarget = target_array[0][0],target_array[0][1], 1.0 #pixel, pixel , height(m) -# 550,192 +xTarget, yTarget, heightTarget = target_array[0][0],target_array[0][1], 0.8 #pixel, pixel , height(m) + #pid gains KPx, KPy, KPz, KPyaw = 0.3, 0.1, 200 , 70 KIx, KIy, KIz, KIyaw = 0, 0, 0, 0 @@ -98,25 +97,11 @@ def receiver_at_drone1(conn): Err = [xError, yError, zError, yawError] ErrI = [xErrorI, yErrorI, zErrorI, yawErrorI] path = [[0,0,0,0]] - print() - - #plotting work - # fig,ax = plt.subplots() - # fig2, ax2 = plt.subplots() - - # ax = fig.add_subplot(1,1,1, projection="3d") drone.connect() drone.trim(0, 0, 0, 0) drone.disarm() drone.arm() - # drone.trim(5,18,0,0) #akshit drone - - # drone.trim(-15,-5,0,0) #iit ddrone.trim(-15,-10,0,0)rone - # drone.trim(-5,2,0,0) - - # drone.takeoff() - # drone.throttle_speed(0,1) drone.throttle_speed(300,3) print("takeoff") @@ -140,7 +125,6 @@ def receiver_at_drone1(conn): if (conn.poll()): pose = conn.recv() - # print(f"\n{delay}--Frequency checker(receiving) , received pose {pose}-") if pose is None: @@ -149,7 +133,6 @@ def receiver_at_drone1(conn): roll_command, pitch_command, throttle_command, yawCommand = 0, 0, 0, 0 - # if timer>=1000: if timeout_limit > 5 : print("Aruco not detected ,landing") drone.land() @@ -159,7 +142,6 @@ def receiver_at_drone1(conn): if pose is not None: - # print(f"Pose is {pose}") path.append(pose) start = time.time() @@ -183,50 +165,20 @@ def receiver_at_drone1(conn): break xTarget, yTarget = target_array[target] - - - # patht = np.array(path).T - # roll_log.append(roll_command) - # pitch_log.append(pitch_command) - # ax.plot(roll_log) - # ax.plot(pitch_log) - - # plt.pause(0.008) - - - # ax.plot(patht[0], patht[1], patht[2]) - # ax.set_zlabel("Z") - # ax.set_ylabel("Y") - # ax.set_xlabel("X") - #----------------------------- - #prev cmd if pose is none - drone.throttle_speed(10) drone.roll_speed(roll_command) drone.pitch_speed(pitch_command) drone.yaw_speed(yawCommand) - '''----------------------------''' - '''Very impt time.sleep ''' - #( if removed , it will not let you sleep)''' time.sleep(0.04) '''this sleep adjusts the running of this files while loop, so that the rate of receiving from marker files is almost matched to that of this file sending commands to drone using api ''' - '''check freq of - - 1) Frequency checker , received pose - 2) Frequency sending ''' - '''-----------------------------''' - #---------------------------------- if not roll_command==0: print(f"\nFrequecy checker(sending) , rcmd: {roll_command}, pcmd: {pitch_command}, tcmd:{throttle_command}, yawcmd:{yawCommand}") - - plt.pause(0.01) - # np.linalg.norm(np.array([xError, yError]))<10 and - # if np.linalg.norm(np.array([xError, yError]))<10: except KeyboardInterrupt: break @@ -234,6 +186,3 @@ def receiver_at_drone1(conn): drone.land() drone.disarm() - # while conn.poll(): - # a = conn.recv() - # conn.close() From 3b600bb4212ae331943f55e7ff8752059c9b68df Mon Sep 17 00:00:00 2001 From: Rohan Jha <95472555+rohanjha04@users.noreply.github.com> Date: Tue, 24 Jan 2023 17:01:00 +0530 Subject: [PATCH 39/82] Update task2.md --- docs/task2.md | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/docs/task2.md b/docs/task2.md index 6b44637..fdc3134 100644 --- a/docs/task2.md +++ b/docs/task2.md @@ -2,7 +2,12 @@ ## Camera calibration The camera used the task 2 is Lenovo 300 FHD Webcam with FHD 1080P 2.1 Megapixel CMOS Camera and an Ultra-Wide 95 Lens. - +To calibrate the camera, first print a checkerboard and paste it on a piece of cardboard/wood. +Then, run ```pics.py``` to click a few images of the board in different angles(around 30). Press 'c' to click the photo and 'q' to end the program when done. +Now, update the rows and columns in ```camera.py``` according to the size of the board. +**Do not include the outermost lines when counting the rows and columns** +Now, make appropiate changes in path of the image folder(if any) in ```camera.py``` and run the code. +It will return a JSON file containing the camera matrix and the distortion coefficients. ## Pose Estimation The pose of the drone is obtained from the Aruco marker attached on the drone. The cv2.aruco library, available in the opencv-contrib-python package, is used to detect the drone and its pose, specifically it's x-y coordinates in pixels, height in meters and yaw in radians. From 74e36307393899b71406a605288b211cd5b4c551 Mon Sep 17 00:00:00 2001 From: Rohan Jha <95472555+rohanjha04@users.noreply.github.com> Date: Tue, 24 Jan 2023 17:01:45 +0530 Subject: [PATCH 40/82] Update task2.md --- docs/task2.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/task2.md b/docs/task2.md index fdc3134..af55197 100644 --- a/docs/task2.md +++ b/docs/task2.md @@ -5,7 +5,7 @@ The camera used the task 2 is Lenovo 300 FHD Webcam with FHD 1080P 2.1 Megapixel To calibrate the camera, first print a checkerboard and paste it on a piece of cardboard/wood. Then, run ```pics.py``` to click a few images of the board in different angles(around 30). Press 'c' to click the photo and 'q' to end the program when done. Now, update the rows and columns in ```camera.py``` according to the size of the board. -**Do not include the outermost lines when counting the rows and columns** +**Do not include the outermost lines when counting the rows and columns.**
Now, make appropiate changes in path of the image folder(if any) in ```camera.py``` and run the code. It will return a JSON file containing the camera matrix and the distortion coefficients. From 8b0b2da4ca882dcd423ca3a4724f6ecc320b04b5 Mon Sep 17 00:00:00 2001 From: yeeshukant <79806119+Yeeshukant@users.noreply.github.com> Date: Tue, 24 Jan 2023 17:12:52 +0530 Subject: [PATCH 41/82] Update task2.md --- docs/task2.md | 13 +++++++------ 1 file changed, 7 insertions(+), 6 deletions(-) diff --git a/docs/task2.md b/docs/task2.md index af55197..17c0f56 100644 --- a/docs/task2.md +++ b/docs/task2.md @@ -2,12 +2,13 @@ ## Camera calibration The camera used the task 2 is Lenovo 300 FHD Webcam with FHD 1080P 2.1 Megapixel CMOS Camera and an Ultra-Wide 95 Lens. -To calibrate the camera, first print a checkerboard and paste it on a piece of cardboard/wood. -Then, run ```pics.py``` to click a few images of the board in different angles(around 30). Press 'c' to click the photo and 'q' to end the program when done. -Now, update the rows and columns in ```camera.py``` according to the size of the board. -**Do not include the outermost lines when counting the rows and columns.**
-Now, make appropiate changes in path of the image folder(if any) in ```camera.py``` and run the code. -It will return a JSON file containing the camera matrix and the distortion coefficients. +- To calibrate the camera, first print a checkerboard and paste it on a piece of cardboard/wood. +- Then, run ```pics.py``` to click a few images of the board in different angles(around 30). Press 'c' to click the photo and 'q' to end the program when done. +- Now, update the rows and columns in ```camera.py``` according to the size of the board. +- **Do not include the outermost lines when counting the rows and columns.**
+- Now, make appropiate changes in path of the image folder(if any) in ```camera.py``` and run the code. +- It will return a JSON file containing the camera matrix and the distortion coefficients. +- Use those matrices in ```marker.py``` in Camera directory. ## Pose Estimation The pose of the drone is obtained from the Aruco marker attached on the drone. The cv2.aruco library, available in the opencv-contrib-python package, is used to detect the drone and its pose, specifically it's x-y coordinates in pixels, height in meters and yaw in radians. From 0b0c3ddb5114c95b1786759ff703e2e6ccd21869 Mon Sep 17 00:00:00 2001 From: yeeshukant <79806119+Yeeshukant@users.noreply.github.com> Date: Tue, 24 Jan 2023 17:22:11 +0530 Subject: [PATCH 42/82] Update README.md --- README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 1df8867..62a2889 100644 --- a/README.md +++ b/README.md @@ -255,7 +255,7 @@ if __name__ == '__main__': ``` -For detailed explanation of use of various movement functions, refer to [functions.md](https://github.com//Drone-Swarm/blob/main/docs/functions.md)
+For detailed explanation of use of various movement functions, refer to [Task1.md](https://github.com/DaemonLab/Drone-Swarm/blob/Drone_Swarm_Task_1/docs/Task1.md)
#### b. Camera Feedback Execution @@ -266,7 +266,7 @@ Instructions for controlling the drone using camera setup can be found here- #### c. Keyboard Control User can also control the drone from keyboard by running the ```keyboard.py``` file in terminal/command prompt. -Instructions for control via keyboard can be found in [keyboard_control.md](https://github.com//Drone-Swarm/blob/main/docs/keyboard_control.md) +Instructions for control via keyboard can be found in [keyboard_control.md](https://github.com/DaemonLab/Drone-Swarm/blob/Drone_Swarm_Task_1/docs/keyboard_control.md) ### d. Manually stopping (killing) the drone From a580dd0c97ebb4c9ed9d4790519811a24bddeaf3 Mon Sep 17 00:00:00 2001 From: yeeshukant <79806119+Yeeshukant@users.noreply.github.com> Date: Tue, 24 Jan 2023 17:27:44 +0530 Subject: [PATCH 43/82] Update README.md --- README.md | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/README.md b/README.md index 62a2889..70ed182 100644 --- a/README.md +++ b/README.md @@ -78,8 +78,9 @@ D. Record a video and make the final submission similarly as the previous one. ## 2. Repository structure 
 ├─docs
-│    │  functions.md
-│    └─keyboard_control.md
+│    │  Task1.md
+|    |  keyboard_control.md
+│    └─ Task2.md
 │  
 ├─pypluto
 │    ├─pypluto
@@ -96,8 +97,7 @@ D. Record a video and make the final submission similarly as the previous one.
 │    │  
 │    │   kill.py
 │    │   main.py
-│    │   master.py
-│    └─  setup.py???
+│    └─  master.py
 │    
 ├─PrimusV4-Pluto_1_2-1.hex
 |

From 15f7b9f488fe470aa83d60dc97449e03e093ed29 Mon Sep 17 00:00:00 2001
From: yeeshukant <79806119+Yeeshukant@users.noreply.github.com>
Date: Tue, 24 Jan 2023 17:32:43 +0530
Subject: [PATCH 44/82] Update README.md

---
 README.md | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/README.md b/README.md
index 70ed182..2a86ede 100644
--- a/README.md
+++ b/README.md
@@ -80,12 +80,12 @@ D. Record a video and make the final submission similarly as the previous one.
 ├─docs
 │    │  Task1.md
 |    |  keyboard_control.md
-│    └─ Task2.md
+│    └─ task2.md
 │  
 ├─pypluto
 │    ├─pypluto
 │    │   ├─Camera
-│    │   |   | cam_configs.py
+│    │   |   | CAM_CONFIGS_lenovo.py
 │    │   |   └─marker.py
 │    │   |
 │    │   ├─Control
@@ -259,8 +259,8 @@ For detailed explanation of use of various movement functions, refer to [Task1.m
 
 #### b. Camera Feedback Execution
 
-Instructions for controlling the drone using camera setup can be found here-
-[camera_pid.md](https://github.com//Drone-Swarm/blob/main/docs/camera_pid.md)
+Instructions for controlling the drone using camera setup can be found in the
+[task2.md](https://github.com/DaemonLab/Drone-Swarm/blob/Drone_Swarm_Task_1/docs/task2.md)
 
 
 #### c. Keyboard Control

From 83043189dea0eb65125570025d40da4684b21139 Mon Sep 17 00:00:00 2001
From: Kshitij M Bhat <85498394+KshitijBhat@users.noreply.github.com>
Date: Tue, 24 Jan 2023 17:49:37 +0530
Subject: [PATCH 45/82] Update README.md

---
 README.md | 40 ++++++++++++++++++++--------------------
 1 file changed, 20 insertions(+), 20 deletions(-)

diff --git a/README.md b/README.md
index 2a86ede..2f013ac 100644
--- a/README.md
+++ b/README.md
@@ -77,36 +77,36 @@ D. Record a video and make the final submission similarly as the previous one.
 
 ## 2. Repository structure
 
-├─docs
-│    │  Task1.md
-|    |  keyboard_control.md
+├─ docs
+│    ├─ Task1.md
+|    ├─ keyboard_control.md
 │    └─ task2.md
 │  
-├─pypluto
-│    ├─pypluto
-│    │   ├─Camera
-│    │   |   | CAM_CONFIGS_lenovo.py
-│    │   |   └─marker.py
+├─ pypluto
+│    ├─ pypluto
+│    │   ├─ Camera
+│    │   |   ├─ CAM_CONFIGS_lenovo.py
+│    │   |   └─ marker.py
 │    │   |
-│    │   ├─Control
+│    │   ├─ Control
 │    │   |   └─ PIDmain.py
 │    │   | 
-│    │   |  __init__.py
-│    │   |  drone.py
+│    │   ├─ __init__.py
+│    │   ├─ drone.py
 │    │   └─ enforce.py
 │    │  
-│    │   kill.py
-│    │   main.py
-│    └─  master.py
+│    ├─ kill.py
+│    ├─ main.py
+│    └─ master.py
 │    
-├─PrimusV4-Pluto_1_2-1.hex
+├─ PrimusV4-Pluto_1_2-1.hex
 |
-├─Tasks
-│    │  Task1.md
-│    │  Task2.md
+├─ Tasks
+│    ├─ Task1.md
+│    ├─ Task2.md
 │    └─ Task3.md
 │
-└─requirements.txt
+└─ requirements.txt
 
 

 
@@ -148,7 +148,7 @@ $ sudo apt install python3-pip
 

 
 

- **Setting up a Python-Environment(Optional)** 
+ Setting up a Python-Environment (optional) 
 

 
 

From 3644f67705d1d6fbcce774147c9de9dc813d175a Mon Sep 17 00:00:00 2001
From: Kshitij M Bhat <85498394+KshitijBhat@users.noreply.github.com>
Date: Tue, 24 Jan 2023 17:51:10 +0530
Subject: [PATCH 46/82] Rename task2.md to Task2.md

---
 docs/{task2.md => Task2.md} | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 rename docs/{task2.md => Task2.md} (100%)

diff --git a/docs/task2.md b/docs/Task2.md
similarity index 100%
rename from docs/task2.md
rename to docs/Task2.md

From 69731a01d3bd5bd80a5b3a794ac6e46bb8547ba1 Mon Sep 17 00:00:00 2001
From: Kshitij M Bhat <85498394+KshitijBhat@users.noreply.github.com>
Date: Tue, 24 Jan 2023 17:52:36 +0530
Subject: [PATCH 47/82] Update README.md

---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 2f013ac..dd2f989 100644
--- a/README.md
+++ b/README.md
@@ -80,7 +80,7 @@ D. Record a video and make the final submission similarly as the previous one.
 ├─ docs
 │    ├─ Task1.md
 |    ├─ keyboard_control.md
-│    └─ task2.md
+│    └─ Task2.md
 │  
 ├─ pypluto
 │    ├─ pypluto

From 3eae6f23b8ec9e507426d1fc4e8c4e351f5bb03f Mon Sep 17 00:00:00 2001
From: Rohan Jha <95472555+rohanjha04@users.noreply.github.com>
Date: Tue, 24 Jan 2023 18:05:20 +0530
Subject: [PATCH 48/82] Delete TASKS.md

---
 TASKS.md | 41 -----------------------------------------
 1 file changed, 41 deletions(-)
 delete mode 100644 TASKS.md

diff --git a/TASKS.md b/TASKS.md
deleted file mode 100644
index cf86c0c..0000000
--- a/TASKS.md
+++ /dev/null
@@ -1,41 +0,0 @@
-
-
------------------------------Task 1 ;----------------------------------------
-Check MSP and socket communication for Pluto.
-
-A. Check the existing communication method used to communicate with Pluto.
-status:
-Current using telnet with MSP packets
-(Pluto Communication MSP packets[2])
-
-B. Creating a Python wrapper to control the drone movements. (Eg. Pitch forward, Roll
-left, take off - Land, etc.)
-flip cmds not working currently
-
-C. Fly the drone using a Python wrapper (from a Linux Machine/Windows PC)
-
-
------------------------------Task 2---------------------------------------
-Hovering a pluto drone on a particular height using ArUco Tag. 
-
-A. Generate the ArUco tag and place it on the drone. -------  done
-B. Using ArUco tag, get a pose estimation of the drone.-----
-C. Add PID to the script for controlling the drone
-D. Hover the drone in one position.
-E. Move the drone in rectangular motion (1 x 2 meter)
-F. Record a video and send the code and video in the zip file to the sponsors.
-
-
--------------------------------Task 3----------------------------------------------- 
-Pluto Swarming (A second drone will be provided - both the drones should fly
-at the same time)
-A. Generate one more ArUco tag and place it on the second drone.
-B. Initially, Drone2 will be at position0, and drone1 will be at position1. Write
-commands to move Drone1 from position1 to position2. 
-When Drone1 reaches
-position2, drone2 should follow drone1 and reach position1 automatically.
-
-Strategy1  :  (credit : Kshitij B.)
-get drone 1 at pt1 and then move drone2 wrt to drone1's current loc. 
-( diagonal dist will be the error) but one line will be line of constriaint and other line of movement
-

From 3d2c6efc1d5d0122ee613095887248c5ecf09cb6 Mon Sep 17 00:00:00 2001
From: yeeshukant <79806119+Yeeshukant@users.noreply.github.com>
Date: Tue, 24 Jan 2023 18:07:55 +0530
Subject: [PATCH 49/82] Update README.md

---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index dd2f989..ce97405 100644
--- a/README.md
+++ b/README.md
@@ -5,7 +5,7 @@
 # Drone Swarm Python
 API for controlling The Pluto 1.2 nano drone
 
-#add a real  gif/photo of our drone here
+![Pluto1 2-ISO-Front](https://user-images.githubusercontent.com/79806119/214293414-403e11c9-3395-4ed4-a8a5-4aa190e86979.png)
 
 [![](https://img.shields.io/badge/License-GPLv3-blue.svg)]()
 

From 7c4ae8d560dab6e7d9a4682d13123750371ddf4f Mon Sep 17 00:00:00 2001
From: Kshitij M Bhat <85498394+KshitijBhat@users.noreply.github.com>
Date: Tue, 24 Jan 2023 18:12:15 +0530
Subject: [PATCH 50/82] Update README.md

---
 README.md | 7 +------
 1 file changed, 1 insertion(+), 6 deletions(-)

diff --git a/README.md b/README.md
index ce97405..21f0b68 100644
--- a/README.md
+++ b/README.md
@@ -99,12 +99,7 @@ D. Record a video and make the final submission similarly as the previous one.
 │    ├─ main.py
 │    └─ master.py
 │    
-├─ PrimusV4-Pluto_1_2-1.hex
-|
-├─ Tasks
-│    ├─ Task1.md
-│    ├─ Task2.md
-│    └─ Task3.md
+├─ PrimusV4-Pluto_1_2-1.hex  
 │
 └─ requirements.txt
 

From a08c2b59cfb9b10b69891d264117e4a1aff19a4f Mon Sep 17 00:00:00 2001
From: Kshitij M Bhat <85498394+KshitijBhat@users.noreply.github.com>
Date: Tue, 24 Jan 2023 18:41:12 +0530
Subject: [PATCH 51/82] change folder name

---
 {Drone-Swarm => pypluto}/.DS_Store                  | Bin
 {Drone-Swarm => pypluto}/kill.py                    |   0
 {Drone-Swarm => pypluto}/main.py                    |   0
 {Drone-Swarm => pypluto}/master.py                  |   0
 .../pypluto/Camera/CAM_CONFIGS_lenovo.py            |   0
 {Drone-Swarm => pypluto}/pypluto/Camera/marker.py   |   0
 {Drone-Swarm => pypluto}/pypluto/Control/PIDmain.py |   0
 {Drone-Swarm => pypluto}/pypluto/__init__.py        |   0
 {Drone-Swarm => pypluto}/pypluto/drone.py           |   0
 {Drone-Swarm => pypluto}/pypluto/enforce.py         |   0
 10 files changed, 0 insertions(+), 0 deletions(-)
 rename {Drone-Swarm => pypluto}/.DS_Store (100%)
 rename {Drone-Swarm => pypluto}/kill.py (100%)
 rename {Drone-Swarm => pypluto}/main.py (100%)
 rename {Drone-Swarm => pypluto}/master.py (100%)
 rename {Drone-Swarm => pypluto}/pypluto/Camera/CAM_CONFIGS_lenovo.py (100%)
 rename {Drone-Swarm => pypluto}/pypluto/Camera/marker.py (100%)
 rename {Drone-Swarm => pypluto}/pypluto/Control/PIDmain.py (100%)
 rename {Drone-Swarm => pypluto}/pypluto/__init__.py (100%)
 rename {Drone-Swarm => pypluto}/pypluto/drone.py (100%)
 rename {Drone-Swarm => pypluto}/pypluto/enforce.py (100%)

diff --git a/Drone-Swarm/.DS_Store b/pypluto/.DS_Store
similarity index 100%
rename from Drone-Swarm/.DS_Store
rename to pypluto/.DS_Store
diff --git a/Drone-Swarm/kill.py b/pypluto/kill.py
similarity index 100%
rename from Drone-Swarm/kill.py
rename to pypluto/kill.py
diff --git a/Drone-Swarm/main.py b/pypluto/main.py
similarity index 100%
rename from Drone-Swarm/main.py
rename to pypluto/main.py
diff --git a/Drone-Swarm/master.py b/pypluto/master.py
similarity index 100%
rename from Drone-Swarm/master.py
rename to pypluto/master.py
diff --git a/Drone-Swarm/pypluto/Camera/CAM_CONFIGS_lenovo.py b/pypluto/pypluto/Camera/CAM_CONFIGS_lenovo.py
similarity index 100%
rename from Drone-Swarm/pypluto/Camera/CAM_CONFIGS_lenovo.py
rename to pypluto/pypluto/Camera/CAM_CONFIGS_lenovo.py
diff --git a/Drone-Swarm/pypluto/Camera/marker.py b/pypluto/pypluto/Camera/marker.py
similarity index 100%
rename from Drone-Swarm/pypluto/Camera/marker.py
rename to pypluto/pypluto/Camera/marker.py
diff --git a/Drone-Swarm/pypluto/Control/PIDmain.py b/pypluto/pypluto/Control/PIDmain.py
similarity index 100%
rename from Drone-Swarm/pypluto/Control/PIDmain.py
rename to pypluto/pypluto/Control/PIDmain.py
diff --git a/Drone-Swarm/pypluto/__init__.py b/pypluto/pypluto/__init__.py
similarity index 100%
rename from Drone-Swarm/pypluto/__init__.py
rename to pypluto/pypluto/__init__.py
diff --git a/Drone-Swarm/pypluto/drone.py b/pypluto/pypluto/drone.py
similarity index 100%
rename from Drone-Swarm/pypluto/drone.py
rename to pypluto/pypluto/drone.py
diff --git a/Drone-Swarm/pypluto/enforce.py b/pypluto/pypluto/enforce.py
similarity index 100%
rename from Drone-Swarm/pypluto/enforce.py
rename to pypluto/pypluto/enforce.py

From 227af49cd730290b4cf231352c2818c1d4332d4b Mon Sep 17 00:00:00 2001
From: Yeeshukant 
Date: Thu, 26 Jan 2023 23:50:10 +0530
Subject: [PATCH 52/82] changes for two drones

---
 pypluto/main.py                    | 38 +++++++++++++++++-------------
 pypluto/pypluto/Camera/marker.py   | 28 +++++++++++++---------
 pypluto/pypluto/Control/PIDmain.py | 33 ++++++++++++++++++++++----
 3 files changed, 67 insertions(+), 32 deletions(-)

diff --git a/pypluto/main.py b/pypluto/main.py
index f515c48..d7397f7 100644
--- a/pypluto/main.py
+++ b/pypluto/main.py
@@ -1,16 +1,22 @@
-from pypluto import pluto
-import time
-#A sample program to test the drone API
-drone=pluto()
-drone.connect()
-# drone.arm()
-# time.sleep(2)
-# drone.disarm()
-drone.keyboard_control()
-
-
-
-
-
-
-
+from pypluto import pluto
+import time
+#A sample program to test the drone API
+drone1=pluto(DroneIP="10.42.0.74")
+drone2=pluto(DroneIP="10.42.0.96")
+drone1.connect()
+drone2.connect()
+drone1.disarm()
+drone2.disarm()
+drone1.arm()
+drone2.arm()
+time.sleep(2)
+drone1.disarm()
+drone2.disarm()
+#drone.keyboard_control()
+
+
+
+
+
+
+
diff --git a/pypluto/pypluto/Camera/marker.py b/pypluto/pypluto/Camera/marker.py
index d267272..d8e457e 100644
--- a/pypluto/pypluto/Camera/marker.py
+++ b/pypluto/pypluto/Camera/marker.py
@@ -114,7 +114,7 @@ def get_pose(self, corners, ids, image, desiredVec, display=True):
             
             for (markerCorner, markerID) in zip(corners, ids):
                 # try:
-                rvec, tvec, markerPoints = cv2.aruco.estimatePoseSingleMarkers(np.array(corners[0]), 0.02, cameraMatrix=MATRIX_COEFFICIENTS, distCoeffs=DISTORTION_COEFFICIENTS)
+                rvec, tvec, markerPoints = cv2.aruco.estimatePoseSingleMarkers(np.array(corners), 0.02, cameraMatrix=MATRIX_COEFFICIENTS, distCoeffs=DISTORTION_COEFFICIENTS)
                 # except cv2.error:
                 #     print("Pose Est error")
                 #     return pose, is_detected, image
@@ -214,7 +214,7 @@ def get_pose(self, corners, ids, image, desiredVec, display=True):
 
 def markerMainSender(connCam):  #connCam
 
-    cameraID = 2 # your camera id on pc
+    cameraID = 0 # your camera id on pc
     target_array = [
     [914, 149],
     [921, 422],
@@ -240,18 +240,24 @@ def markerMainSender(connCam):  #connCam
         
         #Aruco Detection , pose Estimation Block
 
+        pose_dict={}
         corners, ids, rejected = aruco_obj.detectMarkers(image)
+        # print(ids)
         # detected_markers = (corners, ids, image, [550,192])
-        pose, is_detected, detected_markers  = aruco_obj.get_pose(corners, ids, image, [xTarget,yTarget], display=True)
-        cv2.imshow("Image", detected_markers)
-        if pose is not None:
-            if np.sqrt((xTarget-pose[0])**2+(yTarget-pose[1])**2)<100:
-                target += 1
-                if target<5:
-                    xTarget,  yTarget = target_array[target]
+        if len(corners)>0:
+            for i in range(0,len(ids)):
+                pose, is_detected, detected_markers  = aruco_obj.get_pose(corners[i], ids, image, [xTarget,yTarget], display=True)
+                cv2.imshow("Image", detected_markers)
+                pose_dict[ids[i][0]]=pose
+                if pose is not None:
+                    if np.sqrt((xTarget-pose[0])**2+(yTarget-pose[1])**2)<100:
+                        target += 1
+                        if target<5:
+                            xTarget,  yTarget = target_array[target]
         
         # print(f"\n{i}--From Marker - Pose: {pose}")
-        connCam.send(pose)
+        # connCam.send(pose_dict)
+        print(pose_dict)
 
 
         key = cv2.waitKey(1) & 0xFF
@@ -262,4 +268,4 @@ def markerMainSender(connCam):  #connCam
     cap.release()
 
 
-# markerMainSender(connCam='')
+markerMainSender(connCam='')
diff --git a/pypluto/pypluto/Control/PIDmain.py b/pypluto/pypluto/Control/PIDmain.py
index 7104c04..d80ecea 100644
--- a/pypluto/pypluto/Control/PIDmain.py
+++ b/pypluto/pypluto/Control/PIDmain.py
@@ -14,8 +14,13 @@
     [375, 162],
     [914, 149]   
 ]
+target_array2=[]
+target_array2.append(target_array[0])
 xTarget,  yTarget, heightTarget = target_array[0][0],target_array[0][1], 0.8  #pixel, pixel , height(m)
-
+Drone1=pluto(DroneIP="10.42.0.74")
+Drone2=pluto(DroneIP="10.42.0.96")
+client = [Drone1,Drone2]
+drone=client[0]
 #pid gains
 KPx, KPy, KPz, KPyaw = 0.3, 0.1, 200 , 70
 KIx, KIy, KIz, KIyaw = 0, 0, 0, 0
@@ -86,7 +91,7 @@ def receiver_at_drone1(conn):
     as soon as we recieve them
     """
     global xTarget,  yTarget, heightTarget
-    drone=pluto()
+    #drone=pluto()
 
     # initialize PID controller
     xError, yError, zError, yawError = 0, 0, 0, 0
@@ -99,7 +104,7 @@ def receiver_at_drone1(conn):
     path = [[0,0,0,0]]
     
     drone.connect()
-    drone.trim(0, 0, 0, 0)
+    #drone.trim(0, 0, 0, 0)
     drone.disarm()
     drone.arm()
     drone.throttle_speed(300,3)
@@ -124,7 +129,11 @@ def receiver_at_drone1(conn):
             # delay = now-start
 
             if (conn.poll()):                
-                pose = conn.recv()
+                pose_dict = conn.recv()
+                if drone==Drone1:
+                    pose=pose_dict[0]
+                else:
+                    pose=pose_dict[1]
             
             if pose is None:
                 
@@ -159,7 +168,21 @@ def receiver_at_drone1(conn):
                 if np.sqrt((xTarget-pose[0])**2+(yTarget-pose[1])**2)<100:
                     print(f"Pose: {pose}")
                     print("Target Reached.")
-                    target += 1
+                    if drone==Drone1:
+                        target_array2.append(target_array[0])
+                        target_array.pop(0)
+                        drone=Drone2
+                        xTarget,  yTarget = target_array2[0]
+                    else:
+                        target_array2.pop(0)
+                        drone=Drone1
+                        if not target_array2:
+                            break
+                        else: 
+                            xTarget,  yTarget = target_array[0]
+                            continue
+
+                    
                     if target==5:
                         print("Task Completed\nLanding")
                         break

From 58c7661987161e50cf0df5bae5a5ab8948473c39 Mon Sep 17 00:00:00 2001
From: yeeshukant <79806119+Yeeshukant@users.noreply.github.com>
Date: Thu, 26 Jan 2023 23:55:30 +0530
Subject: [PATCH 53/82] deleted old dir

