From 52bed0536f588d9982b7469f9e6f3ecb5ecb203e Mon Sep 17 00:00:00 2001 From: dave Date: Tue, 25 Apr 2017 20:27:28 -0400 Subject: [PATCH] first uesrs stigmergy --- src/roscontroller.cpp | 52 ++++++++++++++++++++++++------------------- src/testflocksim.bzz | 2 +- 2 files changed, 30 insertions(+), 24 deletions(-) diff --git a/src/roscontroller.cpp b/src/roscontroller.cpp index e334b51..d4f0830 100644 --- a/src/roscontroller.cpp +++ b/src/roscontroller.cpp @@ -411,8 +411,11 @@ namespace rosbzz_node{ // SOLO SPECIFIC: SITL DOES NOT USE 21 TO LAND -- workaround: set to LAND mode switch(buzzuav_closures::getcmd()){ case mavros_msgs::CommandCode::NAV_LAND: - if(current_mode != "LAND") - {SetMode("LAND", 0);} + if(current_mode != "LAND") { + SetMode("LAND", 0); + armstate = 0; + Arm(); + } if (mav_client.call(cmd_srv)){ ROS_INFO("Reply: %ld", (long int)cmd_srv.response.success); } else @@ -560,12 +563,12 @@ namespace rosbzz_node{ double radius_north = prime_vertical_radius * (1 - excentrity2) * temp; double radius_east = prime_vertical_radius * cos(DEG2RAD(DEFAULT_REFERENCE_LATITUDE)); - double d_lon = nei[1] - cur[1]; + /*double d_lon = nei[1] - cur[1]; double d_lat = nei[0] - cur[0]; double ned[3]; ned[0] = DEG2RAD(d_lat) * radius_north;//EARTH_RADIUS; ned[1] = -DEG2RAD(d_lon) * radius_east; //EARTH_RADIUS - /*double ecef[3]; + double ecef[3]; double llh[3];llh[0]=DEG2RAD(cur[0]);llh[1]=DEG2RAD(cur[1]);llh[2]=cur[2]; double d = WGS84_E * sin(llh[0]); double N = WGS84_A / sqrt(1. - d*d); @@ -584,27 +587,29 @@ namespace rosbzz_node{ double ned[3]; matrix_multiply(3, 3, 1, (double *)M, ecef, ned); + out[0] = sqrt(ned[0]*ned[0]+ned[1]*ned[1]); + out[0] = std::floor(out[0] * 1000000) / 1000000; + out[1] = atan2(ned[1],ned[0]); + out[1] = std::floor(out[1] * 1000000) / 1000000; + out[2] = 0.0;*/ + double d_lon = nei[1] - cur[1]; double d_lat = nei[0] - cur[0]; double ned_x = DEG2RAD(d_lat) * EARTH_RADIUS; double ned_y = DEG2RAD(d_lon) * EARTH_RADIUS * cos(DEG2RAD(nei[0])); out[0] = sqrt(ned_x*ned_x+ned_y*ned_y); - out[0] = std::floor(out[0] * 1000000) / 1000000; + //out[0] = std::floor(out[0] * 1000000) / 1000000; out[1] = atan2(ned_y,ned_x); - out[1] = std::floor(out[1] * 1000000) / 1000000; - out[2] = 0.0;*/ - - out[0] = sqrt(ned[0]*ned[0]+ned[1]*ned[1]); - out[0] = std::floor(out[0] * 1000000) / 1000000; - out[1] = atan2(ned[1],ned[0]); - out[1] = std::floor(out[1] * 1000000) / 1000000; + //out[1] = std::floor(out[1] * 1000000) / 1000000; out[2] = 0.0; + + } void roscontroller::cvt_ned_coordinates(double nei[], double out[], double cur[]){ // calculate earth radii - double temp = 1.0 / (1.0 - excentrity2 * sin(DEG2RAD(DEFAULT_REFERENCE_LATITUDE)) * sin(DEG2RAD(DEFAULT_REFERENCE_LATITUDE))); + /*double temp = 1.0 / (1.0 - excentrity2 * sin(DEG2RAD(DEFAULT_REFERENCE_LATITUDE)) * sin(DEG2RAD(DEFAULT_REFERENCE_LATITUDE))); double prime_vertical_radius = equatorial_radius * sqrt(temp); double