Up to date

CMakeLists.txt

@@ -26,6 +26,7 @@ add_message_files(
   RefSignal.msg
   EulerAngles.msg
   LoadAngles.msg
+  LoadStatus.msg
 )
 
 ## Generate services in the 'srv' folder
@@ -33,6 +34,7 @@ add_message_files(
    FILES
    WaypointTrack.srv
    BodyToWorld.srv
+   UseCtrl.srv
  )
 
 ## Generate actions in the 'action' folder

build/.built_by

@@ -0,0 +1 @@
+catkin build

config/mocapGazebo_params.yaml

@@ -1,15 +1,27 @@
 # Ros param when using Klausen Ctrl
-wait_time: 15 # parameter which can be set to run desired tests at a desired time
+#wait_time: 35 # parameter which can be set to run desired tests at a desired time
+wait_time: 20
 #drone_mass: 0.614 # weight with new battery
 drone_mass: 0.602
 
 pload: true
+#tether_length: 2.0
 pload_mass: 0.2  # mass of payload. 
 #pload_mass: 0.15   # Pload mass with 100g weight
 #pload_mass: 0.05   # Pload mass with just basket
 #pload_mass: 0.25
 change_mode: true # choose whether to switch to oscillation damping controller 
-waypoints: {x:  0.0, y:  0.0, z:  2.0} # takeoff waypoints
+#waypoints: {x:  -2.5, y:  -2.5, z:  2.15} # takeoff waypoints for square test
+waypoints: {x: 0.0, y: 0.0, z: 5.0}
+#waypoints: {x: 0.0, y: 0.0, z: 1.5} # step test - short tether
 # sets waypoints to run a square test
 square_x: [0.5,1,1,1,0.5,0,0]
 square_y: [0,0,0.5,1,1,1,0.5]
+
+# SET DESIRED TEST
+square: false
+step: true
+
+# SET DIRECTORY AND NAME OF BAGFILE
+directory: "/home/cesar/bagfiles/2023/04/10"
+bagfile: "testing_ctrl.bag"

config/mocapLab_params.yaml

@@ -1,5 +1,8 @@
 # Ros param when using Klausen Ctrl
-wait_time: 30 # parameter which can be set to run desired tests at a desired time
+# wait_time: 45 # 30 at 2023-01-19 parameter which can be set to run desired tests at a desired time
+#wait_time: 35 # 30 at 2023-01-19 parameter which can be set to run desired tests at a desired time
+#wait_time: 35
+wait_time: 30
 
 # DRONE MASSES
 #drone_mass: 0.614 # weight with new battery
@@ -7,24 +10,53 @@ drone_mass: 0.602
 
 #PLOAD MASSES
 #pload_mass: 0.25
+#pload_mass: 0.20
+#pload_mass: 0.157 # IMU payload
 #pload_mass: 0.15   # Pload mass with 100g weight
-#pload_mass: 0.10   # Pload mass with 50g weight
+pload_mass: 0.10   # Pload mass with 50g weight
 #pload_mass: 0.05   # Pload mass with just basket
-pload_mass: 0.01    # No Pload
+# pload_mass: 0.01    # No Pload
-pload: false
+pload: true
+
+# TETHER LENGTH
+tether_length: 2.0
+
+# SET DESIRED TEST
+square: false
+step: false
+hover: true
 
 # CTRL PARAMETER - should be false to start always
 # use_ctrl: false   # starts PX4 without attitude controller 
-change_mode: false  # choose whether to switch to oscillation damping controller 
+change_mode: true    # choose whether to switch to oscillation damping controller 
 
-waypoints: {x: -1.0, y: -1.0, z: 2.0} # takeoff waypoints
+# STARTING POSITION - Where drone will hover at until commanded otherwise
 
-# sets waypoints to run a square test
+#waypoints: {x: 1.0, y: 0.0, z: 1.5} # debugging
-square_x: [0.5,1,1,1,0.5,0,0]
+waypoints: {x: 0.0, y: 0.0, z: 2.5} # takeoff waypoints for step test
-square_y: [0,0,0.5,1,1,1,0.5]
+#waypoints: {x: 0.0, y: -1.0, z: 2.15} # takeoff waypoints for step test
+#waypoints: {x: -0.75, y: -0.5, z: 2.15} # takeoff waypoints for square test
+#waypoints: {x: -0.5, y: 0.0, z: 2.5} # takeoff waypoints for step test
+#waypoints: {x: 0.0, y: 0.0, z: 2.0} # step test - short tether
+#waypoints: {x: 0.0, y: 0.0, z: 1.5} # step test - short tether
+#waypoints: {x: -0.5, y: 0.0, z: 1.5} # takeoff waypoints for square test # lab
 
 # HOVER THROTTLE - Changes depending on mass of pload and drone
-# hover_throttle: 0.32 # Hover throttle with pload 0.15 kg
+#hover_throttle: 0.3 # Hover throttle with pload 0.16 kg (IMU) - This was found with full battery
-#hover_throttle: 0.28 # Hover throttle with pload 0.10 kg
+# hover_throttle: 0.27 # Hover throttle with pload 0.10 kg
-hover_throttle: 0.23 # Hover throttle with no pload - about 0.23 with full battery
 # hover_throttle: 0.26 # Hover throttle with pload 0.05 kg
+# hover_throttle: 0.23 # Hover throttle with no pload - about 0.23 with full battery
+
+### NEW
+#hover_throttle: 0.24 # Hover throttle no pload
+hover_throttle: 0.275 # Hover throttle with pload 0.05 kg
+#hover_throttle: 0.305 # Hover throttle with pload 0.10 kg
+#hover_throttle: 0.310 # Hover throttle with pload 0.16 kg
+
+#hover_throttle: 0.31 # Hover throttle with pload 0.20 kg good results
+#hover_throttle: 0.30 # Hover throttle with pload 0.20 kg
+#hover_throttle: 0.37 # Hover throttle with pload 0.20 kg # ????
+
+# NEW BATTERY
+#hover_throttle: 0.28 # Hover throttle with pload 0.10 kg
+

config/mocapPendulum_params.yaml

@@ -0,0 +1,5 @@
+# Set useful ROS parameters for simulation
+tether_length: 1.0 # length of tether
+mass: 0.160 # mass of payload
+start_pos: [0.38,0.86,1.1] # x, y, and z of start. Used to determine load angles (z is not used) 
+ 

devel/.built_by

@@ -0,0 +1 @@
+catkin build

launch/oscillation_damp.launch

@@ -11,6 +11,7 @@ Launch file to use klausen oscillaton damping ctrl in Gazebo
   	<param name="test_type" value="$(arg test)"/>
   </group>
 