---
 DroneS/PlutoX/Camera/CAM_CONFIGS_lenovo.py    |  31 -
 DroneS/PlutoX/Camera/marker.py                | 167 ------
 DroneS/PlutoX/Control/newPID.py               |  78 ---
 DroneS/PlutoX/Control/newPIDmain.py           | 195 -------
 DroneS/PlutoX/Control/test.py                 | 198 -------
 DroneS/PlutoX/InterFile/__init__.py           |   2 -
 DroneS/PlutoX/InterFile/conn_marker_drone1.py |  35 --
 DroneS/PlutoX/__init__.py                     |   1 -
 DroneS/PlutoX/drone.py                        | 544 ------------------
 DroneS/kill.py                                |   9 -
 DroneS/main.py                                |   8 -
 DroneS/master.py                              |  48 --
 12 files changed, 1316 deletions(-)
 delete mode 100644 DroneS/PlutoX/Camera/CAM_CONFIGS_lenovo.py
 delete mode 100644 DroneS/PlutoX/Camera/marker.py
 delete mode 100644 DroneS/PlutoX/Control/newPID.py
 delete mode 100644 DroneS/PlutoX/Control/newPIDmain.py
 delete mode 100644 DroneS/PlutoX/Control/test.py
 delete mode 100644 DroneS/PlutoX/InterFile/__init__.py
 delete mode 100644 DroneS/PlutoX/InterFile/conn_marker_drone1.py
 delete mode 100644 DroneS/PlutoX/__init__.py
 delete mode 100644 DroneS/PlutoX/drone.py
 delete mode 100644 DroneS/kill.py
 delete mode 100644 DroneS/main.py
 delete mode 100644 DroneS/master.py

diff --git a/DroneS/PlutoX/Camera/CAM_CONFIGS_lenovo.py b/DroneS/PlutoX/Camera/CAM_CONFIGS_lenovo.py
deleted file mode 100644
index d509ea1..0000000
--- a/DroneS/PlutoX/Camera/CAM_CONFIGS_lenovo.py
+++ /dev/null
@@ -1,31 +0,0 @@
-import numpy as np
-
-CAMERA_HEIGHT = 1.8 #m
-
-#matrix_coefficients - Intrinsic matrix of the calibrated camera
-MATRIX_COEFFICIENTS = np.array([
-        [
-            289.1084845919912,
-            0.0,
-            309.4435568215443
-        ],
-        [
-            0.0,
-            293.8920476148095,
-            242.59815032382136
-        ],
-        [
-            0.0,
-            0.0,
-            1.0
-        ]
-    ])
-
-#distortion_coefficients - Distortion coefficients associated with our camera
-DISTORTION_COEFFICIENTS = np.array([
-            -0.2868759826260511,
-            0.20730330782367065,
-            0.016643787447130097,
-            -0.02460910630108414,
-            -0.06969337867772066
-        ])
\ No newline at end of file
diff --git a/DroneS/PlutoX/Camera/marker.py b/DroneS/PlutoX/Camera/marker.py
deleted file mode 100644
index d425d86..0000000
--- a/DroneS/PlutoX/Camera/marker.py
+++ /dev/null
@@ -1,167 +0,0 @@
-import cv2
-import numpy as np
-import math
-import time
-# from 
-
-CAMERA_HEIGHT = 1.9 #m
-
-#matrix_coefficients - Intrinsic matrix of the calibrated camera
-MATRIX_COEFFICIENTS = np.array([[
-            1447.9804004365824,
-            0.0,
-            617.3063266183908
-        ],
-        [
-            0.0,
-            1448.4116664252433,
-            289.02239681156016
-        ],
-        [
-            0.0,
-            0.0,
-            1.0
-        ]])
-
-#distortion_coefficients - Distortion coefficients associated with our camera
-DISTORTION_COEFFICIENTS = np.array([
-            0.0397515407032859,
-            1.259291585298002,
-            -0.010631456171277863,
-            -0.00784841820297665,
-            -5.925444820936321
-        ])
-    
-
-class Aruco:
-
-    ARUCO_DICT = {
-        "DICT_4X4_50": cv2.aruco.DICT_4X4_50,
-        "DICT_4X4_100": cv2.aruco.DICT_4X4_100,
-        "DICT_4X4_250": cv2.aruco.DICT_4X4_250,
-        "DICT_4X4_1000": cv2.aruco.DICT_4X4_1000,
-        "DICT_5X5_50": cv2.aruco.DICT_5X5_50,
-        "DICT_5X5_100": cv2.aruco.DICT_5X5_100,
-        "DICT_5X5_250": cv2.aruco.DICT_5X5_250,
-        "DICT_5X5_1000": cv2.aruco.DICT_5X5_1000,
-        "DICT_6X6_50": cv2.aruco.DICT_6X6_50,
-        "DICT_6X6_100": cv2.aruco.DICT_6X6_100,
-        "DICT_6X6_250": cv2.aruco.DICT_6X6_250,
-        "DICT_6X6_1000": cv2.aruco.DICT_6X6_1000,
-        "DICT_7X7_50": cv2.aruco.DICT_7X7_50,
-        "DICT_7X7_100": cv2.aruco.DICT_7X7_100,
-        "DICT_7X7_250": cv2.aruco.DICT_7X7_250,
-        "DICT_7X7_1000": cv2.aruco.DICT_7X7_1000,
-        "DICT_ARUCO_ORIGINAL": cv2.aruco.DICT_ARUCO_ORIGINAL,
-        "DICT_APRILTAG_16h5": cv2.aruco.DICT_APRILTAG_16h5,
-        "DICT_APRILTAG_25h9": cv2.aruco.DICT_APRILTAG_25h9,
-        "DICT_APRILTAG_36h10": cv2.aruco.DICT_APRILTAG_36h10,
-        "DICT_APRILTAG_36h11": cv2.aruco.DICT_APRILTAG_36h11
-    }
-
-    def __init__(self, arucoType):
-        self.arucoType = arucoType
-        self.arucoDict = cv2.aruco.Dictionary_get(self.ARUCO_DICT[self.arucoType])
-        self.arucoParams = cv2.aruco.DetectorParameters_create()
-
-    def detectMarkers(self,img):
-        #don't we need to use a gray img here? remember to change inputs to gray_img
-        #gray_img = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
-        return cv2.aruco.detectMarkers(img, self.arucoDict, parameters=self.arucoParams)
-        #cornersm, ids, rejected_img_points
-
-    def get_pose(self, corners, ids, image, desiredVec, display=True):
-
-        is_detected = False
-        pose = None
-        # print(f"corners, {corners} IDs: {ids}")
-        
-        if len(corners) > 0:
-            
-            
-            for (markerCorner, markerID) in zip(corners, ids):
-                try:
-                    rvec, tvec, markerPoints = cv2.aruco.estimatePoseSingleMarkers(np.array(corners[0]), 0.02, cameraMatrix=MATRIX_COEFFICIENTS, distCoeffs=DISTORTION_COEFFICIENTS)
-                except cv2.error:
-                    print("Pose Est error")
-                    return pose, is_detected, image
-
-                corners = markerCorner.reshape((4, 2))
-                (topLeft, topRight, bottomRight, bottomLeft) = corners
-                
-                topRight = np.array([int(topRight[0]), int(topRight[1])])
-                bottomRight = np.array([int(bottomRight[0]), int(bottomRight[1])])
-                bottomLeft = np.array([int(bottomLeft[0]), int(bottomLeft[1])])
-                topLeft = np.array([int(topLeft[0]), int(topLeft[1])])
-
-                cX, cY = (topLeft + bottomRight)//2
-                hX, hY = (topLeft + topRight)//2
-                tX, tY = hX-cX, hY-cY
-                yaw = np.arctan2(tY, tX) 
-                # yaw = np.rad2deg(yaw)
-
-                drone_height = CAMERA_HEIGHT - tvec[0,0,2]
-
-                pose = np.array([cX,cY, drone_height,yaw]) 
-                is_detected = True
-                if display:
-                    cv2.line(image, topLeft, topRight, (0, 255, 0), 2)
-                    cv2.line(image, topRight, bottomRight, (0, 255, 0), 2)
-                    cv2.line(image, bottomRight, bottomLeft, (0, 255, 0), 2)
-                    cv2.line(image, bottomLeft, topLeft, (0, 255, 0), 2)
-                    
-
-                    cv2.circle(image, (cX, cY), 4, (0, 0, 255), -1)
-                    
-                    cv2.arrowedLine(image, (cX,cY), (hX,hY),(0, 0, 255))
-                    
-                    # image = cv2.flip(image,1)
-                    cv2.putText(image, f"Drone ID: {markerID} Height: {drone_height}",(topLeft[0], topLeft[1] - 10), cv2.FONT_HERSHEY_SIMPLEX,
-                        0.5, (0, 255, 0), 2)
-                    # print("[Inference] ArUco marker ID: {}".format(markerID))
-            
-        if display:
-                dX,dY = desiredVec
-                cv2.circle(image, (dX, dY), 7, (255, 0, 0), -1)
-                    
-
-                
-        return pose, is_detected, image
-
-
-
-def markerMainSender(connCam):  #connCam
-
-    cap = cv2.VideoCapture(3)   
-    start = time.time()
-
-    cap.set(cv2.CAP_PROP_FRAME_WIDTH, 1280)
-    cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 720)
-
-    aruco_obj = Aruco("DICT_4X4_50")
-
-    while cap.isOpened(): 
-
-        ret, image = cap.read()               
-        
-        #Aruco Detection , pose Estimation Block
-
-        corners, ids, rejected = aruco_obj.detectMarkers(image)
-        # detected_markers = (corners, ids, image, [550,192])
-        pose, is_detected, detected_markers = aruco_obj.get_pose(corners, ids, image, [640,360], display=True)
-        cv2.imshow("Image", detected_markers)
-
-
-        # print(f"\n{i}--From Marker - Pose: {pose}")
-        connCam.send(pose)
-
-
-        key = cv2.waitKey(1) & 0xFF
-        if key == ord("q"):
-            break
-
-    cv2.destroyAllWindows()
-    cap.release()
-
-
-# markerMainSender(connCam='')
\ No newline at end of file
diff --git a/DroneS/PlutoX/Control/newPID.py b/DroneS/PlutoX/Control/newPID.py
deleted file mode 100644
index afde4b2..0000000
--- a/DroneS/PlutoX/Control/newPID.py
+++ /dev/null
@@ -1,78 +0,0 @@
-import numpy as np
-import time
-from PlutoX.Camera.marker import Aruco
-import cv2
-# from PlutoX.Camera.ignore_poseEst import WebcamVideoStream
-
-KPx, KPy, KPz, KPyaw = 0.01, 0.01, 200, 100
-KIx, KIy, KIz, KIyaw = 0, 0, 0, 0
-KDx, KDy, KDz, KDyaw = 0, 0, 0, 0
-
-
-
-YAW_TARGET = 1.5708
-
-
-
-def go_to(pose, target, Err, ErrI):
-    """
-    PID Control Loop
-    """
-    xError, yError, zError, yawError = Err
-    xErrorI, yErrorI, zErrorI, yawErrorI = ErrI
-
-    xTarget, yTarget, heightTarget = target
-
-
-
-    xError_old = xError
-    yError_old = yError
-    zError_old = zError
-    yawError_old = yawError
-
-    x,   y,   z,   yaw = pose
-
-    xError = xTarget-x
-    yError = yTarget-y
-    zError = heightTarget-z
-    yawError = YAW_TARGET-yaw
-
-
-    xErrorI += xError
-    yErrorI += yError
-    zErrorI += zError
-    yawErrorI += yawError
-
-    # compute derivative (variation) of errors (D)
-    xErrorD = xError-xError_old
-    yErrorD = yError-yError_old
-    zErrorD = zError-zError_old
-    yawErrorD = yawError-yawError_old
-
-    # compute commands
-    xCommand = KPx*xError + KIx*xErrorI + KDx*xErrorD
-    yCommand = KPy*yError + KIy*yErrorI + KDy*yErrorD
-    zCommand = KPz*zError + KIz*zErrorI + KDz*zErrorD
-    yawCommand = KPyaw*yawError + KIyaw*yawErrorI + KDyaw*yawErrorD
-
-    pitch_command = np.cos(yaw)*xCommand + np.sin(yaw)*yCommand
-
-    roll_command = -(np.sin(yaw)*xCommand - np.cos(yaw)*yCommand)
-
-    throttle_command = zCommand
-    Err = [xError, yError, zError, yawError]
-    ErrI = [xErrorI, yErrorI, zErrorI, yawErrorI]
-    print(f"Yaw error: {yawError}")
-
-    return roll_command, pitch_command, throttle_command, yawCommand, Err, ErrI
-
-
-        # drone.trim(roll_command,pitch_command, throttle_command, yawCommand)
-
-        # if np.linalg.norm(np.array([xError, yError]))<10 and abs(zError)<0.05:
-        #     print("Target Reached. Landing ...")
-        #     drone.land()
-        #     drone.disarm()
-
-
-
diff --git a/DroneS/PlutoX/Control/newPIDmain.py b/DroneS/PlutoX/Control/newPIDmain.py
deleted file mode 100644
index adc2b2a..0000000
--- a/DroneS/PlutoX/Control/newPIDmain.py
+++ /dev/null
@@ -1,195 +0,0 @@
-'''This file Receives pose values from marker.py ,&
- computes the velocity commands for drone, sends them using drone.pyto='s plu'''
-
-from multiprocessing import Pipe
-from PlutoX.drone import pluto
-import numpy as np
-import time
-import matplotlib.pyplot as plt
-
-#Target coords
-xTarget,  yTarget, heightTarget = 640,360, 1.0  #pixel, pixel , height(m)
-# 550,192
-#pid gains
-KPx, KPy, KPz, KPyaw = 0.225, 0.18, 200 , 70
-KIx, KIy, KIz, KIyaw = 0, 0, 0, 0
-KDx, KDy, KDz, KDyaw = 0, 0, 0, 0
-
-
-#currently global , 
-#for telling drones final yaw orientation 
-YAW_TARGET = 1.5708
-
-
-
-def pid(pose, target, Err, ErrI):
-    """
-    PID Control Loop
-    """
-    xError, yError, zError, yawError = Err
-    xErrorI, yErrorI, zErrorI, yawErrorI = ErrI
-
-    xTarget, yTarget, heightTarget = target
-
-
-
-    xError_old = xError
-    yError_old = yError
-    zError_old = zError
-    yawError_old = yawError
-
-    x,   y,   z,   yaw = pose
-
-    xError = xTarget-x
-    yError = yTarget-y
-    zError = heightTarget-z
-    yawError = YAW_TARGET-yaw
-
-
-    xErrorI += xError
-    yErrorI += yError
-    zErrorI += zError
-    yawErrorI += yawError
-
-    # compute derivative (variation) of errors (D)
-    xErrorD = xError-xError_old
-    yErrorD = yError-yError_old
-    zErrorD = zError-zError_old
-    yawErrorD = yawError-yawError_old
-
-    # compute commands
-    xCommand = KPx*xError + KIx*xErrorI + KDx*xErrorD
-    yCommand = KPy*yError + KIy*yErrorI + KDy*yErrorD
-    zCommand = KPz*zError + KIz*zErrorI + KDz*zErrorD
-
-    yawCommand    = int( KPyaw*yawError + KIyaw*yawErrorI + KDyaw*yawErrorD)
-    pitch_command = int( np.cos(yaw)*xCommand + np.sin(yaw)*yCommand)
-    roll_command  = int( -np.sin(yaw)*xCommand + np.cos(yaw)*yCommand ) 
-    throttle_command = int(zCommand)
-    Err = [xError, yError, zError, yawError]
-    ErrI = [xErrorI, yErrorI, zErrorI, yawErrorI]
-    
-    return roll_command, pitch_command, throttle_command, yawCommand, Err, ErrI
-
-
-def receiver_at_drone1(conn):
-    """
-    Function to recieve data from pid file and 
-    using drone_api velocity fns 
-    we can send the cmd to drone from here 
-    as soon as we recieve them
-    """
-    
-    drone=pluto()
-
-    # initialize PID controller
-    xError, yError, zError, yawError = 5, 5, 0.5, 0.3
-    xErrorI, yErrorI, zErrorI, yawErrorI = 0, 0, 0, 0
-    xErrorD, yErrorD, zErrorD, yawErrorD = 0, 0, 0, 0
-    xError_old, yError_old, zError_old, yawError_old = 0, 0, 0, 0
-
-    Err = [xError, yError, zError, yawError]
-    ErrI = [xErrorI, yErrorI, zErrorI, yawErrorI]
-    path = [[0,0,0,0]]
-    print()
-
-    #plotting work
-    # fig = plt.figure()
-    # ax = fig.add_subplot(1,1,1, projection="3d")
-    
-    drone.connect()
-    drone.trim(-7,5,0,0)
-    drone.disarm()
-    # drone.arm()
-    # drone.trim(5,18,0,0) #akshit drone
-
-    # drone.trim(-15,-5,0,0) #iit ddrone.trim(-15,-10,0,0)rone
-    # drone.trim(-5,2,0,0)
-
-    drone.takeoff()
-    # drone.throttle_speed(300,3)
-    print("takeoff")
-
-    timer=0
-    roll_command, pitch_command, throttle_command, yawCommand = 0, 0, 0, 0
-
-    start = time.time()
-    
-    while True:
-
-
-        try:
-            pose = None
-            now = time.time()
-            delay = now-start
-
-            if (conn.poll()):                
-                pose = conn.recv()
-                print(f"\n{delay}--Frequency checker(receiving) , received pose {pose}-")
-            
-            if pose is None:
-                
-                now_time = time.time()
-                timeout_limit = now_time - start 
-
-                roll_command, pitch_command, throttle_command, yawCommand = 0, 0, 25, 0
-
-                # if timer>=1000:
-                if timeout_limit > 5 : 
-                    print("Aruco not detected ,landing")
-                    drone.land()
-
-                print(f"\ntimer :{timeout_limit}")
-                
-          
-            if pose is not None:
-                print(f"Pose is {pose}")
-                path.append(pose)
-                start = time.time()
-                                                                                         
-                roll_command, pitch_command, throttle_command, yawCommand, Err, ErrI = pid(pose, [xTarget,  yTarget, heightTarget], Err, ErrI)
-                
-                if np.sqrt((xTarget-pose[0])**2+(yTarget-pose[1])**2)<25:
-                    print(f"Pose: {pose}")
-                    print("Target Reached.")
-                    
-                patht = np.array(path).T
-                # ax.plot(patht[0], patht[1], patht[2])
-                # ax.set_zlabel("Z")
-                # ax.set_ylabel("Y")
-                # ax.set_xlabel("X")
-            #-----------------------------
-            #prev cmd if pose is none
-
-            drone.throttle_speed(25)
-            drone.roll_speed(roll_command)
-            drone.pitch_speed(pitch_command)
-            drone.yaw_speed(yawCommand)
-
-            '''----------------------------'''
-            '''Very impt time.sleep '''
-            #( if removed , it will not let you sleep)'''
-            time.sleep(0.05)
-            '''this sleep adjusts the running of this files while loop, 
-            so that the rate of receiving from marker files is almost matched 
-            to that of this file sending commands to drone using api '''
-
-            '''check freq of -
-            1) Frequency checker , received pose 
-            2) Frequency sending '''
-            '''-----------------------------'''
-            #----------------------------------
-
-            print(f"\nFrequecy checker(sending) , rcmd: {roll_command}, pcmd: {pitch_command}, tcmd:{throttle_command},  yawcmd:{yawCommand}")
-            
-            plt.pause(0.01)
-
-            # np.linalg.norm(np.array([xError, yError]))<10 and 
-            # if np.linalg.norm(np.array([xError, yError]))<10: 
-        except KeyboardInterrupt:
-            break
-
-
-
-    drone.land()
-    drone.disarm()
diff --git a/DroneS/PlutoX/Control/test.py b/DroneS/PlutoX/Control/test.py
deleted file mode 100644
index 78db6f3..0000000
--- a/DroneS/PlutoX/Control/test.py
+++ /dev/null
@@ -1,198 +0,0 @@
-'''This file Receives pose values from marker.py ,&
- computes the velocity commands for drone, sends them using drone.pyto='s plu'''
-
-from multiprocessing import Pipe
-# from PlutoX.drone import pluto
-import numpy as np
-import time
-import matplotlib.pyplot as plt
-
-#Target coords
-xTarget,  yTarget, heightTarget = 640,360, 1.0  #pixel, pixel , height(m)
-550,192
-#pid gains
-KPx, KPy, KPz, KPyaw = 0.01, 0.01, 200, 50
-KIx, KIy, KIz, KIyaw = 0, 0, 0, 0
-KDx, KDy, KDz, KDyaw = 0, 0, 0, 0
-
-
-#currently global , 
-#for telling drones final yaw orientation 
-YAW_TARGET = 1.5708
-
-
-
-def pid(pose, target, Err, ErrI):
-    """
-    PID Control Loop
-    """
-    xError, yError, zError, yawError = Err
-    xErrorI, yErrorI, zErrorI, yawErrorI = ErrI
-
-    xTarget, yTarget, heightTarget = target
-
-
-
-    xError_old = xError
-    yError_old = yError
-    zError_old = zError
-    yawError_old = yawError
-
-    x,   y,   z,   yaw = pose
-
-    xError = xTarget-x
-    yError = yTarget-y
-    zError = heightTarget-z
-    yawError = YAW_TARGET-yaw
-
-
-    xErrorI += xError
-    yErrorI += yError
-    zErrorI += zError
-    yawErrorI += yawError
-
-    # compute derivative (variation) of errors (D)
-    xErrorD = xError-xError_old
-    yErrorD = yError-yError_old
-    zErrorD = zError-zError_old
-    yawErrorD = yawError-yawError_old
-
-    # compute commands
-    xCommand = KPx*xError + KIx*xErrorI + KDx*xErrorD
-    yCommand = KPy*yError + KIy*yErrorI + KDy*yErrorD
-    zCommand = KPz*zError + KIz*zErrorI + KDz*zErrorD
-
-    yawCommand    = int( KPyaw*yawError + KIyaw*yawErrorI + KDyaw*yawErrorD)
-    pitch_command = int( np.cos(yaw)*xCommand + np.sin(yaw)*yCommand)
-    roll_command  = int( -np.sin(yaw)*xCommand + np.cos(yaw)*yCommand ) 
-    throttle_command = int(zCommand)
-    Err = [xError, yError, zError, yawError]
-    ErrI = [xErrorI, yErrorI, zErrorI, yawErrorI]
-    
-    return roll_command, pitch_command, throttle_command, yawCommand, Err, ErrI
-
-
-def receiver_at_drone1(conn):
-    """
-    Function to recieve data from pid file and 
-    using drone_api velocity fns 
-    we can send the cmd to drone from here 
-    as soon as we recieve them
-    """
-    
-    # drone=pluto()
-
-    # initialize PID controller
-    xError, yError, zError, yawError = 5, 5, 0.5, 0.3
-    xErrorI, yErrorI, zErrorI, yawErrorI = 0, 0, 0, 0
-    xErrorD, yErrorD, zErrorD, yawErrorD = 0, 0, 0, 0
-    xError_old, yError_old, zError_old, yawError_old = 0, 0, 0, 0
-
-    Err = [xError, yError, zError, yawError]
-    ErrI = [xErrorI, yErrorI, zErrorI, yawErrorI]
-    path = [[0,0,0,0]]
-
-    #plotting work
-    fig = plt.figure()
-    ax = fig.add_subplot(1,1,1, projection="3d")
-    
-    # drone.connect()
-    # drone.disarm()
-    # drone.arm()
-
-    # drone.trim(5,18,0,0) #akshit drone
-
-    # drone.trim(-15,-5,0,0) #iit ddrone.trim(-15,-10,0,0)rone
-    
-    # drone.trim(0,0,0,0)
-    # drone.speedz(30,2)
-
-    # drone.speedz(0,5)
-    print("takeoff")
-
-    timer=0
-    roll_command, pitch_command, throttle_command, yawCommand = 0, 0, 0, 0
-
-    
-    while True:
-
-        start = time.time()
-
-        try:
-            pose = None
-            now = time.time()
-            delay = now-start
-
-            if (conn.poll()):                
-                pose = conn.recv()
-                print(f"\n{delay}--Frequency checker(receiving) , received pose {pose}-")
-            
-            if pose is None:
-                
-                now_time = time.time()
-                timeout_limit = now_time - start 
-
-                # if timer>=1000:
-                if timeout_limit > 5 : 
-                    print("Aruco not detected ,landing")
-                    # drone.land()
-
-                print(f"\ntimer :{timer}")
-                
-          
-            if pose is not None:
-                print(f"Pose is {pose}")
-                path.append(pose)
-                timer = 0
-                                                                                         
-                roll_command, pitch_command, throttle_command, yawCommand, Err, ErrI = pid(pose, [xTarget,  yTarget, heightTarget], Err, ErrI)
-                
-                if np.sqrt((xTarget-pose[0])**2+(yTarget-pose[1])**2)<25:
-                    print(f"Pose: {pose}")
-                    print("Target Reached.")
-                    
-                patht = np.array(path).T
-                ax.plot(patht[0], patht[1], patht[2])
-                ax.set_zlabel("Z")
-                ax.set_ylabel("Y")
-                ax.set_xlabel("X")
-
-            #-----------------------------
-            #prev cmd if pose is none
-
-            # drone.speedz(throttle_command)
-            # drone.speedx(roll_command)
-            # drone.speedy(pitch_command)
-            # drone.rotate(yawCommand)
-
-            '''----------------------------'''
-            '''Very impt time.sleep '''
-            #( if removed , it will not let you sleep)'''
-            time.sleep(0.03)
-            '''this sleep adjusts the running of this files while loop, 
-            so that the rate of receiving from marker files is almost matched 
-            to that of this file sending commands to drone using api '''
-
-            '''check freq of -
-            1) Frequency checker , received pose 
-            2) Frequency sending '''
-            '''-----------------------------'''
-            #----------------------------------
-
-            print(f"\nFrequecy checker(sending) , rcmd: {roll_command}, pcmd: {pitch_command}, tcmd:{throttle_command},  yawcmd:{yawCommand}")
-            # patht = np.array(path).T
-            # ax.plot(patht[0], patht[1], patht[2])
-            # ax.set_zlabel("Z")
-            # ax.set_ylabel("Y")
-            # ax.set_xlabel("X")
-            plt.pause(0.01)
-
-            # np.linalg.norm(np.array([xError, yError]))<10 and 
-            # if np.linalg.norm(np.array([xError, yError]))<10: 
-        except KeyboardInterrupt:
-            break
-
-
-
-    # drone.land()
-    # drone.disarm()
\ No newline at end of file
diff --git a/DroneS/PlutoX/InterFile/__init__.py b/DroneS/PlutoX/InterFile/__init__.py
deleted file mode 100644
index bee5020..0000000
--- a/DroneS/PlutoX/InterFile/__init__.py
+++ /dev/null
@@ -1,2 +0,0 @@
-# from PlutoX.InterFile import fn_of_marker_drone1
-
diff --git a/DroneS/PlutoX/InterFile/conn_marker_drone1.py b/DroneS/PlutoX/InterFile/conn_marker_drone1.py
deleted file mode 100644
index b470875..0000000
--- a/DroneS/PlutoX/InterFile/conn_marker_drone1.py
+++ /dev/null
@@ -1,35 +0,0 @@
-import multiprocessing
-from multiprocessing import Pipe
-import time 
-from PlutoX.Control.newPIDmain import receiver_at_drone1
-from PlutoX.Camera.marker import markerMainSender
-
-
-#line below is for checking connectivity for testing sender , reciever functions
-'''from PlutoX.InterFile.fn_of_marker_drone1 import sender_from_marker,receiver_at_drone'''
-  
-  
-    # creating new processes
-def build_conn():
-
-
-    #creates connection btw marker1 file and drone1
-    connCam,connDrone1 = Pipe(duplex = True)
-
-    p1 = multiprocessing.Process(target=markerMainSender, args=( [connCam]))
-    p2 = multiprocessing.Process(target=receiver_at_drone1, args=([connDrone1]))
-
-
-
-    #first detect pose , then takeoff
-    p1.start()
-    print('\n-------Starting process Camera-------')
-    time.sleep(2)
-
-    print("\n-----Starting Drone1--------")
-    p2.start()
-
-    
-    p1.join()
-    p2.join()
-   
diff --git a/DroneS/PlutoX/__init__.py b/DroneS/PlutoX/__init__.py
deleted file mode 100644
index b98917d..0000000
--- a/DroneS/PlutoX/__init__.py
+++ /dev/null
@@ -1 +0,0 @@
-from .drone import pluto
diff --git a/DroneS/PlutoX/drone.py b/DroneS/PlutoX/drone.py
deleted file mode 100644
index bb512cf..0000000
--- a/DroneS/PlutoX/drone.py
+++ /dev/null
@@ -1,544 +0,0 @@
-import socket
-import time
-import math
-import sys
-from select import select
-if sys.platform == 'win32':
-    import msvcrt
-else:
-    import termios
-    import tty
-
-
-
-MSP_STATUS=101          # out cmd cycletime & errors_count & sensor present & box activation & current setting number
-MSP_RAW_IMU=102         # 9 DOF 
-MSP_ATTITUDE=108        # 2 angles 1 heading
-MSP_ALTITUDE=109        # altitude, variometer
-MSP_ANALOG=110          # vbat, powermetersum, rssi if available on RX
-
-MSP_SET_RAW_RC=200      # 8 rc channel
-MSP_SET_COMMAND=217     # setting commands 
-RETRY_COUNT=5           # no of retries before getting required data
-class pluto:
-   
-    def __init__(self, DroneIP="192.168.4.1", DronePort=23):
-        self.DRONEIP = DroneIP
-        self.DRONEPORT = DronePort
-        self.BUFFER_SIZE = 1024
-       
-        self.roll=1500                    
-        self.pitch=1500                 
-        self.throttle=1500 
-        self.yaw=1500                      
-        self.aux1=1200
-        self.aux2=1000
-        self.aux3=1500
-        self.aux4=1200
-        
-        self.buffer_rc=bytearray([])               # rc data that has to be sent continuously 
-        self.trim(0,0,0,0)
-        
-
-    
-
-    def connect(self):
-        try:
-            self.mySocket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
-            self.mySocket.connect((self.DRONEIP, self.DRONEPORT))
-            print("pluto connected")
-        except:
-            print("Cannot connect to pluto, please try again...")
-
-    def disconnect(self):
-        self.mySocket.close()
-        print("pluto disconnected")
-
-    def trim(self,Roll,Pitch,Throttle,Yaw):
-        
-        Roll=max(-100,min(Roll,100))
-        Pitch=max(-100,min(Pitch,100))
-        Throttle=max(-100,min(Throttle,100))
-        Yaw=max(-100,min(Yaw,100))
-
-        self.roll=1500 + Roll
-        self.pitch=1500 + Pitch
-        self.throttle=1500 + Throttle
-        self.yaw=1500 + Yaw
-        
-        self.rc=[self.roll, self.pitch, self.throttle, self.yaw, self.aux1, self.aux2, self.aux3, self.aux4]
-    
-       
-    def create_sendMSPpacket(self, msg_type, msg):
-        self.buffer=bytearray([])                   # data to be sent
-        headerArray=bytearray([36,77,60])           # header array "$","M","<"
-        self.buffer.extend(headerArray)
-        msg_len=2*len(msg)
-        self.buffer.append(msg_len)
-        self.buffer.append(msg_type)
-        if(msg_len>0):
-          for b in msg:
-            LSB=b%256
-            MSB=math.floor(b/256)
-            self.buffer.append(LSB)
-            self.buffer.append(MSB)
-        CRCValue=0
-        for b in self.buffer[3:]:
-            CRCValue=CRCValue^b
-        self.buffer.append(CRCValue)
-    
-        if(msg_type==200):
-            self.buffer_rc=self.buffer[:]
-            self.sendPacket(self.buffer)
-        else:
-            self.sendPacket(self.buffer_rc)
-            self.sendPacket(self.buffer)
-        
-        
-   
-
-    def arm(self):   
-        self.rc[2]=1000
-        self.rc[-1]=1500
-        self.create_sendMSPpacket(MSP_SET_RAW_RC,self.rc)
-        time.sleep(1)
-       
-    def disarm(self):
-        self.rc[2]=1300
-        self.rc[-1]=1200
-        self.create_sendMSPpacket(MSP_SET_RAW_RC,self.rc)
-        time.sleep(1)
-       
-
-
-    def box_arm(self):
-        self.rc[2]=1500
-        self.rc[-1]=1500
-        self.create_sendMSPpacket(MSP_SET_RAW_RC,self.rc)
-        time.sleep(0.5)
-       
-
-    def clamp_rc(self,x:int):
-        return max(1000, min(2000,x))
-
-    def roll_speed(self,value,duration=0):  
-       
-        no_of_loops=10*duration 
-        self.rc[0]=self.clamp_rc(self.roll + value)    
-       
-        while(no_of_loops>0):
-         self.create_sendMSPpacket(MSP_SET_RAW_RC,self.rc)
-         no_of_loops=no_of_loops-1
-         time.sleep(0.1)
-        if(duration==0):
-            self.create_sendMSPpacket(MSP_SET_RAW_RC,self.rc)
-           
-  
-        
-    def pitch_speed(self,value,duration=0):  
-        no_of_loops=10*duration 
-        self.rc[1]=self.clamp_rc(self.pitch + value)    
-       
-        while(no_of_loops>0):
-         self.create_sendMSPpacket(MSP_SET_RAW_RC,self.rc)
-         no_of_loops=no_of_loops-1
-         time.sleep(0.1)
-        if(duration==0):
-            self.create_sendMSPpacket(MSP_SET_RAW_RC,self.rc)
-
-           
-
-    def throttle_speed(self,value,duration=0): 
-        no_of_loops=10*duration 
-        self.rc[2]=self.clamp_rc(self.throttle + value)    
-       
-        while(no_of_loops>0):
-         self.create_sendMSPpacket(MSP_SET_RAW_RC,self.rc)
-         no_of_loops=no_of_loops-1
-         time.sleep(0.1)
-        if(duration==0):
-            self.create_sendMSPpacket(MSP_SET_RAW_RC,self.rc)
-        
-
-    def yaw_speed(self,value,duration=0): 
-        no_of_loops=10*duration 
-        self.rc[3]=self.clamp_rc(self.yaw + value)    
-       
-        while(no_of_loops>0):
-         self.create_sendMSPpacket(MSP_SET_RAW_RC,self.rc)
-         no_of_loops=no_of_loops-1
-         time.sleep(0.1)
-        if(duration==0):
-            self.create_sendMSPpacket(MSP_SET_RAW_RC,self.rc)
-           
-    def reset_speed(self):
-        self.rc[:4]=[self.roll,self.pitch,self.throttle,self.yaw]
-        self.create_sendMSPpacket(MSP_SET_RAW_RC,self.rc)
-
-
-    def takeoff(self):
-        self.box_arm()
-        cmd=[1]
-        self.create_sendMSPpacket(MSP_SET_COMMAND,cmd)
-        self.throttle_speed(0,3)
-        
-        
-    def land(self):
-        cmd=[2]
-        self.create_sendMSPpacket(MSP_SET_COMMAND,cmd)
-        self.throttle_speed(0,5)
-        self.disarm()
-
-
-    def flip(self):
-        cmd=[3]
-        self.create_sendMSPpacket(MSP_SET_COMMAND,cmd)
-        self.throttle_speed(0,3)
-
-    
-
-    def read16(self,arr):
-        if((arr[1]&0x80) ==0):
-            return ((arr[1] << 8) + (arr[0]&0xff))             # for positive values 
-        else:
-            return (-65535 + (arr[1] << 8) + (arr[0]&0xff))    # for negative values
-
-    
-    ################################################## MSP_ALTITUDE #############################################################
-
-    def get_height(self):
-            data=[]
-            self.create_sendMSPpacket(MSP_ALTITUDE,data) 
-            for i in range(5):
-             data=self.recievePacket()
-             if(len(data)==12 & data[4]==109):
-               return self.read16(data[5:7])
-
-
-    def get_vario(self):
-            data=[]
-            self.create_sendMSPpacket(MSP_ALTITUDE,data) 
-            for i in range(RETRY_COUNT):
-             data=self.recievePacket()
-             if(len(data)==12 & data[4]==109):
-              return self.read16(data[-3:-1])
-
-
-    
-    ###################################################### MSP_ATTITUDE #########################################################
-
-    def get_roll(self):
-            data=[]
-            self.create_sendMSPpacket(MSP_ATTITUDE,data) 
-            for i in range(RETRY_COUNT):
-             data=self.recievePacket()
-             if(len(data)==12 and data[4]==108):
-                return self.read16(data[5:7])/10
-  
-
-    def get_pitch(self):
-            data=[]
-            self.create_sendMSPpacket(MSP_ATTITUDE,data) 
-            for i in range(RETRY_COUNT):
-             data=self.recievePacket()
-             if(len(data)==12 and data[4]==108):
-                return self.read16(data[7:9])/10
-    
-
-    def get_yaw(self):
-            data=[]
-            self.create_sendMSPpacket(MSP_ATTITUDE,data) 
-            for i in range(RETRY_COUNT):
-             data=self.recievePacket()
-             if(len(data)==12 and data[4]==108):
-                return self.read16(data[9:11])
-
-
-    ###################################################### MSP_RAW_IMU ##########################################################
-    
-    def get_acc_x(self):
-            data=[]
-            self.create_sendMSPpacket(MSP_RAW_IMU,data) 
-            for i in range(RETRY_COUNT):
-             data=self.recievePacket()
-             if(len(data)==24 and data[4]==102):
-                return self.read16(data[5:7])
-
-
-    def get_acc_y(self):
-            data=[]
-            self.create_sendMSPpacket(MSP_RAW_IMU,data) 
-            for i in range(RETRY_COUNT):
-             data=self.recievePacket()
-             if(len(data)==24 and data[4]==102):
-                return self.read16(data[7:9])
-    
-
-    def get_acc_z(self):
-            data=[]
-            self.create_sendMSPpacket(MSP_RAW_IMU,data) 
-            for i in range(RETRY_COUNT):
-             data=self.recievePacket()
-             if(len(data)==24 and data[4]==102):
-                return self.read16(data[9:11])
-    
-
-    def get_gyro_x(self):
-            data=[]
-            self.create_sendMSPpacket(MSP_RAW_IMU,data) 
-            for i in range(RETRY_COUNT):
-             data=self.recievePacket()
-             if(len(data)==24 and data[4]==102):
-                return self.read16(data[11:13])
-    
-
-    def get_gyro_y(self):
-            data=[]
-            self.create_sendMSPpacket(MSP_RAW_IMU,data) 
-            for i in range(RETRY_COUNT):
-             data=self.recievePacket()
-             if(len(data)==24 and data[4]==102):
-                return self.read16(data[13:15])
-    
-
-    def get_gyro_z(self):
-            data=[]
-            self.create_sendMSPpacket(MSP_RAW_IMU,data) 
-            for i in range(RETRY_COUNT):
-             data=self.recievePacket()
-             if(len(data)==24 and data[4]==102):
-                return self.read16(data[15:17])
-    
-
-    def get_mag_x(self):
-            data=[]
-            self.create_sendMSPpacket(MSP_RAW_IMU,data) 
-            for i in range(RETRY_COUNT):
-             data=self.recievePacket()
-             if(len(data)==24 and data[4]==102):
-                return self.read16(data[17:19])
-    
-
-    def get_mag_y(self):
-            data=[]
-            self.create_sendMSPpacket(MSP_RAW_IMU,data) 
-            for i in range(RETRY_COUNT):
-             data=self.recievePacket()
-             if(len(data)==24 and data[4]==102):
-                return self.read16(data[19:21])
- 
-
-    def get_mag_z(self):
-            data=[]
-            self.create_sendMSPpacket(MSP_RAW_IMU,data) 
-            for i in range(RETRY_COUNT):
-             data=self.recievePacket()
-             if(len(data)==24 and data[4]==102):
-                return self.read16(data[21:23])
-
-
-###################################################### MSP_ANALOG ###############################################################
-
-    def get_battery(self):
-            data=[]
-            self.create_sendMSPpacket(MSP_ANALOG,data) 
-            data=self.recievePacket()
-            if(len(data)>5 and data[4]==110):
-                return data[5]/10
-   
-
-
-    def sendPacket(self,buff):
-        #print(buff)
-        self.mySocket.send(buff)
-
-    def recievePacket(self):
-        return self.mySocket.recv(self.BUFFER_SIZE)
-    
-    
-###################################################### KEYBOARD_CONTROL #########################################################
-
-    
-    def getKey(self,settings):
-        """
-        Function Name: getKey
-        Input: None
-        Output: keyboard charecter pressed
-        Logic: Determine the keyboard key pressed
-        Example call: getkey()
-        """
-        
-        if sys.platform == 'win32':
-            # getwch() returns a string on Windows
-            key = msvcrt.getwch()
-            print("Key sent from Windows: '", key, "'")
-        else:
-            tty.setraw(sys.stdin.fileno())
-            rlist, _, _ = select([sys.stdin], [], [], 0.1)
-            if rlist:
-                key = sys.stdin.read(1)
-                if (key == '\x1b'): # \x1b is Escape key
-                    key = sys.stdin.read(2)
-                sys.stdin.flush()
-            else:
-                key = ''
-
-            termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
-            print("Key sent from Linux: ", key)
-        return key
-        
-    def saveTerminalSettings(self):
-        if sys.platform == 'win32':
-            return None
-        return termios.tcgetattr(sys.stdin)
-
-    def restoreTerminalSettings(self,old_settings):
-        if sys.platform == 'win32':
-            return termios.tcsetattr(sys.stdin, termios.TCSADRAIN, old_settings)
-
-    def indentify_key(self,key_value):
-
-        if key_value == 70:
-            if self.armed:
-                self.disarm()
-                self.armed = not self.armed
-            else:
-                self.arm()
-                self.armed = not self.armed
-
-        elif key_value == 10:
-            print("Forward key detected")
-            self.pitch_speed(200) # forward
-
-        elif key_value == 30:
-            print("Left key detected")
-            self.roll_speed(-200) # left
-
-        elif key_value == 40:
-            print("Right key detected")
-            self.roll_speed(200) # right
-
-        elif key_value == 80:
-            self.reset_speed()
-
-        elif key_value == 50:
-            self.throttle_speed(400) # increase height
-
-        elif key_value == 60:
-            self.throttle_speed(-200) # decrease_height
-
-        elif key_value == 110:
-            print("Backward key detected")
-            self.pitch_speed(-200) # backwards
-
-        elif key_value == 130:
-            self.takeoff()
-
-        elif key_value == 140:
-            self.land()
-
-        elif key_value == 150:
-            self.yaw_speed(-300) # yaw left
-
-        elif key_value == 160:
-            self.yaw_speed(300) # yaw right
-    
-        elif key_value == 42: # windows special key
-            key2 = msvcrt.getwch()
-            print("Special key detected: ", key2)
-            
-            # check for windows special key type
-            if key2 == 'H': # up arrow
-                print("Forward key detected")
-                self.pitch_speed(200) # forward
-
-            elif key2 == 'K': # left arrow
-                print("Left key detected")
-                self.roll_speed(-200) # left
-
-            elif key2 == 'M': # right arrow'
-                print("Right key detected")
-                self.roll_speed(200) # right
-
-            elif key2 == 'P': # down arrow
-                print("Backward key detected")
-                self.pitch_speed(-200)
-        
-
-    def keyboard_control(self,stat=False):
-        
-        self.disarm()
-        self.armed = False
-        msg="""   
-            Control Your Drone!
-            ---------------------------
-            spacebar : arm or disarm
-            w : increase height
-            s : decrease height
-            q : take off
-            e : land
-            a : yaw left
-            d : yaw right
-            Up arrow : go forward
-            Down arrow : go backward
-            Left arrow : go left
-            Right arrow : go right
-            CTRL+C to quit
-        """
-        self.keyboard_controls={  #dictionary containing the key pressed abd value associated with it
-                            '[A': 10, # up arrow fwd pitch
-                            '[D': 30, # left arrow left roll
-                            '[C': 40, # right arrow right roll
-                            'w':50, # increase throttle
-                            's':60, # decrease throttle
-                            ' ': 70, # arm disarm
-                            'r':80, # reset
-                            't':90, # autopilot
-                            'p':100,
-                            '[B':110, # down arrow bkwd pitch
-                            'n':120,
-                            'q':130, # take off
-                            'e':140, # land
-                            'a':150, # left yaw
-                            'd':160, # right yaw
-                            '+' : 15,
-                            '1' : 25,
-                            '2' : 30,
-                            '3' : 35,
-                            '4' : 45,
-                            # Windows arrow key 
-                            'à': 42
-                            # 'àH': 10, # up arrow fwd pitch (Windows)
-                            # 'àK': 30, # left arrow left roll (Windows)
-                            # 'àM': 40, # right arrow right roll (Windows)
-                            # 'àP': 110 # down arrow bkwd pitch (Windows)
-                            }
-
-        self.win_arrowkey = False
-
-        self.settings = self.saveTerminalSettings()  
-        print(msg) 
-        try:
-            while(True):
-                if(stat):
-                    print("Roll :",self.get_roll(), "Pitch :",self.get_pitch(), "Yaw :",self.get_yaw(), "Battery :",self.get_battery())
-                key = self.getKey(self.settings)
-                if key in self.keyboard_controls.keys():
-                    print("executed" , self.keyboard_controls[key] , "]]]")
-                    self.indentify_key(self.keyboard_controls[key])
-
-                else:
-                    if(self.armed):
-                        self.reset_speed()
-                    print("Other key: ", key)
-                    if (key == '\x03'):
-                        print("Ctrl+C detected")
-                        self.disarm() # Ctrl+C break
-                        break
-
-        except Exception as e:
-            print(e)
-
-        finally:
-            print(key)
-            self.restoreTerminalSettings(self.settings)
diff --git a/DroneS/kill.py b/DroneS/kill.py
deleted file mode 100644
index 24a4b7f..0000000
--- a/DroneS/kill.py
+++ /dev/null
@@ -1,9 +0,0 @@
-
-
-from PlutoX.drone import pluto
-import time
-
-if __name__ == '__main__':
-    client =pluto()
-    client.disarm()
-    time.sleep(5)
diff --git a/DroneS/main.py b/DroneS/main.py
deleted file mode 100644
index ab3d47c..0000000
--- a/DroneS/main.py
+++ /dev/null
@@ -1,8 +0,0 @@
-from PlutoX import pluto
-import time
-drone=pluto()
-drone.connect() 
-drone.disarm()
-#print(drone.get_vario())
-
-drone.keyboard_control()
diff --git a/DroneS/master.py b/DroneS/master.py
deleted file mode 100644
index 785c33f..0000000
--- a/DroneS/master.py
+++ /dev/null
@@ -1,48 +0,0 @@
-# from PlutoX.InterFile.conn_marker_drone1 import build_conn
-import matplotlib
-import multiprocessing
-from multiprocessing import Pipe
-import time 
-from PlutoX.Control.newPIDmain import receiver_at_drone1
-from PlutoX.Camera.marker import markerMainSender
-# from PlutoX.Control.test import receiver_at_drone1 
-
-
-# builds necessary connections of drone(1,2,...) & the camera file
-def build_conn():
-
-
-    #creates connection btw marker1 file and drone1
-    connCam,connDrone1 = Pipe(duplex = True)
-
-
-    p1 = multiprocessing.Process(target=markerMainSender, args=( [connCam]))
-    p2 = multiprocessing.Process(target=receiver_at_drone1, args=([connDrone1]))
-
-
-
-    #first detect pose , then takeoff
-    p1.start()
-    print('\n-------Starting process Camera-------')
-    time.sleep(2)
-
-    # while(delay<5):
-    #     now = time.time()
-    #     delay = now-start
-    #     time.sleep(1) #enough for camera to setup
-    #     print("\nSetting up camera.......")
-
-    print("\n-----Starting Drone1--------")
-    p2.start()
-
-    
-    p1.join()
-    p2.join()
-    
-
-  
-if __name__ == "__main__":
-   
-    
-    build_conn()  #starts camera file and drone1 file , also builds connection btw the two
-

