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controls_flyer.py
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controls_flyer.py
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# -*- coding: utf-8 -*-
"""
Starter code for the controls project.
This is the solution of the backyard flyer script,
modified for all the changes required to get it working for controls.
"""
import time
from enum import Enum
import numpy as np
from udacidrone import Drone
from unity_drone import UnityDrone
from controller import NonlinearController
from udacidrone.connection import MavlinkConnection # noqa: F401
from udacidrone.messaging import MsgID
class States(Enum):
MANUAL = 0
ARMING = 1
TAKEOFF = 2
WAYPOINT = 3
LANDING = 4
DISARMING = 5
class ControlsFlyer(UnityDrone):
def __init__(self, connection):
super().__init__(connection)
self.controller = NonlinearController()
self.target_position = np.array([0.0, 0.0, 0.0])
self.all_waypoints = []
self.in_mission = True
self.check_state = {}
# initial state
self.flight_state = States.MANUAL
# register all your callbacks here
self.register_callback(MsgID.LOCAL_POSITION,
self.local_position_callback)
self.register_callback(MsgID.LOCAL_VELOCITY, self.velocity_callback)
self.register_callback(MsgID.STATE, self.state_callback)
self.register_callback(MsgID.ATTITUDE, self.attitude_callback)
self.register_callback(MsgID.RAW_GYROSCOPE, self.gyro_callback)
def position_controller(self):
(self.local_position_target,
self.local_velocity_target,
yaw_cmd) = self.controller.trajectory_control(
self.position_trajectory,
self.yaw_trajectory,
self.time_trajectory, time.time())
self.attitude_target = np.array((0.0, 0.0, yaw_cmd))
acceleration_cmd = self.controller.lateral_position_control(
self.local_position_target[0:2],
self.local_velocity_target[0:2],
self.local_position[0:2],
self.local_velocity[0:2])
self.local_acceleration_target = np.array([acceleration_cmd[0],
acceleration_cmd[1],
0.0])
def attitude_controller(self):
self.thrust_cmd = self.controller.altitude_control(
-self.local_position_target[2],
-self.local_velocity_target[2],
-self.local_position[2],
-self.local_velocity[2],
self.attitude,
9.81)
roll_pitch_rate_cmd = self.controller.roll_pitch_controller(
self.local_acceleration_target[0:2],
self.attitude,
self.thrust_cmd)
yawrate_cmd = self.controller.yaw_control(
self.attitude_target[2],
self.attitude[2])
self.body_rate_target = np.array(
[roll_pitch_rate_cmd[0], roll_pitch_rate_cmd[1], yawrate_cmd])
def bodyrate_controller(self):
moment_cmd = self.controller.body_rate_control(
self.body_rate_target,
self.gyro_raw)
self.cmd_moment(moment_cmd[0],
moment_cmd[1],
moment_cmd[2],
self.thrust_cmd)
def attitude_callback(self):
if self.flight_state == States.WAYPOINT:
self.attitude_controller()
def gyro_callback(self):
if self.flight_state == States.WAYPOINT:
self.bodyrate_controller()
def local_position_callback(self):
if self.flight_state == States.TAKEOFF:
if -1.0 * self.local_position[2] > 0.95 * self.target_position[2]:
#self.all_waypoints = self.calculate_box()
(self.position_trajectory,
self.time_trajectory,
self.yaw_trajectory) = self.load_test_trajectory(time_mult=.5)
self.all_waypoints = self.position_trajectory.copy()
self.waypoint_number = -1
self.waypoint_transition()
elif self.flight_state == States.WAYPOINT:
if time.time() > self.time_trajectory[self.waypoint_number]:
if len(self.all_waypoints) > 0:
self.waypoint_transition()
else:
if np.linalg.norm(self.local_velocity[0:2]) < 1.0:
self.landing_transition()
def velocity_callback(self):
if self.flight_state == States.LANDING:
if self.global_position[2] - self.global_home[2] < 0.1:
if abs(self.local_position[2]) < 0.01:
self.disarming_transition()
if self.flight_state == States.WAYPOINT:
self.position_controller()
def state_callback(self):
if self.in_mission:
if self.flight_state == States.MANUAL:
self.arming_transition()
elif self.flight_state == States.ARMING:
if self.armed:
self.takeoff_transition()
elif self.flight_state == States.DISARMING:
if ~self.armed & ~self.guided:
self.manual_transition()
def calculate_box(self):
print("Setting Home")
local_waypoints = [[10.0, 0.0, -3.0],
[10.0, 10.0, -3.0],
[0.0, 10.0, -3.0],
[0.0, 0.0, -3.0]]
return local_waypoints
def arming_transition(self):
print("arming transition")
self.take_control()
self.arm()
# set the current location to be the home position
self.set_home_position(self.global_position[0],
self.global_position[1],
self.global_position[2])
self.flight_state = States.ARMING
def takeoff_transition(self):
print("takeoff transition")
target_altitude = 3.0
self.target_position[2] = target_altitude
self.takeoff(target_altitude)
self.flight_state = States.TAKEOFF
def waypoint_transition(self):
#print("waypoint transition")
self.waypoint_number = self.waypoint_number + 1
self.target_position = self.all_waypoints.pop(0)
self.flight_state = States.WAYPOINT
def landing_transition(self):
print("landing transition")
self.land()
self.flight_state = States.LANDING
def disarming_transition(self):
print("disarm transition")
self.disarm()
self.release_control()
self.flight_state = States.DISARMING
def manual_transition(self):
print("manual transition")
self.stop()
self.in_mission = False
self.flight_state = States.MANUAL
def start(self):
self.start_log("Logs", "NavLog.txt")
# self.connect()
print("starting connection")
# self.connection.start()
super().start()
# Only required if they do threaded
# while self.in_mission:
# pass
self.stop_log()
if __name__ == "__main__":
conn = MavlinkConnection('tcp:127.0.0.1:5760', threaded=False, PX4=False)
#conn = WebSocketConnection('ws://127.0.0.1:5760')
drone = ControlsFlyer(conn)
# drone.test_trajectory_file = './trajectories/go_north_east.txt'
time.sleep(2)
drone.start()
drone.print_mission_score()