+
 	<!-- LOCALIZES DRONE & DETERMINES LOAD ANGLES -->
 	<node
 		pkg="oscillation_ctrl"
@@ -61,6 +62,7 @@ Launch file to use klausen oscillaton damping ctrl in Gazebo
 		name="set_ploadmass"
 		output="screen"
 	/>
+	
 	<!-- PX4 LAUNCH -->
 	<include file="$(find oscillation_ctrl)/launch/$(arg model).launch"/>
 </launch>

msg/LoadStatus.msg

@@ -0,0 +1,6 @@
+# Reports position of drone, payload
+std_msgs/Header header		# Header
+geometry_msgs/Vector3 drone_pos	# Drone position
+geometry_msgs/Vector3 pload_pos	# Payload position
+geometry_msgs/Vector3 tethered_pos	# Payload position relative to drone
+

src/LinkState.py

@@ -8,7 +8,7 @@ import rosservice
 import time
 import math
 from tf.transformations import *
-from oscillation_ctrl.msg import TetheredStatus, LoadAngles
+from oscillation_ctrl.msg import TetheredStatus, LoadAngles, LoadStatus
 from gazebo_msgs.srv import GetLinkState
 from std_msgs.msg import Bool
 

src/ctrl_tracker.py

@@ -0,0 +1,80 @@
+#!/usr/bin/env python2.7
+
+### Cesar Rodriguez March 2022
+### Reads waypoints from .yaml file and keeps track of them
+
+import rospy,  tf
+import rosservice
+from std_msgs.msg import Bool
+from oscillation_ctrl.srv import UseCtrl, UseCtrlResponse 
+
+class Main:
+
+	def __init__(self):
+
+		# Variables needed for testing start 
+		self.tstart		= rospy.get_time() # Keep track of the start time
+		while self.tstart == 0.0:				 # Need to make sure get_rostime works
+			self.tstart		= rospy.get_time()
+	
+		# initialize variables
+		self.use_ctrl = None
+		self.ctrl_state = UseCtrlResponse()
+
+		for i in range(3):
+			try:
+				self.use_ctrl = rospy.get_param('/status/change_mode')
+			except:
+				rospy.loginfo('Waiting for parameter "status/change_mode" to become available...')
+				rospy.loginfo('Trying {0} more time(s)'.format(2-i))
+				rospy.sleep(0.1)
+
+		if self.use_ctrl is None:
+			raise rospy.ROSInitException
+
+		# service(s)
+		rospy.Service('/status/att_ctrl_srv', UseCtrl, self.ctrl_tracker)
+
+		# subscriber(s)	
+		
+		# publisher(s)
+		self.state_pub = rospy.Publisher('/status/att_ctrl', Bool, queue_size=10)
+		rospy.Timer(rospy.Duration(1.0/2.0), self.publisher)
+
+	def ctrl_tracker(self, request):
+		""" Keeps track of controller state """
+		# check if we want to change state or whether it is a check
+		if request.query:
+			# change use_ctrl param to requested state
+			rospy.set_param('/status/use_ctrl', request.state)
+
+			# set result to new state
+			self.ctrl_state.result = rospy.get_param('/status/use_ctrl')
+
+			# check if everything worked
+			if request.state is self.ctrl_state.result:
+				self.ctrl_state.success = True
+			else:
+				self.ctrl_state.success = False
+		else:
+			self.ctrl_state.success = True
+		return self.ctrl_state
+
+	def publisher(self, timer):
+		""" publish state so that nodes do not have query the service every time"""
+		self.state_pub.publish(self.ctrl_state.result)
+
+if __name__=="__main__":
+
+	# Initiate ROS node
+	rospy.init_node('waypoints_server',anonymous=False)
+	try:
+		obj = Main() # create class object
+		# s = rospy.Service('status/waypoint_tracker',WaypointTrack, obj.waypoint_relay)
+		# rospy.loginfo_once('waypoints_server has started with:\nxd.x = %.1f\nxd.y = %.1f\nxd.z = %.1f', obj.xd.x, obj.xd.y, obj.xd.z)
+			
+		rospy.spin() # loop until shutdown signal
+
+	except rospy.ROSInterruptException:
+	        pass
+

src/klausen_control.py

@@ -86,6 +86,50 @@ class LiveLFilter(LiveFilter):
         self._ys.appendleft(y)
 
         return y
+
+class AltCtrlr():
+
+	def __init__(self, Kp, Ki, Kd, drone_mass):
+		self.Kp = Kp
+		self.Ki = Ki
+		self.Kd = Kd
+		self.m = drone_mass
+
+		self.e = 0.0
+		self.e_p = 0.0
+		self.edot = 0.0
+		self.esum = 0.0
+
+		self.t_prev = 0.0
+
+		self.use_ki = False
+
+	# def update_thrust(self, pos_des, pos, dt):
+	def update_thrust(self, pos_des, pos, orientation, t_curr):
+		""" determines new thrust based on error"""
+
+		try:
+			# determine error
+			self.e = pos_des - pos
+			self.edot = (self.e - self.e_p) / (t_curr - self.t_prev)
+			# only accumulate error if we are actually using ths thrust controller
+			if self.use_ki:
+				self.esum += self.e * (t_curr - self.t_prev)
+			else:
+				self.esum = 0.0
+			# get thrust
+			# this formula ignores the path acc
+			thrust = (self.Kp * self.e + self.Ki * self.esum + self.Kd * self.edot + self.m * 9.81) / (math.cos(orientation[0]) * math.cos(orientation[1])) 
+			
+			# update values
+			self.e_p = self.e
+			self.t_prev = t_curr
+			
+			return thrust
+		except ZeroDivisionError:
+			print("ZeroDivisionError in update_thrust")
+			return 0.0
+
 class Main:
 
 	def __init__(self):
@@ -121,7 +165,7 @@ class Main:
 		self.empty_point = Point() # Needed to query waypoint_server
 