From de5c2e0debd8ca4b2ca26b1dba1085e2d62c0cf6 Mon Sep 17 00:00:00 2001
From: yeeshukant <79806119+Yeeshukant@users.noreply.github.com>
Date: Thu, 26 Jan 2023 23:57:41 +0530
Subject: [PATCH 54/82] deleted old dir

---
 pypluto/pypluto/Comm/__init__.py              |   0
 .../Comm/__pycache__/__init__.cpython-38.pyc  | Bin 156 -> 0 bytes
 .../Comm/__pycache__/cmdList.cpython-38.pyc   | Bin 332 -> 0 bytes
 .../Comm/__pycache__/parser.cpython-38.pyc    | Bin 1036 -> 0 bytes
 .../Comm/__pycache__/typeConst.cpython-38.pyc | Bin 199 -> 0 bytes
 .../Comm/__pycache__/types.cpython-38.pyc     | Bin 1895 -> 0 bytes
 pypluto/pypluto/Comm/receiver.py              |   0
 pypluto/pypluto/commands/mov_func.py          |  65 ------------------
 8 files changed, 65 deletions(-)
 delete mode 100644 pypluto/pypluto/Comm/__init__.py
 delete mode 100644 pypluto/pypluto/Comm/__pycache__/__init__.cpython-38.pyc
 delete mode 100644 pypluto/pypluto/Comm/__pycache__/cmdList.cpython-38.pyc
 delete mode 100644 pypluto/pypluto/Comm/__pycache__/parser.cpython-38.pyc
 delete mode 100644 pypluto/pypluto/Comm/__pycache__/typeConst.cpython-38.pyc
 delete mode 100644 pypluto/pypluto/Comm/__pycache__/types.cpython-38.pyc
 delete mode 100644 pypluto/pypluto/Comm/receiver.py
 delete mode 100644 pypluto/pypluto/commands/mov_func.py

diff --git a/pypluto/pypluto/Comm/__init__.py b/pypluto/pypluto/Comm/__init__.py
deleted file mode 100644
index e69de29..0000000
diff --git a/pypluto/pypluto/Comm/__pycache__/__init__.cpython-38.pyc b/pypluto/pypluto/Comm/__pycache__/__init__.cpython-38.pyc
deleted file mode 100644
index 119a64c410ff0d61d141d3bb11873ecc560ea1c6..0000000000000000000000000000000000000000
GIT binary patch
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diff --git a/pypluto/pypluto/Comm/receiver.py b/pypluto/pypluto/Comm/receiver.py
deleted file mode 100644
index e69de29..0000000
diff --git a/pypluto/pypluto/commands/mov_func.py b/pypluto/pypluto/commands/mov_func.py
deleted file mode 100644
index 00eb392..0000000
--- a/pypluto/pypluto/commands/mov_func.py
+++ /dev/null
@@ -1,65 +0,0 @@
-from pypluto.Comm.packets import *
-from pypluto.Comm.msg import Message
-
-
-class MsgType():
-    def __init__(self):
-        self.parse = Message()
-
-    def command(self, cmd):
-        return self.parse.convert([cmd], MSP_SET_COMMAND)
-
-    def arming(self, arm: bool):
-        RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW, RC_AUX1, RC_AUX2, RC_AUX3, RC_AUX4 = 1500, 1500, 1000, 1500, 1500, 1000, 1500, 1500
-        data = [RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW, RC_AUX1, RC_AUX2, RC_AUX3, RC_AUX4]
-        if arm:
-            data[-1] = 1500
-            return self.parse.convert(data, MSP_SET_RAW_RC)
-        else:
-            data[-1] = 901
-            return self.parse.convert(data, MSP_SET_RAW_RC)
-    
-    def move(self, cmd):
-        RC_AUX1, RC_AUX2, RC_AUX3, RC_AUX4 = 1500, 1500, 1500, 1500
-
-        if cmd=="right":
-            RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW  = 1600, 1500, 1500, 1500
-            data = [RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW, RC_AUX1, RC_AUX2, RC_AUX3, RC_AUX4]
-        
-        if cmd=="left":
-            RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW  = 1400, 1500, 1500, 1500
-            data = [RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW, RC_AUX1, RC_AUX2, RC_AUX3, RC_AUX4]
-        
-        if cmd=="backward":
-            RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW  = 1500, 1400, 1500, 1500
-            data = [RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW, RC_AUX1, RC_AUX2, RC_AUX3, RC_AUX4]
-        
-        if cmd=="forward":
-            RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW  = 1500, 1600, 1500, 1500
-            data = [RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW, RC_AUX1, RC_AUX2, RC_AUX3, RC_AUX4]
-            
-        if cmd=="up":
-            RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW  = 1500, 1500, 1800, 1500
-            data = [RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW, RC_AUX1, RC_AUX2, RC_AUX3, RC_AUX4]
-            
-        if cmd=="down":
-            RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW  = 1500, 1500, 1300, 1500
-            data = [RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW, RC_AUX1, RC_AUX2, RC_AUX3, RC_AUX4]
-        
-        if cmd=="clck":
-            RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW  = 1500, 1500, 1500, 1600
-            data = [RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW, RC_AUX1, RC_AUX2, RC_AUX3, RC_AUX4]
-            
-        if cmd=="anticlck":
-            RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW  = 1500, 1500, 1500, 1400
-            data = [RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW, RC_AUX1, RC_AUX2, RC_AUX3, RC_AUX4]
-        
-        return self.parse.convert(data, MSP_SET_RAW_RC)
-
-    def get_data(self,cmd):
-
-        if cmd == "IMU":
-            pkt_type = MSP_RAW_IMU
-            data=[None]*9
-
-        return self.parse.convert(data, pkt_type)

From 4c09ad0f48709ef21339c7027dfcdcdbba9c0ca3 Mon Sep 17 00:00:00 2001
From: Yeeshukant 
Date: Fri, 27 Jan 2023 21:40:29 +0530
Subject: [PATCH 55/82] target points show, pose_dict error resolve

---
 pypluto/pypluto/Camera/marker.py   | 24 +++++-----
 pypluto/pypluto/Control/PIDmain.py | 72 +++++++++++++++++++-----------
 2 files changed, 59 insertions(+), 37 deletions(-)

diff --git a/pypluto/pypluto/Camera/marker.py b/pypluto/pypluto/Camera/marker.py
index d8e457e..729c6f4 100644
--- a/pypluto/pypluto/Camera/marker.py
+++ b/pypluto/pypluto/Camera/marker.py
@@ -203,7 +203,9 @@ def get_pose(self, corners, ids, image, desiredVec, display=True):
                     # print("[Inference] ArUco marker ID: {}".format(markerID))
             
         if display:
-                dX,dY = desiredVec
+            for i in range(len(desiredVec[0])):
+                # print(desiredVec[0][i])
+                dX,dY = desiredVec[0][i]
                 cv2.circle(image, (dX, dY), 7, (255, 0, 0), -1)
                     
 
@@ -214,7 +216,7 @@ def get_pose(self, corners, ids, image, desiredVec, display=True):
 
 def markerMainSender(connCam):  #connCam
 
-    cameraID = 0 # your camera id on pc
+    cameraID = 2 # your camera id on pc
     target_array = [
     [914, 149],
     [921, 422],
@@ -246,18 +248,16 @@ def markerMainSender(connCam):  #connCam
         # detected_markers = (corners, ids, image, [550,192])
         if len(corners)>0:
             for i in range(0,len(ids)):
-                pose, is_detected, detected_markers  = aruco_obj.get_pose(corners[i], ids, image, [xTarget,yTarget], display=True)
+                pose, is_detected, detected_markers  = aruco_obj.get_pose(corners[i], ids, image, [target_array], display=True)
                 cv2.imshow("Image", detected_markers)
-                pose_dict[ids[i][0]]=pose
-                if pose is not None:
-                    if np.sqrt((xTarget-pose[0])**2+(yTarget-pose[1])**2)<100:
-                        target += 1
-                        if target<5:
-                            xTarget,  yTarget = target_array[target]
+                pose_dict[str(ids[i][0])]=pose
+
+        else:
+            cv2.imshow("Image", image)
         
         # print(f"\n{i}--From Marker - Pose: {pose}")
-        # connCam.send(pose_dict)
-        print(pose_dict)
+        connCam.send(pose_dict)
+        # print(pose_dict)
 
 
         key = cv2.waitKey(1) & 0xFF
@@ -268,4 +268,4 @@ def markerMainSender(connCam):  #connCam
     cap.release()
 
 
-markerMainSender(connCam='')
+# markerMainSender(connCam='')
\ No newline at end of file
diff --git a/pypluto/pypluto/Control/PIDmain.py b/pypluto/pypluto/Control/PIDmain.py
index d80ecea..3b536b7 100644
--- a/pypluto/pypluto/Control/PIDmain.py
+++ b/pypluto/pypluto/Control/PIDmain.py
@@ -19,8 +19,10 @@
 xTarget,  yTarget, heightTarget = target_array[0][0],target_array[0][1], 0.8  #pixel, pixel , height(m)
 Drone1=pluto(DroneIP="10.42.0.74")
 Drone2=pluto(DroneIP="10.42.0.96")
-client = [Drone1,Drone2]
-drone=client[0]
+Drone1.connect()
+Drone2.connect()
+# client = [Drone1,Drone2]
+drone=Drone1
 #pid gains
 KPx, KPy, KPz, KPyaw = 0.3, 0.1, 200 , 70
 KIx, KIy, KIz, KIyaw = 0, 0, 0, 0
@@ -90,7 +92,7 @@ def receiver_at_drone1(conn):
     we can send the cmd to drone from here 
     as soon as we recieve them
     """
-    global xTarget,  yTarget, heightTarget
+    global xTarget,  yTarget, heightTarget, drone
     #drone=pluto()
 
     # initialize PID controller
@@ -103,11 +105,16 @@ def receiver_at_drone1(conn):
     ErrI = [xErrorI, yErrorI, zErrorI, yawErrorI]
     path = [[0,0,0,0]]
     
-    drone.connect()
     #drone.trim(0, 0, 0, 0)
-    drone.disarm()
-    drone.arm()
-    drone.throttle_speed(300,3)
+    Drone1.disarm()
+    Drone2.disarm()
+    # drone.arm()
+    Drone1.arm()
+    Drone2.arm()
+    Drone1.throttle_speed(50,1)
+    Drone2.throttle_speed(50,1)
+    # Drone2.takeoff()
+    # drone.throttle_speed(300,3)
     print("takeoff")
 
     timer=0
@@ -124,18 +131,15 @@ def receiver_at_drone1(conn):
 
 
         try:
-            pose = None
+            # pose = None
             # now = time.time()
             # delay = now-start
 
             if (conn.poll()):                
                 pose_dict = conn.recv()
-                if drone==Drone1:
-                    pose=pose_dict[0]
-                else:
-                    pose=pose_dict[1]
+                
             
-            if pose is None:
+            if not pose_dict:
                 
                 now_time = time.time()
                 timeout_limit = now_time - start 
@@ -150,12 +154,18 @@ def receiver_at_drone1(conn):
                 print(f"\ntimer :{timeout_limit}")
                 
           
-            if pose is not None:
+            elif (not pose_dict)==False:
+                print('SGVADGV')
+                print(pose_dict)
+                if drone==Drone1:
+                    pose=pose_dict['0']
+                elif drone==Drone2:
+                    pose=pose_dict['1']
                 path.append(pose)
                 start = time.time()
                                                                                          
                 roll_command, pitch_command, throttle_command, yawCommand, Err, ErrI = pid(pose, [xTarget,  yTarget, heightTarget], Err, ErrI)
-                
+                print("pid calc successssssss...sending cammand")
                 if (roll_command>100):
                     roll_command=100
                 elif (roll_command<-100):
@@ -172,23 +182,33 @@ def receiver_at_drone1(conn):
                         target_array2.append(target_array[0])
                         target_array.pop(0)
                         drone=Drone2
-                        xTarget,  yTarget = target_array2[0]
+                        if len(target_array)>1:
+                            xTarget,  yTarget = target_array2[0]
+                        # if not target_array:
+                        #         drone.land()
                     else:
                         target_array2.pop(0)
                         drone=Drone1
                         if not target_array2:
                             break
-                        else: 
+                        elif target_array:
                             xTarget,  yTarget = target_array[0]
                             continue
 
                     
-                    if target==5:
-                        print("Task Completed\nLanding")
-                        break
-                    xTarget,  yTarget = target_array[target]
-
-            drone.throttle_speed(10)
+                    # if target==5:
+                    #     print("Task Completed\nLanding")
+                    #     break
+                    # xTarget,  yTarget = target_array[target]
+            if drone==Drone1:
+                print("bheja2222222")
+                Drone2.throttle_speed(40)
+            elif drone==Drone2:
+                print("bheja111111")
+                Drone1.throttle_speed(40)
+
+            drone.throttle_speed(40)
+            print("bhejjaaa11111")
             drone.roll_speed(roll_command)
             drone.pitch_speed(pitch_command)
             drone.yaw_speed(yawCommand)
@@ -207,5 +227,7 @@ def receiver_at_drone1(conn):
 
 
 
-    drone.land()
-    drone.disarm()
+    Drone1.land()
+    Drone1.disarm()
+    Drone2.land()
+    Drone2.disarm()

From 8b77e691786e2050f14e39f5254da749dacecfb2 Mon Sep 17 00:00:00 2001
From: Yeeshukant 
Date: Sun, 29 Jan 2023 22:36:58 +0530
Subject: [PATCH 56/82] working hover PID

---
 pypluto/pypluto/Camera/marker.py   |   6 +-
 pypluto/pypluto/Control/PIDmain.py | 110 +++++++++++++++--------------
 2 files changed, 61 insertions(+), 55 deletions(-)

diff --git a/pypluto/pypluto/Camera/marker.py b/pypluto/pypluto/Camera/marker.py
index 729c6f4..8778bed 100644
--- a/pypluto/pypluto/Camera/marker.py
+++ b/pypluto/pypluto/Camera/marker.py
@@ -216,7 +216,7 @@ def get_pose(self, corners, ids, image, desiredVec, display=True):
 
 def markerMainSender(connCam):  #connCam
 
-    cameraID = 2 # your camera id on pc
+    cameraID = 3 # your camera id on pc
     target_array = [
     [914, 149],
     [921, 422],
@@ -253,6 +253,10 @@ def markerMainSender(connCam):  #connCam
                 pose_dict[str(ids[i][0])]=pose
 
         else:
+            for i in range(len(target_array)):
+                # print(desiredVec[0][i])
+                dX,dY = target_array[i]
+                cv2.circle(image, (dX, dY), 7, (255, 0, 0), -1)
             cv2.imshow("Image", image)
         
         # print(f"\n{i}--From Marker - Pose: {pose}")
diff --git a/pypluto/pypluto/Control/PIDmain.py b/pypluto/pypluto/Control/PIDmain.py
index 3b536b7..6af7db4 100644
--- a/pypluto/pypluto/Control/PIDmain.py
+++ b/pypluto/pypluto/Control/PIDmain.py
@@ -16,17 +16,18 @@
 ]
 target_array2=[]
 target_array2.append(target_array[0])
-xTarget,  yTarget, heightTarget = target_array[0][0],target_array[0][1], 0.8  #pixel, pixel , height(m)
+# xTarget,  yTarget, heightTarget = target_array[0][0],target_array[0][1], 0.8  #pixel, pixel , height(m)
+xTarget,  yTarget, heightTarget = 693, 335, 0.8
 Drone1=pluto(DroneIP="10.42.0.74")
-Drone2=pluto(DroneIP="10.42.0.96")
+# Drone2=pluto(DroneIP="10.42.0.96")
 Drone1.connect()
-Drone2.connect()
+# Drone2.connect()
 # client = [Drone1,Drone2]
 drone=Drone1
 #pid gains
-KPx, KPy, KPz, KPyaw = 0.3, 0.1, 200 , 70
-KIx, KIy, KIz, KIyaw = 0, 0, 0, 0
-KDx, KDy, KDz, KDyaw = 3, 5, 0, 0
+KPx, KPy, KPz, KPyaw = 0.5, 0.1, 200 , 70
+KIx, KIy, KIz, KIyaw = 0.01, 0.01, 0, 0
+KDx, KDy, KDz, KDyaw = 5, 30, 0, 0
 
 
 #currently global , 
@@ -105,15 +106,15 @@ def receiver_at_drone1(conn):
     ErrI = [xErrorI, yErrorI, zErrorI, yawErrorI]
     path = [[0,0,0,0]]
     
-    #drone.trim(0, 0, 0, 0)
+    drone.trim(5, 0, 0, 0)
     Drone1.disarm()
-    Drone2.disarm()
+    # Drone2.disarm()
     # drone.arm()
-    Drone1.arm()
-    Drone2.arm()
-    Drone1.throttle_speed(50,1)
-    Drone2.throttle_speed(50,1)
-    # Drone2.takeoff()
+    # Drone1.arm()
+    # Drone2.arm()
+    # Drone1.throttle_speed(50,1)
+    # Drone2.throttle_speed(50,1)
+    Drone1.takeoff()
     # drone.throttle_speed(300,3)
     print("takeoff")
 
@@ -126,12 +127,12 @@ def receiver_at_drone1(conn):
     roll_log = []
     pitch_log = []
 
-    
     while True:
 
 
         try:
-            # pose = None
+            # prev_time = time.time()
+            pose_dict = None
             # now = time.time()
             # delay = now-start
 
@@ -146,12 +147,12 @@ def receiver_at_drone1(conn):
 
                 roll_command, pitch_command, throttle_command, yawCommand = 0, 0, 0, 0
 
-                if timeout_limit > 5 : 
+                if timeout_limit > 8 : 
                     print("Aruco not detected ,landing")
                     drone.land()
                     break
 
-                print(f"\ntimer :{timeout_limit}")
+                # print(f"\ntimer :{timeout_limit}")
                 
           
             elif (not pose_dict)==False:
@@ -159,65 +160,66 @@ def receiver_at_drone1(conn):
                 print(pose_dict)
                 if drone==Drone1:
                     pose=pose_dict['0']
-                elif drone==Drone2:
-                    pose=pose_dict['1']
-                path.append(pose)
+                # elif drone==Drone2:
+                #     pose=pose_dict['1']
+                # path.append(pose)
                 start = time.time()
-                                                                                         
+                # curr_time = time.time()
                 roll_command, pitch_command, throttle_command, yawCommand, Err, ErrI = pid(pose, [xTarget,  yTarget, heightTarget], Err, ErrI)
-                print("pid calc successssssss...sending cammand")
+                # print("pid calc successssssss...sending cammand")
                 if (roll_command>100):
                     roll_command=100
                 elif (roll_command<-100):
                     roll_command=-100
-                if (pitch_command>100):
-                    pitch_command=100
-                elif (pitch_command<-100):
-                    pitch_command=-100
+                if (pitch_command>50):
+                    pitch_command=50
+                elif (pitch_command<-50):
+                    pitch_command=-50
 
                 if np.sqrt((xTarget-pose[0])**2+(yTarget-pose[1])**2)<100:
                     print(f"Pose: {pose}")
                     print("Target Reached.")
-                    if drone==Drone1:
-                        target_array2.append(target_array[0])
-                        target_array.pop(0)
-                        drone=Drone2
-                        if len(target_array)>1:
-                            xTarget,  yTarget = target_array2[0]
-                        # if not target_array:
-                        #         drone.land()
-                    else:
-                        target_array2.pop(0)
-                        drone=Drone1
-                        if not target_array2:
-                            break
-                        elif target_array:
-                            xTarget,  yTarget = target_array[0]
-                            continue
+
+                    # if drone==Drone1:
+                    #     target_array2.append(target_array[0])
+                    #     target_array.pop(0)
+                    #     drone=Drone2
+                    #     if len(target_array)>1:
+                    #         xTarget,  yTarget = target_array2[0]
+                    #     # if not target_array:
+                    #     #         drone.land()
+                    # else:
+                    #     target_array2.pop(0)
+                    #     drone=Drone1
+                    #     if not target_array2:
+                    #         break
+                    #     elif target_array:
+                    #         xTarget,  yTarget = target_array[0]
+                    #         continue
 
                     
                     # if target==5:
                     #     print("Task Completed\nLanding")
                     #     break
                     # xTarget,  yTarget = target_array[target]
-            if drone==Drone1:
-                print("bheja2222222")
-                Drone2.throttle_speed(40)
-            elif drone==Drone2:
-                print("bheja111111")
-                Drone1.throttle_speed(40)
-
-            drone.throttle_speed(40)
-            print("bhejjaaa11111")
+            # if drone==Drone1:
+            #     print("bheja2222222")
+            #     Drone2.throttle_speed(40)
+            # elif drone==Drone2:
+            #     print("bheja111111")
+            #     Drone1.throttle_speed(40)
+
+            drone.throttle_speed(-5)
+            # print("bhejjaaa11111")
             drone.roll_speed(roll_command)
             drone.pitch_speed(pitch_command)
             drone.yaw_speed(yawCommand)
 
             time.sleep(0.04)
+            # prev_time = curr_time
             '''this sleep adjusts the running of this files while loop, 
             so that the rate of receiving from marker files is almost matched 
             to that of this file sending commands to drone using api '''
-
             if not roll_command==0:
 
                 print(f"\nFrequecy checker(sending) , rcmd: {roll_command}, pcmd: {pitch_command}, tcmd:{throttle_command},  yawcmd:{yawCommand}")
@@ -229,5 +231,5 @@ def receiver_at_drone1(conn):
 
     Drone1.land()
     Drone1.disarm()
-    Drone2.land()
-    Drone2.disarm()
+    # Drone2.land()
+    # Drone2.disarm()

From f43592be7f1156e7fe6c0f00a64c6e33cae9ef3e Mon Sep 17 00:00:00 2001
From: Yeeshukant 
Date: Thu, 2 Feb 2023 17:40:57 +0530
Subject: [PATCH 57/82] task2 completed

---
 pypluto/main.py                    |  29 ++++----
 pypluto/pypluto/Camera/marker.py   |  62 +++++++----------
 pypluto/pypluto/Control/PIDmain.py | 108 ++++++++++++++++-------------
 pypluto/pypluto/drone.py           |  13 ++++
 4 files changed, 111 insertions(+), 101 deletions(-)

diff --git a/pypluto/main.py b/pypluto/main.py
index d7397f7..6885ada 100644
--- a/pypluto/main.py
+++ b/pypluto/main.py
@@ -1,22 +1,19 @@
 from pypluto import pluto
 import time
 #A sample program to test the drone API
-drone1=pluto(DroneIP="10.42.0.74")
-drone2=pluto(DroneIP="10.42.0.96")
+# drone1=pluto(DroneIP="10.42.0.74")
+drone1=pluto()
+# drone2=pluto(DroneIP="10.42.0.96")
 drone1.connect()
-drone2.connect()
+# drone2.connect()
+drone1.trim(-10,10,0,0)
 drone1.disarm()
-drone2.disarm()
-drone1.arm()
-drone2.arm()
-time.sleep(2)
+# drone2.disarm()
+drone1.takeoff()
+drone1.throttle_speed(0,4)
+drone1.land()
+# drone2.arm()
+# time.sleep(2)
 drone1.disarm()
-drone2.disarm()
-#drone.keyboard_control()
-
-
-
-
-
-
-
+# drone2.disarm()
+#drone.keyboard_control()
\ No newline at end of file
diff --git a/pypluto/pypluto/Camera/marker.py b/pypluto/pypluto/Camera/marker.py
index 8778bed..77b6f32 100644
--- a/pypluto/pypluto/Camera/marker.py
+++ b/pypluto/pypluto/Camera/marker.py
@@ -8,8 +8,8 @@
 
 Aruco_ref_dist = 2.2 # may be same as camera ht if we use it that way
 Aruco_ht_pixels_grnd =0 #ht in pixels when aruco on ground( reference dist)
-Aruco_width_pixels_grnd = 18 #wdth in pixels when aruco on ground( reference dist)
-Aruco_len_pixels_grnd = 18 
+Aruco_width_pixels_grnd = 15 #wdth in pixels when aruco on ground( reference dist)
+Aruco_len_pixels_grnd = 15
 
 #new
 #matrix_coefficients - Intrinsic matrix of the calibrated camera
@@ -98,10 +98,8 @@ def __init__(self, arucoType):
         self.arucoParams = cv2.aruco.DetectorParameters_create()
 
     def detectMarkers(self,img):
-        #don't we need to use a gray img here? remember to change inputs to gray_img
-        #gray_img = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
+        
         return cv2.aruco.detectMarkers(img, self.arucoDict, parameters=self.arucoParams)
-        #cornersm, ids, prejected_img_points
 
     def get_pose(self, corners, ids, image, desiredVec, display=True):
 
@@ -110,14 +108,10 @@ def get_pose(self, corners, ids, image, desiredVec, display=True):
         # print(f"corners, {corners} IDs: {ids}")
         
         if len(corners) > 0:
-            # print("detected")
             
             for (markerCorner, markerID) in zip(corners, ids):
-                # try:
+
                 rvec, tvec, markerPoints = cv2.aruco.estimatePoseSingleMarkers(np.array(corners), 0.02, cameraMatrix=MATRIX_COEFFICIENTS, distCoeffs=DISTORTION_COEFFICIENTS)
-                # except cv2.error:
-                #     print("Pose Est error")
-                #     return pose, is_detected, image
 
                 corners = markerCorner.reshape((4, 2))
                 (topLeft, topRight, bottomRight, bottomLeft) = corners
@@ -157,7 +151,8 @@ def get_pose(self, corners, ids, image, desiredVec, display=True):
 
                 distmax = round( max( max(dist_l1 , dist_l2 ) , max( dist_w1 , dist_w2) ) ,3  )
 
-             
+                if distmax < 0 :
+                    distmax = 0 
                 #------------------------------------
                 
