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added comm failsafe and setpoint non-offset

This commit is contained in:
David St-Onge 2017-04-12 19:23:53 -04:00
parent 78ff07f935
commit 458099a8a6
5 changed files with 35 additions and 62 deletions
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6
include/roscontroller.h
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@ -37,6 +37,7 @@
#define UPDATER_MESSAGE_CONSTANT 987654321
#define XBEE_MESSAGE_CONSTANT 586782343
#define XBEE_STOP_TRANSMISSION 4355356352
#define TIMEOUT 60
using namespace std;
@ -61,6 +62,7 @@ private:
}; typedef struct num_robot_count Num_robot_count ;
double cur_pos[3];
double home[3];
double cur_rel_altitude;
uint64_t payload;
std::map< int, buzz_utility::Pos_struct> neighbours_pos_map;
@ -70,6 +72,7 @@ private:
int robot_id=0;
//int oldcmdID=0;
int rc_cmd;
float fcu_timeout;
int armstate;
int barrier;
int message_number=0;
@ -127,7 +130,7 @@ private:
void Compile_bzz();
/*Flight controller service call*/
void flight_controler_service_call();
void flight_controller_service_call();
/*Neighbours pos publisher*/
void neighbours_pos_publisher();
@ -151,6 +154,7 @@ private:
double altitude);
/*convert from spherical to cartesian coordinate system callback */
void cvt_rangebearing_coordinates(double neighbours_pos_payload [], double out[], double pos[]);
void cvt_ned_coordinates(double neighbours_pos_payload [], double out[], double pos[]);
/*battery status callback*/
void battery(const mavros_msgs::BatteryStatus::ConstPtr& msg);

3
launch/launch_config/m100.yaml
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@ -3,8 +3,7 @@ topics:
battery : /power_status
status : /flight_status
fcclient : /dji_mavcmd
setpoint : /setpoint_raw/local
setpoint_nonraw : /setpoint_position/local
setpoint : /setpoint_position/local
armclient: /dji_mavarm
modeclient: /dji_mavmode
altitude: /rel_alt

3
launch/launch_config/solo.yaml
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@ -3,8 +3,7 @@ topics:
battery : /mavros/battery
status : /mavros/state
fcclient: /mavros/cmd/command
setpoint: /mavros/setpoint_raw/local
setpoint_nonraw: /mavros/setpoint_position/local
setpoint: /mavros/setpoint_position/local
armclient: /mavros/cmd/arming
modeclient: /mavros/set_mode
stream: /mavros/set_stream_rate

2
src/buzzuav_closures.cpp
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@ -104,7 +104,7 @@ namespace buzzuav_closures{
double d = sqrt(dx*dx+dy*dy); //range
goto_pos[0]=dx;
goto_pos[1]=dy;
goto_pos[2]=0;
goto_pos[2]=height;
/*double b = atan2(dy,dx); //bearing
printf(" Vector for Goto: %.7f,%.7f\n",dx,dy);
gps_from_rb(d, b, goto_pos);