 		# Drone var
-		self.has_run	= 0 # Bool to keep track of first run instance
+		self.has_run	= False # Bool to keep track of first run instance
 
 		# Col1 = theta, theta dot; Col2 = phi, phidot for self.PHI
 		self.PHI 		= np.array([[0,0],[0,0]]) 
@@ -133,14 +177,14 @@ class Main:
 		# Get tether length
 		if rospy.get_param('status/pload', False):
 			self.tetherL = self.get_tether()
+			if self.tetherL == 0.0:
+				self.tether = False
+			else:
 				self.tether = True
 		else: 
 			self.tetherL = 0.0
 			self.tether = False
 
-		# Check if tether was correctly detected or not
-		self.tether_check()
-
 		# Retrieve drone and payload masses from config file
 		[self.drone_m, self.pl_m] = self.get_masses()
 		rospy.loginfo('DRONE MASS: %.2f',self.drone_m)
@@ -148,7 +192,6 @@ class Main:
 
 		# Values which require updates. *_p = prior
 		self.z1_p	  =	np.zeros([3,1])
-		self.a45_0	  = np.zeros(2)
 		self.alpha	  = np.zeros([5,1])
 		self.alphadot = np.zeros([5,1])
 		self.a45	  = np.zeros(2)
@@ -160,26 +203,40 @@ class Main:
 		self.z_sum  = np.zeros([3,1])
 	
 		# Tuning gains
-		self.K1	= np.identity(3)*0.75 # 0.75
+		self.K1	= np.identity(3)*1#*0.5 # 2.0
-		self.K2	= np.identity(5)*0.35 # 0.35
+		self.K2	= np.identity(5)*1#2.15#1.5#*0.1 # increases velocity and acceleration, also increases pos error
-		self.tune = 1 # Tuning parameter 1
+
+		# self.tune = 0.005 # Tuning parameter
+		self.tune = 0.5 # Tuning parameter 0.1 gives better performance, 0.2 for Gazebo
+		self.K2tune = 10 #1000 # 2023-04-18: Works great in Gazebo. Needs to be x1000 greater than the first 3 terms of K2
+		# self.K2tune = 0.1 # Tuning parameter for last 3 terms of K2
 		self.dist =	np.array([0,0,0,0.1,0.1]) # Wind disturbance 
+		# self.dist =	np.array([0,0,0,0.0,0.0]) # Wind disturbance 
 		# Gain terms
 		self.Kp = np.identity(3) + np.dot(self.K2[:3,:3],self.K1) + self.tune*np.identity(3)
-		self.Kd = self.tot_m*self.K1 + self.tune*self.K2[:3,:3]
+		self.Kd = self.tot_m*self.K1 + self.K2[:3,:3] #+ self.tune*self.K2[:3,:3]
 		self.Ki = self.tune*self.K1
 
 		# PD Thrust Controller terms
 		# gains for thrust PD Controller
 		### Failed when both gains were set to 1.0
-		##### Works better when Kp_thrust is higher? Try 10
+		# self.Kp_thrust 	= 5 # 1.5 for lab # 3.5 for gazebo 
-		self.Kp_thrust 	= 3.5 # 1.5 for lab # 2.5 for gazebo 
+		# self.Kp_thrust 	= 3.0 # 3.5 for PD controller not using trajectory tracking
-		self.Kd_thrust 	= 2.5 # 1.5 for lab # 2.5 for gazebo 2.0 if no tether?
+		# self.Kd_thrust 	= 0.14 # 1.5 for lab # 2.5 for gazebo 2.0 if no tether?
+		# self.Kd_thrust 	= 3.5 # 1.5 for lab # 2.5 for gazebo 2.0 if no tether?
+
+		self.alt_ctrl = AltCtrlr(Kp=3.0, Kd=1.75, Ki=2.0, drone_mass=self.tot_m)
+
 		self.R 	= np.empty([3,3]) # rotation matrix
 		self.g = np.array([0,0,9.81]).reshape(3,1)
 		self.e3 = np.array([[0],[0],[1]])
+		self.error_p = 0.0
+		self.error_vel = 0.0
+		self.t_curr_t = rospy.get_time() + 0.1
+		self.t_prev_t = rospy.get_time()
 		# Get scaling thrust factor, kf
 		self.kf = self.get_kf()
+		self.thrust = 0.0
 
 		self.service_list = rosservice.get_service_list()
 # --------------------------------------------------------------------------------#		
@@ -197,11 +254,32 @@ class Main:
 		self.pub_att_targ = rospy.Publisher('/command/att_target', AttitudeTarget, queue_size=10)
 
 		# timer(s), used to control method loop freq(s) as defined by the rate(s)
-		self.pub_time  = rospy.Timer(rospy.Duration(1.0/rate), self.publisher) # this was 5.0 rate before
+		# rospy.Timer(rospy.Duration(2.0/rate), self.publisher) # this was 5.0 rate before
+		# self.pub_time  = rospy.Timer(rospy.Duration(1.0/rate), self.publisher) # this was 5.0 rate before
+		rospy.Timer(rospy.Duration(0.1/rate), self.publisher) # this was 5.0 rate before
 
-		self.throttle_timer  = rospy.Timer(rospy.Duration(2.0/rate), self.determine_throttle) # this was 5.0 rate before
+		rospy.Timer(rospy.Duration(2.0/rate), self.determine_throttle_new) # this was 5.0 rate before
+		# self.throttle_timer  = rospy.Timer(rospy.Duration(1.0/rate), self.determine_throttle) # this was 5.0 rate before
+		# rospy.Timer(rospy.Duration(0.1/rate), self.determine_throttle) # this was 5.0 rate before # best performance when this runs faster than attitude ctrl
 