  
@@ -182,32 +177,18 @@ def get_pose(self, corners, ids, image, desiredVec, display=True):
                     cv2.circle(image, (cX, cY), 4, (0, 0, 255), -1)
                     
                     cv2.arrowedLine(image, (cX,cY), (hX,hY),(0, 0, 255))
-                    
-                    # cv2.putText(image , f"width1{round(width1,3)} ,width2{round(width2,3)} , len1{round(len1,3)} , len2{round(len2,3)}",
-                    # (20, 200), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 0, 255), 2)
 
                     cv2.putText(image , f"distmax:{distmax}  ",
                     (20, 400), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (255, 255, 0), 2)
-                    
-                    # cv2.putText(image , f"Aruco Dist from Cam: w:{aruco_curr_width} l:{aruco_curr_len}",
-                    # (topLeft[0]+400, topLeft[1] -50 ), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 0, 255), 2)
-
-
-                    # cv2.putText(image , f"Aruco Dist from Cam: wdist:{dist_w} ldist:{dist_l} final:{dist_aruco}",
-                    # (topLeft[0]+400, topLeft[1] -50 ), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 0, 255), 2)
-                    # image = cv2.flip(image,1)
-                    # cv2.putText(image, f"Drone ID: {markerID} Height: {drone_height} ",
-                    # (topLeft[0]-20, topLeft[1] - 10), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0), 2)
-                    # cv2.putText(image, f"Pose: {pose}",
-                    # (topLeft[0]-400, topLeft[1] - 50), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0), 2)
-                    # print("[Inference] ArUco marker ID: {}".format(markerID))
             
         if display:
             for i in range(len(desiredVec[0])):
                 # print(desiredVec[0][i])
                 dX,dY = desiredVec[0][i]
                 cv2.circle(image, (dX, dY), 7, (255, 0, 0), -1)
-                    
+            # dX,dY = 646, 348
+            # cv2.circle(image, (dX, dY), 7, (255, 0, 0), -1)
+            cv2.imshow("Image", image)        
 
                 
         return pose, is_detected, image, 
@@ -216,19 +197,26 @@ def get_pose(self, corners, ids, image, desiredVec, display=True):
 
 def markerMainSender(connCam):  #connCam
 
-    cameraID = 3 # your camera id on pc
+    cameraID = 2 # your camera id on pc
     target_array = [
+    [375, 162],
+    [538, 160],
+    [652, 158],
+    [788, 152],
     [914, 149],
+    [920, 240],
+    [922, 332],
     [921, 422],
+    [776, 422],
+    [632, 428],
+    [486, 432],
     [365, 432],
+    [365, 355],
+    [364, 248],
     [375, 162],
-    [914, 149]   
 ]
-    target=0
-    xTarget,  yTarget = target_array[0]
-    cap = cv2.VideoCapture(cameraID)
-    start = time.time()
 
+    cap = cv2.VideoCapture(cameraID)
     cap.set(cv2.CAP_PROP_FRAME_WIDTH, 1280)
     cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 720)
 
@@ -257,9 +245,10 @@ def markerMainSender(connCam):  #connCam
                 # print(desiredVec[0][i])
                 dX,dY = target_array[i]
                 cv2.circle(image, (dX, dY), 7, (255, 0, 0), -1)
+            # dX,dY = 646, 348
+            # cv2.circle(image, (dX, dY), 7, (255, 0, 0), -1)
             cv2.imshow("Image", image)
         
-        # print(f"\n{i}--From Marker - Pose: {pose}")
         connCam.send(pose_dict)
         # print(pose_dict)
 
@@ -271,5 +260,4 @@ def markerMainSender(connCam):  #connCam
     cv2.destroyAllWindows()
     cap.release()
 
-
-# markerMainSender(connCam='')
\ No newline at end of file
+# markerMainSender(connCam='')
diff --git a/pypluto/pypluto/Control/PIDmain.py b/pypluto/pypluto/Control/PIDmain.py
index 6af7db4..822361d 100644
--- a/pypluto/pypluto/Control/PIDmain.py
+++ b/pypluto/pypluto/Control/PIDmain.py
@@ -8,36 +8,52 @@
 
 #Target coords
 target_array = [
-    [914, 149],
-    [921, 422],
-    [365, 432],
     [375, 162],
-    [914, 149]   
+    [538, 160],
+    [652, 158],
+    [788, 152],
+    [882, 175],
+    [920, 240],
+    [922, 332],
+    [886, 402],
+    [776, 422],
+    [632, 428],
+    [486, 432],
+    [402, 412],
+    [365, 355],
+    [364, 248],
+    [375, 162],
 ]
 target_array2=[]
 target_array2.append(target_array[0])
-# xTarget,  yTarget, heightTarget = target_array[0][0],target_array[0][1], 0.8  #pixel, pixel , height(m)
-xTarget,  yTarget, heightTarget = 693, 335, 0.8
-Drone1=pluto(DroneIP="10.42.0.74")
+xTarget,  yTarget, heightTarget = target_array[0][0],target_array[0][1], 0.8  #pixel, pixel , height(m)
+# xTarget,  yTarget, heightTarget = 646, 348, 0.8 # for hover at point
+# Drone1=pluto(DroneIP="10.42.0.74")
+Drone1=pluto()
 # Drone2=pluto(DroneIP="10.42.0.96")
 Drone1.connect()
 # Drone2.connect()
 # client = [Drone1,Drone2]
 drone=Drone1
+
+# #pid gains
+
+KPx, KPy, KPz, KPyaw = 0.8, 0.4, 380 , 50
+KIx, KIy, KIz, KIyaw = 0.02, 0.01, 0, 0
+KDx, KDy, KDz, KDyaw = 18, 25, 10, 0
+
 #pid gains
-KPx, KPy, KPz, KPyaw = 0.5, 0.1, 200 , 70
-KIx, KIy, KIz, KIyaw = 0.01, 0.01, 0, 0
-KDx, KDy, KDz, KDyaw = 5, 30, 0, 0
+# KPx, KPy, KPz, KPyaw = 0.75, 0.2, 380 , 50
+# KIx, KIy, KIz, KIyaw = 0.02, 0.01, 0, 0
+# KDx, KDy, KDz, KDyaw = 18, 27, 10, 0
 
 
 #currently global , 
 #for telling drones final yaw orientation 
 YAW_TARGET = 1.5708
 
-
-
 def pid(pose, target, Err, ErrI):
-    """
+    """drone.throttle_speed(0)
     PID Control Loop
     """
     xError, yError, zError, yawError = Err
@@ -106,20 +122,20 @@ def receiver_at_drone1(conn):
     ErrI = [xErrorI, yErrorI, zErrorI, yawErrorI]
     path = [[0,0,0,0]]
     
-    drone.trim(5, 0, 0, 0)
+    #Drone1.trim(-8,20,0,0) # iit
+    Drone1.trim(23, 5,0,0)
     Drone1.disarm()
-    # Drone2.disarm()
+    # Drone2.disarm
     # drone.arm()
-    # Drone1.arm()
+    Drone1.arm()
     # Drone2.arm()
-    # Drone1.throttle_speed(50,1)
+    Drone1.throttle_speed(300,2)
     # Drone2.throttle_speed(50,1)
-    Drone1.takeoff()
-    # drone.throttle_speed(300,3)
+    # Drone1.takeoff()
     print("takeoff")
 
-    timer=0
-    roll_command, pitch_command, throttle_command, yawCommand = 0, 0, 0, 0
+    tReachCount=0
+    roll_command, pitch_command, throttle_command, yawCommand = 0, 0, 50, 0
 
     start = time.time()
     target = 0
@@ -131,10 +147,7 @@ def receiver_at_drone1(conn):
 
 
         try:
-            # prev_time = time.time()
             pose_dict = None
-            # now = time.time()
-            # delay = now-start
 
             if (conn.poll()):                
                 pose_dict = conn.recv()
@@ -145,7 +158,7 @@ def receiver_at_drone1(conn):
                 now_time = time.time()
                 timeout_limit = now_time - start 
 
-                roll_command, pitch_command, throttle_command, yawCommand = 0, 0, 0, 0
+                roll_command, pitch_command, throttle_command, yawCommand = 0, 0, 50, 0
 
                 if timeout_limit > 8 : 
                     print("Aruco not detected ,landing")
@@ -156,29 +169,38 @@ def receiver_at_drone1(conn):
                 
           
             elif (not pose_dict)==False:
-                print('SGVADGV')
-                print(pose_dict)
+                # print(pose_dict)
                 if drone==Drone1:
-                    pose=pose_dict['0']
+                    try:
+                        pose=pose_dict['0']
+                    except KeyError:
+                        pass
                 # elif drone==Drone2:
                 #     pose=pose_dict['1']
                 # path.append(pose)
                 start = time.time()
-                # curr_time = time.time()
                 roll_command, pitch_command, throttle_command, yawCommand, Err, ErrI = pid(pose, [xTarget,  yTarget, heightTarget], Err, ErrI)
-                # print("pid calc successssssss...sending cammand")
                 if (roll_command>100):
                     roll_command=100
                 elif (roll_command<-100):
                     roll_command=-100
-                if (pitch_command>50):
-                    pitch_command=50
-                elif (pitch_command<-50):
-                    pitch_command=-50
+                if (pitch_command>70):
+                    pitch_command=70
+                elif (pitch_command<-70):
+                    pitch_command=-70
 
-                if np.sqrt((xTarget-pose[0])**2+(yTarget-pose[1])**2)<100:
-                    print(f"Pose: {pose}")
+                if np.sqrt((xTarget-pose[0])**2+(yTarget-pose[1])**2)<25:
+                    # print(f"Pose: {pose}")
                     print("Target Reached.")
+                    drone.reset_speed()
+                    tReachCount += 1
+                    if tReachCount>=5:
+                        target += 1
+                        if target==15:
+                            print("Task Completed\nLanding")
+                            break
+                        xTarget,  yTarget = target_array[target]
+                        tReachCount=0
 
                     # if drone==Drone1:
                     #     target_array2.append(target_array[0])
@@ -197,23 +219,13 @@ def receiver_at_drone1(conn):
                     #         xTarget,  yTarget = target_array[0]
                     #         continue
 
-                    
-                    # if target==5:
-                    #     print("Task Completed\nLanding")
-                    #     break
-                    # xTarget,  yTarget = target_array[target]
             # if drone==Drone1:
-            #     print("bheja2222222")
             #     Drone2.throttle_speed(40)
             # elif drone==Drone2:
-            #     print("bheja111111")
             #     Drone1.throttle_speed(40)
 
-            drone.throttle_speed(-5)
-            # print("bhejjaaa11111")
-            drone.roll_speed(roll_command)
-            drone.pitch_speed(pitch_command)
-            drone.yaw_speed(yawCommand)
+            drone.set_all_speed(roll_command, pitch_command, throttle_command, yawCommand)
+            # drone.set_all_speed(0, 0, throttle_command, 0)
 
             time.sleep(0.04)
             # prev_time = curr_time
diff --git a/pypluto/pypluto/drone.py b/pypluto/pypluto/drone.py
index 80287a9..9fb9eb8 100644
--- a/pypluto/pypluto/drone.py
+++ b/pypluto/pypluto/drone.py
@@ -205,6 +205,19 @@ def yaw_speed(self,value,duration=0):
          time.sleep(0.1)
         if(duration==0):
             self.create_sendMSPpacket(MSP_SET_RAW_RC,self.rc)
+
+    def set_all_speed(self,roll,pitch,throttle,yaw,duration=0):
+        no_of_loops=10*duration
+        self.rc[0]=self.clamp_rc(self.roll + roll)
+        self.rc[1]=self.clamp_rc(self.pitch + pitch)
+        self.rc[2]=self.clamp_rc(self.throttle + throttle)
+        self.rc[3]=self.clamp_rc(self.yaw + yaw)
+        while(no_of_loops>0):
+         self.create_sendMSPpacket(MSP_SET_RAW_RC,self.rc)
+         no_of_loops=no_of_loops-1
+         time.sleep(0.1)
+        if(duration==0):
+            self.create_sendMSPpacket(MSP_SET_RAW_RC,self.rc)
            
     def reset_speed(self):
         '''

From f96476c5fd18ba97b84c6e8019b8fbfec8190cc3 Mon Sep 17 00:00:00 2001
From: Kshitij M Bhat <85498394+KshitijBhat@users.noreply.github.com>
Date: Thu, 2 Feb 2023 18:26:43 +0530
Subject: [PATCH 58/82] Update PIDmain.py

---
 pypluto/pypluto/Control/PIDmain.py | 66 ++++++++----------------------
 1 file changed, 17 insertions(+), 49 deletions(-)

diff --git a/pypluto/pypluto/Control/PIDmain.py b/pypluto/pypluto/Control/PIDmain.py
index 822361d..7948e82 100644
--- a/pypluto/pypluto/Control/PIDmain.py
+++ b/pypluto/pypluto/Control/PIDmain.py
@@ -1,6 +1,3 @@
-'''This file Receives pose values from marker.py ,&
- computes the velocity commands for drone, sends them using drone.pyto='s plu'''
-
 from multiprocessing import Pipe
 from pypluto.drone import pluto
 import numpy as np
@@ -27,33 +24,26 @@
 target_array2=[]
 target_array2.append(target_array[0])
 xTarget,  yTarget, heightTarget = target_array[0][0],target_array[0][1], 0.8  #pixel, pixel , height(m)
-# xTarget,  yTarget, heightTarget = 646, 348, 0.8 # for hover at point
-# Drone1=pluto(DroneIP="10.42.0.74")
+
 Drone1=pluto()
-# Drone2=pluto(DroneIP="10.42.0.96")
+
 Drone1.connect()
-# Drone2.connect()
-# client = [Drone1,Drone2]
+
 drone=Drone1
 
-# #pid gains
+#pid gains
 
 KPx, KPy, KPz, KPyaw = 0.8, 0.4, 380 , 50
 KIx, KIy, KIz, KIyaw = 0.02, 0.01, 0, 0
 KDx, KDy, KDz, KDyaw = 18, 25, 10, 0
 
-#pid gains
-# KPx, KPy, KPz, KPyaw = 0.75, 0.2, 380 , 50
-# KIx, KIy, KIz, KIyaw = 0.02, 0.01, 0, 0
-# KDx, KDy, KDz, KDyaw = 18, 27, 10, 0
-
 
 #currently global , 
 #for telling drones final yaw orientation 
 YAW_TARGET = 1.5708
 
 def pid(pose, target, Err, ErrI):
-    """drone.throttle_speed(0)
+    """
     PID Control Loop
     """
     xError, yError, zError, yawError = Err
@@ -110,7 +100,7 @@ def receiver_at_drone1(conn):
     as soon as we recieve them
     """
     global xTarget,  yTarget, heightTarget, drone
-    #drone=pluto()
+    
 
     # initialize PID controller
     xError, yError, zError, yawError = 0, 0, 0, 0
@@ -135,6 +125,7 @@ def receiver_at_drone1(conn):
     print("takeoff")
 
     tReachCount=0
+    # default values when not detected
     roll_command, pitch_command, throttle_command, yawCommand = 0, 0, 50, 0
 
     start = time.time()
@@ -164,22 +155,19 @@ def receiver_at_drone1(conn):
                     print("Aruco not detected ,landing")
                     drone.land()
                     break
-
-                # print(f"\ntimer :{timeout_limit}")
                 
           
             elif (not pose_dict)==False:
-                # print(pose_dict)
                 if drone==Drone1:
                     try:
                         pose=pose_dict['0']
                     except KeyError:
                         pass
-                # elif drone==Drone2:
-                #     pose=pose_dict['1']
-                # path.append(pose)
+
                 start = time.time()
                 roll_command, pitch_command, throttle_command, yawCommand, Err, ErrI = pid(pose, [xTarget,  yTarget, heightTarget], Err, ErrI)
+                
+                # Clipping commands
                 if (roll_command>100):
                     roll_command=100
                 elif (roll_command<-100):
@@ -202,38 +190,19 @@ def receiver_at_drone1(conn):
                         xTarget,  yTarget = target_array[target]
                         tReachCount=0
 
-                    # if drone==Drone1:
-                    #     target_array2.append(target_array[0])
-                    #     target_array.pop(0)
-                    #     drone=Drone2
-                    #     if len(target_array)>1:
-                    #         xTarget,  yTarget = target_array2[0]
-                    #     # if not target_array:
-                    #     #         drone.land()
-                    # else:
-                    #     target_array2.pop(0)
-                    #     drone=Drone1
-                    #     if not target_array2:
-                    #         break
-                    #     elif target_array:
-                    #         xTarget,  yTarget = target_array[0]
-                    #         continue
-
-            # if drone==Drone1:
-            #     Drone2.throttle_speed(40)
-            # elif drone==Drone2:
-            #     Drone1.throttle_speed(40)
-
+   
+            # Set all speeds at once
             drone.set_all_speed(roll_command, pitch_command, throttle_command, yawCommand)
-            # drone.set_all_speed(0, 0, throttle_command, 0)
+            
 
             time.sleep(0.04)
-            # prev_time = curr_time
+       
             '''this sleep adjusts the running of this files while loop, 
             so that the rate of receiving from marker files is almost matched 
             to that of this file sending commands to drone using api '''
+            
+            
             if not roll_command==0:
-
                 print(f"\nFrequecy checker(sending) , rcmd: {roll_command}, pcmd: {pitch_command}, tcmd:{throttle_command},  yawcmd:{yawCommand}")
 
         except KeyboardInterrupt:
@@ -243,5 +212,4 @@ def receiver_at_drone1(conn):
 
     Drone1.land()
     Drone1.disarm()
-    # Drone2.land()
-    # Drone2.disarm()
+   

From 4712272cd8534934b46f14751d0e91fffbfa1387 Mon Sep 17 00:00:00 2001
From: Sairaj Loke <104747561+SairajLoke@users.noreply.github.com>
Date: Thu, 2 Feb 2023 18:31:07 +0530
Subject: [PATCH 59/82] updated set_all_speed

---
 docs/Task1.md | 26 ++++++++++++++++----------
 1 file changed, 16 insertions(+), 10 deletions(-)

diff --git a/docs/Task1.md b/docs/Task1.md
index 12bb538..6d6b1cf 100644
--- a/docs/Task1.md
+++ b/docs/Task1.md
@@ -5,8 +5,8 @@ Initialising drone object with ```Drone IP``` and ```Port``` as arguements. If n
 ```python
 client = Drone("192.168.4.1","23")
 ```
-###Connecting and disconnecting the drone
-For connecting the drone, initalise an object of class pluto and call 
+### Connecting and disconnecting the drone
+For connecting the drone, initialise an object of class pluto and call 
 ```python
 client.connect()
 ```
@@ -31,18 +31,26 @@ client.land() # land
 ```
 
 ### Flips
-Currently, only one type of flip is supported in the API (backflips). 
+To perform a backflip. 
 ```python
 client.flip()
 ```
 
 ### Steering the drone in a particular direction
-The drone can be steered in a particular direction by setting the values of throttle, pitch, roll and yaw.
+The drone can be steered in a particular direction by setting the values of throttle, pitch, roll and yaw. ( range of values is from : -600 to 600)
 ```python
 client.roll_speed(100,2)     #A roll of 100 for 2 seconds
 client.pitch_speed(100,2)    #A pitch of 100 for 2 seconds
 client.throttle_speed(100,2) #A throttle of 100 for 2 seconds
 client.yaw_speed(100,2)      #A yaw of 100 for 2 seconds
+```
+
+To send all values at once 
+
+```
+# roll,pitch,throttle,yaw of value 100 each for 2 seconds
+client.set_all_speed(100,100,100,100,2)
+
 ```
 To reset the drone commands to the intial values, call
 ```python
@@ -59,10 +67,10 @@ The argument format is
 (roll, pitch, throttle, yaw)
 ```
 The sign of values should be opposite to which the drift is observed.

-For Roll: right hand side is positive

-For Pitch: forward positive

-For Throttle: upwards is positive

-For Yaw: Clockwise positive
+For Roll: right hand side -> positive

+For Pitch: forward -> positive

+For Throttle: upwards  -> positive

+For Yaw: Clockwise -> positive
 
 ### For receiving data from the drone
 To receive data from the drone, the following functions can be called:
@@ -82,5 +90,3 @@ client.get_mag_x()      #Returns the value of magnetometer(x-axis) of the drone
 client.get_mag_y()      #Returns the value of magnetometer(y-axis) of the drone
 client.get_mag_z()      #Returns the value of magnetometer(z-axis) of the drone
 client.get_battery()    #Returns the value of battery of the drone in volts
-```
-

From 0034c49ffa1eab07accc371144a5bbce4e48a392 Mon Sep 17 00:00:00 2001
From: Sairaj Loke <104747561+SairajLoke@users.noreply.github.com>
Date: Thu, 2 Feb 2023 18:33:07 +0530
Subject: [PATCH 60/82] Update Task1.md

---
 docs/Task1.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docs/Task1.md b/docs/Task1.md
index 6d6b1cf..b7de1aa 100644
--- a/docs/Task1.md
+++ b/docs/Task1.md
@@ -47,7 +47,7 @@ client.yaw_speed(100,2)      #A yaw of 100 for 2 seconds
 
 To send all values at once 
 
-```
+```python
 # roll,pitch,throttle,yaw of value 100 each for 2 seconds
 client.set_all_speed(100,100,100,100,2)
 

From 225069b93611742481a0319a884609d88279d0b7 Mon Sep 17 00:00:00 2001
From: Sairaj Loke <104747561+SairajLoke@users.noreply.github.com>
Date: Thu, 2 Feb 2023 18:46:34 +0530
Subject: [PATCH 61/82] Update marker.py

---
 pypluto/pypluto/Camera/marker.py | 39 +++++---------------------------
 1 file changed, 6 insertions(+), 33 deletions(-)

diff --git a/pypluto/pypluto/Camera/marker.py b/pypluto/pypluto/Camera/marker.py
index 77b6f32..844b570 100644
--- a/pypluto/pypluto/Camera/marker.py
+++ b/pypluto/pypluto/Camera/marker.py
@@ -2,44 +2,17 @@
 import numpy as np
 import math
 import time
-# from 
 
-CAMERA_HEIGHT = 1.9 #
 
-Aruco_ref_dist = 2.2 # may be same as camera ht if we use it that way
-Aruco_ht_pixels_grnd =0 #ht in pixels when aruco on ground( reference dist)
+CAMERA_HEIGHT = 1.9 
+
+Aruco_ref_dist = 2.2 # may be same as camera ht if we use it as a reference
+Aruco_ht_pixels_grnd =15 #ht in pixels when aruco on ground( reference dist)
 Aruco_width_pixels_grnd = 15 #wdth in pixels when aruco on ground( reference dist)
 Aruco_len_pixels_grnd = 15
 
-#new
-#matrix_coefficients - Intrinsic matrix of the calibrated camera
-# MATRIX_COEFFICIENTS = np.array([[
-#             464.8192469875138,
-#             0.0,
-#             330.94525650909304
-#         ],
-#         [
-#             0.0,
-#             468.11321340402986,
-#             219.95374647133153
-#         ],
-#         [
-#             0.0,
-#             0.0,
-#             1.0
-#         ]])
-
-# # #distortion_coefficients - Distortion coefficients associated with our camera
-# DISTORTION_COEFFICIENTS = np.array([
-#             -0.033875901439185716,
-#             0.029365508680956807,
-#             -0.0009132809734765359,
-#             0.004165081566793737,
-#             -0.0191803679654891])
- 
 
 
-#old
 #matrix_coefficients - Intrinsic matrix of the calibrated camera
 MATRIX_COEFFICIENTS = np.array([[
             1447.9804004365824,
@@ -222,8 +195,8 @@ def markerMainSender(connCam):  #connCam
 
     aruco_obj = Aruco("DICT_4X4_50")
 
-    prevdist = 0
-    alpha = 0.1
+
+   
     while cap.isOpened(): 
 
         ret, image = cap.read()               

From 2cacea943525cf896b686f61fe13a3749c52348f Mon Sep 17 00:00:00 2001
From: Sairaj Loke <104747561+SairajLoke@users.noreply.github.com>
Date: Thu, 2 Feb 2023 18:52:04 +0530
Subject: [PATCH 62/82] Update PIDmain.py

---
 pypluto/pypluto/Control/PIDmain.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/pypluto/pypluto/Control/PIDmain.py b/pypluto/pypluto/Control/PIDmain.py
index 7948e82..0404328 100644
--- a/pypluto/pypluto/Control/PIDmain.py
+++ b/pypluto/pypluto/Control/PIDmain.py
@@ -39,7 +39,7 @@
 
 
 #currently global , 
-#for telling drones final yaw orientation 
+#for deciding drone's final yaw orientation 
 YAW_TARGET = 1.5708
 
 def pid(pose, target, Err, ErrI):

From 68db27ae820a87d660ce4c9bfd19f97fea46a889 Mon Sep 17 00:00:00 2001
From: KshitijBhat 
Date: Thu, 2 Feb 2023 19:17:05 +0530
Subject: [PATCH 63/82] doc changes

---
 pluto/drone.py                     | 31 +----------
 pypluto/main.py                    | 17 +++---
 pypluto/master.py                  |  8 +--
 pypluto/pypluto/Camera/marker.py   | 58 +++++---------------
 pypluto/pypluto/Control/PIDmain.py | 85 +++++++++++++++---------------
 pypluto/pypluto/drone.py           | 44 +++-------------
 pypluto/pypluto/pluto_keyb.py      | 69 ------------------------
 7 files changed, 74 insertions(+), 238 deletions(-)
 delete mode 100644 pypluto/pypluto/pluto_keyb.py

diff --git a/pluto/drone.py b/pluto/drone.py
index b18e019..c454cc7 100644
--- a/pluto/drone.py
+++ b/pluto/drone.py
@@ -4,11 +4,9 @@
 from threading import Thread
 from .enforce_types import enforce_types
 
-# threads_initialised = False
-# check = False
-# data = None
 @enforce_types
 class Drone:
+
     def __init__(self, DroneIP="192.168.4.1", DronePort="23"):
         self.DRONEIP = DroneIP
         self.DRONEPORT = DronePort
@@ -17,14 +15,8 @@ def __init__(self, DroneIP="192.168.4.1", DronePort="23"):
             print("pluto connected")
         except:
             print("Error While Connecting to Pluto")
-        # global threads_initialised, data
-        # if not threads_initialised:
-        #     write_thread = Thread(target=Drone.sendData(b'$M',""))
-        #     threads_initialised = True
-        #     write_thread.start()
         self.RC_ROLL, self.RC_PITCH, self.RC_THROTTLE, self.RC_YAW = 1500, 1500, 1500, 1500
 
-
     def disconnect(self):
         self.tn.close()
         print("Server connection closed")
@@ -82,18 +74,6 @@ def backflip(self):
         data=[3]
         parsed=self.message(data, 217)
         self.sendData(parsed, "backflip")
-        
-    # def takeoff(self):
-    #     RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW, RC_AUX1, RC_AUX2, RC_AUX3, RC_AUX4 = self.RC_ROLL, self.RC_PITCH, self.RC_THROTTLE+500, self.RC_YAW, 1500, 1000, 1500, 1500
-    #     data = [RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW, RC_AUX1, RC_AUX2, RC_AUX3, RC_AUX4]
-    #     parsed = self.message(data, 200)
-    #     self.sendData(parsed, "Takeoff")
-    
-    # def land(self):
-    #     RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW, RC_AUX1, RC_AUX2, RC_AUX3, RC_AUX4 = self.RC_ROLL, self.RC_PITCH, self.RC_THROTTLE-200, self.RC_YAW, 1500, 1000, 1500, 1500
-    #     data = [RC_ROLL, RC_PITCH, RC_THROTTLE, RC_YAW, RC_AUX1, RC_AUX2, RC_AUX3, RC_AUX4]
-    #     parsed = self.message(data, 200)
-    #     return parsed
 
     def trim(self, roll, pitch, throttle, yaw):
         self.RC_ROLL += roll
@@ -101,8 +81,6 @@ def trim(self, roll, pitch, throttle, yaw):
         self.RC_THROTTLE += throttle
         self.RC_YAW += yaw
 
-
-    
     def steer_cmd(self, direction:str, magnitude:int=100):
         """
         Parses the steer commands.
@@ -192,16 +170,9 @@ def set_steer(self, magnitude):
             print("Invalid legth of message array. format: [roll, pitch, throttle, yaw]")
         self.sendData(self.set_steer_data(magnitude), f"Sending {magnitude}")
 
-    
     def sendData(self, data, cmd):
-        # prev_data = data
-        # while (check):
         try:
             print(data)
             self.tn.write(data)
-            #print(self.tn.read_very_eager())
         except:
             print("Error While sending {} Data".format(cmd))
-
-            # if (not prev_data==data):
-            #     break
\ No newline at end of file
diff --git a/pypluto/main.py b/pypluto/main.py
index 6885ada..687a40d 100644
--- a/pypluto/main.py
+++ b/pypluto/main.py
@@ -1,19 +1,18 @@
+# A sample program to test the drone API
 from pypluto import pluto
 import time
-#A sample program to test the drone API
-# drone1=pluto(DroneIP="10.42.0.74")
+ 
 drone1=pluto()
-# drone2=pluto(DroneIP="10.42.0.96")
+ 
 drone1.connect()
-# drone2.connect()
+
 drone1.trim(-10,10,0,0)
 drone1.disarm()
-# drone2.disarm()
+
 drone1.takeoff()
 drone1.throttle_speed(0,4)
 drone1.land()
-# drone2.arm()
-# time.sleep(2)
+
 drone1.disarm()
-# drone2.disarm()
-#drone.keyboard_control()
\ No newline at end of file
+
+# drone1.keyboard_control()
\ No newline at end of file
diff --git a/pypluto/master.py b/pypluto/master.py
index d12136c..6dd2712 100644
--- a/pypluto/master.py
+++ b/pypluto/master.py
@@ -2,8 +2,8 @@
 import multiprocessing
 from multiprocessing import Pipe
 import time 
-from pypluto.Control.PIDmain import receiver_at_drone1
-from pypluto.Camera.marker import markerMainSender
+from pypluto.Control.PIDmain import PID_main
+from pypluto.Camera.marker import marker_publisher
 
 
 # builds necessary connections of drone(1,2,...) & the camera file
@@ -14,8 +14,8 @@ def build_conn():
     connCam,connDrone1 = Pipe(duplex = True)
 
 
-    p1 = multiprocessing.Process(target=markerMainSender, args=( [connCam]))
-    p2 = multiprocessing.Process(target=receiver_at_drone1, args=([connDrone1]))
+    p1 = multiprocessing.Process(target=marker_publisher, args=( [connCam]))
+    p2 = multiprocessing.Process(target=PID_main, args=([connDrone1]))
 
 
 
diff --git a/pypluto/pypluto/Camera/marker.py b/pypluto/pypluto/Camera/marker.py
index 77b6f32..ee99f80 100644
--- a/pypluto/pypluto/Camera/marker.py
+++ b/pypluto/pypluto/Camera/marker.py
@@ -1,8 +1,5 @@
 import cv2
 import numpy as np
-import math
-import time
-# from 
 
 CAMERA_HEIGHT = 1.9 #
 
@@ -11,35 +8,7 @@
 Aruco_width_pixels_grnd = 15 #wdth in pixels when aruco on ground( reference dist)
 Aruco_len_pixels_grnd = 15
 
-#new
-#matrix_coefficients - Intrinsic matrix of the calibrated camera
-# MATRIX_COEFFICIENTS = np.array([[
-#             464.8192469875138,
-#             0.0,
-#             330.94525650909304
-#         ],
-#         [
-#             0.0,
-#             468.11321340402986,
-#             219.95374647133153
-#         ],
-#         [
-#             0.0,
-#             0.0,
-#             1.0
-#         ]])
-
-# # #distortion_coefficients - Distortion coefficients associated with our camera
-# DISTORTION_COEFFICIENTS = np.array([
-#             -0.033875901439185716,
-#             0.029365508680956807,
-#             -0.0009132809734765359,
-#             0.004165081566793737,
-#             -0.0191803679654891])
- 
-
 
-#old
 #matrix_coefficients - Intrinsic matrix of the calibrated camera
 MATRIX_COEFFICIENTS = np.array([[
             1447.9804004365824,
@@ -105,7 +74,7 @@ def get_pose(self, corners, ids, image, desiredVec, display=True):
 
         is_detected = False
         pose = None
-        # print(f"corners, {corners} IDs: {ids}")
+
         
         if len(corners) > 0:
             
@@ -160,7 +129,7 @@ def get_pose(self, corners, ids, image, desiredVec, display=True):
                 hX, hY = (topLeft + topRight)//2
                 tX, tY = hX-cX, hY-cY
                 yaw = np.arctan2(tY, tX) 
-                # yaw = np.rad2deg(yaw)
+
 
                     
                 drone_height = CAMERA_HEIGHT - tvec[0,0,2]
@@ -183,11 +152,10 @@ def get_pose(self, corners, ids, image, desiredVec, display=True):
             
         if display:
             for i in range(len(desiredVec[0])):
-                # print(desiredVec[0][i])
+
                 dX,dY = desiredVec[0][i]
                 cv2.circle(image, (dX, dY), 7, (255, 0, 0), -1)
-            # dX,dY = 646, 348
-            # cv2.circle(image, (dX, dY), 7, (255, 0, 0), -1)
+
             cv2.imshow("Image", image)        
 
                 
@@ -195,7 +163,7 @@ def get_pose(self, corners, ids, image, desiredVec, display=True):
 
 
 
-def markerMainSender(connCam):  #connCam
+def marker_publisher(connCam):  #connCam
 
     cameraID = 2 # your camera id on pc
     target_array = [
@@ -222,8 +190,6 @@ def markerMainSender(connCam):  #connCam
 
     aruco_obj = Aruco("DICT_4X4_50")
 
-    prevdist = 0
-    alpha = 0.1
     while cap.isOpened(): 
 
         ret, image = cap.read()               
@@ -232,8 +198,7 @@ def markerMainSender(connCam):  #connCam
 
         pose_dict={}
         corners, ids, rejected = aruco_obj.detectMarkers(image)
-        # print(ids)
-        # detected_markers = (corners, ids, image, [550,192])
+ 
         if len(corners)>0:
             for i in range(0,len(ids)):
                 pose, is_detected, detected_markers  = aruco_obj.get_pose(corners[i], ids, image, [target_array], display=True)
@@ -242,15 +207,14 @@ def markerMainSender(connCam):  #connCam
 
         else:
             for i in range(len(target_array)):
-                # print(desiredVec[0][i])
+
                 dX,dY = target_array[i]
                 cv2.circle(image, (dX, dY), 7, (255, 0, 0), -1)
-            # dX,dY = 646, 348
-            # cv2.circle(image, (dX, dY), 7, (255, 0, 0), -1)
+
             cv2.imshow("Image", image)
         
         connCam.send(pose_dict)
-        # print(pose_dict)
+
 
 
         key = cv2.waitKey(1) & 0xFF
@@ -260,4 +224,6 @@ def markerMainSender(connCam):  #connCam
     cv2.destroyAllWindows()
     cap.release()
 
-# markerMainSender(connCam='')
+if __name__ == "__main__":
+    # marker_publisher(connCam='')
+    pass
diff --git a/pypluto/pypluto/Control/PIDmain.py b/pypluto/pypluto/Control/PIDmain.py
index 7948e82..507c3f6 100644
--- a/pypluto/pypluto/Control/PIDmain.py
+++ b/pypluto/pypluto/Control/PIDmain.py
@@ -21,9 +21,10 @@
     [364, 248],
     [375, 162],
 ]
+
 target_array2=[]
 target_array2.append(target_array[0])
-xTarget,  yTarget, heightTarget = target_array[0][0],target_array[0][1], 0.8  #pixel, pixel , height(m)
+x_target,  y_target, height_target = target_array[0][0],target_array[0][1], 0.8  #pixel, pixel , height(m)
 
 Drone1=pluto()
 
@@ -46,70 +47,70 @@ def pid(pose, target, Err, ErrI):
     """
     PID Control Loop
     """
-    xError, yError, zError, yawError = Err
-    xErrorI, yErrorI, zErrorI, yawErrorI = ErrI
+    x_error, y_error, z_error, yaw_error = Err
+    x_errorI, y_errorI, z_errorI, yaw_errorI = ErrI
 
-    xTarget, yTarget, heightTarget = target
+    x_target, y_target, height_target = target
 
 
 
-    xError_old = xError
-    yError_old = yError
-    zError_old = zError
-    yawError_old = yawError
+    x_error_old = x_error
+    y_error_old = y_error
+    z_error_old = z_error
+    yaw_error_old = yaw_error
 
     x,   y,   z,   yaw = pose
 
-    xError = xTarget-x
-    yError = yTarget-y
-    zError = heightTarget-z
-    yawError = YAW_TARGET-yaw
+    x_error = x_target-x
+    y_error = y_target-y
+    z_error = height_target-z
+    yaw_error = YAW_TARGET-yaw
 
 
-    xErrorI += xError
-    yErrorI += yError
-    zErrorI += zError
-    yawErrorI += yawError
+    x_errorI += x_error
+    y_errorI += y_error
+    z_errorI += z_error
+    yaw_errorI += yaw_error
 
     # compute derivative (variation) of errors (D)
-    xErrorD = xError-xError_old
-    yErrorD = yError-yError_old
-    zErrorD = zError-zError_old
-    yawErrorD = yawError-yawError_old
+    x_errorD = x_error-x_error_old
+    y_errorD = y_error-y_error_old
+    z_errorD = z_error-z_error_old
+    yaw_errorD = yaw_error-yaw_error_old
 
     # compute commands
-    xCommand = KPx*xError + KIx*xErrorI + KDx*xErrorD
-    yCommand = KPy*yError + KIy*yErrorI + KDy*yErrorD
-    zCommand = KPz*zError + KIz*zErrorI + KDz*zErrorD
+    xCommand = KPx*x_error + KIx*x_errorI + KDx*x_errorD
+    yCommand = KPy*y_error + KIy*y_errorI + KDy*y_errorD
+    zCommand = KPz*z_error + KIz*z_errorI + KDz*z_errorD
 
-    yawCommand    = int( KPyaw*yawError + KIyaw*yawErrorI + KDyaw*yawErrorD)
+    yaw_command    = int( KPyaw*yaw_error + KIyaw*yaw_errorI + KDyaw*yaw_errorD)
     pitch_command = int( np.cos(yaw)*xCommand + np.sin(yaw)*yCommand)
     roll_command  = int( -np.sin(yaw)*xCommand + np.cos(yaw)*yCommand ) 
     throttle_command = int(zCommand)
-    Err = [xError, yError, zError, yawError]
-    ErrI = [xErrorI, yErrorI, zErrorI, yawErrorI]
+    Err = [x_error, y_error, z_error, yaw_error]
+    ErrI = [x_errorI, y_errorI, z_errorI, yaw_errorI]
     
-    return roll_command, pitch_command, throttle_command, yawCommand, Err, ErrI
+    return roll_command, pitch_command, throttle_command, yaw_command, Err, ErrI
 
 
-def receiver_at_drone1(conn):
+def PID_main(conn):
     """
     Function to recieve data from pid file and 
     using drone_api velocity fns 
     we can send the cmd to drone from here 
     as soon as we recieve them
     """
-    global xTarget,  yTarget, heightTarget, drone
+    global x_target,  y_target, height_target, drone
     
 
     # initialize PID controller
-    xError, yError, zError, yawError = 0, 0, 0, 0
-    xErrorI, yErrorI, zErrorI, yawErrorI = 0, 0, 0, 0
-    xErrorD, yErrorD, zErrorD, yawErrorD = 0, 0, 0, 0
-    xError_old, yError_old, zError_old, yawError_old = 0, 0, 0, 0
+    x_error, y_error, z_error, yaw_error = 0, 0, 0, 0
+    x_errorI, y_errorI, z_errorI, yaw_errorI = 0, 0, 0, 0
+    x_errorD, y_errorD, z_errorD, yaw_errorD = 0, 0, 0, 0
+    x_error_old, y_error_old, z_error_old, yaw_error_old = 0, 0, 0, 0
 
-    Err = [xError, yError, zError, yawError]
-    ErrI = [xErrorI, yErrorI, zErrorI, yawErrorI]
+    Err = [x_error, y_error, z_error, yaw_error]
+    ErrI = [x_errorI, y_errorI, z_errorI, yaw_errorI]
     path = [[0,0,0,0]]
     
     #Drone1.trim(-8,20,0,0) # iit
@@ -126,7 +127,7 @@ def receiver_at_drone1(conn):
 
     tReachCount=0
     # default values when not detected
-    roll_command, pitch_command, throttle_command, yawCommand = 0, 0, 50, 0
+    roll_command, pitch_command, throttle_command, yaw_command = 0, 0, 50, 0
 
     start = time.time()
     target = 0
@@ -149,7 +150,7 @@ def receiver_at_drone1(conn):
                 now_time = time.time()
                 timeout_limit = now_time - start 
 
-                roll_command, pitch_command, throttle_command, yawCommand = 0, 0, 50, 0
+                roll_command, pitch_command, throttle_command, yaw_command = 0, 0, 50, 0
 
                 if timeout_limit > 8 : 
                     print("Aruco not detected ,landing")
@@ -165,7 +166,7 @@ def receiver_at_drone1(conn):
                         pass
 
                 start = time.time()
-                roll_command, pitch_command, throttle_command, yawCommand, Err, ErrI = pid(pose, [xTarget,  yTarget, heightTarget], Err, ErrI)
+                roll_command, pitch_command, throttle_command, yaw_command, Err, ErrI = pid(pose, [x_target,  y_target, height_target], Err, ErrI)
                 
                 # Clipping commands
                 if (roll_command>100):
@@ -177,7 +178,7 @@ def receiver_at_drone1(conn):
                 elif (pitch_command<-70):
                     pitch_command=-70
 
-                if np.sqrt((xTarget-pose[0])**2+(yTarget-pose[1])**2)<25:
+                if np.sqrt((x_target-pose[0])**2+(y_target-pose[1])**2)<25:
                     # print(f"Pose: {pose}")
                     print("Target Reached.")
                     drone.reset_speed()
@@ -187,12 +188,12 @@ def receiver_at_drone1(conn):
                         if target==15:
                             print("Task Completed\nLanding")
                             break
-                        xTarget,  yTarget = target_array[target]
+                        x_target,  y_target = target_array[target]
                         tReachCount=0
 
    
             # Set all speeds at once
-            drone.set_all_speed(roll_command, pitch_command, throttle_command, yawCommand)
+            drone.set_all_speed(roll_command, pitch_command, throttle_command, yaw_command)
             
 
             time.sleep(0.04)
@@ -203,7 +204,7 @@ def receiver_at_drone1(conn):
             
             
             if not roll_command==0:
-                print(f"\nFrequecy checker(sending) , rcmd: {roll_command}, pcmd: {pitch_command}, tcmd:{throttle_command},  yawcmd:{yawCommand}")
+                print(f"\nFrequecy checker(sending) , rcmd: {roll_command}, pcmd: {pitch_command}, tcmd:{throttle_command},  yawcmd:{yaw_command}")
 
         except KeyboardInterrupt:
             break
diff --git a/pypluto/pypluto/drone.py b/pypluto/pypluto/drone.py
index 9fb9eb8..2736fa6 100644
--- a/pypluto/pypluto/drone.py
+++ b/pypluto/pypluto/drone.py
@@ -1,4 +1,3 @@
-
 import socket #To form the connection between the drone and the laptop
 import time
 import math
@@ -11,8 +10,6 @@
     import termios
     import tty
 
-
-
 MSP_STATUS=101          # out cmd cycletime & errors_count & sensor present & box activation & current setting number
 MSP_RAW_IMU=102         # 9 DOF 
 MSP_ATTITUDE=108        # 2 angles 1 heading
@@ -22,6 +19,8 @@
 MSP_SET_RAW_RC=200      # 8 rc channel
 MSP_SET_COMMAND=217     # setting commands 
 RETRY_COUNT=3           # no of retries before getting required data
+
+
 @enforce_types
 class pluto:
    
@@ -41,9 +40,6 @@ def __init__(self, DroneIP="192.168.4.1", DronePort=23): #default pluto settings
         
         self.buffer_rc=bytearray([])               # rc data that has to be sent continuously 
         self.trim(0,0,0,0) #To stabalize the drone. Initally the trim values are set to 0 and can be changed according to the drift of the drone
-        
-
-    
 
     def connect(self):
         '''
@@ -79,7 +75,6 @@ def trim(self,Roll,Pitch,Throttle,Yaw):
         
         self.rc=[self.roll, self.pitch, self.throttle, self.yaw, self.aux1, self.aux2, self.aux3, self.aux4]
     
-       
     def create_sendMSPpacket(self, msg_type, msg):
         '''
         Function to compose and send message packets to the drone
@@ -107,9 +102,6 @@ def create_sendMSPpacket(self, msg_type, msg):
         else:
             self.sendPacket(self.buffer_rc)
             self.sendPacket(self.buffer)
-        
-        
-   
 
     def arm(self):  
         '''
@@ -129,8 +121,6 @@ def disarm(self):
         self.create_sendMSPpacket(MSP_SET_RAW_RC,self.rc)
         time.sleep(1)
        
-
-
     def box_arm(self):
         '''
         Function called before takeoff, user does not directly use it
@@ -140,7 +130,6 @@ def box_arm(self):
         self.create_sendMSPpacket(MSP_SET_RAW_RC,self.rc)
         time.sleep(0.5)
        
-
     def clamp_rc(self,x:int):
         #Not called by the user
         return max(1000, min(2000,x))
@@ -159,8 +148,6 @@ def roll_speed(self,value,duration=0):
         if(duration==0):
             self.create_sendMSPpacket(MSP_SET_RAW_RC,self.rc)
            
-  
-        
     def pitch_speed(self,value,duration=0):
         '''
         Function to set the pitch (y-axis movement) to the drone
@@ -175,8 +162,6 @@ def pitch_speed(self,value,duration=0):
         if(duration==0):
             self.create_sendMSPpacket(MSP_SET_RAW_RC,self.rc)
 
-           
-
     def throttle_speed(self,value,duration=0): 
         '''
         Function to set the throttle (z-axis movement) to the drone
@@ -191,7 +176,6 @@ def throttle_speed(self,value,duration=0):
         if(duration==0):
             self.create_sendMSPpacket(MSP_SET_RAW_RC,self.rc)
         
-
     def yaw_speed(self,value,duration=0):
         '''
         Function to set the yaw (rotation about z-axis) to the drone
@@ -226,7 +210,6 @@ def reset_speed(self):
         self.rc[:4]=[self.roll,self.pitch,self.throttle,self.yaw]
         self.create_sendMSPpacket(MSP_SET_RAW_RC,self.rc)
 
-
     def takeoff(self):
         '''
         Function to takeoff the drone 
@@ -236,7 +219,6 @@ def takeoff(self):
         self.create_sendMSPpacket(MSP_SET_COMMAND,cmd)
         self.throttle_speed(0,3)
         
-        
     def land(self):
         '''
         Function to land the drone
@@ -246,7 +228,6 @@ def land(self):
         self.throttle_speed(0,5)
         self.disarm()
 
-
     def flip(self):
         '''
         Function for backflip
@@ -255,8 +236,6 @@ def flip(self):
         self.create_sendMSPpacket(MSP_SET_COMMAND,cmd)
         self.throttle_speed(0,3)
 
-    
-
     def read16(self,arr):
         '''
         Function to unpack the byte array to extract the values
@@ -270,6 +249,7 @@ def read16(self,arr):
     
     ################################################## MSP_ALTITUDE #############################################################
 
+
     def get_height(self):
             '''
             Function to return the value of height from the sensors of the drone
@@ -284,7 +264,6 @@ def get_height(self):
              if(i+3
Date: Thu, 2 Feb 2023 19:24:54 +0530
Subject: [PATCH 64/82] Update Task1.md

---
 docs/Task1.md | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/docs/Task1.md b/docs/Task1.md
index b7de1aa..58dc9e0 100644
--- a/docs/Task1.md
+++ b/docs/Task1.md
@@ -39,17 +39,17 @@ client.flip()
 ### Steering the drone in a particular direction
 The drone can be steered in a particular direction by setting the values of throttle, pitch, roll and yaw. ( range of values is from : -600 to 600)
 ```python
-client.roll_speed(100,2)     #A roll of 100 for 2 seconds
-client.pitch_speed(100,2)    #A pitch of 100 for 2 seconds
-client.throttle_speed(100,2) #A throttle of 100 for 2 seconds
-client.yaw_speed(100,2)      #A yaw of 100 for 2 seconds
+client.roll_speed(100,duration=2)     #A roll of 100 for 2 seconds
+client.pitch_speed(100,duration=2)    #A pitch of 100 for 2 seconds
+client.throttle_speed(100,duration=2) #A throttle of 100 for 2 seconds
+client.yaw_speed(100,duration=2)      #A yaw of 100 for 2 seconds
 ```
 
 To send all values at once 
 