83
src/roscontroller.cpp
View File

@ -25,6 +25,7 @@ namespace rosbzz_node{
/// Get Robot Id - wait for Xbee to be started
GetRobotId();
setpoint_counter = 0;
fcu_timeout = TIMEOUT;
}
/*---------------------
@ -76,7 +77,7 @@ namespace rosbzz_node{
/*Prepare messages and publish them in respective topic*/
prepare_msg_and_publish();
/*call flight controler service to set command long*/
flight_controler_service_call();
flight_controller_service_call();
/*Set multi message available after update*/
if(get_update_status()){
set_read_update_status();
@ -94,6 +95,10 @@ namespace rosbzz_node{
/*loop rate of ros*/
ros::Rate loop_rate(10);
loop_rate.sleep();
if(fcu_timeout<=0)
buzzuav_closures::rc_call(mavros_msgs::CommandCode::NAV_LAND);
else
fcu_timeout -= 1/10;
/*sleep for the mentioned loop rate*/
timer_step+=1;
maintain_pos(timer_step);
@ -178,8 +183,6 @@ namespace rosbzz_node{
else {ROS_ERROR("Provide a mode client name in Launch file"); system("rosnode kill rosbuzz_node");}
if(node_handle.getParam("topics/stream", stream_client_name));
else {ROS_ERROR("Provide a mode client name in Launch file"); system("rosnode kill rosbuzz_node");}
if(node_handle.getParam("topics/setpoint_nonraw", setpoint_nonraw));
else {ROS_ERROR("Provide a mode setpoint non raw client in Launch file"); system("rosnode kill rosbuzz_node");}
}
/*--------------------------------------------------------
@ -199,8 +202,7 @@ namespace rosbzz_node{
/*publishers*/
payload_pub = n_c.advertise<mavros_msgs::Mavlink>(out_payload, 1000);
neigh_pos_pub = n_c.advertise<rosbuzz::neigh_pos>("/neighbours_pos",1000);
localsetpoint_pub = n_c.advertise<mavros_msgs::PositionTarget>(setpoint_name,1000);
localsetpoint_nonraw_pub = n_c.advertise<geometry_msgs::PoseStamped>(setpoint_nonraw,1000);
localsetpoint_pub = n_c.advertise<geometry_msgs::PoseStamped>(setpoint_name,1000);
/* Service Clients*/
arm_client = n_c.serviceClient<mavros_msgs::CommandBool>(armclient);
mode_client = n_c.serviceClient<mavros_msgs::SetMode>(modeclient);
@ -381,7 +383,7 @@ namespace rosbzz_node{
/*---------------------------------------------------------------------------------
/Flight controller service call every step if there is a command set from bzz script
/-------------------------------------------------------------------------------- */
void roscontroller::flight_controler_service_call() {
void roscontroller::flight_controller_service_call() {
/* flight controller client call if requested from Buzz*/
/*FC call for takeoff,land, gohome and arm/disarm*/
int tmp = buzzuav_closures::bzz_cmd();
@ -506,15 +508,14 @@ namespace rosbzz_node{
out[0] = sqrt(ned_x*ned_x+ned_y*ned_y);
out[1] = atan2(ned_y,ned_x);
out[2] = 0.0;
/* double lat1 = cur[0]*M_PI/180.0;
double lon1 = cur[1]*M_PI/180.0;
double lat2 = nei[0]*M_PI/180.0;
double lon2 = nei[1]*M_PI/180.0;
out[0] = acos(sin(lat1) * sin(lat2) +cos(lat2) * cos(lat1)*cos(lon2-lon1))*EARTH_RADIUS;
double y = sin(lon1-lon2)*cos(lat1);
double x = cos(lat2)*sin(lat1) - sin(lat2)*cos(lat1)*cos(lon1-lon2);
out[1] = atan2(y,x)+M_PI;
out[2] = 0.0;*/
}
void roscontroller::cvt_ned_coordinates(double nei[], double out[], double cur[]){
double d_lon = nei[1] - cur[1];
double d_lat = nei[0] - cur[0];
out[0] = DEG2RAD(d_lat) * EARTH_RADIUS;
out[1] = DEG2RAD(d_lon) * EARTH_RADIUS * cos(DEG2RAD(nei[0]));
out[2] = cur[2];
}
/*------------------------------------------------------
@ -551,6 +552,12 @@ namespace rosbzz_node{
/-------------------------------------------------------------*/
void roscontroller::current_pos(const sensor_msgs::NavSatFix::ConstPtr& msg){
//ROS_INFO("Altitude out: %f", cur_rel_altitude);
fcu_timeout = TIMEOUT;
if(home[0]==0){
home[0]=msg->latitude;
home[1]=msg->longitude;
home[2]=cur_rel_altitude;
}
set_cur_pos(msg->latitude,msg->longitude, cur_rel_altitude);//msg->altitude);
buzzuav_closures::set_currentpos(msg->latitude,msg->longitude, cur_rel_altitude);//msg->altitude);
}
@ -774,51 +781,15 @@ namespace rosbzz_node{
// http://docs.ros.org/kinetic/api/mavros_msgs/html/msg/PositionTarget.html
// http://ardupilot.org/dev/docs/copter-commands-in-guided-mode.html#copter-commands-in-guided-mode-set-position-target-local-ned
mavros_msgs::PositionTarget moveMsg;
const uint16_t ignore_all_except_xyz_y = (1 << 11) | (7 << 6) | (7 << 3);
moveMsg.coordinate_frame = mavros_msgs::PositionTarget::FRAME_LOCAL_OFFSET_NED;
moveMsg.type_mask = ignore_all_except_xyz_y;
moveMsg.header.frame_id = 1;
moveMsg.header.seq = setpoint_counter++;
moveMsg.header.stamp = ros::Time::now();
my_x += x;
my_y += y;
moveMsg.position.x = x;
moveMsg.position.y = y;
moveMsg.position.z = 3;
moveMsg.yaw_rate = 0.0;
moveMsg.yaw = 0.0;
geometry_msgs::Vector3 zeroVec;
zeroVec.x = 0.0; zeroVec.y = 0.0; zeroVec.z = 0.0;
moveMsg.acceleration_or_force = zeroVec;
moveMsg.velocity = zeroVec;
localsetpoint_pub.publish(moveMsg);
ROS_INFO("Sent local position message!");
}
void roscontroller::SetLocalPositionNonRaw(float x, float y, float z, float yaw){
// http://docs.ros.org/kinetic/api/mavros_msgs/html/msg/PositionTarget.html
// http://ardupilot.org/dev/docs/copter-commands-in-guided-mode.html#copter-commands-in-guided-mode-set-position-target-local-ned
geometry_msgs::PoseStamped moveMsg;
moveMsg.header.stamp = ros::Time::now();
moveMsg.header.seq = setpoint_counter++;
moveMsg.header.frame_id = 1;
my_x += x;
my_y += y;
moveMsg.pose.position.x = my_x;
moveMsg.pose.position.y = my_y;
moveMsg.pose.position.z = 3;
double local_pos[3];
cvt_ned_coordinates(cur_pos,local_pos,home);
moveMsg.pose.position.x = local_pos[0]+x;
moveMsg.pose.position.y = local_pos[1]+y;
moveMsg.pose.position.z = z;
moveMsg.pose.orientation.x = 0;
moveMsg.pose.orientation.y = 0;