+		# timer for user feedback
+		rospy.Timer(rospy.Duration(0.1), self.user_feedback)
 
+		# timer to check if we are using attitude controller
+		self.timer = rospy.Timer(rospy.Duration(0.25), self.ctrl_cb)
+		self.att_ctrl = False
+
+	def ctrl_cb(self, timer):
+		""" Check if we are using attitude controller.
+			This is done to stop querying ROS parameters in each loop
+		"""
+		try:
+			if rospy.get_param('status/use_ctrl'):
+				self.att_ctrl = True
+				self.timer.shutdown() # shut down timer once we it is true
+		except KeyError:
+			pass
+			# rospy.loginfo('Waiting for params to be ready')
 # --------------------------------------------------------------------------------#		
 # 								SETUP PARAM METHODS
 # --------------------------------------------------------------------------------#
@@ -258,12 +336,12 @@ class Main:
 
 			hover_throttle = rospy.get_param('status/hover_throttle')
 			rospy.loginfo('Using hover throttle from config %.3f',hover_throttle)
-			self.max_throttle = 0.5
+			self.max_throttle = 0.45
 		else:
 
 			rospy.loginfo('total mass: %.3f',self.tot_m)
 
-			hover_throttle = (self.tot_m*9.81 + 9.81)/34.84 # linear scaling dependent on mass
+			hover_throttle = (self.tot_m*9.81 + 8.9)/34.84 # linear scaling dependent on mass
 
 			rospy.set_param('status/hover_throttle',hover_throttle)
 			rospy.loginfo('Determined hover throttle to be %.3f',hover_throttle)
@@ -272,13 +350,6 @@ class Main:
 		rospy.set_param('status/motor_constant',kf)
 		return kf
 
-	# Check if vehicle has tether
-	def tether_check(self):
-		if self.tether == True:
-			rospy.loginfo_once('TETHER LENGTH: %.2f', self.tetherL)
-		else:
-			rospy.loginfo_once('NO TETHER DETECTED')
-
 # --------------------------------------------------------------------------------#		
 # 								CALLBACK FUNCTIONS
 # --------------------------------------------------------------------------------#
@@ -288,9 +359,10 @@ class Main:
 		try:
 			self.load_angles = msg
 			# Populate self.PHI
-			self.PHI = np.array([[self.load_angles.theta,self.load_angles.phi],[self.load_angles.thetadot,self.load_angles.phidot]])
+			# self.PHI = np.array([[self.load_angles.theta,self.load_angles.phi],[self.load_angles.thetadot,self.load_angles.phidot]])
+			self.PHI = np.array([[self.load_angles.phi,self.load_angles.theta],[self.load_angles.phidot,self.load_angles.thetadot]])
 
-			# self.PHI = np.array([[0.0,0.0],[0.0,0.0]])
+			# self.PHI = np.array([[0.0,0.0],[0.0,0.0]]) # in case we want to test performance without load angles
 
 			# print('PHI:\n{0}'.format(self.PHI))
 			# print('Angles:\n{0}'.format(self.PHI[0,:]))
@@ -342,10 +414,10 @@ class Main:
 			try:
 				resp = self.get_xd(False,self.empty_point)
 				self.xd = resp.xd
-			except ValueError:
+			except ValueError as e:
-				pass
+				rospy.loginfo('{0}'.format(e))
 		else:
-			self.xd = DesiredPoint(0.0,0.0,1.5)
+			self.xd = Point(x=0.0,y=0.0,z=2.0)
 
 # ---------------------------------ODE SOLVER-------------------------------------#
 	def statespace(self,y,t,Ka,Kb,Kc):
@@ -433,7 +505,7 @@ class Main:
 		euler = [roll, pitch, yaw]
 		return euler
 
-	def determine_throttle(self,throttle_timer):
+	def determine_throttle_old(self,throttle_timer):
 		""" Thrust as per Geometric Tracking Control of a Quadrotor UAV on SE(3) Taeyoung Lee, Melvin Leok, and N. Harris McClamroch"""
 
 		self.waypoints_srv_cb() # check for new waypoints
@@ -444,19 +516,75 @@ class Main:
 							   [self.path_pos[1] - self.dr_pos.position.y],
 							   [self.path_pos[2] - self.dr_pos.position.z]]).reshape(3,1)
 
-		
 		self.error_vel = self.path_vel.reshape(3,1) - self.dr_vel # best performance
 
-		thrust_vector = self.tot_m*self.g + self.Kp_thrust*self.error + self.Kd_thrust*self.error_vel + self.tot_m*self.path_acc
+		thrust_vector = self.tot_m*(self.g + self.path_acc) + self.Kp_thrust*self.error + self.Kd_thrust*self.error_vel
+		# thrust_vector = (self.g*self.tot_m + self.Kp_thrust*self.error + self.Kd_thrust*self.error_vel) * self.kf
+
+		self.thrust = thrust_vector/(math.cos(self.EulerPose[0])*math.cos(self.EulerPose[1]))
+		# self.thrust = (thrust_vector[0] * b3[0] + thrust_vector[1] * b3[1] + thrust_vector[2] * b3[2]) * self.kf # best performance
+		# self.thrust = (thrust_vector[0] * b3[0] + thrust_vector[1] * b3[1] + thrust_vector[2] * b3[2]) # best performance
+		# thrust = (thrust_vector[0] * b3[0] + thrust_vector[1] * b3[1] + thrust_vector[2] * b3[2]) * self.kf # best performance
+
+		# Value needs to be between 0 - 1.0
+		self.att_targ.thrust = max(0.0,min(self.thrust * self.kf,self.max_throttle)) # will never want it to be more than 0.5 with LabDrone
+		# self.att_targ.thrust = max(0.0,min(thrust,self.max_throttle)) # will never want it to be more than 0.5 with LabDrone
+		# print('thrust_vector:\n{0}\nthrust:{1}'.format(thrust_vector, self.att_targ.thrust))
+
+		# Fd_tf = quaternion_multiply(dr_orientation,quaternion_multiply([Fd[0],Fd[1],self.thrust,0.0],dr_orientation_inv)) # Real part of Fd needs = 0
+
+	def determine_throttle(self,throttle_timer):
+		""" Thrust as per Geometric Tracking Control of a Quadrotor UAV on SE(3) Taeyoung Lee, Melvin Leok, and N. Harris McClamroch"""
+
+		self.waypoints_srv_cb() # check for new waypoints
+		# self.R = self.quaternion_rotation_matrix() # get rotation matrix
+		# b3 = self.R.dot(np.array([0,0,1]).reshape(3,1))
+		# b3 = np.array([0,0,1])
+		
+		self.t_curr_t = rospy.get_time()
+
+		self.error = np.array([[0],
+							   [0],
+							   [self.path_pos[2] - self.dr_pos.position.z]]).reshape(3,1)
+		self.e_sum += self.error
+
+		# self.error_vel = self.path_vel.reshape(3,1) - self.dr_vel # best performance
+		self.error_vel = (self.error[2] - self.error_p) / (self.t_curr_t - self.t_prev_t) 
+
+
+		# thrust_vector = self.tot_m*(self.g[2] + self.path_acc[2]) + self.Kp_thrust*self.error[2] + self.Kd_thrust*self.error_vel[2]
+		thrust_vector = self.tot_m*(self.g[2] + self.path_acc[2]) + self.Kp_thrust*self.error[2] + self.Kd_thrust*self.error_vel
+
+		# thrust_vector = self.tot_m*(self.g + self.path_acc) + self.Kp_thrust*self.error + self.Kd_thrust*self.error_vel
 		# thrust_vector = (self.g*self.tot_m + self.Kp_thrust*self.error + self.Kd_thrust*self.error_vel) * self.kf
 