 ```python
 # roll,pitch,throttle,yaw of value 100 each for 2 seconds
-client.set_all_speed(100,100,100,100,2)
+client.set_all_speed(100,100,100,100,duration=2)
 
 ```
 To reset the drone commands to the intial values, call

From a99bb5d8112f350742f9455839eb144536224548 Mon Sep 17 00:00:00 2001
From: KshitijBhat 
Date: Thu, 2 Feb 2023 19:27:56 +0530
Subject: [PATCH 65/82] minor changes

---
 pypluto/pypluto/Camera/marker.py   | 2 +-
 pypluto/pypluto/Control/PIDmain.py | 2 ++
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/pypluto/pypluto/Camera/marker.py b/pypluto/pypluto/Camera/marker.py
index b04bf9d..45c3bf1 100644
--- a/pypluto/pypluto/Camera/marker.py
+++ b/pypluto/pypluto/Camera/marker.py
@@ -224,5 +224,5 @@ def marker_publisher(connCam):  #connCam
     cap.release()
 
 if __name__ == "__main__":
-    # marker_publisher(connCam='')
+    marker_publisher(connCam='')
     pass
diff --git a/pypluto/pypluto/Control/PIDmain.py b/pypluto/pypluto/Control/PIDmain.py
index 0181e16..b962a64 100644
--- a/pypluto/pypluto/Control/PIDmain.py
+++ b/pypluto/pypluto/Control/PIDmain.py
@@ -22,6 +22,8 @@
     [375, 162],
 ]
 
+# xTarget,  yTarget, heightTarget = 646, 348, 0.8 # for hover at point
+
 target_array2=[]
 target_array2.append(target_array[0])
 x_target,  y_target, height_target = target_array[0][0],target_array[0][1], 0.8  #pixel, pixel , height(m)

From b6d752f37e4cc58d1bb113e88ea2b7c206253082 Mon Sep 17 00:00:00 2001
From: KshitijBhat 
Date: Thu, 2 Feb 2023 19:28:24 +0530
Subject: [PATCH 66/82] .

---
 pypluto/pypluto/Camera/marker.py | 1 -
 1 file changed, 1 deletion(-)

diff --git a/pypluto/pypluto/Camera/marker.py b/pypluto/pypluto/Camera/marker.py
index 45c3bf1..4f12454 100644
--- a/pypluto/pypluto/Camera/marker.py
+++ b/pypluto/pypluto/Camera/marker.py
@@ -225,4 +225,3 @@ def marker_publisher(connCam):  #connCam
 
 if __name__ == "__main__":
     marker_publisher(connCam='')
-    pass

From 614cdb0a8e2a2c89bb29de2ff025c2f50addd364 Mon Sep 17 00:00:00 2001
From: KshitijBhat 
Date: Sat, 4 Feb 2023 18:32:19 +0530
Subject: [PATCH 67/82] add task 3

---
 pypluto/master.py                |   2 +-
 pypluto/pypluto/Control/task3.py | 241 +++++++++++++++++++++++++++++++
 2 files changed, 242 insertions(+), 1 deletion(-)
 create mode 100644 pypluto/pypluto/Control/task3.py

diff --git a/pypluto/master.py b/pypluto/master.py
index 6dd2712..ddf85f6 100644
--- a/pypluto/master.py
+++ b/pypluto/master.py
@@ -2,7 +2,7 @@
 import multiprocessing
 from multiprocessing import Pipe
 import time 
-from pypluto.Control.PIDmain import PID_main
+from pypluto.Control.task3 import PID_main
 from pypluto.Camera.marker import marker_publisher
 
 
diff --git a/pypluto/pypluto/Control/task3.py b/pypluto/pypluto/Control/task3.py
new file mode 100644
index 0000000..618a368
--- /dev/null
+++ b/pypluto/pypluto/Control/task3.py
@@ -0,0 +1,241 @@
+from multiprocessing import Pipe
+from pypluto.drone import pluto
+import numpy as np
+import time
+import threading
+from functools import partial
+
+drone_swap = True
+
+#Target coords
+target_array = [
+    [375, 162], ## corner
+    [538, 160],
+    [652, 158],
+    [788, 152],
+    [882, 175],
+    [920, 240],
+    [922, 332],
+    [886, 402],
+    [776, 422],
+    [632, 428],
+    [486, 432],
+    [402, 412],
+    [365, 355],
+    [364, 248],
+    [375, 162],
+]
+
+# xTarget,  yTarget, heightTarget = 646, 348, 0.8 # for hover at point
+
+
+x_target,  y_target, height_target = target_array[0][0],target_array[0][1], 0.8  #pixel, pixel , height(m)
+
+Drone1=pluto("") ###################### Change here
+Drone2=pluto("")
+
+Drone1.connect()
+Drone2.connect()
+
+
+
+drones_dict = {
+    '0': Drone1,
+    '8': Drone2
+}
+
+#pid gains
+
+KPx, KPy, KPz, KPyaw = 0.8, 0.4, 380 , 50
+KIx, KIy, KIz, KIyaw = 0.02, 0.01, 0, 0
+KDx, KDy, KDz, KDyaw = 18, 25, 10, 0
+
+
+#currently global , 
+#for deciding drone's final yaw orientation 
+YAW_TARGET = 1.5708
+
+def pid(pose, target, Err, ErrI):
+    """
+    PID Control Loop
+    """
+    x_error, y_error, z_error, yaw_error = Err
+    x_errorI, y_errorI, z_errorI, yaw_errorI = ErrI
+
+    x_target, y_target, height_target = target
+
+
+
+    x_error_old = x_error
+    y_error_old = y_error
+    z_error_old = z_error
+    yaw_error_old = yaw_error
+
+    x,   y,   z,   yaw = pose
+
+    x_error = x_target-x
+    y_error = y_target-y
+    z_error = height_target-z
+    yaw_error = YAW_TARGET-yaw
+
+
+    x_errorI += x_error
+    y_errorI += y_error
+    z_errorI += z_error
+    yaw_errorI += yaw_error
+
+    # compute derivative (variation) of errors (D)
+    x_errorD = x_error-x_error_old
+    y_errorD = y_error-y_error_old
+    z_errorD = z_error-z_error_old
+    yaw_errorD = yaw_error-yaw_error_old
+
+    # compute commands
+    xCommand = KPx*x_error + KIx*x_errorI + KDx*x_errorD
+    yCommand = KPy*y_error + KIy*y_errorI + KDy*y_errorD
+    zCommand = KPz*z_error + KIz*z_errorI + KDz*z_errorD
+
+    yaw_command    = int( KPyaw*yaw_error + KIyaw*yaw_errorI + KDyaw*yaw_errorD)
+    pitch_command = int( np.cos(yaw)*xCommand + np.sin(yaw)*yCommand)
+    roll_command  = int( -np.sin(yaw)*xCommand + np.cos(yaw)*yCommand ) 
+    throttle_command = int(zCommand)
+    Err = [x_error, y_error, z_error, yaw_error]
+    ErrI = [x_errorI, y_errorI, z_errorI, yaw_errorI]
+    
+    return roll_command, pitch_command, throttle_command, yaw_command, Err, ErrI
+
+
+def Drone_main(conn, DroneID):
+    """
+    Function to recieve data from pid file and 
+    using drone_api velocity fns 
+    we can send the cmd to drone from here 
+    as soon as we recieve them
+    """
+    global x_target,  y_target, height_target
+    print(f"[INFO]  Setting up PID for drone {DroneID}")
+
+    # initialize PID controller
+    x_error, y_error, z_error, yaw_error = 0, 0, 0, 0
+    x_errorI, y_errorI, z_errorI, yaw_errorI = 0, 0, 0, 0
+    x_errorD, y_errorD, z_errorD, yaw_errorD = 0, 0, 0, 0
+    x_error_old, y_error_old, z_error_old, yaw_error_old = 0, 0, 0, 0
+
+    Err = [x_error, y_error, z_error, yaw_error]
+    ErrI = [x_errorI, y_errorI, z_errorI, yaw_errorI]
+    path = [[0,0,0,0]]
+
+    Drone = drones_dict[DroneID]
+    
+    #Drone1.trim(-8,20,0,0) # iit
+    Drone.trim(23, 5,0,0)
+    Drone.disarm()
+    # Drone2.disarm
+    # drone.arm()
+    Drone.arm()
+    # Drone2.arm()
+    Drone.throttle_speed(300,2)
+    # Drone2.throttle_speed(50,1)
+    # Drone1.takeoff()
+    print("takeoff")
+
+    tReachCount=0
+    # default values when not detected
+    roll_command, pitch_command, throttle_command, yaw_command = 0, 0, 50, 0
+
+    start = time.time()
+    target = 0
+
+    roll_log = []
+    pitch_log = []
+    """
+    while True:
+
+
+        try:
+            pose_dict = None
+
+            if (conn.poll()):                
+                pose_dict = conn.recv()
+                
+            
+            if not pose_dict:
+                
+                now_time = time.time()
+                timeout_limit = now_time - start 
+
+                roll_command, pitch_command, throttle_command, yaw_command = 0, 0, 50, 0
+
+                if timeout_limit > 8 : 
+                    print("Aruco not detected ,landing")
+                    drone.land()
+                    break
+                
+        
+            elif (not pose_dict)==False:
+                if drone==Drone:
+                    try:
+                        pose=pose_dict['0']
+                    except KeyError:
+                        pass
+
+                start = time.time()
+                roll_command, pitch_command, throttle_command, yaw_command, Err, ErrI = pid(pose, [x_target,  y_target, height_target], Err, ErrI)
+                
+                # Clipping commands
+                if (roll_command>100):
+                    roll_command=100
+                elif (roll_command<-100):
+                    roll_command=-100
+                if (pitch_command>70):
+                    pitch_command=70
+                elif (pitch_command<-70):
+                    pitch_command=-70
+
+                if np.sqrt((x_target-pose[0])**2+(y_target-pose[1])**2)<25:
+                    # print(f"Pose: {pose}")
+                    print("Target Reached.")
+                    drone.reset_speed()
+                    tReachCount += 1
+                    if tReachCount>=5:
+                        target += 1
+                        if target==15:
+                            print("Task Completed\nLanding")
+                            break
+                        x_target,  y_target = target_array[target]
+                        tReachCount=0
+
+
+            # Set all speeds at once
+            # drone.set_all_speed(roll_command, pitch_command, throttle_command, yaw_command)
+            drone.set_all_speed(0, 0, 0, 0)
+            
+
+            time.sleep(0.04)
+    
+            '''this sleep adjusts the running of this files while loop, 
+            so that the rate of receiving from marker files is almost matched 
+            to that of this file sending commands to drone using api '''
+            
+            
+            if not roll_command==0:
+                print(f"\nFrequecy checker(sending) , rcmd: {roll_command}, pcmd: {pitch_command}, tcmd:{throttle_command},  yawcmd:{yaw_command}")
+
+        except KeyboardInterrupt:
+            break
+
+
+
+    Drone1.land()
+    Drone1.disarm()
+    """
+
+
+def PID_main(conn):
+    drone = partial(Drone_main, conn=conn)
+
+    drone_pid1 = threading.Thread(target=drone, args=('0',))
+    drone_pid2 = threading.Thread(target=drone, args=('8',))
+
+    drone_pid1.start()
+    drone_pid2.start()

From 1062a217467594d712d45a4973e94b23a9b19d2f Mon Sep 17 00:00:00 2001
From: Yeeshukant 
Date: Sat, 4 Feb 2023 20:06:53 +0530
Subject: [PATCH 68/82] 2 drone threading test

---
 pypluto/main.py                  |  4 +--
 pypluto/pypluto/Control/task3.py | 51 +++++++++++++++++---------------
 2 files changed, 29 insertions(+), 26 deletions(-)

diff --git a/pypluto/main.py b/pypluto/main.py
index 687a40d..5677b09 100644
--- a/pypluto/main.py
+++ b/pypluto/main.py
@@ -2,11 +2,11 @@
 from pypluto import pluto
 import time
  
-drone1=pluto()
+drone1=pluto("192.168.4.1")
  
 drone1.connect()
 
-drone1.trim(-10,10,0,0)
+drone1.trim(-15,-7,0,0)
 drone1.disarm()
 
 drone1.takeoff()
diff --git a/pypluto/pypluto/Control/task3.py b/pypluto/pypluto/Control/task3.py
index 618a368..32673b1 100644
--- a/pypluto/pypluto/Control/task3.py
+++ b/pypluto/pypluto/Control/task3.py
@@ -31,17 +31,17 @@
 
 x_target,  y_target, height_target = target_array[0][0],target_array[0][1], 0.8  #pixel, pixel , height(m)
 
-Drone1=pluto("") ###################### Change here
-Drone2=pluto("")
+Drone1=pluto("10.42.0.74") ###################### Change here
+Drone2=pluto("192.168.4.1")
 
-Drone1.connect()
+# Drone1.connect()
 Drone2.connect()
 
 
 
 drones_dict = {
-    '0': Drone1,
-    '8': Drone2
+    '8': Drone1,
+    '0': Drone2
 }
 
 #pid gains
@@ -128,7 +128,7 @@ def Drone_main(conn, DroneID):
     Drone = drones_dict[DroneID]
     
     #Drone1.trim(-8,20,0,0) # iit
-    Drone.trim(23, 5,0,0)
+    # Drone.trim(-12,-7,0,0)
     Drone.disarm()
     # Drone2.disarm
     # drone.arm()
@@ -137,7 +137,8 @@ def Drone_main(conn, DroneID):
     Drone.throttle_speed(300,2)
     # Drone2.throttle_speed(50,1)
     # Drone1.takeoff()
-    print("takeoff")
+    print(f"takeoff {DroneID}")
+    time.sleep(3)
 
     tReachCount=0
     # default values when not detected
@@ -148,7 +149,7 @@ def Drone_main(conn, DroneID):
 
     roll_log = []
     pitch_log = []
-    """
+
     while True:
 
 
@@ -168,16 +169,16 @@ def Drone_main(conn, DroneID):
 
                 if timeout_limit > 8 : 
                     print("Aruco not detected ,landing")
-                    drone.land()
+                    Drone.land()
                     break
                 
         
             elif (not pose_dict)==False:
-                if drone==Drone:
-                    try:
-                        pose=pose_dict['0']
-                    except KeyError:
-                        pass
+                # if drone==Drone:
+                try:
+                    pose=pose_dict['0']
+                except KeyError:
+                    pass
 
                 start = time.time()
                 roll_command, pitch_command, throttle_command, yaw_command, Err, ErrI = pid(pose, [x_target,  y_target, height_target], Err, ErrI)
@@ -195,7 +196,7 @@ def Drone_main(conn, DroneID):
                 if np.sqrt((x_target-pose[0])**2+(y_target-pose[1])**2)<25:
                     # print(f"Pose: {pose}")
                     print("Target Reached.")
-                    drone.reset_speed()
+                    Drone.reset_speed()
                     tReachCount += 1
                     if tReachCount>=5:
                         target += 1
@@ -207,8 +208,8 @@ def Drone_main(conn, DroneID):
 
 
             # Set all speeds at once
-            # drone.set_all_speed(roll_command, pitch_command, throttle_command, yaw_command)
-            drone.set_all_speed(0, 0, 0, 0)
+            Drone.set_all_speed(roll_command, pitch_command, throttle_command, yaw_command)
+            # Drone.set_all_speed(0, 0, 0, 0)
             
 
             time.sleep(0.04)
@@ -226,16 +227,18 @@ def Drone_main(conn, DroneID):
 
 
 
-    Drone1.land()
-    Drone1.disarm()
-    """
+    Drone.land()
+
+    Drone.disarm()
 
 
 def PID_main(conn):
-    drone = partial(Drone_main, conn=conn)
+    # drone = partial(Drone_main, conn=conn)
 
-    drone_pid1 = threading.Thread(target=drone, args=('0',))
-    drone_pid2 = threading.Thread(target=drone, args=('8',))
+    # drone_pid1 = threading.Thread(target=Drone_main, args=(conn, '0',))
+    drone_pid2 = threading.Thread(target=Drone_main, args=(conn, '0',))
 
-    drone_pid1.start()
+    # drone_pid1.start()
     drone_pid2.start()
+    # drone_pid1.join()
+    # drone_pid2.join()

From 28c6c450515e7189b635d15107e4113f1fa71f3e Mon Sep 17 00:00:00 2001
From: Sairaj Loke <104747561+SairajLoke@users.noreply.github.com>
Date: Mon, 6 Feb 2023 03:22:23 +0530
Subject: [PATCH 69/82] mission planner with move, hover

---
 pypluto/pypluto/Control/task3_toge.py | 479 ++++++++++++++++++++++++++
 1 file changed, 479 insertions(+)
 create mode 100644 pypluto/pypluto/Control/task3_toge.py

diff --git a/pypluto/pypluto/Control/task3_toge.py b/pypluto/pypluto/Control/task3_toge.py
new file mode 100644
index 0000000..2605dfa
--- /dev/null
+++ b/pypluto/pypluto/Control/task3_toge.py
@@ -0,0 +1,479 @@
+from multiprocessing import Pipe
+from pypluto.drone import pluto
+import numpy as np
+import time
+import threading 
+
+class PID_Controller():
+    def __init__(self) :
+#we could use a class for pid
+        pass
+        
+
+
+# --------------------------------------------
+
+# xTarget,  yTarget, heightTarget = 646, 348, 0.8 # for hover at point
+
+# target_array2=[]
+# target_array2.append(target_array[0])
+# x_target,  y_target, height_target = target_array[0][0],target_array[0][1], 0.8  #pixel, pixel , height(m)
+
+
+def pid(pose, target, Err, ErrI):
+    """
+    PID Control Loop
+    """
+    x_error, y_error, z_error, yaw_error = Err
+    x_errorI, y_errorI, z_errorI, yaw_errorI = ErrI
+
+    x_target, y_target, height_target = target
+
+
+
+    x_error_old = x_error
+    y_error_old = y_error
+    z_error_old = z_error
+    yaw_error_old = yaw_error
+
+    x,   y,   z,   yaw = pose
+
+    x_error = x_target-x
+    y_error = y_target-y
+    z_error = height_target-z
+    yaw_error = YAW_TARGET-yaw
+
+
+    x_errorI += x_error
+    y_errorI += y_error
+    z_errorI += z_error
+    yaw_errorI += yaw_error
+
+    # compute derivative (variation) of errors (D)
+    x_errorD = x_error-x_error_old
+    y_errorD = y_error-y_error_old
+    z_errorD = z_error-z_error_old
+    yaw_errorD = yaw_error-yaw_error_old
+
+    # compute commands
+    xCommand = KPx*x_error + KIx*x_errorI + KDx*x_errorD
+    yCommand = KPy*y_error + KIy*y_errorI + KDy*y_errorD
+    zCommand = KPz*z_error + KIz*z_errorI + KDz*z_errorD
+
+    yaw_command    = int( KPyaw*yaw_error + KIyaw*yaw_errorI + KDyaw*yaw_errorD)
+    pitch_command = int( np.cos(yaw)*xCommand + np.sin(yaw)*yCommand)
+    roll_command  = int( -np.sin(yaw)*xCommand + np.cos(yaw)*yCommand ) 
+    throttle_command = int(zCommand)
+    Err = [x_error, y_error, z_error, yaw_error]
+    ErrI = [x_errorI, y_errorI, z_errorI, yaw_errorI]
+    
+    return roll_command, pitch_command, throttle_command, yaw_command, Err, ErrI
+
+
+
+
+class MissionPlanner():
+   
+
+    def __init__(self,conn) :
+        #Target coords
+        target_array = [
+            [   [375, 162],  #0
+                [538, 160],  
+                [652, 158],
+                [788, 152],
+                [882, 175] #4
+            ]    
+            [   
+                [882, 175] 
+                [920, 240], 
+                [922, 332],
+                [886, 402]  #
+            ]
+            [
+                [886, 402] 
+                [776, 422],
+                [632, 428],
+                [486, 432],
+                [402, 412]#
+            ]
+
+            [ 
+                [402, 412]
+                [365, 355],
+                [364, 248],
+                [375, 162]#
+            ]
+        ]
+        
+        self.conn = conn 
+
+        self.Drone1=pluto()
+        # Drone1.connect()
+
+        self.Drone2=pluto()
+        # Drone2.connect()
+
+        self.Drone1ID = '0'
+        self.Drone2ID = '8'
+
+
+        self.moveDrone1 = True
+        self.moveDrone2 = False
+
+        self.MOVEDICT = {
+            '0' : moveDrone1,
+            '8' : moveDrone2,
+        }
+
+        self.poseDrone1 = None
+        self.poseDrone2 = None
+
+        self.POSEDICT = {
+            '0' : poseDrone1,
+            '8' : poseDrone2
+        }
+
+
+        self.Task_not_done = True
+        self.Rectangle1_done = False
+        self.Rectangle2_done = False 
+
+        self.RECT_DONE_DICT = {
+            '0' : self.Rectangle1_done ,
+            '8' : self.Rectangle2_done     
+        }
+
+        self.target_idx1 = 0
+        self.target_idx2 = 4
+
+        self.TARGET_IDX_DICT = {
+            '0' : self.target_idx1 ,
+            '1' : self.target_idx2 
+        }
+
+        #currently global , 
+        #for deciding drone's final yaw orientation 
+        self.YAW_TARGET = 1.5708
+
+    def move( IDX , DroneID , Err , ErrI):
+        
+        '''
+        temp target : list of 4-5 targets,whose endpt is nxt corner 
+        DroneID : '0' or '8' '''
+
+        roll_log = []
+        pitch_log = []
+
+        
+        
+        #globals
+        global Drone1 , Drone1ID ,poseDrone1
+        global Drone2, Drone2ID,  poseDrone2
+        global target_array 
+
+        #Local vars
+        temp_targets = target_array[IDX]
+        Droneobj = None
+        pose = None 
+        xTarget,  yTarget, heightTarget = temp_targets[0], 348, 0.8  
+
+        if DroneID == Drone1ID:
+            Droneobj= Drone1  # ig a new instance is created ...it might not affect but is there a shorter method??
+        else:
+            Droneobj= Drone2
+
+
+        tReachCount=0
+        temp_target_idx = 0 
+
+        while temp_target_idx != len(temp_targets)  :
+
+            
+            if DroneID == Drone1ID:
+                pose = poseDrone1 #
+            else:
+                pose = poseDrone2
+
+            xTarget,  yTarget, heightTarget = temp_targets[temp_target_idx], 348, 0.8  
+
+            try:
+                    
+                
+                if not pose : # pose is None
+                    
+                    now_time = time.time()
+                    timeout_limit = now_time - start 
+
+                    roll_command, pitch_command, throttle_command, yaw_command = 0, 0, 50, 0
+
+                    if timeout_limit > 8 : 
+                        print("Aruco not detected ,landing")
+                        Droneobj.land()
+                        break
+                    
+            
+                elif (not pose)==False: #Pose not None
+                    
+                    start = time.time()
+                    
+
+                    #Target Vicinity counter block
+                    if np.sqrt((xTarget-pose[0])**2+(yTarget-pose[1])**2)<25:
+                        # print(f"Pose: {pose}")
+                        tReachCount += 1
+
+                        Droneobj.reset_speed()
+
+
+                        #target reached corner and target is a c0.orner
+                        if ( temp_target_idx == len(temp_targets)-1 and tReachCount >= 3):
+                            print("\nReached Target Corner")
+                            temp_target_idx +=1
+
+                        elif (tReachCount>= 5): 
+                            print("On the way Target Reached.")
+                            temp_target_idx +=1
+                        
+
+                        #
+                        if IDX == 3 and tReachCount >=5 : 
+                            print("Task Completed\nLanding")
+                            Droneobj.land()
+                            time.sleep(2)
+                            break
+
+
+                        xTarget,  yTarget = target_array[temp_target_idx]
+                        tReachCount=0
+
+                    roll_command, pitch_command, throttle_command, yaw_command, Err, ErrI = pid(pose, xTarget, yTarget, heightTarget, Err, ErrI)
+
+
+                    #Clipping commands
+                    if (roll_command>100):
+                        roll_command=100
+                    elif (roll_command<-100):
+                        roll_command=-100
+                    if (pitch_command>70):
+                        pitch_command=70
+                    elif (pitch_command<-70):
+                        pitch_command=-70
+
+    
+                
+                # Set all speeds at once
+                Droneobj.set_all_speed(roll_command, pitch_command, throttle_command, yaw_command)
+                time.sleep(0.04)
+        
+                '''this sleep adjusts the running of this files while loop, 
+                so that the rate of receiving from marker files is almost matched 
+                to that of this file sending commands to drone using api '''
+                
+                
+                if not roll_command==0:
+                    print(f"\nFrequecy checker(sending) , rcmd: {roll_command}, pcmd: {pitch_command}, tcmd:{throttle_command},  yawcmd:{yaw_command}")
+
+            except KeyboardInterrupt:
+                break
+
+    def hover (target_coords,DroneID):
+
+        #globals
+        global moveDrone1,moveDrone2,Drone
+
+        #locals 
+        xTarget , yTarget ,heightTarget = target_coords, 0.8
+
+
+        if DroneID == Drone1ID:
+            Droneobj= Drone1  # ig a new instance is created ...it might not affect but is there a shorter method??
+            pose = poseDrone1 #
+        else:
+            Droneobj= Drone2
+            pose = poseDrone2
+
+        try:  
+            
+            if not pose : # pose is None
+                
+                now_time = time.time()
+                timeout_limit = now_time - start 
+
+                roll_command, pitch_command, throttle_command, yaw_command = 0, 0, 50, 0
+
+                if timeout_limit > 8 : 
+                    print("Aruco not detected ,landing")
+                    Droneobj.land()
+
+                    return "Stop"
+                
+            
+            elif (not pose)==False: #Pose not None
+                
+                start = time.time()
+                roll_command, pitch_command, throttle_command, yaw_command, Err, ErrI = pid(pose, xTarget, yTarget, heightTarget, Err, ErrI)
+                
+                
+                # Clipping commands
+                if (roll_command>100):
+                    roll_command=100
+                elif (roll_command<-100):
+                    roll_command=-100
+                if (pitch_command>70):
+                    pitch_command=70
+                elif (pitch_command<-70):
+                    pitch_command=-70
+
+                # #Target Vicinity counter block
+                # if np.sqrt((xTarget-pose[0])**2+(yTarget-pose[1])**2)<25:
+                #     # print(f"Pose: {pose}")
+                #     tReachCount += 1
+
+                #     Droneobj.reset_speed()
+
+
+                #     #target reached corner and target is a c0.orner
+                #     if ( temp_target_idx == len(temp_targets)-1 and tReachCount >= 3):
+                #         print("\nReached Target Corner")
+                #         temp_target_idx +=1
+
+                #     elif (tReachCount>= 5): 
+                #         print("On the way Target Reached.")
+                #         temp_target_idx +=1
+                    
+
+                #     #
+                #     if IDX == 3 and tReachCount >=5 : 
+                #         print("Task Completed\nLanding")
+                #         Droneobj.land()
+                #         time.sleep(2)
+                #         return False
+
+
+                #     xTarget,  yTarget = target_array[temp_target_idx]
+                #     tReachCount=0
+
+            # Set all speeds at once
+            Droneobj.set_all_speed(roll_command, pitch_command, throttle_command, yaw_command)
+            time.sleep(0.04)
+        
+            '''this sleep adjusts the running of this files while loop, 
+            so that the rate of receiving from marker files is almost matched 
+            to that of this file sending commands to drone using api '''
+            
+            
+            if not roll_command==0:
+                print(f"\nFrequecy checker(sending) , rcmd: {roll_command}, pcmd: {pitch_command}, tcmd:{throttle_command},  yawcmd:{yaw_command}")
+
+        except KeyboardInterrupt:
+            return "stop"
+
+
+    def dronePlan(DroneID):
+
+        
+
+        #local scope
+        x_error, y_error, z_error, yaw_error = 0, 0, 0, 0
+        x_errorI, y_errorI, z_errorI, yaw_errorI = 0, 0, 0, 0
+        x_errorD, y_errorD, z_errorD, yaw_errorD = 0, 0, 0, 0
+        x_error_old, y_error_old, z_error_old, yaw_error_old = 0, 0, 0, 0
+
+        Err = [x_error, y_error, z_error, yaw_error]
+        ErrI = [x_errorI, y_errorI, z_errorI, yaw_errorI]
+        path = [[0,0,0,0]]
+
+
+
+        # Drone1=pluto()
+        # # Drone1.connect()
+
+        #Drone1.trim(-8,20,0,0) # iit
+        Drone1.trim(23, 5,0,0)
+        Drone1.disarm()
+    
+        Drone1.arm()
+        Drone1.throttle_speed(300,2)
+        # Drone1.takeoff()
+        print("takeoff")
+
+
+
+        tReachCount=0
+        # default values when not detected
+        roll_command, pitch_command, throttle_command, yaw_command = 0, 0, 50, 0
+
+        start = time.time()
+        
+
+        target_idx1 = 0  # ranges from 0-4
+
+        while not Rectangle1_done :
+            
+            if moveDrone1:  #true at very first
+                rec = move(IDX= target_idx1 ,
+                    temp_targets= target_array[target_idx1] ,
+                    Droneobj= Drone1 ,
+                    DronePose=poseDrone1,
+                    Err=Err,
+                    ErrI=ErrI  )
+
+
+                #now Drone 1 has reached its temp corner pt
+                moveDrone2 = True
+                moveDrone1 = False 
+                target_idx1 += 1
+
+            else:
+
+                while not moveDrone1 :
+                    rec = hover(target_array[target_idx1][0] )
+                    if (rec == "stop"):
+                        break # to break plan in case of Aruco not det
+
+            
+    def recv_pose(conn):
+
+        '''changes the global var of poses'''
+
+        
+        global poseDrone1, poseDrone2 
+
+
+        while ( Task_not_done ):
+            if (conn.poll()):                
+                pose_dict = conn.recv()
+                POSEDICT[Drone1ID] = pose_dict[Drone1ID]
+                POSEDICT[Drone2ID] = pose_dict[Drone2ID]
+            else: 
+                POSEDICT[Drone1ID] = None
+                POSEDICT[Drone2ID] = None
+
+    
+
+
+
+
+
+def PID_main(conn):
+
+       
+    MP = MissionPlanner(conn)
+
+    t0 = threading.Thread( target= MP.recv_pose , args=(conn,))
+    t1 = threading.Thread( target= MP.dronePlan, args=(Drone1ID))
+    t2 = threading.Thread( target= MP.dronePlan, args=(Drone2ID))
+
+    print("\nListerning to pose in 2sec")
+    time.sleep(2)
+    t0.start()
+    time.sleep(2)
+    t1.start()
+    t2.start()
+
+
+
+    t0.join()
+    t1.join()
+    t2.join()
\ No newline at end of file

From 750c8ad945cee6bc70afbc8a70609b3abbf3282e Mon Sep 17 00:00:00 2001
From: Sairaj Loke <104747561+SairajLoke@users.noreply.github.com>
Date: Mon, 6 Feb 2023 19:28:58 +0530
Subject: [PATCH 70/82] Delete task3_toge.py

---
 pypluto/pypluto/Control/task3_toge.py | 479 --------------------------
 1 file changed, 479 deletions(-)
 delete mode 100644 pypluto/pypluto/Control/task3_toge.py

diff --git a/pypluto/pypluto/Control/task3_toge.py b/pypluto/pypluto/Control/task3_toge.py
deleted file mode 100644
index 2605dfa..0000000
--- a/pypluto/pypluto/Control/task3_toge.py
+++ /dev/null
@@ -1,479 +0,0 @@
-from multiprocessing import Pipe
-from pypluto.drone import pluto
-import numpy as np
-import time
-import threading 
-
-class PID_Controller():
-    def __init__(self) :
-#we could use a class for pid
-        pass
-        
-
-
-# --------------------------------------------
-
-# xTarget,  yTarget, heightTarget = 646, 348, 0.8 # for hover at point
-
-# target_array2=[]
-# target_array2.append(target_array[0])
-# x_target,  y_target, height_target = target_array[0][0],target_array[0][1], 0.8  #pixel, pixel , height(m)
-
-
-def pid(pose, target, Err, ErrI):
-    """
-    PID Control Loop
-    """
-    x_error, y_error, z_error, yaw_error = Err
-    x_errorI, y_errorI, z_errorI, yaw_errorI = ErrI
-
-    x_target, y_target, height_target = target
-
-
-
-    x_error_old = x_error
-    y_error_old = y_error
-    z_error_old = z_error
-    yaw_error_old = yaw_error
-
-    x,   y,   z,   yaw = pose
-
-    x_error = x_target-x
-    y_error = y_target-y
-    z_error = height_target-z
-    yaw_error = YAW_TARGET-yaw
-
-
-    x_errorI += x_error
-    y_errorI += y_error
-    z_errorI += z_error
-    yaw_errorI += yaw_error
-
-    # compute derivative (variation) of errors (D)
-    x_errorD = x_error-x_error_old
-    y_errorD = y_error-y_error_old
-    z_errorD = z_error-z_error_old
-    yaw_errorD = yaw_error-yaw_error_old
-
-    # compute commands
-    xCommand = KPx*x_error + KIx*x_errorI + KDx*x_errorD
-    yCommand = KPy*y_error + KIy*y_errorI + KDy*y_errorD
-    zCommand = KPz*z_error + KIz*z_errorI + KDz*z_errorD
-
-    yaw_command    = int( KPyaw*yaw_error + KIyaw*yaw_errorI + KDyaw*yaw_errorD)
-    pitch_command = int( np.cos(yaw)*xCommand + np.sin(yaw)*yCommand)
-    roll_command  = int( -np.sin(yaw)*xCommand + np.cos(yaw)*yCommand ) 
-    throttle_command = int(zCommand)
-    Err = [x_error, y_error, z_error, yaw_error]
-    ErrI = [x_errorI, y_errorI, z_errorI, yaw_errorI]
-    
-    return roll_command, pitch_command, throttle_command, yaw_command, Err, ErrI
-
-
-
-
-class MissionPlanner():
-   
-
-    def __init__(self,conn) :
-        #Target coords
-        target_array = [
-            [   [375, 162],  #0
-                [538, 160],  
-                [652, 158],
-                [788, 152],
-                [882, 175] #4
-            ]    
-            [   
-                [882, 175] 
-                [920, 240], 
-                [922, 332],
-                [886, 402]  #
-            ]
-            [
-                [886, 402] 
-                [776, 422],
-                [632, 428],
-                [486, 432],
-                [402, 412]#
-            ]
-
-            [ 
-                [402, 412]
-                [365, 355],
-                [364, 248],
-                [375, 162]#
-            ]
-        ]
-        
-        self.conn = conn 
-
-        self.Drone1=pluto()
-        # Drone1.connect()
-
-        self.Drone2=pluto()
-        # Drone2.connect()
-
-        self.Drone1ID = '0'
-        self.Drone2ID = '8'
-
-
-        self.moveDrone1 = True
-        self.moveDrone2 = False
-
-        self.MOVEDICT = {
-            '0' : moveDrone1,
-            '8' : moveDrone2,
-        }
-
-        self.poseDrone1 = None
-        self.poseDrone2 = None
-
-        self.POSEDICT = {
-            '0' : poseDrone1,
-            '8' : poseDrone2
-        }
-
-
-        self.Task_not_done = True
-        self.Rectangle1_done = False
-        self.Rectangle2_done = False 
-
-        self.RECT_DONE_DICT = {
-            '0' : self.Rectangle1_done ,
-            '8' : self.Rectangle2_done     
-        }
-
-        self.target_idx1 = 0
-        self.target_idx2 = 4
-
-        self.TARGET_IDX_DICT = {
-            '0' : self.target_idx1 ,
-            '1' : self.target_idx2 
-        }
-
-        #currently global , 
-        #for deciding drone's final yaw orientation 
-        self.YAW_TARGET = 1.5708
-
-    def move( IDX , DroneID , Err , ErrI):
-        
-        '''
-        temp target : list of 4-5 targets,whose endpt is nxt corner 
-        DroneID : '0' or '8' '''
-
-        roll_log = []
-        pitch_log = []
-
-        
-        
-        #globals
-        global Drone1 , Drone1ID ,poseDrone1
-        global Drone2, Drone2ID,  poseDrone2
-        global target_array 
-
-        #Local vars
-        temp_targets = target_array[IDX]
-        Droneobj = None
-        pose = None 
-        xTarget,  yTarget, heightTarget = temp_targets[0], 348, 0.8  
-
-        if DroneID == Drone1ID:
-            Droneobj= Drone1  # ig a new instance is created ...it might not affect but is there a shorter method??
-        else:
-            Droneobj= Drone2
-
-
-        tReachCount=0
-        temp_target_idx = 0 
-
-        while temp_target_idx != len(temp_targets)  :
-
-            
-            if DroneID == Drone1ID:
-                pose = poseDrone1 #
-            else:
-                pose = poseDrone2
-
-            xTarget,  yTarget, heightTarget = temp_targets[temp_target_idx], 348, 0.8  
-
-            try:
-                    
-                
-                if not pose : # pose is None
-                    
-                    now_time = time.time()
-                    timeout_limit = now_time - start 
-
-                    roll_command, pitch_command, throttle_command, yaw_command = 0, 0, 50, 0
-
-                    if timeout_limit > 8 : 
-                        print("Aruco not detected ,landing")
-                        Droneobj.land()
-                        break
-                    
-            
-                elif (not pose)==False: #Pose not None
-                    
-                    start = time.time()
-                    
-
-                    #Target Vicinity counter block
-                    if np.sqrt((xTarget-pose[0])**2+(yTarget-pose[1])**2)<25:
-                        # print(f"Pose: {pose}")
-                        tReachCount += 1
-
-                        Droneobj.reset_speed()
-
-
-                        #target reached corner and target is a c0.orner
-                        if ( temp_target_idx == len(temp_targets)-1 and tReachCount >= 3):
-                            print("\nReached Target Corner")
-                            temp_target_idx +=1
-
-                        elif (tReachCount>= 5): 
-                            print("On the way Target Reached.")
-                            temp_target_idx +=1
-                        
-
-                        #
-                        if IDX == 3 and tReachCount >=5 : 
-                            print("Task Completed\nLanding")
-                            Droneobj.land()
-                            time.sleep(2)
-                            break
-
-
-                        xTarget,  yTarget = target_array[temp_target_idx]
-                        tReachCount=0
-
-                    roll_command, pitch_command, throttle_command, yaw_command, Err, ErrI = pid(pose, xTarget, yTarget, heightTarget, Err, ErrI)
-
-
-                    #Clipping commands
-                    if (roll_command>100):
-                        roll_command=100
-                    elif (roll_command<-100):
-                        roll_command=-100
-                    if (pitch_command>70):
-                        pitch_command=70
-                    elif (pitch_command<-70):
-                        pitch_command=-70
-
-    
-                
-                # Set all speeds at once
-                Droneobj.set_all_speed(roll_command, pitch_command, throttle_command, yaw_command)
-                time.sleep(0.04)
-        
-                '''this sleep adjusts the running of this files while loop, 
-                so that the rate of receiving from marker files is almost matched 
-                to that of this file sending commands to drone using api '''
-                
-                
-                if not roll_command==0:
-                    print(f"\nFrequecy checker(sending) , rcmd: {roll_command}, pcmd: {pitch_command}, tcmd:{throttle_command},  yawcmd:{yaw_command}")
-
-            except KeyboardInterrupt:
-                break
-
-    def hover (target_coords,DroneID):
-
-        #globals
-        global moveDrone1,moveDrone2,Drone
-
-        #locals 
-        xTarget , yTarget ,heightTarget = target_coords, 0.8
-
-
-        if DroneID == Drone1ID:
-            Droneobj= Drone1  # ig a new instance is created ...it might not affect but is there a shorter method??
-            pose = poseDrone1 #
-        else:
-            Droneobj= Drone2
-            pose = poseDrone2
-
-        try:  
-            
-            if not pose : # pose is None
-                
-                now_time = time.time()
-                timeout_limit = now_time - start 
-
-                roll_command, pitch_command, throttle_command, yaw_command = 0, 0, 50, 0
-
-                if timeout_limit > 8 : 
-                    print("Aruco not detected ,landing")
-                    Droneobj.land()
-
-                    return "Stop"
-                
-            
-            elif (not pose)==False: #Pose not None
-                
-                start = time.time()
-                roll_command, pitch_command, throttle_command, yaw_command, Err, ErrI = pid(pose, xTarget, yTarget, heightTarget, Err, ErrI)
-                
-                
-                # Clipping commands
-                if (roll_command>100):
-                    roll_command=100
-                elif (roll_command<-100):
-                    roll_command=-100
-                if (pitch_command>70):
-                    pitch_command=70
-                elif (pitch_command<-70):
-                    pitch_command=-70
-
-                # #Target Vicinity counter block
-                # if np.sqrt((xTarget-pose[0])**2+(yTarget-pose[1])**2)<25:
-                #     # print(f"Pose: {pose}")
-                #     tReachCount += 1
-
-                #     Droneobj.reset_speed()