radius_north = prime_vertical_radius * (1 - excentrity2) * temp; double radius_east = prime_vertical_radius * cos(DEG2RAD(DEFAULT_REFERENCE_LATITUDE)); @@ -617,7 +622,7 @@ namespace rosbzz_node{ out[1] = std::floor(out[1] * 1000000) / 1000000; out[2] = cur[2]; // Using functions of the library Swift Nav (https://github.com/swift-nav/libswiftnav) - /*double ecef[3]; + double ecef[3]; double llh[3];llh[0]=DEG2RAD(cur[0]);llh[1]=DEG2RAD(cur[1]);llh[2]=cur[2]; double d = WGS84_E * sin(llh[0]); double N = WGS84_A / sqrt(1. - d*d); @@ -633,15 +638,15 @@ namespace rosbzz_node{ ref_ecef[2] = ((1 - WGS84_E*WGS84_E)*N + llh[2]) * sin(llh[0]); double M[3][3]; ecef2ned_matrix(ref_ecef, M); - matrix_multiply(3, 3, 1, (double *)M, ecef, out); + matrix_multiply(3, 3, 1, (double *)M, ecef, out);*/ double d_lon = nei[1] - cur[1]; double d_lat = nei[0] - cur[0]; out[0] = DEG2RAD(d_lat) * EARTH_RADIUS; - out[0] = std::floor(out[0] * 1000000) / 1000000; + //out[0] = std::floor(out[0] * 1000000) / 1000000; out[1] = DEG2RAD(d_lon) * EARTH_RADIUS * cos(DEG2RAD(nei[0])); - out[1] = std::floor(out[1] * 1000000) / 1000000; - out[2] = 0.0;*/ + //out[1] = std::floor(out[1] * 1000000) / 1000000; + out[2] = 0.0; } /*------------------------------------------------------ @@ -679,15 +684,15 @@ namespace rosbzz_node{ void roscontroller::current_pos(const sensor_msgs::NavSatFix::ConstPtr& msg){ //ROS_INFO("Altitude out: %f", cur_rel_altitude); fcu_timeout = TIMEOUT; - double lat = std::floor(msg->latitude * 1000000) / 1000000; - double lon = std::floor(msg->longitude * 1000000) / 1000000; + //double lat = std::floor(msg->latitude * 1000000) / 1000000; + //double lon = std::floor(msg->longitude * 1000000) / 1000000; /*if(cur_rel_altitude<1.2){ home[0]=lat; home[1]=lon; home[2]=cur_rel_altitude; }*/ - set_cur_pos(lat,lon, cur_rel_altitude);//msg->altitude); - buzzuav_closures::set_currentpos(lat,lon, cur_rel_altitude);//msg->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); } void roscontroller::users_pos(const rosbuzz::neigh_pos data){ //ROS_INFO("Altitude out: %f", cur_rel_altitude); @@ -738,7 +743,8 @@ namespace rosbzz_node{ moveMsg.header.frame_id = 1; double local_pos[3]; cvt_ned_coordinates(cur_pos,local_pos,home); - ROS_INFO("ROSBuzz LocalPos: %.7f,%.7f",local_pos[0],local_pos[1]); + ROS_INFO("[%i] ROSBuzz Home: %.7f, %.7f", robot_id, home[0], home[1]); + ROS_INFO("[%i] ROSBuzz LocalPos: %.7f, %.7f", robot_id, local_pos[0], local_pos[1]); /*prepare the goto publish message ATTENTION: ENU FRAME FOR MAVROS STANDARD (then converted to NED)*/ moveMsg.pose.position.x = local_pos[1]+y; diff --git a/src/testflocksim.bzz b/src/testflocksim.bzz index 2e490e1..107edbf 100644 --- a/src/testflocksim.bzz +++ b/src/testflocksim.bzz @@ -16,7 +16,7 @@ CURSTATE = "TURNEDOFF" # Lennard-Jones parameters TARGET = 12.0 -EPSILON = 10.0 +EPSILON = 12.0 # Lennard-Jones interaction magnitude function lj_magnitude(dist, target, epsilon) {