 		# thrust = thrust_vector/(math.cos(self.EulerPose[0])*math.cos(self.EulerPose[1]))
-		thrust = (thrust_vector[0] * b3[0] + thrust_vector[1] * b3[1] + thrust_vector[2] * b3[2]) * self.kf # best performance
+		self.thrust = thrust_vector/(math.cos(self.EulerPose[0])*math.cos(self.EulerPose[1]))
+		# self.thrust = (thrust_vector[0] * b3[0] + thrust_vector[1] * b3[1] + thrust_vector[2] * b3[2]) * self.kf # best performance
+		# self.thrust = (thrust_vector[0] * b3[0] + thrust_vector[1] * b3[1] + thrust_vector[2] * b3[2]) # best performance
+		# thrust = (thrust_vector[0] * b3[0] + thrust_vector[1] * b3[1] + thrust_vector[2] * b3[2]) * self.kf # best performance
 
 		# Value needs to be between 0 - 1.0
-		self.att_targ.thrust = max(0.0,min(thrust,self.max_throttle)) # will never want it to be more than 0.5 with LabDrone
+		self.att_targ.thrust = max(0.0, min(self.thrust * self.kf, self.max_throttle)) # will never want it to be more than 0.5 with LabDrone
+		# self.att_targ.thrust = max(0.0,min(thrust,self.max_throttle)) # will never want it to be more than 0.5 with LabDrone
 		# print('thrust_vector:\n{0}\nthrust:{1}'.format(thrust_vector, self.att_targ.thrust))
 
+		# update
+		self.error_p = self.error[2]
+		self.t_prev_t = self.t_curr_t
+
+	def determine_throttle_new(self, throttle_timer):
+		self.waypoints_srv_cb() # check for new waypoints
+
+		# check if we are using the controller
+		self.alt_ctrl.use_ki = self.att_ctrl
+
+		# self.t_curr_t = rospy.get_time()
+		self.thrust = self.alt_ctrl.update_thrust(self.path_pos[2], self.dr_pos.position.z, self.EulerPose ,rospy.get_time())
+		# self.thrust = self.alt_ctrl.update_thrust(self.path_pos[2], self.dr_pos.position.z, rospy.get_time())/(math.cos(self.EulerPose[0])*math.cos(self.EulerPose[1]))
+		self.att_targ.thrust = max(0.0, min(self.thrust * self.kf, self.max_throttle)) # will never want it to be more than 0.5 with LabDrone
+		# self.att_targ.thrust = max(0.0, min(self.thrust, self.max_throttle)) # will never want it to be more than 0.5 with LabDrone
+
 	def determine_q(self):
 		""" Determine attitude commands based on feedback and feedforward methods"""
 		# Populate position vector and gamma (g). g is state space vector: [px,py,pz,theta,phi]
@@ -483,7 +611,8 @@ class Main:
 			 [0,0,0,-0.5*(L**2)*self.pl_m*self.load_angles.thetadot*math.sin(2*self.load_angles.theta) + 0.5*0.001*self.load_angles.thetadot*math.sin(2*self.load_angles.theta), -0.5*(L**2)*self.pl_m*self.load_angles.phidot*math.sin(2*self.load_angles.theta)],
 			 [0,0,0,0.5*(L**2)*self.pl_m*self.load_angles.phidot*math.sin(2*self.load_angles.theta),0]]
 
-		G = [[0],[0],[-9.81*self.tot_m],[L*9.81*self.pl_m*c_theta*s_phi],[L*9.81*self.pl_m*c_phi*s_theta]]
+		G = [[0],[0],[9.81*self.tot_m],[L*9.81*self.pl_m*c_theta*s_phi],[L*9.81*self.pl_m*c_phi*s_theta]]
+		# G = [[0],[0],[9.81*self.tot_m],[L*9.81*self.pl_m*c_theta*s_phi],[L*9.81*self.pl_m*c_phi*s_theta]] ##########
 
 		H = [[1,0,0,0,0],[0,1,0,0,0],[0,0,1,0,0]]
 
@@ -505,13 +634,14 @@ class Main:
 		C_c  = C[:3,3:5]
 	