-
-
-                #     #target reached corner and target is a c0.orner
-                #     if ( temp_target_idx == len(temp_targets)-1 and tReachCount >= 3):
-                #         print("\nReached Target Corner")
-                #         temp_target_idx +=1
-
-                #     elif (tReachCount>= 5): 
-                #         print("On the way Target Reached.")
-                #         temp_target_idx +=1
-                    
-
-                #     #
-                #     if IDX == 3 and tReachCount >=5 : 
-                #         print("Task Completed\nLanding")
-                #         Droneobj.land()
-                #         time.sleep(2)
-                #         return False
-
-
-                #     xTarget,  yTarget = target_array[temp_target_idx]
-                #     tReachCount=0
-
-            # Set all speeds at once
-            Droneobj.set_all_speed(roll_command, pitch_command, throttle_command, yaw_command)
-            time.sleep(0.04)
-        
-            '''this sleep adjusts the running of this files while loop, 
-            so that the rate of receiving from marker files is almost matched 
-            to that of this file sending commands to drone using api '''
-            
-            
-            if not roll_command==0:
-                print(f"\nFrequecy checker(sending) , rcmd: {roll_command}, pcmd: {pitch_command}, tcmd:{throttle_command},  yawcmd:{yaw_command}")
-
-        except KeyboardInterrupt:
-            return "stop"
-
-
-    def dronePlan(DroneID):
-
-        
-
-        #local scope
-        x_error, y_error, z_error, yaw_error = 0, 0, 0, 0
-        x_errorI, y_errorI, z_errorI, yaw_errorI = 0, 0, 0, 0
-        x_errorD, y_errorD, z_errorD, yaw_errorD = 0, 0, 0, 0
-        x_error_old, y_error_old, z_error_old, yaw_error_old = 0, 0, 0, 0
-
-        Err = [x_error, y_error, z_error, yaw_error]
-        ErrI = [x_errorI, y_errorI, z_errorI, yaw_errorI]
-        path = [[0,0,0,0]]
-
-
-
-        # Drone1=pluto()
-        # # Drone1.connect()
-
-        #Drone1.trim(-8,20,0,0) # iit
-        Drone1.trim(23, 5,0,0)
-        Drone1.disarm()
-    
-        Drone1.arm()
-        Drone1.throttle_speed(300,2)
-        # Drone1.takeoff()
-        print("takeoff")
-
-
-
-        tReachCount=0
-        # default values when not detected
-        roll_command, pitch_command, throttle_command, yaw_command = 0, 0, 50, 0
-
-        start = time.time()
-        
-
-        target_idx1 = 0  # ranges from 0-4
-
-        while not Rectangle1_done :
-            
-            if moveDrone1:  #true at very first
-                rec = move(IDX= target_idx1 ,
-                    temp_targets= target_array[target_idx1] ,
-                    Droneobj= Drone1 ,
-                    DronePose=poseDrone1,
-                    Err=Err,
-                    ErrI=ErrI  )
-
-
-                #now Drone 1 has reached its temp corner pt
-                moveDrone2 = True
-                moveDrone1 = False 
-                target_idx1 += 1
-
-            else:
-
-                while not moveDrone1 :
-                    rec = hover(target_array[target_idx1][0] )
-                    if (rec == "stop"):
-                        break # to break plan in case of Aruco not det
-
-            
-    def recv_pose(conn):
-
-        '''changes the global var of poses'''
-
-        
-        global poseDrone1, poseDrone2 
-
-
-        while ( Task_not_done ):
-            if (conn.poll()):                
-                pose_dict = conn.recv()
-                POSEDICT[Drone1ID] = pose_dict[Drone1ID]
-                POSEDICT[Drone2ID] = pose_dict[Drone2ID]
-            else: 
-                POSEDICT[Drone1ID] = None
-                POSEDICT[Drone2ID] = None
-
-    
-
-
-
-
-
-def PID_main(conn):
-
-       
-    MP = MissionPlanner(conn)
-
-    t0 = threading.Thread( target= MP.recv_pose , args=(conn,))
-    t1 = threading.Thread( target= MP.dronePlan, args=(Drone1ID))
-    t2 = threading.Thread( target= MP.dronePlan, args=(Drone2ID))
-
-    print("\nListerning to pose in 2sec")
-    time.sleep(2)
-    t0.start()
-    time.sleep(2)
-    t1.start()
-    t2.start()
-
-
-
-    t0.join()
-    t1.join()
-    t2.join()
\ No newline at end of file

From 55fee6f8436470290b81e7d28b12ae74dd5c1c31 Mon Sep 17 00:00:00 2001
From: Sairaj Loke <104747561+SairajLoke@users.noreply.github.com>
Date: Mon, 6 Feb 2023 19:29:43 +0530
Subject: [PATCH 71/82] Add files via upload

---
 pypluto/pypluto/Control/task3_toge.py | 472 ++++++++++++++++++++++++++
 1 file changed, 472 insertions(+)
 create mode 100644 pypluto/pypluto/Control/task3_toge.py

diff --git a/pypluto/pypluto/Control/task3_toge.py b/pypluto/pypluto/Control/task3_toge.py
new file mode 100644
index 0000000..159f49e
--- /dev/null
+++ b/pypluto/pypluto/Control/task3_toge.py
@@ -0,0 +1,472 @@
+from multiprocessing import Pipe
+from pypluto.drone import pluto
+import numpy as np
+import time
+import threading 
+
+
+
+
+#To do 
+# 1.what if one aruco not detected, how to make our code fault tolerant
+
+class PID_Controller():
+    def __init__(self) :
+#we could use a class for pid
+        pass
+        
+
+
+# --------------------------------------------
+
+# xTarget,  yTarget, heightTarget = 646, 348, 0.8 # for hover at point
+
+# target_array2=[]
+# target_array2.append(target_array[0])
+# x_target,  y_target, height_target = target_array[0][0],target_array[0][1], 0.8  #pixel, pixel , height(m)
+
+
+def pid(pose, target, Err, ErrI):
+    """
+    PID Control Loop
+    """
+    x_error, y_error, z_error, yaw_error = Err
+    x_errorI, y_errorI, z_errorI, yaw_errorI = ErrI
+
+    x_target, y_target, height_target = target
+
+
+
+    x_error_old = x_error
+    y_error_old = y_error
+    z_error_old = z_error
+    yaw_error_old = yaw_error
+
+    x,   y,   z,   yaw = pose
+
+    x_error = x_target-x
+    y_error = y_target-y
+    z_error = height_target-z
+    yaw_error = YAW_TARGET-yaw
+
+
+    x_errorI += x_error
+    y_errorI += y_error
+    z_errorI += z_error
+    yaw_errorI += yaw_error
+
+    # compute derivative (variation) of errors (D)
+    x_errorD = x_error-x_error_old
+    y_errorD = y_error-y_error_old
+    z_errorD = z_error-z_error_old
+    yaw_errorD = yaw_error-yaw_error_old
+
+    # compute commands
+    xCommand = KPx*x_error + KIx*x_errorI + KDx*x_errorD
+    yCommand = KPy*y_error + KIy*y_errorI + KDy*y_errorD
+    zCommand = KPz*z_error + KIz*z_errorI + KDz*z_errorD
+
+    yaw_command    = int( KPyaw*yaw_error + KIyaw*yaw_errorI + KDyaw*yaw_errorD)
+    pitch_command = int( np.cos(yaw)*xCommand + np.sin(yaw)*yCommand)
+    roll_command  = int( -np.sin(yaw)*xCommand + np.cos(yaw)*yCommand ) 
+    throttle_command = int(zCommand)
+    Err = [x_error, y_error, z_error, yaw_error]
+    ErrI = [x_errorI, y_errorI, z_errorI, yaw_errorI]
+    
+    return roll_command, pitch_command, throttle_command, yaw_command, Err, ErrI
+
+
+
+
+class MissionPlanner():
+   
+
+    def __init__(self,conn) :
+        #Target coords
+        self.target_array = [
+            [   [375, 162],  #0
+                [538, 160],  
+                [652, 158],
+                [788, 152],
+                [882, 175] #4
+            ]    
+            [   
+                [882, 175] 
+                [920, 240], 
+                [922, 332],
+                [886, 402]  #
+            ]
+            [
+                [886, 402] 
+                [776, 422],
+                [632, 428],
+                [486, 432],
+                [402, 412]#
+            ]
+
+            [ 
+                [402, 412]
+                [365, 355],
+                [364, 248],
+                [375, 162]#
+            ]
+        ]
+        
+        #For Recieving Pose
+        self.conn = conn 
+
+        self.Drone1=pluto()
+        # Drone1.connect()
+
+        self.Drone2=pluto()
+        # Drone2.connect()
+
+
+        self.compliDict = {
+            '0' : '8',
+            '8' : '0'
+        }
+        self.STARTIDX = {
+            '0' : 0,
+            '8' : 4
+        }
+        self.DRONEOBJDICT = {
+            '0' : self.Drone1 ,
+            '8' : self.Drone2
+        }
+        self.Drone1ID = '0'
+        self.Drone2ID = '8'
+
+
+        self.moveDrone1 = True
+        self.moveDrone2 = False
+
+        self.MOVEDICT = {
+            '0' : self.moveDrone1,
+            '8' : self.moveDrone2,
+        }
+
+        self.poseDrone1 = None
+        self.poseDrone2 = None
+
+        self.POSEDICT = {
+            '0' : self.poseDrone1,
+            '8' : self.poseDrone2
+        }
+
+
+        self.Task_not_done = True
+        self.Rectangle1_done = False
+        self.Rectangle2_done = False 
+
+        self.RECT_DONE_DICT = {
+            '0' : self.Rectangle1_done ,
+            '8' : self.Rectangle2_done     
+        }
+
+        self.target_idx1 = 0
+        self.target_idx2 = 4
+
+        self.TARGET_IDX_DICT = {
+            '0' : self.target_idx1 ,
+            '1' : self.target_idx2 
+        }
+
+        #currently global , 
+        #for deciding drone's final yaw orientation 
+        self.YAW_TARGET = 1.5708
+         
+    def recv_pose(self,conn):
+
+        '''changes the var of poses'''
+
+        #we need to make task not done as False somewhere
+        while ( self.Task_not_done ):
+            if (conn.poll()):                
+                pose_dict = conn.recv()
+                self.POSEDICT[self.Drone1ID] = pose_dict[self.Drone1ID]
+                self.POSEDICT[self.Drone2ID] = pose_dict[self.Drone2ID]
+            else: 
+                self.POSEDICT[self.Drone1ID] = None
+                self.POSEDICT[self.Drone2ID] = None
+
+    
+    def move( self, IDX , DroneID , Err , ErrI):
+        
+        '''
+        temp target : list of 4-5 targets,whose endpt is nxt corner 
+        DroneID : '0' or '8' '''
+
+        roll_log = []
+        pitch_log = []
+
+        
+        
+        #globals
+        # Drone1 , Drone1ID ,poseDrone1
+        # global Drone2, Drone2ID,  poseDrone2
+        # global target_array 
+
+        #Local vars
+        temp_targets = self.target_array[IDX]
+        Droneobj = self.DRONEOBJDICT[DroneID]
+        pose = self.POSEDICT[DroneID]
+
+
+        #locals
+        xTarget,  yTarget, heightTarget = temp_targets[0], 0.8  
+
+
+        #
+        tReachCount=0
+        temp_target_idx = 0 
+
+        while temp_target_idx != len(temp_targets)  : #loop till idx just greater than last ele
+
+
+            #to change target within temp array ( one corner to other)
+            xTarget,  yTarget, heightTarget = temp_targets[temp_target_idx], 0.8  
+
+
+            pose = self.POSEDICT[DroneID]
+            
+
+            try:
+                    
+                if not pose : # pose is None
+                    
+                    now_time = time.time()
+                    timeout_limit = now_time - start 
+
+                    roll_command, pitch_command, throttle_command, yaw_command = 0, 0, 50, 0
+
+                    if timeout_limit > 8 : 
+                        print(f"\nAruco not detected ,landing : {DroneID}\n")
+                        Droneobj.land()
+                        return 'not det'
+                        
+                    
+                elif (not pose)==False: #Pose not None
+                    
+                    start = time.time()
+                    
+                    #Target Vicinity counter block
+                    if np.sqrt((xTarget-pose[0])**2+(yTarget-pose[1])**2)<25:
+                        # print(f"Pose: {pose}")
+                        tReachCount += 1
+
+                        Droneobj.reset_speed() #why???
+
+
+                        # corner target reached  , then idx+1   
+                        if ( temp_target_idx == len(temp_targets)-1 and tReachCount >= 3):
+                            print(f"\nReached Target Corner ;{DroneID}\n")
+                            temp_target_idx +=1
+                            
+                            break 
+
+                        #On the way targets reached , then idx+1 and reset tReachCounter
+                        elif (temp_target_idx < len(temp_targets)-1 and tReachCount>= 5 ): 
+                            print(f"\nOn the way Target Reached. : {DroneID} , Target : {IDX,temp_target_idx}\n")
+                            temp_target_idx +=1
+                            tReachCount=0
+
+
+                        #Last target in last array , just land & break
+                        if IDX == 3 and temp_target_idx == len(temp_targets)-1 and tReachCount >=5 : 
+                            print(f"\nTask Completed\nLanding , {DroneID}")
+                            Droneobj.land()
+                            time.sleep(2)
+                            return "stop"
+                            
+
+
+
+                    
+                    roll_command, pitch_command, throttle_command, yaw_command, Err, ErrI = pid(pose, xTarget, yTarget, heightTarget, Err, ErrI)
+
+
+                    #Clipping commands
+                    if (roll_command>100):
+                        roll_command=100
+                    elif (roll_command<-100):
+                        roll_command=-100
+                    if (pitch_command>70):
+                        pitch_command=70
+                    elif (pitch_command<-70):
+                        pitch_command=-70
+
+    
+                
+                # Set all speeds at once
+                Droneobj.set_all_speed(roll_command, pitch_command, throttle_command, yaw_command)
+                time.sleep(0.04)
+        
+                '''this sleep adjusts the running of this files while loop, 
+                so that the rate of receiving from marker files is almost matched 
+                to that of this file sending commands to drone using api '''
+                
+                
+                # if not roll_command==0:
+                print(f"\nFrequecy checker(sending) , rcmd: {roll_command}, pcmd: {pitch_command}, tcmd:{throttle_command},  yawcmd:{yaw_command}")
+
+            except KeyboardInterrupt:
+                return 'interupt'
+ 
+
+    def hover (self, target_coords,DroneID):
+
+        
+
+        #locals 
+        xTarget , yTarget ,heightTarget = target_coords, 0.8
+        Droneobj = self.DRONEOBJDICT[DroneID]
+        pose = self.POSEDICT[DroneID]   
+        move_state =  self.MOVEDICT[DroneID]
+
+        while (not move_state):
+
+            pose = self.POSEDICT[DroneID]   
+            move_state =  self.MOVEDICT[DroneID]
+
+            try:  
+                
+                move_state =  self.MOVEDICT[DroneID]
+
+                if not pose : # pose is None
+                    
+                    now_time = time.time()
+                    timeout_limit = now_time - start 
+
+                    roll_command, pitch_command, throttle_command, yaw_command = 0, 0, 50, 0
+
+                    if timeout_limit > 8 : 
+                        print("Aruco not detected ,landing")
+                        Droneobj.land()
+
+                        return "Stop"
+                    
+                elif (not pose)==False: #Pose not None
+                    
+                    start = time.time()
+                    roll_command, pitch_command, throttle_command, yaw_command, Err, ErrI = pid(pose, xTarget, yTarget, heightTarget, Err, ErrI)
+                    
+                    # Clipping commands
+                    if (roll_command>100):
+                        roll_command=100
+                    elif (roll_command<-100):
+                        roll_command=-100
+                    if (pitch_command>70):
+                        pitch_command=70
+                    elif (pitch_command<-70):
+                        pitch_command=-70
+
+                    
+
+                # Set all speeds at once
+                Droneobj.set_all_speed(roll_command, pitch_command, throttle_command, yaw_command)
+                time.sleep(0.04)
+            
+                '''this sleep adjusts the running of this files while loop, 
+                so that the rate of receiving from marker files is almost matched 
+                to that of this file sending commands to drone using api '''
+                
+                
+                # if roll_command !=0:
+                print(f"\nFrequecy checker(sending) , rcmd: {roll_command}, pcmd: {pitch_command}, tcmd:{throttle_command},  yawcmd:{yaw_command}")
+
+            except KeyboardInterrupt:
+                return "interupt"
+
+
+    def dronePlan(self,DroneID):
+
+        
+
+        #local scope
+        x_error, y_error, z_error, yaw_error = 0, 0, 0, 0
+        x_errorI, y_errorI, z_errorI, yaw_errorI = 0, 0, 0, 0
+        x_errorD, y_errorD, z_errorD, yaw_errorD = 0, 0, 0, 0
+        x_error_old, y_error_old, z_error_old, yaw_error_old = 0, 0, 0, 0
+
+        Err = [x_error, y_error, z_error, yaw_error]
+        ErrI = [x_errorI, y_errorI, z_errorI, yaw_errorI]
+        path = [[0,0,0,0]]
+
+
+
+        DroneObj= self.DRONEOBJDICT[DroneID]
+        move_state = self.MOVEDICT[DroneID]
+        # # Drone1.connect()
+
+        #Drone1.trim(-8,20,0,0) # iit
+        DroneObj.trim(23, 5,0,0)#  ??????????????
+        DroneObj.disarm()
+    
+        DroneObj.arm()
+        # DroneObj.takeoff()
+        print("takeoff")
+
+
+        # default values when not detected
+        roll_command, pitch_command, throttle_command, yaw_command = 0, 0, 50, 0
+
+        start = time.time()
+        
+
+        IDX = self.STARTIDX[DroneID] # goes from 0 to 4
+
+        #need to tell when drone ids rect is done
+        while not self.Rectangle1_done :
+            
+            move_state = self.MOVEDICT[DroneID]
+
+            if move_state :  #true at very first
+                resp = self.move(IDX= IDX, Err=Err,ErrI=ErrI  )
+                IDX += 1
+
+
+                #now current Drone  has reached its temp corner pt , so make itself hover and other move
+                self.MOVEDICT[DroneID]                  = False
+                self.MOVEDICT[self.compliDict[DroneID]] = True
+
+                #shift to next set of temp array
+
+                if(resp == 'stop' or 'not det'): 
+                    print(f"\n\nresp : {resp}")
+                    break #reached final 15th target
+
+            else:
+                resp = self.hover( self.target_array[self.target_idx_generic] )
+                
+                if (resp == "stop" or "not det" or 'interupt'):
+                    print(f"\n\nresp : {resp}")
+                    break # to break plan in case of Aruco not det
+
+   
+
+
+
+
+
+def PID_main(conn):
+
+       
+    MP = MissionPlanner(conn)
+
+    t0 = threading.Thread( target= MP.recv_pose , args=(conn,))
+    t1 = threading.Thread( target= MP.dronePlan, args=(MP.Drone1ID))
+    t2 = threading.Thread( target= MP.dronePlan, args=(MP.Drone2ID))
+
+    print("\nListerning to pose in a sec")
+    time.sleep(1)
+    t0.start()
+    time.sleep(2)
+    t1.start()
+    t2.start()
+
+
+
+    t0.join()
+    t1.join()
+    t2.join()
\ No newline at end of file

From f2ade518148a08ccc54d4533cd273f55b692a8e9 Mon Sep 17 00:00:00 2001
From: Kshitij M Bhat <85498394+KshitijBhat@users.noreply.github.com>
Date: Mon, 6 Feb 2023 21:45:31 +0530
Subject: [PATCH 72/82] Create establish_connection.sh

---
 establish_connection.sh | 19 +++++++++++++++++++
 1 file changed, 19 insertions(+)
 create mode 100644 establish_connection.sh

diff --git a/establish_connection.sh b/establish_connection.sh
new file mode 100644
index 0000000..517ced6
--- /dev/null
+++ b/establish_connection.sh
@@ -0,0 +1,19 @@
+#!/usr/bin/expect
+
+set ip "192.168.4.1"
+
+spawn "/bin/bash"
+send "telnet $ip\r"
+expect "'^]'."
+send "+++AT MODE 3\r"
+expect "#"
+sleep 1
+
+send "+++AT STA jammy yeeshukant\r"
+expect "#"
+
+sleep 1
+send -- "^]\r"
+expect "telnet>"
+send  "quit\r"
+expect eof

From 953af8045395a54230b29b6fce361ac2faa632cf Mon Sep 17 00:00:00 2001
From: Sairaj Loke <104747561+SairajLoke@users.noreply.github.com>
Date: Mon, 6 Feb 2023 22:50:29 +0530
Subject: [PATCH 73/82] fps calculator

---
 pypluto/pypluto/Utils/cvfpscalc.py | 21 +++++++++++++++++++++
 1 file changed, 21 insertions(+)
 create mode 100644 pypluto/pypluto/Utils/cvfpscalc.py

diff --git a/pypluto/pypluto/Utils/cvfpscalc.py b/pypluto/pypluto/Utils/cvfpscalc.py
new file mode 100644
index 0000000..31a33da
--- /dev/null
+++ b/pypluto/pypluto/Utils/cvfpscalc.py
@@ -0,0 +1,21 @@
+from collections import deque
+import cv2 as cv
+
+
+class CvFpsCalc(object):
+    def __init__(self, buffer_len=1):
+        self._start_tick = cv.getTickCount()
+        self._freq = 1000.0 / cv.getTickFrequency()
+        self._difftimes = deque(maxlen=buffer_len)
+
+    def get(self):
+        current_tick = cv.getTickCount()
+        different_time = (current_tick - self._start_tick) * self._freq
+        self._start_tick = current_tick
+
+        self._difftimes.append(different_time)
+
+        fps = 1000.0 / (sum(self._difftimes) / len(self._difftimes))
+        fps_rounded = round(fps, 2)
+
+        return fps_rounded

From 6e0391c52ad810cbc34ec27ca952c28ca1d85db5 Mon Sep 17 00:00:00 2001
From: Yeeshukant 
Date: Tue, 7 Feb 2023 01:36:22 +0530
Subject: [PATCH 74/82] task3new.py

---
 pypluto/master.py                   |  10 +-
 pypluto/pypluto/Camera/marker.py    |  53 ++++--
 pypluto/pypluto/Control/task3new.py | 268 ++++++++++++++++++++++++++++
 3 files changed, 311 insertions(+), 20 deletions(-)
 create mode 100644 pypluto/pypluto/Control/task3new.py

diff --git a/pypluto/master.py b/pypluto/master.py
index ddf85f6..465c85b 100644
--- a/pypluto/master.py
+++ b/pypluto/master.py
@@ -2,7 +2,7 @@
 import multiprocessing
 from multiprocessing import Pipe
 import time 
-from pypluto.Control.task3 import PID_main
+from pypluto.Control.task3new import PID_main
 from pypluto.Camera.marker import marker_publisher
 
 
@@ -12,10 +12,14 @@ def build_conn():
 
     #creates connection btw marker1 file and drone1
     connCam,connDrone1 = Pipe(duplex = True)
+    q = multiprocessing.Queue()
 
+    p1 = multiprocessing.Process(target=marker_publisher, args=( [q]))
+    p2 = multiprocessing.Process(target=PID_main, args=( [q]))
 
-    p1 = multiprocessing.Process(target=marker_publisher, args=( [connCam]))
-    p2 = multiprocessing.Process(target=PID_main, args=([connDrone1]))
+
+    # p1 = multiprocessing.Process(target=marker_publisher, args=( [connCam]))
+    # p2 = multiprocessing.Process(target=PID_main, args=([connDrone1]))
 
 
 
diff --git a/pypluto/pypluto/Camera/marker.py b/pypluto/pypluto/Camera/marker.py
index 4f12454..8b4e686 100644
--- a/pypluto/pypluto/Camera/marker.py
+++ b/pypluto/pypluto/Camera/marker.py
@@ -165,23 +165,40 @@ def get_pose(self, corners, ids, image, desiredVec, display=True):
 def marker_publisher(connCam):  #connCam
 
     cameraID = 2 # your camera id on pc
+#     target_array = [
+#     [375, 162],
+#     [538, 160],
+#     [652, 158],
+#     [788, 152],
+#     [914, 149],
+#     [920, 240],
+#     [922, 332],
+#     [921, 422],
+#     [776, 422],
+#     [632, 428],
+#     [486, 432],
+#     [365, 432],
+#     [365, 355],
+#     [364, 248],
+#     [375, 162],
+# ]
     target_array = [
-    [375, 162],
-    [538, 160],
-    [652, 158],
-    [788, 152],
-    [914, 149],
-    [920, 240],
-    [922, 332],
-    [921, 422],
-    [776, 422],
-    [632, 428],
-    [486, 432],
-    [365, 432],
-    [365, 355],
-    [364, 248],
-    [375, 162],
-]
+        [375, 162], ## 1 corner
+        [538, 160],
+        [652, 158],
+        [788, 152],
+        [882, 175], ## 2 corner
+        [920, 240],
+        [922, 332],
+        [886, 402], ## 3 corner
+        [776, 422],
+        [632, 428],
+        [486, 432],
+        [402, 412], ## 4 corner
+        [365, 355],
+        [364, 248],
+        [375, 162], ## 1 corner
+    ]
 
     cap = cv2.VideoCapture(cameraID)
     cap.set(cv2.CAP_PROP_FRAME_WIDTH, 1280)
@@ -212,7 +229,9 @@ def marker_publisher(connCam):  #connCam
 
             cv2.imshow("Image", image)
         
-        connCam.send(pose_dict)
+        connCam.put(pose_dict)
+
+        print("###########",connCam.qsize())
 
 
 
diff --git a/pypluto/pypluto/Control/task3new.py b/pypluto/pypluto/Control/task3new.py
new file mode 100644
index 0000000..e713147
--- /dev/null
+++ b/pypluto/pypluto/Control/task3new.py
@@ -0,0 +1,268 @@
+import multiprocessing
+from pypluto.drone import pluto
+import numpy as np
+import time
+import threading
+
+target_array = [
+    [375, 162], ## 1 corner
+    [538, 160],
+    [652, 158],
+    [788, 152],
+    [882, 175], ## 2 corner
+    [920, 240],
+    [922, 332],
+    [886, 402], ## 3 corner
+    [776, 422],
+    [632, 428],
+    [486, 432],
+    [402, 412], ## 4 corner
+    [365, 355],
+    [364, 248],
+    [375, 162], ## 1 corner
+]
+
+hover={
+    '0': False,
+    '8': True
+}
+compliment_dict = {
+    '0': '8' ,
+    '8' : '0'
+}
+
+KPx, KPy, KPz, KPyaw = 0.8, 0.4, 380 , 50
+KIx, KIy, KIz, KIyaw = 0.02, 0.01, 0, 0
+KDx, KDy, KDz, KDyaw = 18, 25, 10, 0
+#currently global , 
+#for deciding drone's final yaw orientation 
+YAW_TARGET = 1.5708
+
+POSE_DICT = {}
+class PID:
+
+    def __init__(self, Drone, target):
+        self.x_error, self.y_error, self.z_error, self.yaw_error = 0, 0, 0, 0
+        self.x_errorI, self.y_errorI, self.z_errorI, self.yaw_errorI = 0, 0, 0, 0
+        self.x_errorD, self.y_errorD, self.z_errorD, self.yaw_errorD = 0, 0, 0, 0
+        self.x_error_old, self.y_error_old, self.z_error_old, self.yaw_error_old = 0, 0, 0, 0
+
+        self.Err = [self.x_error, self.y_error, self.z_error, self.yaw_error]
+        self.ErrI = [self.x_errorI, self.y_errorI, self.z_errorI, self.yaw_errorI]
+        self.drone = Drone
+        self.target = target
+        self.targets = [target_array[target][0],target_array[target][1], 0.8]
+
+    def pid(self,pose, target, Err, ErrI):
+        """
+        PID Control Loop
+        """
+        x_error, y_error, z_error, yaw_error = Err
+        x_errorI, y_errorI, z_errorI, yaw_errorI = ErrI
+
+        x_target, y_target, height_target = target
+
+
+
+        x_error_old = x_error
+        y_error_old = y_error
+        z_error_old = z_error
+        yaw_error_old = yaw_error
+
+        x,   y,   z,   yaw = pose
+
+        x_error = x_target-x
+        y_error = y_target-y
+        z_error = height_target-z
+        yaw_error = YAW_TARGET-yaw
+
+
+        x_errorI += x_error
+        y_errorI += y_error
+        z_errorI += z_error
+        yaw_errorI += yaw_error
+
+        # compute derivative (variation) of errors (D)
+        x_errorD = x_error-x_error_old
+        y_errorD = y_error-y_error_old
+        z_errorD = z_error-z_error_old
+        yaw_errorD = yaw_error-yaw_error_old
+
+        # compute commands
+        xCommand = KPx*x_error + KIx*x_errorI + KDx*x_errorD
+        yCommand = KPy*y_error + KIy*y_errorI + KDy*y_errorD
+        zCommand = KPz*z_error + KIz*z_errorI + KDz*z_errorD
+
+        yaw_command    = int( KPyaw*yaw_error + KIyaw*yaw_errorI + KDyaw*yaw_errorD)
+        pitch_command = int( np.cos(yaw)*xCommand + np.sin(yaw)*yCommand)
+        roll_command  = int( -np.sin(yaw)*xCommand + np.cos(yaw)*yCommand ) 
+        throttle_command = int(zCommand)
+        Err = [x_error, y_error, z_error, yaw_error]
+        ErrI = [x_errorI, y_errorI, z_errorI, yaw_errorI]
+
+        return roll_command, pitch_command, throttle_command, yaw_command, Err, ErrI
+
+    def DronePID(self, DroneID,conn):
+        
+        # self.drone.arm()
+        # self.drone.throttle_speed(300,2)
+
+        start = time.time()
+        tReachCount=0
+        corners = [4, 7,11,0]
+        Err = self.Err
+        ErrI = self.ErrI
+        # global POSE_DICT
+        while True:
+            pose_dict = POSE_DICT
+            # print(pose_dict)
+            # pose_dict = {}
+            # # pose = None
+
+            # if conn.poll():                
+            #     pose_dict = conn.recv()
+            
+            try:
+                # print(f"--------{DroneID}")
+
+
+                if not pose_dict:
+                
+                    now_time = time.time()
+                    timeout_limit = now_time - start 
+
+                    roll_command, pitch_command, throttle_command, yaw_command = 0, 0, 50, 0
+
+                    if timeout_limit > 1000 : 
+                        print("Aruco not detected ,landing")
+                        self.drone.land()
+                        break
+
+                elif (not pose_dict)==False:
+                # if drone==Drone:
+                    try:
+                        pose=pose_dict[DroneID]
+                    except KeyError:
+                        print(f"No pose {DroneID}")
+                        pass
+                
+
+
+
+                    start = time.time()
+                    roll_command, pitch_command, throttle_command, yaw_command, Err, ErrI = self.pid(pose, self.targets, Err, ErrI)
+
+                    if (roll_command>100):
+                        roll_command=100
+                    elif (roll_command<-100):
+                        roll_command=-100
+                    if (pitch_command>70):
+                        pitch_command=70
+                    elif (pitch_command<-70):
+                        pitch_command=-70
+
+
+
+
+                    # print(f"Movingggg {DroneID, self.targets}")
+                    if self.target in corners:
+                        
+                        # print("cornered")
+                        # hover[DroneID] = True
+
+                        # hover[compliment_dict[DroneID]] = False
+                        self.targets = [target_array[self.target%15][0], target_array[self.target%15][1], 0.8]
+                        # print(f"hoveringgggg {DroneID, self.targets}")
+
+                    if np.sqrt((self.targets[0]-pose[0])**2+(self.targets[1]-pose[1])**2)<25:
+                    # print(f"Pose: {pose}")
+                        # print("Target Reached.")
+                        # self.drone.reset_speed()
+                        tReachCount += 1
+                        if tReachCount>=3:
+                            tReachCount=0
+                            # self.target += 1
+
+                                # for hovering the drone
+                                # while hover[DroneID]:
+                                #     pose_dict = POSE_DICT
+                                #     # try:
+                                #     if not pose_dict:
+            
+                                #         now_time = time.time()
+                                #         timeout_limit = now_time - start 
+                                #         roll_command, pitch_command, throttle_command, yaw_command = 0, 0, 50, 0
+                                #         if timeout_limit > 8 : 
+                                #             print("Aruco not detected ,landing")
+                                #             self.drone.land()
+                                #             break
+                                #         elif (not pose_dict)==False:
+                                #         # if drone==Drone:
+                                #             try:
+                                #                 pose=pose_dict[DroneID]
+                                #             except KeyError:
+                                #                 pass
+                                            
+                                #             start = time.time()
+
+                                #     roll_command, pitch_command, throttle_command, yaw_command = self.pid(pose, self.targets, self.Err, self.ErrI)
+                                #     # self.drone.set_all_speed(roll_command,pitch_command,throttle_command,yaw_command)
+
+
+
+                            self.targets = [target_array[self.target%15][0], target_array[self.target%15][1], 0.8]
+
+                    # print(f"sending--------{roll_command, pitch_command, throttle_command, yaw_command} {DroneID}")
+
+                # self.drone.set_all_speed(roll_command, pitch_command, throttle_command, yaw_command)
+                # time.sleep(0.04)
+
+            except KeyboardInterrupt:
+                break
+
+
+def getpose(conn):
+    global POSE_DICT
+    # start = time.time()
+    while True:
+        time.sleep(0.095)
+        try:
+            pose_dict = {}
+            # pose = None
+
+            # print("ddddddddddddddddddddddd",conn.qsize())
+            if not conn.empty():                
+                pose_dict = conn.get()
+                POSE_DICT = pose_dict
+                # print(POSE_DICT)
+            
+            # POSE_DICT = pose_dict
+
+        except KeyboardInterrupt:
+            break
+
+
+def PID_main(conn):
+
+    # Drone1=pluto("10.42.0.74")
+    Drone2=pluto("10.42.0.61")
+
+    # Drone1.connect()
+    Drone2.connect()
+
+    # Drone1.trim(-5,-5,0,0)
+    # Drone2.trim(10,5,0,0)
+    # Drone1.disarm()
+    Drone2.disarm()
+
+    # pid_drone1 = PID(Drone1,4)
+    pid_drone2 = PID(Drone2,0)
+
+    poseThread = threading.Thread(target=getpose, args=(conn,))
+    # drone_pid1 = threading.Thread(target=pid_drone1.DronePID, args=('0',conn))
+    drone_pid2 = threading.Thread(target=pid_drone2.DronePID, args=('8',conn))
+    poseThread.start()
+    time.sleep(0.5)
+    
+    # drone_pid1.start()
+    drone_pid2.start()
\ No newline at end of file

From 6a85fe249260b53372817b2a639faa6522980aa2 Mon Sep 17 00:00:00 2001
From: Sairaj Loke <104747561+SairajLoke@users.noreply.github.com>
Date: Wed, 8 Feb 2023 20:32:39 +0530
Subject: [PATCH 75/82] Add files via upload

---
 marker.py     | 237 +++++++++++++++++++++++
 master.py     |  45 +++++
 task3_toge.py | 514 ++++++++++++++++++++++++++++++++++++++++++++++++++
 3 files changed, 796 insertions(+)
 create mode 100644 marker.py
 create mode 100644 master.py
 create mode 100644 task3_toge.py

diff --git a/marker.py b/marker.py
new file mode 100644
index 0000000..dd9f0bf
--- /dev/null
+++ b/marker.py
@@ -0,0 +1,237 @@
+import time 
+import cv2
+import numpy as np
+
+CAMERA_HEIGHT = 1.9 
+
+Aruco_ref_dist = 2.2 # may be same as camera ht if we use it as a reference
+Aruco_ht_pixels_grnd =15 #ht in pixels when aruco on ground( reference dist)
+Aruco_width_pixels_grnd = 15 #wdth in pixels when aruco on ground( reference dist)
+Aruco_len_pixels_grnd = 15
+
+#matrix_coefficients - Intrinsic matrix of the calibrated camera
+MATRIX_COEFFICIENTS = np.array([[
+            1447.9804004365824,
+            0.0,
+            617.3063266183908
+        ],
+        [
+            0.0,
+            1448.4116664252433,
+            289.02239681156016
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]])
+
+#distortion_coefficients - Distortion coefficients associated with our camera
+DISTORTION_COEFFICIENTS = np.array([
+            0.0397515407032859,
+            1.259291585298002,
+            -0.010631456171277863,
+            -0.00784841820297665,
+            -5.925444820936321
+        ])
+    
+class Aruco:
+
+    ARUCO_DICT = {
+        "DICT_4X4_50": cv2.aruco.DICT_4X4_50,
+        "DICT_4X4_100": cv2.aruco.DICT_4X4_100,
+        "DICT_4X4_250": cv2.aruco.DICT_4X4_250,
+        "DICT_4X4_1000": cv2.aruco.DICT_4X4_1000,
+        "DICT_5X5_50": cv2.aruco.DICT_5X5_50,
+        "DICT_5X5_100": cv2.aruco.DICT_5X5_100,
+        "DICT_5X5_250": cv2.aruco.DICT_5X5_250,
+        "DICT_5X5_1000": cv2.aruco.DICT_5X5_1000,
+        "DICT_6X6_50": cv2.aruco.DICT_6X6_50,
+        "DICT_6X6_100": cv2.aruco.DICT_6X6_100,
+        "DICT_6X6_250": cv2.aruco.DICT_6X6_250,
+        "DICT_6X6_1000": cv2.aruco.DICT_6X6_1000,
+        "DICT_7X7_50": cv2.aruco.DICT_7X7_50,
+        "DICT_7X7_100": cv2.aruco.DICT_7X7_100,
+        "DICT_7X7_250": cv2.aruco.DICT_7X7_250,
+        "DICT_7X7_1000": cv2.aruco.                    DICT_7X7_1000,
+        "DICT_ARUCO_ORIGINAL": cv2.aruco.DICT_ARUCO_ORIGINAL,
+        "DICT_APRILTAG_16h5": cv2.aruco.DICT_APRILTAG_16h5,
+        "DICT_APRILTAG_25h9": cv2.aruco.DICT_APRILTAG_25h9,
+        "DICT_APRILTAG_36h10": cv2.aruco.DICT_APRILTAG_36h10,
+        "DICT_APRILTAG_36h11": cv2.aruco.DICT_APRILTAG_36h11
+    }
+
+    def __init__(self, arucoType):
+        self.arucoType = arucoType
+        self.arucoDict = cv2.aruco.Dictionary_get(self.ARUCO_DICT[self.arucoType])
+        self.arucoParams = cv2.aruco.DetectorParameters_create()
+
+    def detectMarkers(self,img):
+        
+        return cv2.aruco.detectMarkers(img, self.arucoDict, parameters=self.arucoParams)
+
+    def get_pose(self, corners, ids, image, desiredVec, display=True):
+
+        is_detected = False
+        pose = None
+
+        
+        if len(corners) > 0:
+            
+            for (markerCorner, markerID) in zip(corners, ids):
+
+
+                rvec, tvec, markerPoints = cv2.aruco.estimatePoseSingleMarkers(np.array(corners), 0.02, cameraMatrix=MATRIX_COEFFICIENTS, distCoeffs=DISTORTION_COEFFICIENTS)
+
+                corners = markerCorner.reshape((4, 2))
+                (topLeft, topRight, bottomRight, bottomLeft) = corners
+                
+                topRight = np.array([int(topRight[0]), int(topRight[1])])
+                bottomRight = np.array([int(bottomRight[0]), int(bottomRight[1])])
+                bottomLeft = np.array([int(bottomLeft[0]), int(bottomLeft[1])])
+                topLeft = np.array([int(topLeft[0]), int(topLeft[1])])
+
+                #-----------------------------------for drone ht calc
+
+                deltax1 = topRight[0]- bottomRight[0]
+                deltay1 = topRight[1]- bottomRight[1]
+                len1 = np.sqrt( np.power(deltax1,2) + np.power(deltay1,2)  )
+                dist_l1 = Aruco_ref_dist*(1-(Aruco_len_pixels_grnd/ len1))
+                dist_l1 = round(dist_l1 , 3)
+
+                deltax2 = topLeft[0]- bottomLeft[0]
+                deltay2 = topLeft[1]- bottomLeft[1]
+                len2 = np.sqrt( np.power(deltax2,2) + np.power(deltay2,2)  )
+                dist_l2 = Aruco_ref_dist*(1-(Aruco_len_pixels_grnd/ len2))
+                dist_l2 = round(dist_l2 , 3)
+
+
+                deltax3 = topRight[0]- topLeft[0]
+                deltay3 = topRight[1]- topLeft[1]
+                width1 = np.sqrt( np.power(deltax3,2) + np.power(deltay3,2)  )
+                dist_w1 = Aruco_ref_dist*(1-(Aruco_width_pixels_grnd/ width1))
+                dist_w1 = round(dist_w1 , 3)
+
+                deltax4 = bottomRight[0]- bottomLeft[0]
+                deltay4 = bottomRight[1]- bottomLeft[1]
+                width2 = np.sqrt( np.power(deltax4,2) + np.power(deltay4,2)  )
+                dist_w2 = Aruco_ref_dist*(1-(Aruco_width_pixels_grnd/ width2))
+                dist_w2 = round(dist_w2 , 3)
+
+
+                distmax = round( max( max(dist_l1 , dist_l2 ) , max( dist_w1 , dist_w2) ) ,3  )
+
+                if distmax < 0 :
+                    distmax = 0 
+                #------------------------------------
+                
+ 
+                cX, cY = (topLeft + bottomRight)//2
+                hX, hY = (topLeft + topRight)//2
+                tX, tY = hX-cX, hY-cY
+                yaw = np.arctan2(tY, tX) 
+
+
+                    
+                drone_height = CAMERA_HEIGHT - tvec[0,0,2]
+
+                pose = np.array([cX,cY, drone_height,yaw]) 
+                is_detected = True
+                if display:
+                    cv2.line(image, topLeft, topRight, (0, 255, 0), 2)
+                    cv2.line(image, topRight, bottomRight, (0, 255, 0), 2)
+                    cv2.line(image, bottomRight, bottomLeft, (0, 255, 0), 2)
+                    cv2.line(image, bottomLeft, topLeft, (0, 255, 0), 2)
+                    
+
+                    cv2.circle(image, (cX, cY), 4, (0, 0, 255), -1)
+                    
+                    cv2.arrowedLine(image, (cX,cY), (hX,hY),(0, 0, 255))
+
+                    cv2.putText(image , f"distmax:{distmax}  ",
+                    (20, 400), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (255, 255, 0), 2)
+            
+        if display:
+            for i in range(len(desiredVec[0])):
+
+                dX,dY = desiredVec[0][i]
+                cv2.circle(image, (dX, dY), 7, (255, 0, 0), -1)
+
+            cv2.imshow("Image", image)        
+
+                
+        return pose, is_detected, image, 
+
+def marker_publisher(connCam):  #connCam
+
+    print('\n-------Starting process Camera-------')
+    time.sleep(2)
+
+    cameraID = 2 # your camera id on pc
+    target_array = [
+    [375, 162],
+    [538, 160],
+    [652, 158],
+    [788, 152],
+    [914, 149],
+    [920, 240],
+    [922, 332],
+    [921, 422],
+    [776, 422],
+    [632, 428],
+    [486, 432],
+    [365, 432],
+    [365, 355],
+    [364, 248],
+    [375, 162],
+]
+
+    cap = cv2.VideoCapture(cameraID)
+    cap.set(cv2.CAP_PROP_FRAME_WIDTH, 1280)
+    cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 720)
+
+    aruco_obj = Aruco("DICT_4X4_50")
+
+    while cap.isOpened(): 
+
+        ret, image = cap.read()               
+        
+        #Aruco Detection , pose Estimation Block
+
+        pose_dict={}
+        corners, ids, rejected = aruco_obj.detectMarkers(image)
+        # print(ids)
+
+        
+
+        if len(corners)>0:
+            for i in range(0,len(ids)):
+                pose, is_detected, detected_markers  = aruco_obj.get_pose(corners[i], ids, image, [target_array], display=True)
+                cv2.imshow("Image", detected_markers)
+                pose_dict[str(ids[i][0])]=pose
+
+                
+
+        else:
+            for i in range(len(target_array)):
+
+                dX,dY = target_array[i]
+                cv2.circle(image, (dX, dY), 7, (255, 0, 0), -1)
+
+            cv2.imshow("Image", image)
+        
+        # print(pose_dict)
+        connCam.send(pose_dict)
+
+
+
+        key = cv2.waitKey(1) & 0xFF
+        if key == ord("q"):
+            break
+
+    cv2.destroyAllWindows()
+    cap.release()
+
+if __name__ == "__main__":
+    pass
+    # marker_publisher(connCam='')
diff --git a/master.py b/master.py
new file mode 100644
index 0000000..2388bd9
--- /dev/null
+++ b/master.py
@@ -0,0 +1,45 @@
+import matplotlib
+import multiprocessing
+from multiprocessing import Pipe
+import time 
+from pypluto.Control.task3_toge import PID_main
+from pypluto.Camera.marker import marker_publisher
+
+
+
+
+
+# builds necessary connections of drone(1,2,...) & the camera file
+def build_conn():
+
+
+    #creates connection btw marker1 file and drone1
+    connCam,connDrone1 = Pipe(duplex = True)
+
+
+    p1 = multiprocessing.Process(target=marker_publisher, args=( [connCam]))
+    p2 = multiprocessing.Process(target=PID_main, args=([connDrone1]))
+
+
+
+    #first detect pose , then takeoff
+    p1.start()
+    print('\n-------Starting process Camera-------')
+    time.sleep(2)
+
+    print("\n-----Starting Drone1--------")
+    p2.start()
+
+    
+    p1.join()
+    p2.join()
+    
+
+  
+if __name__ == "__main__":
+   
+
+    
+    
+    build_conn()  #starts camera file and drone1 file , also builds connection btw the two
+
diff --git a/task3_toge.py b/task3_toge.py
new file mode 100644
index 0000000..229e5cb
--- /dev/null
+++ b/task3_toge.py
@@ -0,0 +1,514 @@
+from multiprocessing import Pipe
+from pypluto.drone import pluto
+import numpy as np
+import time
+import threading 
+
+
+# poseDrone2 = None 
+# poseDrone1 = None 
+
+
+# POSE1DICT = {
+#     '0' : poseDrone1,
+#     '8' : poseDrone2
+
+# }
+
+# POSE2DICT = {
+#     '0' : poseDrone1,
+#     '8' : poseDrone2
+
+# }
+
+
+     
+
+
+# --------------------------------------------
+
+# xTarget,  yTarget, heightTarget = 646, 348, 0.8 # for hover at point
+
+# target_array2=[]
+# target_array2.append(target_array[0])
+# x_target,  y_target, height_target = target_array[0][0],target_array[0][1], 0.8  #pixel, pixel , height(m)
+YAW_TARGET = 1.5708
+
+# --------
+#pid gains
+
+KPx, KPy, KPz, KPyaw = 0.8, 0.4, 380 , 50
+KIx, KIy, KIz, KIyaw = 0.02, 0.01, 0, 0
+KDx, KDy, KDz, KDyaw = 18, 25, 10, 0
+
+
+
+def pid(pose, target, Err, ErrI):
+    """
+    PID Control Loop
+    """
+    x_error, y_error, z_error, yaw_error = Err
+    x_errorI, y_errorI, z_errorI, yaw_errorI = ErrI
+
+    x_target, y_target, height_target = target
+
+
+
+    x_error_old = x_error
+    y_error_old = y_error
+    z_error_old = z_error
+    yaw_error_old = yaw_error
+
+    x,   y,   z,   yaw = pose
+
+    x_error = x_target-x
+    y_error = y_target-y
+    z_error = height_target-z
+    yaw_error = YAW_TARGET-yaw
+
+
+    x_errorI += x_error
+    y_errorI += y_error
+    z_errorI += z_error
+    yaw_errorI += yaw_error
+
+    # compute derivative (variation) of errors (D)
+    x_errorD = x_error-x_error_old
+    y_errorD = y_error-y_error_old
+    z_errorD = z_error-z_error_old
+    yaw_errorD = yaw_error-yaw_error_old
+
+    # compute commands
+    xCommand = KPx*x_error + KIx*x_errorI + KDx*x_errorD
+    yCommand = KPy*y_error + KIy*y_errorI + KDy*y_errorD
+    zCommand = KPz*z_error + KIz*z_errorI + KDz*z_errorD
+
+    yaw_command    = int( KPyaw*yaw_error + KIyaw*yaw_errorI + KDyaw*yaw_errorD)
+    pitch_command = int( np.cos(yaw)*xCommand + np.sin(yaw)*yCommand)
+    roll_command  = int( -np.sin(yaw)*xCommand + np.cos(yaw)*yCommand ) 
+    throttle_command = int(zCommand)
+    Err = [x_error, y_error, z_error, yaw_error]
+    ErrI = [x_errorI, y_errorI, z_errorI, yaw_errorI]
+    
+    return roll_command, pitch_command, throttle_command, yaw_command, Err, ErrI
+
+
+class MissionPlanner():
+   
+
+    def __init__(self,conn) :
+        #Target coords
+
+
+        #For Recieving Pose
+        self.conn = conn 
+
+
+        self.target_array = [
+            [   [375, 162],  #0
+                [538, 160],  
+                [652, 158],
+                [788, 152],
+                [882, 175] #4
+            ],    
+            [   
+                [882, 175],
+                [920, 240], 
+                [922, 332],
+                [886, 402]  #
+            ],
+            [
+                [886, 402],
+                [776, 422],
+                [632, 428],
+                [486, 432],
+                [402, 412]#
+            ],
+            [ 
+                [402, 412],
+                [365, 355],
+                [364, 248],
+                [375, 162]#
+            ]
+        ]
+        self.Drone1=pluto(DroneIP='10.42.0.74')
+        self.Drone1.connect()
+        self.Drone1.disarm()
+
+        self.Drone2=pluto(DroneIP='10.42.0.61')
+        self.Drone2.connect()
+        self.Drone2.disarm()
+
+    
+        self.compliDict = {
+            '0' : '8',
+            '8' : '0'
+        }
+        self.START_OUTER_IDX = {
+            '0' : 0,
+            '8' : 3 # as this corresponds to 2 subarray, and is given to IDX
+        }
+        self.DRONEOBJDICT = {
+            '0' : self.Drone1 ,
+            '8' : self.Drone2
+        }
+        self.Drone1ID = '8'
+        self.Drone2ID = '0'
+
+
+        self.moveDrone1 = True
+        self.moveDrone2 = False
+
+        self.MOVEDICT = {
+            '0' : self.moveDrone1,
+            '8' : self.moveDrone2,
+        }
+
+        self.poseDrone1 = None
+        self.poseDrone2 = None
+
+        self.POSEDICT = {
+            '0' : self.poseDrone1,
+            '8' : self.poseDrone2
+        }
+
+
+        self.Task_not_done = True
+        self.Rectangle1_done = False
+        self.Rectangle2_done = False 
+
+        self.RECT_DONE_DICT = {
+            '0' : self.Rectangle1_done ,
+            '8' : self.Rectangle2_done     
+        }
+
+        self.target_idx1 = 0
+        self.target_idx2 = 4
+
+        self.TARGET_IDX_DICT = {
+            '0' : self.target_idx1 ,
+            '1' : self.target_idx2 
+        }
+
+        #currently global , 
+        #for deciding drone's final yaw orientation 
+        self.YAW_TARGET = 1.5708  # we can change the yaw for each here YAW_TARGET1 & YAW_TARGET2
+         
+    def recv_pose(self):
+
+        '''changes the var of poses'''
+
+        print("\nListerning to pose in a sec")
+        time.sleep(0.5)
+
+        #we need to make task not done as False somewhere 
+        while ( self.Task_not_done ):
+            if (self.conn.poll()):                
+                pose_dict = self.conn.recv()
+                if not (pose_dict ):
+                    pass
+                else:
+                    self.POSEDICT[self.Drone1ID] = pose_dict[self.Drone1ID]
+                    self.POSEDICT[self.Drone2ID] = pose_dict[self.Drone2ID]
+            else: 
+                self.POSEDICT[self.Drone1ID] = None
+                self.POSEDICT[self.Drone2ID] = None
+
+            if( self.Rectangle1_done and self.Rectangle2_done ):
+                self.Task_not_done = False
+
+        print("\n-|-$--Both Rectangles Completed, closing recv_pose--|-")
+        
+    def move( self, IDX , DroneID , Err , ErrI):
+        
+        '''
+        temp target : list of 4-5 targets,whose endpt is nxt corner 
+        DroneID : '0' or '8' '''
+
+        roll_log = []
+        pitch_log = []
+
+
+        #Local vars
+        temp_targets = self.target_array[IDX]
+        Droneobj = self.DRONEOBJDICT[DroneID]
+        pose = self.POSEDICT[DroneID]
+
+
+        #locals
+        xTarget,  yTarget, heightTarget = temp_targets[0][0] , temp_targets[0][1], 0.8  
+
+
+        #
+        tReachCount=0
+        temp_target_idx = 0 
+
+        start = time.time()
+        while temp_target_idx != len(temp_targets)  : #loop till idx just greater than last ele
+
+
+            #to change target within temp array ( one corner to other)
+            xTarget,  yTarget, heightTarget = temp_targets[0][0] , temp_targets[0][1], 0.8  
+
+
+            pose = self.POSEDICT[DroneID]
+            
+
+            try:
+                    
+                if not pose : # pose is None
+                    
+                    now_time = time.time()
+                    time_detected = now_time - start 
+
+                    roll_command, pitch_command, throttle_command, yaw_command = 0, 0, 50, 0
+
+                    if time_detected> 8 : 
+                        print(f"\nAruco not detected ,landing : {DroneID}\n")
+                        Droneobj.land()
+                        return 'not det'
+                        
+                    
+                elif (not pose)==False: #Pose not None
+                    
+
+                    start = time.time()
+                    
+                    #Target Vicinity counter block
+                    if np.sqrt((xTarget-pose[0])**2+(yTarget-pose[1])**2)<25:
+                        # print(f"Pose: {pose}")
+                        tReachCount += 1
+
+                        Droneobj.reset_speed() #why??? to avoid overshooting after targets
+
+
+                        # corner target reached  , then idx+1   
+                        if ( IDX < (self.START_OUTER_IDX[DroneID]-1)%4  and temp_target_idx == len(temp_targets)-1 and tReachCount >= 5):
+                            print(f"\nReached Target Corner {temp_target_idx}, ;{DroneID}\n")
+                            temp_target_idx +=1
+                            break 
+
+                        #On the way targets reached , then idx+1 and reset tReachCounter
+                        elif (temp_target_idx < len(temp_targets)-1 and tReachCount>= 5 ): 
+                            print(f"\nOn the way Target Reached. : {DroneID} , Target : {IDX,temp_target_idx}\n")
+                            temp_target_idx +=1
+                            tReachCount=0
+
+
+                        #Last target in last array , just land & break
+                        if IDX == (self.START_OUTER_IDX[DroneID]-1)%4 and temp_target_idx == len(temp_targets)-1 and tReachCount >=10 : 
+                            print(f"\nTask Completed\nLanding , {DroneID}")
+                            Droneobj.land()
+                            time.sleep(2)
+                            return "stop"
+                            
+
+                    
+                    roll_command, pitch_command, throttle_command, yaw_command, Err, ErrI = pid(pose, xTarget, yTarget, heightTarget, Err, ErrI)
+
+
+                    #Clipping commands
+                    if (roll_command>100):
+                        roll_command=100
+                    elif (roll_command<-100):
+                        roll_command=-100
+                    if (pitch_command>70):
+                        pitch_command=70
+                    elif (pitch_command<-70):
+                        pitch_command=-70
+
+    
+                
+                # Set all speeds at once
+                Droneobj.set_all_speed(roll_command, pitch_command, throttle_command, yaw_command)
+                time.sleep(0.04)
+        
+                '''this sleep adjusts the running of this files while loop, 
+                so that the rate of receiving from marker files is almost matched 
+                to that of this file sending commands to drone using api '''
+                
+                
+                # if not roll_command==0:
+                print(f"\n(sending) move , rcmd: {roll_command}, pcmd: {pitch_command}, tcmd:{throttle_command},  yawcmd:{yaw_command}")
+
+            except KeyboardInterrupt:
+                Droneobj.disarm()
+                print(f"Disarming Drone {DroneID}")
+                time.time(2)
+                return 'interupt'
+ 
+    def hover (self, target_coords,DroneID):
+
+
+        #locals 
+        xTarget , yTarget ,heightTarget = target_coords[0], target_coords[1], 0.8
+        Droneobj = self.DRONEOBJDICT[DroneID]
+        pose = self.POSEDICT[DroneID]   
+        move_state =  self.MOVEDICT[DroneID]
+        start = time.time()
+        while (not move_state):
+
+            pose = self.POSEDICT[DroneID]   
+            move_state =  self.MOVEDICT[DroneID]
+
+            try:  
+                
+
+                if not pose : # pose is None
+                    
+                    now_time = time.time()
+                    timeout_limit = now_time - start 
+
+                    roll_command, pitch_command, throttle_command, yaw_command = 0, 0, 50, 0
+
+                    if timeout_limit > 8 : 
+                        print("Aruco not detected ,landing")
+                        Droneobj.land()
+
+                        return "Stop"
+                    
+                elif (not pose)==False: #Pose not None
+                    
+                    start = time.time()
+                    roll_command, pitch_command, throttle_command, yaw_command, Err, ErrI = pid(pose, xTarget, yTarget, heightTarget, Err, ErrI)
+                    
+                    print(f"\nHovering {DroneID} at {xTarget,yTarget}")
+                    # Clipping commands
+                    if (roll_command>100):
+                        roll_command=100
+                    elif (roll_command<-100):
+                        roll_command=-100
+                    if (pitch_command>70):
+                        pitch_command=70
+                    elif (pitch_command<-70):
+                        pitch_command=-70
+
+                    
+
+                # Set all speeds at once
+                Droneobj.set_all_speed(roll_command, pitch_command, throttle_command, yaw_command)
+                time.sleep(0.04)
+            
+                '''this sleep adjusts the running of this files while loop, 
+                so that the rate of receiving from marker files is almost matched 
+                to that of this file sending commands to drone using api '''
+                
+                
+                # if roll_command !=0:
+                print(f"\nHover :  rcmd: {roll_command}, pcmd: {pitch_command}, tcmd:{throttle_command},  yawcmd:{yaw_command}")
+
+            except KeyboardInterrupt:
+                Droneobj.disarm()
+                print(f"Disarming Drone {DroneID}")
+
+                return "interupt"
+
+    def dronePlan(self,DroneID):
+        
+
+        print(f"\n-----Starting Drone {DroneID} plan--------")
+        
+        
+
+        #local scope
+        x_error, y_error, z_error, yaw_error = 0, 0, 0, 0
+        x_errorI, y_errorI, z_errorI, yaw_errorI = 0, 0, 0, 0
+        x_errorD, y_errorD, z_errorD, yaw_errorD = 0, 0, 0, 0
+        x_error_old, y_error_old, z_error_old, yaw_error_old = 0, 0, 0, 0
+
+        Err = [x_error, y_error, z_error, yaw_error]
+        ErrI = [x_errorI, y_errorI, z_errorI, yaw_errorI]
+        path = [[0,0,0,0]]
+
+
+
+        DroneObj= self.DRONEOBJDICT[DroneID]
+        move_state = self.MOVEDICT[DroneID]
+        # # Drone1.connect()
+
+        #Drone1.trim(-8,20,0,0) # iit
+        DroneObj.trim(23, 5,0,0)#  ??????????????
+        DroneObj.disarm()
+        DroneObj.arm()
+
+        DroneObj.throttle_speed(300,3)
+        # DroneObj.takeoff()
+        print(f"Takeoff: {DroneID}")
+
+
+        # default values when not detected
+        roll_command, pitch_command, throttle_command, yaw_command = 0, 0, 50, 0
+
+        start = time.time()
+        
+        Rectangle_done = self.RECT_DONE_DICT[DroneID]
+        IDX = self.START_OUTER_IDX[DroneID] # goes from 0 to 4
+    
+        '''need to tell when drone ids rect is done'''
+        while not Rectangle_done :
+            
+            move_state = self.MOVEDICT[DroneID]
+            
+
+            if move_state :  #true at very first for drone1 and False for drone2
+                resp = self.move(IDX= IDX, DroneID=DroneID,Err=Err,ErrI=ErrI  )
+                #now current Drone  has reached its temp corner pt , so make itself hover and other move
+                self.MOVEDICT[DroneID] = False
+                self.MOVEDICT[self.compliDict[DroneID]] = True
+
+                #change current drones outer idx to nxt, (and pass 1st element of this new sub array to hover)
+                
+                #last 
+                if( IDX == (self.START_OUTER_IDX[DroneID]-1) %4 ):
+                    Rectangle_done  = True
+                    DroneObj.land()
+                    print(f"Rectangle{DroneID} Done")
+                    time.sleep(2)
+
+                #shift to next set of temp array
+
+                if(resp == 'stop' or 'not det'): 
+                    print(f"\n\nresp (move): {resp}")
+                    break #reached final 15th target
+
+            else:                                               #last element of subarray
+                resp = self.hover( self.target_array[IDX][ len(self.target_array[IDX])-1 ] , DroneID=DroneID)
+
+                #nxt IDX to get nxt subarray to move (above in nxt loop) 
+                IDX += 1 
+                
+                self.MOVEDICT[DroneID] = True
+                self.MOVEDICT[self.compliDict[DroneID]] = False
+
+
+                if (resp == "stop" or "not det" or 'interupt'):
+                    print(f"\nresp (hover) : {resp}")
+                    break # to break plan in case of Aruco not det
+            
+            Rectangle_done = self.RECT_DONE_DICT[DroneID]
+   
+
+
+
+def PID_main(conn):
+
+       
+    MP = MissionPlanner(conn=conn)
+
+    t0 = threading.Thread( target= MP.recv_pose )
+
+    t1 = threading.Thread( target= MP.dronePlan, args=(MP.Drone1ID))
+    t2 = threading.Thread( target= MP.dronePlan, args=(MP.Drone2ID))
+
+    print("\nListerning to pose in a sec")
+    time.sleep(1)
+    t0.start()
+    time.sleep(2)
+    t1.start()
+    t2.start()
+
+
+
+    t0.join()
+    t1.join()
+    t2.join()
\ No newline at end of file

From 143dc5868457e2c5988764a4b952c792fb61360e Mon Sep 17 00:00:00 2001
From: Kshitij M Bhat <85498394+KshitijBhat@users.noreply.github.com>
Date: Sat, 11 Feb 2023 23:38:11 +0530
Subject: [PATCH 76/82] Create Task3.md

---
 docs/Task3.md | 22 ++++++++++++++++++++++
 1 file changed, 22 insertions(+)
 create mode 100644 docs/Task3.md

diff --git a/docs/Task3.md b/docs/Task3.md
new file mode 100644
index 0000000..35a1696
--- /dev/null
+++ b/docs/Task3.md
@@ -0,0 +1,22 @@
+# Task 3
+
+## Connecting two drones
+
+To automate the process of connecting two drones run the following:
+```
+chmod +x establish_connection.sh
+./establish_connection.sh
+```
+This file has a dependendency of ``expect``, which can be installed by ``sudo apt-get install expect``.
+
+
+## Functional State Machine
+![image](https://user-images.githubusercontent.com/85498394/218274029-4d499dc7-f3e4-40d7-91df-123abb794878.png)
+
+
+
+
+
+## Running
+
+To run the PID control task, run ``master.py`` which will further start two parallel processes for pose estimation and PID control of two drones.

From e6073cbcab677e5bf5379c0b2c23c3099d3c41cd Mon Sep 17 00:00:00 2001
From: Yeeshukant 
Date: Sun, 12 Feb 2023 18:58:57 +0530
Subject: [PATCH 77/82] task3

---
 establish_connection.sh             |   5 +-
 pypluto/master.py                   |  62 ++++++++++++++---
 pypluto/pypluto/Camera/marker.py    |  85 +++++++++++------------
 pypluto/pypluto/Control/task3new.py | 102 ++++++++++++++++------------
 4 files changed, 152 insertions(+), 102 deletions(-)
 mode change 100644 => 100755 establish_connection.sh

diff --git a/establish_connection.sh b/establish_connection.sh
old mode 100644
new mode 100755
index 517ced6..8ace3e4
--- a/establish_connection.sh
+++ b/establish_connection.sh
@@ -7,12 +7,11 @@ send "telnet $ip\r"
 expect "'^]'."
 send "+++AT MODE 3\r"
 expect "#"
-sleep 1
+sleep 0.5
 
-send "+++AT STA jammy yeeshukant\r"
+send "+++AT STA HawkAI blinkna123\r"
 expect "#"
 
-sleep 1
 send -- "^]\r"
 expect "telnet>"
 send  "quit\r"
diff --git a/pypluto/master.py b/pypluto/master.py
index 465c85b..0c228f3 100644
--- a/pypluto/master.py
+++ b/pypluto/master.py
@@ -1,44 +1,86 @@
 import matplotlib
 import multiprocessing
+import threading
 from multiprocessing import Pipe
+from pypluto.drone import pluto
 import time 
-from pypluto.Control.task3new import PID_main
+# from pypluto.Control.task3_toge import MissionPlanner, PID_main
+# from pypluto.Control.task3new import PID_main
+from pypluto.Control.task3new import PID
 from pypluto.Camera.marker import marker_publisher
 
 
+
+
+
 # builds necessary connections of drone(1,2,...) & the camera file
 def build_conn():
 
 
     #creates connection btw marker1 file and drone1
     connCam,connDrone1 = Pipe(duplex = True)
-    q = multiprocessing.Queue()
+    connCam2, connDrone2 = Pipe(duplex = True)
+    # MP = MissionPlanner(connDrone1)
+    # Drone1=pluto("192.168.4.1")
+    Drone1=pluto("10.42.0.74")
+    Drone2=pluto("10.42.0.61")
+    # Drone2=pluto("192.168.4.1")
+    Drone1.connect()
+    Drone2.connect()
 
-    p1 = multiprocessing.Process(target=marker_publisher, args=( [q]))
-    p2 = multiprocessing.Process(target=PID_main, args=( [q]))
+    # Drone1.trim(23, 5,0,0)
+    # Drone2.trim(10,5,0,0)
+    Drone1.disarm()
+    Drone2.disarm()
 
+    pid_drone1 = PID(Drone1,4)
+    pid_drone2 = PID(Drone2,0)
 
-    # p1 = multiprocessing.Process(target=marker_publisher, args=( [connCam]))
-    # p2 = multiprocessing.Process(target=PID_main, args=([connDrone1]))
+    # poseThread = threading.Thread(target=getpose, args=(conn,conn2))
+    # drone_pid1 = threading.Thread(target=pid_drone1.DronePID, args=('0', conn))
+    # drone_pid2 = threading.Thread(target=pid_drone2.DronePID, args=('8', conn2))
+    # poseThread.start()
+    # time.sleep(0.5)
+    
+    # drone_pid2.start()
+    # time.sleep(0.5)
+    # drone_pid1.start()
 
+    # drone_pid1.join()
+    # drone_pid2.join()
 
+    p0 = multiprocessing.Process(target=marker_publisher, args=([connCam, connCam2]))
+    p1 = multiprocessing.Process(target=pid_drone1.DronePID, args=(['0',connDrone1]))
+    p2 = multiprocessing.Process(target=pid_drone2.DronePID, args=(['8',connDrone2]))
+    # PID_main(connDrone1,connDrone2)
+    # p1 = threading.Thread(target=MP.recv_pose)
+    # p2 = threading.Thread(target=MP.dronePlan, args=(['8']))
+    # p3 = threading.Thread(target=MP.dronePlan, args=(['0']))
+
+
+    p0.start()
 
     #first detect pose , then takeoff
-    p1.start()
+    
     print('\n-------Starting process Camera-------')
     time.sleep(2)
 
+    p1.start()
+
     print("\n-----Starting Drone1--------")
     p2.start()
+    # p3.start()
 
-    
+    p0.join()
     p1.join()
     p2.join()
+    # p3.join()
     
 
   
 if __name__ == "__main__":
    
-    
-    build_conn()  #starts camera file and drone1 file , also builds connection btw the two
 
+    
+    
+    build_conn()  #starts camera file and drone1 file , also builds connection btw the two
\ No newline at end of file
diff --git a/pypluto/pypluto/Camera/marker.py b/pypluto/pypluto/Camera/marker.py
index 8b4e686..1b64961 100644
--- a/pypluto/pypluto/Camera/marker.py
+++ b/pypluto/pypluto/Camera/marker.py
@@ -1,3 +1,4 @@
+import time 
 import cv2
 import numpy as np
 
@@ -79,7 +80,8 @@ def get_pose(self, corners, ids, image, desiredVec, display=True):
             
             for (markerCorner, markerID) in zip(corners, ids):
 
-                rvec, tvec, markerPoints = cv2.aruco.estimatePoseSingleMarkers(np.array(corners), 0.02, cameraMatrix=MATRIX_COEFFICIENTS, distCoeffs=DISTORTION_COEFFICIENTS)
+
+                # rvec, tvec, markerPoints = cv2.aruco.estimatePoseSingleMarkers(np.array(corners), 0.02, cameraMatrix=MATRIX_COEFFICIENTS, distCoeffs=DISTORTION_COEFFICIENTS)
 
                 corners = markerCorner.reshape((4, 2))
                 (topLeft, topRight, bottomRight, bottomLeft) = corners
@@ -131,9 +133,9 @@ def get_pose(self, corners, ids, image, desiredVec, display=True):
 
 
                     
-                drone_height = CAMERA_HEIGHT - tvec[0,0,2]
+                # drone_height = CAMERA_HEIGHT - tvec[0,0,2]
 
-                pose = np.array([cX,cY, drone_height,yaw]) 
+                pose = np.array([cX,cY, distmax,yaw]) 
                 is_detected = True
                 if display:
                     cv2.line(image, topLeft, topRight, (0, 255, 0), 2)
@@ -160,67 +162,56 @@ def get_pose(self, corners, ids, image, desiredVec, display=True):
                 
         return pose, is_detected, image, 
 
+def marker_publisher(connCam, connCam2):  #connCam
 
-
-def marker_publisher(connCam):  #connCam
+    # print('\n-------Starting process Camera-------')
+    # time.sleep(2)
 
     cameraID = 2 # your camera id on pc
-#     target_array = [
-#     [375, 162],
-#     [538, 160],
-#     [652, 158],
-#     [788, 152],
-#     [914, 149],
-#     [920, 240],
-#     [922, 332],
-#     [921, 422],
-#     [776, 422],
-#     [632, 428],
-#     [486, 432],
-#     [365, 432],
-#     [365, 355],
-#     [364, 248],
-#     [375, 162],
-# ]
     target_array = [
-        [375, 162], ## 1 corner
-        [538, 160],
-        [652, 158],
-        [788, 152],
-        [882, 175], ## 2 corner
-        [920, 240],
-        [922, 332],
-        [886, 402], ## 3 corner
-        [776, 422],
-        [632, 428],
-        [486, 432],
-        [402, 412], ## 4 corner
-        [365, 355],
-        [364, 248],
-        [375, 162], ## 1 corner
-    ]
+    [375, 162],
+    [538, 160],
+    [652, 158],
+    [788, 152],
+    [914, 149],
+    [920, 240],
+    [922, 332],
+    [921, 422],
+    [776, 422],
+    [632, 428],
+    [486, 432],
+    [365, 432],
+    [365, 355],
+    [364, 248],
+    [375, 162],
+]
 
     cap = cv2.VideoCapture(cameraID)
     cap.set(cv2.CAP_PROP_FRAME_WIDTH, 1280)
     cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 720)
 
     aruco_obj = Aruco("DICT_4X4_50")
-
+    # nowtime=time.time()
     while cap.isOpened(): 
-
+        # prevtime=nowtime
         ret, image = cap.read()               
         
         #Aruco Detection , pose Estimation Block
 
         pose_dict={}
         corners, ids, rejected = aruco_obj.detectMarkers(image)
- 
+        # print(ids)
+
+        
+
         if len(corners)>0:
             for i in range(0,len(ids)):
                 pose, is_detected, detected_markers  = aruco_obj.get_pose(corners[i], ids, image, [target_array], display=True)
                 cv2.imshow("Image", detected_markers)
                 pose_dict[str(ids[i][0])]=pose
 
+                
+
         else:
             for i in range(len(target_array)):
 
@@ -229,10 +220,13 @@ def marker_publisher(connCam):  #connCam
 
             cv2.imshow("Image", image)
         
-        connCam.put(pose_dict)
-
-        print("###########",connCam.qsize())
 
+        
+        # print(pose_dict)
+        # connCam.send(pose_dict)
+        # connCam2.send(pose_dict)
+        # nowtime=time.time()
+        # print((nowtime-prevtime))
 
 
         key = cv2.waitKey(1) & 0xFF
@@ -243,4 +237,5 @@ def marker_publisher(connCam):  #connCam
     cap.release()
 
 if __name__ == "__main__":
-    marker_publisher(connCam='')
+    # pass
+    marker_publisher(connCam='',connCam2='')
\ No newline at end of file
diff --git a/pypluto/pypluto/Control/task3new.py b/pypluto/pypluto/Control/task3new.py
index e713147..faa410d 100644
--- a/pypluto/pypluto/Control/task3new.py
+++ b/pypluto/pypluto/Control/task3new.py
@@ -33,12 +33,12 @@
 
 KPx, KPy, KPz, KPyaw = 0.8, 0.4, 380 , 50
 KIx, KIy, KIz, KIyaw = 0.02, 0.01, 0, 0
-KDx, KDy, KDz, KDyaw = 18, 25, 10, 0
+KDx, KDy, KDz, KDyaw = 18, 25, 15, 0
 #currently global , 
 #for deciding drone's final yaw orientation 
 YAW_TARGET = 1.5708
 
-POSE_DICT = {}
+POSE_DICT = {'8':[630., 429.,0.97107447 ,  -2.2655346], '0':[806., 385.,   0.90877014,   0.83298127]}
 class PID:
 
     def __init__(self, Drone, target):
@@ -51,6 +51,7 @@ def __init__(self, Drone, target):
         self.ErrI = [self.x_errorI, self.y_errorI, self.z_errorI, self.yaw_errorI]
         self.drone = Drone
         self.target = target
+        self.pose_dict = {'8':[630., 429.,0.97107447 ,  -2.2655346], '0':[806., 385.,   0.90877014,   0.83298127]}
         self.targets = [target_array[target][0],target_array[target][1], 0.8]
 
     def pid(self,pose, target, Err, ErrI):
@@ -102,10 +103,12 @@ def pid(self,pose, target, Err, ErrI):
 
         return roll_command, pitch_command, throttle_command, yaw_command, Err, ErrI
 
-    def DronePID(self, DroneID,conn):
+    def DronePID(self, DroneID, conn):
+        global POSE_DICT
+
         
-        # self.drone.arm()
         # self.drone.throttle_speed(300,2)
+        self.drone.takeoff()
 
         start = time.time()
         tReachCount=0
@@ -113,35 +116,38 @@ def DronePID(self, DroneID,conn):
         Err = self.Err
         ErrI = self.ErrI
         # global POSE_DICT
+        pose = self.pose_dict[DroneID]
         while True:
-            pose_dict = POSE_DICT
-            # print(pose_dict)
-            # pose_dict = {}
-            # # pose = None
+            # pose_dict = pose
+            print(self.pose_dict)
+            # self.pose_dict = POSE_DICT
+            # self.pose_dict = 
+            # print(f"{DroneID} , posedict : {self.pose_dict} ")
+            # pose = None
 
-            # if conn.poll():                
-            #     pose_dict = conn.recv()
+            if conn.poll():                
+                self.pose_dict = conn.recv()
             
             try:
                 # print(f"--------{DroneID}")
 
 
-                if not pose_dict:
+                if not self.pose_dict:
                 
                     now_time = time.time()
                     timeout_limit = now_time - start 
 
                     roll_command, pitch_command, throttle_command, yaw_command = 0, 0, 50, 0
 
-                    if timeout_limit > 1000 : 
+                    if timeout_limit > 8 : 
                         print("Aruco not detected ,landing")
                         self.drone.land()
                         break
 
-                elif (not pose_dict)==False:
+                elif (not self.pose_dict)==False:
                 # if drone==Drone:
                     try:
-                        pose=pose_dict[DroneID]
+                        pose=self.pose_dict[DroneID]
                     except KeyError:
                         print(f"No pose {DroneID}")
                         pass
@@ -152,14 +158,14 @@ def DronePID(self, DroneID,conn):
                     start = time.time()
                     roll_command, pitch_command, throttle_command, yaw_command, Err, ErrI = self.pid(pose, self.targets, Err, ErrI)
 
-                    if (roll_command>100):
-                        roll_command=100
-                    elif (roll_command<-100):
-                        roll_command=-100
-                    if (pitch_command>70):
-                        pitch_command=70
-                    elif (pitch_command<-70):
-                        pitch_command=-70
+                    if (roll_command>70):
+                        roll_command=70
+                    elif (roll_command<-70):
+                        roll_command=-70
+                    if (pitch_command>35):
+                        pitch_command=35
+                    elif (pitch_command<-35):
+                        pitch_command=-35
 
 
 
@@ -177,7 +183,7 @@ def DronePID(self, DroneID,conn):
                     if np.sqrt((self.targets[0]-pose[0])**2+(self.targets[1]-pose[1])**2)<25:
                     # print(f"Pose: {pose}")
                         # print("Target Reached.")
-                        # self.drone.reset_speed()
+                        self.drone.reset_speed()
                         tReachCount += 1
                         if tReachCount>=3:
                             tReachCount=0
@@ -212,27 +218,31 @@ def DronePID(self, DroneID,conn):
 
                             self.targets = [target_array[self.target%15][0], target_array[self.target%15][1], 0.8]
 
-                    # print(f"sending--------{roll_command, pitch_command, throttle_command, yaw_command} {DroneID}")
+                
+                print(f"sending--------{roll_command, pitch_command, throttle_command, yaw_command} {DroneID}")
 
-                # self.drone.set_all_speed(roll_command, pitch_command, throttle_command, yaw_command)
-                # time.sleep(0.04)
+                self.drone.set_all_speed(roll_command, pitch_command, throttle_command, yaw_command)
+                time.sleep(0.04)
 
             except KeyboardInterrupt:
                 break
+        
+        self.drone.land()
+        self.drone.disarm()
 
 
 def getpose(conn):
     global POSE_DICT
     # start = time.time()
     while True:
-        time.sleep(0.095)
+        # time.sleep(2)
         try:
             pose_dict = {}
             # pose = None
 
             # print("ddddddddddddddddddddddd",conn.qsize())
-            if not conn.empty():                
-                pose_dict = conn.get()
+            if conn.poll():                
+                pose_dict = conn.recv()
                 POSE_DICT = pose_dict
                 # print(POSE_DICT)
             
@@ -242,27 +252,31 @@ def getpose(conn):
             break
 
 
-def PID_main(conn):
-
-    # Drone1=pluto("10.42.0.74")
-    Drone2=pluto("10.42.0.61")
+# def PID_main(conn,conn2):
 
+    # Drone1=pluto("192.168.4.1")
+    # # Drone2=pluto("10.42.0.61")
+    # # Drone2=pluto("192.168.4.1")
     # Drone1.connect()
-    Drone2.connect()
+    # # Drone2.connect()
 
-    # Drone1.trim(-5,-5,0,0)
-    # Drone2.trim(10,5,0,0)
+    # # # Drone1.trim(-5,-5,0,0)
+    # # # Drone2.trim(10,5,0,0)
     # Drone1.disarm()
-    Drone2.disarm()
+    # # Drone2.disarm()
 
     # pid_drone1 = PID(Drone1,4)
-    pid_drone2 = PID(Drone2,0)
+    # # pid_drone2 = PID(Drone2,0)
 
-    poseThread = threading.Thread(target=getpose, args=(conn,))
-    # drone_pid1 = threading.Thread(target=pid_drone1.DronePID, args=('0',conn))
-    drone_pid2 = threading.Thread(target=pid_drone2.DronePID, args=('8',conn))
-    poseThread.start()
-    time.sleep(0.5)
+    # # poseThread = threading.Thread(target=getpose, args=(conn,conn2))
+    # drone_pid1 = threading.Thread(target=pid_drone1.DronePID, args=('0', conn))
+    # # drone_pid2 = threading.Thread(target=pid_drone2.DronePID, args=('8', conn2))
+    # # poseThread.start()
+    # # time.sleep(0.5)
     
+    # # drone_pid2.start()
+    # time.sleep(0.5)
     # drone_pid1.start()
-    drone_pid2.start()
\ No newline at end of file
+
+    # drone_pid1.join()
+    # # drone_pid2.join()
\ No newline at end of file

From 13cfde87c682c14dcd4aa5f7902d5ff86017ae3b Mon Sep 17 00:00:00 2001
From: Kshitij M Bhat <85498394+KshitijBhat@users.noreply.github.com>
Date: Sun, 5 Mar 2023 11:58:20 +0530
Subject: [PATCH 78/82] Update README.md

---
 README.md | 34 ++++++++++++++++++++--------------
 1 file changed, 20 insertions(+), 14 deletions(-)

diff --git a/README.md b/README.md
index 21f0b68..8f083db 100644
--- a/README.md
+++ b/README.md
@@ -1,8 +1,12 @@
-
-
 

 
 # Drone Swarm Python
+## Inter-IIT Tech Meet 11.0: Bronze medal winning solution to [Drona Aviation](https://github.com/DronaAviation)'s Pluto Drone Swarm Challenge
+
+Team Members: [Yeeshukant Singh](https://github.com/Yeeshukant), [Kshitij Bhat](https://github.com/KshitijBhat), [Harsh Bardhan](https://github.com/harshahb), [Rohan Jha](https://github.com/rohanjha04), [Sairaj Loke](https://github.com/SairajLoke), [Akshit Raizada](https://github.com/AkshitRaizada), [Omkar Shirgaonkar](https://github.com/BulzEye), [Shivankar Sharma](https://github.com/Shivankar007)
+
+Original Repo: https://github.com/DaemonLab/Drone-Swarm-InterIIT-2023
+
 API for controlling The Pluto 1.2 nano drone
 
 ![Pluto1 2-ISO-Front](https://user-images.githubusercontent.com/79806119/214293414-403e11c9-3395-4ed4-a8a5-4aa190e86979.png)
@@ -14,7 +18,6 @@ API for controlling The Pluto 1.2 nano drone
 
 ## Table of Contents
  
- 
 
  
1. Project Description

  
2. Repository Structure

@@ -36,7 +39,7 @@ API for controlling The Pluto 1.2 nano drone
 -  d. Manually stopping (killing) the drone
 
 
-
6. Demo

+
6. Video

 
 
  
@@ -165,7 +168,7 @@ Now at last we just need to activate it, using the command
 ```
 $ source Drone_Env/bin/activate
 ```
-Now you are in a Drone's Python virtual environment , follow the following cmds for installation of packages
+Now you are in a Drone's Python virtual environment , follow the following cmds for installation of packages
 
 Note:
 You can deactivate environment using
@@ -180,7 +183,7 @@ $ deactivate
 ## Setting up pypluto package in Linux
 