 		# Determine alpha
+		# if not self.tether:
 		if self.tether:
 			# Constants from Eq. 49
-			Ka = -(D_a + C_a + self.K2[3:5,3:5])
+			# Ka = -(D_a + C_a + self.K2[3:5,3:5])
-			Kb = -G_a + np.dot(self.K2[3:5,3:5],self.PHI[1,:].reshape(2,1)) - np.dot(M_b,self.path_acc - np.dot(self.K1,self.dr_vel - self.path_vel)) 
+			# Kb = -G_a + np.dot(self.K2[3:5,3:5],self.PHI[1,:].reshape(2,1)) - np.dot(M_b,self.path_acc - np.dot(self.K1,self.dr_vel - self.path_vel)) 
-
+			Ka = -(D_a + C_a + self.K2tune*self.K2[3:5,3:5])
-			#TODO divide by M_a after finding a45_buff
+			Kb = -G_a + np.dot(self.K2tune*self.K2[3:5,3:5],self.PHI[1,:].reshape(2,1)) - np.dot(M_b,self.path_acc - np.dot(self.K1, self.dr_vel - self.path_vel)) 
-
+# 
 			M_aI = np.linalg.inv(M_a) # Inverse of M_a
 			# print('M_aI was found to be:\n{0}\n'.format(M_aI))
 
@@ -520,9 +650,10 @@ class Main:
 			self.a45_buff  = odeint(self.statespace,self.a45,self.t,args=(Ka,Kb,M_aI))
 			# self.a45_buff  = odeint(self.statespace,self.a45,self.t,args=(Ka,Kb,np.identity(2))) # spits out a 2,2 matrix
 			# print('a45_0 was found to be:\n{0}\na45 was found to be:\n{1}\n'.format(self.a45_0,self.a45))
+			# self.a45dot = np.array(self.statespace(self.a45,1,Ka,Kb,M_aI)) # Do not need 't' and that's why it is a 1
 			
 			# Update a45_0 to new a45. Need to transpose to column vector
-			self.a45_0 = self.a45_buff[0,:]
+			# self.a45_0 = self.a45_buff[0,:]
 			self.a45 = self.a45_buff[-1,:]
 			# self.a45 = M_aI.dot(self.a45_buff[-1,:])
 
@@ -530,8 +661,6 @@ class Main:
 
 			# Get alphadot_4:5
 			self.a45dot = np.array(self.statespace(self.a45,1,Ka,Kb,M_aI)) # Do not need 't' and that's why it is a 1
-			# self.a45dot_buff = self.statespace(self.a45,1,Ka,Kb,np.identity(2)) # Do not need 't' and that's why it is a 1
-			# self.a45dot = M_aI.dot(np.array([[self.a45dot_buff[0]],[self.a45dot_buff[1]]]))
 
 		else: # if no tether, alpha_4:5 = 0 
 			self.a45	= np.array([[0],[0]])
@@ -553,13 +682,14 @@ class Main:
 		dr_orientation     = [self.dr_pos.orientation.x, self.dr_pos.orientation.y, self.dr_pos.orientation.z, self.dr_pos.orientation.w]
 		dr_orientation_inv = quaternion_inverse(dr_orientation)
 		
-		if rospy.get_param('status/use_ctrl', False):
+		if self.att_ctrl:
-			z_int = self.z_sum + self.z1_p * self.dt + 0.5 * (self.z1 - self.z1_p) * self.dt
+			z_int = self.z_sum + self.z1 * self.dt
 		else:
 			z_int = np.zeros(3).reshape(3,1)
 
 		# path_acc = self.R.dot(self.path_acc)
-		path_acc = np.array([self.path_acc[0],self.path_acc[1],self.path_acc[2] + 9.81]).reshape(3,1) # need to add gravity for controller to work
+		# path_acc = np.array([self.path_acc[0],self.path_acc[1],self.path_acc[2]+9.81]).reshape(3,1) # need to add gravity for controller to work
+		path_acc = np.array([self.path_acc[0],self.path_acc[1],self.path_acc[2]]).reshape(3,1) # need to add gravity for controller to work
 
 		# Desired body-oriented forces
 		Fd = B + G[:3] + self.tot_m*path_acc - np.dot(self.Kd,z1_dot) - np.dot(self.Kp,self.z1) -  np.dot(self.Ki,z_int)
@@ -570,18 +700,20 @@ class Main:
 		self.z_sum = z_int
 
 		# Covert Fd into drone frame, do not need Fz since we have a seperate altitude controller  
+		# Fd_tf = quaternion_multiply(dr_orientation,quaternion_multiply([Fd[0],Fd[1],-self.thrust,0.0],dr_orientation_inv)) # Real part of Fd needs = 0
+		# Fd_tf = quaternion_multiply(dr_orientation,quaternion_multiply([Fd[0],Fd[1],self.thrust,0.0],dr_orientation_inv)) # Real part of Fd needs = 0
 		# Fd_tf = quaternion_multiply(dr_orientation,quaternion_multiply([Fd[0],Fd[1],Fd[2],0.0],dr_orientation_inv)) # Real part of Fd needs = 0
-		Fd_tf = quaternion_multiply(dr_orientation,quaternion_multiply([Fd[0],Fd[1],0.0,0.0],dr_orientation_inv)) # Real part of Fd needs = 0
+		Fd_tf = quaternion_multiply(dr_orientation,quaternion_multiply([Fd[0],Fd[1],0.0,0.0],dr_orientation_inv)) # Real part of Fd needs = 0, ignoring F_z since assuming acc_z = 0 
 
 		# rospy.loginfo('\nFd_tf:\n{0}'.format(Fd_tf))
 		
-		# Convert forces to attiude *EulerAng[2] = yaw = 0
+		# Convert forces to attitude *EulerAng[2] = yaw = 0
 		self.EulerAng[1] = -math.atan(-Fd_tf[0]/(self.tot_m*9.81)) # Pitch
 		self.EulerAng[0] = -math.atan(Fd_tf[1]*math.cos(self.EulerAng[1])/(self.tot_m*9.81)) # Roll	
 
 		q = quaternion_from_euler(self.EulerAng[0],self.EulerAng[1],self.EulerAng[2])
 
-		self.user_feedback(Fd,Fd_tf)
+		# self.user_feedback(Fd,Fd_tf)
 