 ```
-$ git clone https://github.com/DaemonLab/Drone-Swarm/edit/Drone_Swarm_Task_1/
+$ git clone https://github.com/team53-interiit-11/Drona-Aviation-Team53
 $ cd pypluto
 ```
 Install the External Dependencies using the following command 
@@ -206,7 +209,7 @@ python /path/to/get-pip.py
 ```
  Run the following commands:
 ```
-$ git clone https://github.com/DaemonLab/Drone-Swarm/edit/Drone_Swarm_Task_1/
+$ git clone https://github.com/team53-interiit-11/Drona-Aviation-Team53
 $ cd pypluto
 ```
 
@@ -250,31 +253,34 @@ if __name__ == '__main__':
 
 ```
 
-For detailed explanation of use of various movement functions, refer to [Task1.md](https://github.com/DaemonLab/Drone-Swarm/blob/Drone_Swarm_Task_1/docs/Task1.md) 

+For detailed explanation of use of various movement functions, refer to [Task1.md](/docs/Task1.md) 

 
 #### b. Camera Feedback Execution
 
 Instructions for controlling the drone using camera setup can be found in the
-[task2.md](https://github.com/DaemonLab/Drone-Swarm/blob/Drone_Swarm_Task_1/docs/task2.md)
+[Task2.md](/docs/Task2.md)
 
 
 #### c. Keyboard Control
 
 User can also control the drone from keyboard by running the ```keyboard.py``` file in terminal/command prompt. 
-Instructions for control via keyboard can be found in [keyboard_control.md](https://github.com/DaemonLab/Drone-Swarm/blob/Drone_Swarm_Task_1/docs/keyboard_control.md)
+Instructions for control via keyboard can be found in [keyboard_control.md](/docs/keyboard_control.md)
 
 
 ### d. Manually stopping (killing) the drone
 
 In case the drone does not arm after running ```main.py```, which may happen due to improper disarming of the drone, you can run ```kill.py``` instead of disconnecting the drone to disarm it properly and then run ```main.py``` to get regular operation
 
-

+

+
+#### 6. Video
 
-## Demo
+Link to Drive : https://drive.google.com/file/d/1zlupXXNTnhAbURaeVlbYnx64emY9gVFm/view?usp=sharing
 
-Link to Drive : 
+Hover Task: 0:00 to 0:32
+
+Control Task: 0:33 to 1:39
 
 
(back to top)

 
 

-

From 701664c43434df02ff3d842b447f151d820024c4 Mon Sep 17 00:00:00 2001
From: Kshitij M Bhat <85498394+KshitijBhat@users.noreply.github.com>
Date: Sun, 5 Mar 2023 12:02:37 +0530
Subject: [PATCH 79/82] Add files via upload

---
 Presentation.pdf      | Bin 0 -> 9648614 bytes
 Problem_Statement.pdf | Bin 0 -> 1622199 bytes
 Report.pdf            | Bin 0 -> 651402 bytes
 3 files changed, 0 insertions(+), 0 deletions(-)
 create mode 100644 Presentation.pdf
 create mode 100644 Problem_Statement.pdf
 create mode 100644 Report.pdf

diff --git a/Presentation.pdf b/Presentation.pdf
new file mode 100644
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