 		# Populate msg variable
 		# Attitude control
@@ -593,24 +725,28 @@ class Main:
 		self.att_targ.orientation.z = q[2]
 		self.att_targ.orientation.w = q[3]
 		self.att_targ.body_rate.x = 0.0
+		# self.att_targ.body_rate.x = self.thrust # for debuggin
 		self.att_targ.body_rate.y = 0.0
 		self.att_targ.body_rate.z = 0.0
+		# self.att_targ.thrust = max(0.0,min(Fd_tf[2] * self.kf,self.max_throttle)) # will never want it to be more than 0.5 with LabDrone
  		
-	def user_feedback(self,F_noTransform, F_Transform):
+	def user_feedback(self, timer):
-		print('\n')
+	# def user_feedback(self,F_noTransform, F_Transform):
-		rospy.loginfo('thrust: %.6f' % self.att_targ.thrust)
+		rospy.loginfo('\n----------------------')
-		rospy.loginfo('roll: %.2f pitch: %.2f',self.EulerAng[0]*180/3.14,self.EulerAng[1]*180/3.14)
+		rospy.loginfo('thrust: %.6f' % self.thrust)
-		rospy.loginfo('Fd before transform: %.2f, %.2f, %.2f', F_noTransform[0], F_noTransform[1], F_noTransform[2])
+		rospy.loginfo('Attitude Mode: {0}'.format(self.att_ctrl))
-		rospy.loginfo('Fd after transform: %.2f, %.2f, %.2f', F_Transform[0],F_Transform[1],F_Transform[2])
+		rospy.loginfo('roll: %.2f', self.EulerAng[0]*180/3.14)
+		rospy.loginfo('pitch: %.2f', self.EulerAng[1]*180/3.14)
+		# rospy.loginfo('Fd before transform: %.2f, %.2f, %.2f', F_noTransform[0], F_noTransform[1], F_noTransform[2])
+		# rospy.loginfo('Fd after transform: %.2f, %.2f, %.2f', F_Transform[0],F_Transform[1],F_Transform[2])
+		# rospy.loginfo('a45 was found to be:{0}'.format(self.a45))
+		# rospy.loginfo('a45dot was found to be:{0}'.format(self.a45dot))
 
 	def publisher(self,pub_time):
 		# self.determine_throttle()
 		self.determine_q()
 		self.pub_att_targ.publish(self.att_targ)
 
-# --------------------------------------------------------------------------------#		
-# 							ALGORITHM ENDS 
-# --------------------------------------------------------------------------------#
 if __name__=="__main__":
 
 	# Initiate ROS node

src/ref_signalGen.py

@@ -15,17 +15,6 @@ from oscillation_ctrl.srv import WaypointTrack
 from geometry_msgs.msg import Pose, PoseStamped, Point, TwistStamped 
 from sensor_msgs.msg import Imu
 
-class DesiredPoint():
-	def __init__(self,x,y,z):
-		self.point = Point()
-		self.point.x = x
-		self.point.y = y
-		self.point.z = z
-		self.return_xd()
-
-	def return_xd(self):
-		return self.point
-
 class Main:
 
 	def __init__(self):                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      
@@ -56,7 +45,7 @@ class Main:
 		if rospy.get_param('status/pload'):
 			self.tetherL = self.get_tether()
 		else: self.tetherL = 0.0
-		rospy.loginfo('tether length: {0}'.format(self.tetherL))	
+		rospy.loginfo('Tether length: {0}'.format(self.tetherL))	
 
 # --------------------------------------------------------------------------------#		
 # 								SUBSCRIBERS 									  #
@@ -86,15 +75,17 @@ class Main:
 		self.EPS_I 		= np.zeros(9)	# Epsilon shapefilter
 		
 		# Constants for smooth path generation
-		self.w_tune		= 1.0 #  0.5 for Gaz. Increase this to increase aggresiveness of trajectory i.e. higher accelerations
+		self.w_tune		= 2 # 1.5 for lab #  1.5 for Gaz. Increase this to increase aggresiveness of trajectory i.e. higher accelerations
-		self.epsilon	= 0.7  # Damping ratio
+		# self.epsilon	= 0.8  # Damping ratio
+		self.epsilon	= 0.707  # Damping ratio
+		# self.epsilon	= 0.7  # Damping ratio
 		
 		# need exception if we do not have tether:
 		if self.tetherL == 0.0:
 			self.wn = self.w_tune
 		else:
 			self.wn	= math.sqrt(9.81/self.tetherL) 
-			# self.wn	= 1.51 # 1.01 is the imperically determined nat freq in gazebo
+			# self.wn	= 3 #1.51 # 1.01 is the imperically determined nat freq in gazebo
 		
 		self.wd	= self.wn*math.sqrt(1 - self.epsilon**2)
 		self.k4	= 4*self.epsilon*self.w_tune
@@ -103,7 +94,7 @@ class Main:
 		self.k1	= (self.w_tune**4)/(self.k4*self.k3*self.k2)
 		
 		# For saturation:
-		self.max  =	[0, 5, 2.5, 3]  #[0, 3, 1.5, 3] - lab testing
+		self.max  =	[0, 7, 5, 3]  #[0, 5, 3, 3] - lab testing
  
 		self.get_xd = rospy.ServiceProxy('/status/waypoint_tracker',WaypointTrack)		
 		self.empty_point = Point() # Needed to query waypoint_server
@@ -121,10 +112,16 @@ class Main:
 
 		# Constants for shape filter/ Input shaping
 		self.t1	= 0
-		self.t2	= math.pi/self.wd
+		# self.t2	= math.pi/self.wd
-		self.K	= math.exp(-self.epsilon*math.pi/math.sqrt(1 - self.epsilon**2))
+		# self.K	= math.exp(-self.epsilon*math.pi/math.sqrt(1 - self.epsilon**2))
-		self.A1	= 1/(1 + self.K)
+		# self.A1	= 1/(1 + self.K)
-		self.A2	= self.A1*self.K
+		# self.A2	= self.A1*self.K
+		# From Klausen 2015
+		self.t2	= math.pi/ self.wn
+		self.K	= 1
+		self.A1	= 0.4948
+		self.A2	= 0.5052
+		rospy.loginfo('Regarding input shaping: K = {0}, A1 = {1}, A2 = {2}, and t2 = {3}'.format(self.K, self.A1, self.A2, self.t2))	
 
 		# Need to determine how large of any array needs to be stored to use delayed functions
 		self.SF_delay_x = np.zeros([3,int(round(self.t2/self.dt))]) # Shapefilter delay; 4 - p,v,a since we do not need j
@@ -145,11 +142,12 @@ class Main:
 		# Constants for sigmoid
 		self.at 	= 3 	# acceleration theshold
 		self.pc 	= 0.7 # From Klausen 2017
+		# self.pc 	= 0.99 # Changed
 		self.sk		= self.SF_delay_x.shape[1]  # from Klausen 2017
 		self.ak 	= np.zeros(self.sk)
 		self.s_gain	= 0.0 # Gain found from sigmoid	
 
-		self.service_list = rosservice.get_service_list()
+		self.waypoint_service = False
 # --------------------------------------------------------------------------------#		
 # 								CALLBACK FUNCTIONS
 # --------------------------------------------------------------------------------#
@@ -158,6 +156,7 @@ class Main:
 	def loadAngles_cb(self,msg):
 		try:
 			self.load_angles = msg	
+			pass					
 		except ValueError:
 			pass
 
@@ -187,15 +186,24 @@ class Main:
 			pass
 
 	def waypoints_srv_cb(self):
-		if '/status/waypoint_tracker' in self.service_list:
+		if self.waypoint_service:
-			rospy.wait_for_service('/status/waypoint_tracker')
 			try:
 				resp = self.get_xd(False,self.empty_point)
 				self.xd = resp.xd
-			except ValueError:
+			except ValueError as e:
-				pass
+				rospy.loginfo('{0}'.format(e))			
 		else:
-			self.xd = DesiredPoint(0.0,0.0,2.0)
+			if '/status/waypoint_tracker' in rosservice.get_service_list(): # dont want to always call this service
+				# rospy.wait_for_service('/status/waypoint_tracker')
+				self.waypoint_service = True
+				try:
+					resp = self.get_xd(False,self.empty_point)
+					self.xd = resp.xd
+				except ValueError as e:
+					rospy.loginfo('{0}'.format(e))
+			else:
+				rospy.loginfo('Service not available, defaulting to save point:\nx = 0.0 m, y = 0.0 m, x = 2.0 m')
+				self.xd = Point(x=0.0,y=0.0,z=2.0)
 
 	def get_tether(self):
 		""" Get tether length based on set parameters"""
@@ -222,8 +230,6 @@ class Main:
 		pos,vel,acc,jer = y
 
 		error = xd - pos
-		# if abs(error) <= 0.2: error = 0.0 # works well without saturation
-
 		# Derivative of statesape array:		
 		dydt = [vel, acc, jer, self.k4*(self.k3*(self.k2*(self.k1*(error) - vel) - acc) - jer)]
 
@@ -330,13 +336,13 @@ class Main:
 				self.EPS_I[3*j]   = self.A1*self.x[-1,j] + self.A2*self.SF_delay_x[j,0] # Determine convolution (x)
 				self.EPS_I[3*j+1] = self.A1*self.y[-1,j] + self.A2*self.SF_delay_y[j,0] # Determine convolution (y)
  									   
-
 			self.delay(1,FEEDBACK) # Detemine feedback array
 			
-		self.sigmoid()        # Determine sigmoid gain
+		# self.sigmoid()        # Determine sigmoid gain
 		Eps_D = self.fback()  # Feedback Epsilon
 
 		self.EPS_F = self.EPS_I  + self.s_gain*Eps_D
+		# self.EPS_F = self.EPS_I  + Eps_D
 
 		# Populate msg with epsilon_final
 		self.ref_sig.header.stamp = rospy.Time.now()
@@ -354,11 +360,13 @@ class Main:
 		self.x0 = [self.x[1,0], self.x[1,1], self.x[1,2], self.x[1,3]]
 		self.y0 = [self.y[1,0], self.y[1,1], self.y[1,2], self.y[1,3]]
 		self.z0 = [self.z[1,0], self.z[1,1], self.z[1,2], self.z[1,3]]  
+		# self.x0 = [self.dr_pos.position.x, self.x[1,1], self.x[1,2], self.x[1,3]]
+		# self.y0 = [self.dr_pos.position.y, self.y[1,1], self.y[1,2], self.y[1,3]]
+		# self.z0 = [self.dr_pos.position.z, self.z[1,1], self.z[1,2], self.z[1,3]] 
 		
 		self.SF_idx += 1
 		self.FB_idx += 1
 
-
 	def fback(self):
 		""" Uses first element in feedback array as this is what get replaced in each iteration """
 		
@@ -383,7 +391,6 @@ class Main:
 		rospy.loginfo('Acc:    %.2f    %.2f    %.2f',self.EPS_F[6],self.EPS_F[7],self.EPS_F[8])
 		rospy.loginfo('_______________________')
 
-
 	def publisher(self,pub_tim):
 	
 		# Determine final ref signal
@@ -397,8 +404,10 @@ class Main:
 			self.waypointTracker_pub.publish(self.xd)
 
 			# Give user feedback on published message:
-			self.user_feeback()
+			# self.user_feeback()
-		except AttributeError:
+		except AttributeError as e:
+			rospy.loginfo('Error {0}'.format(e))
+
 			pass # catches case at beginning when self.xd is not properly initialized
 
 if __name__=="__main__":

src/wpoint_tracker.py

@@ -41,7 +41,7 @@ class Main:
 
 
 		# subscriber(s)	
-		rospy.Subscriber('/reference/waypoints',Point, self.waypoints_cb)		
+		# rospy.Subscriber('/reference/waypoints',Point, self.waypoints_cb)		
 		
 		# publisher(s)
 
@@ -55,11 +55,11 @@ class Main:
 		return self.resp
 
 	# Change desired position if there is a change
-	def waypoints_cb(self,msg):
+	# def waypoints_cb(self,msg):
-		try:
+	# 	try:
-			self.xd = msg
+	# 		self.xd = msg
-		except ValueError or TypeError:
+	# 	except ValueError or TypeError:
-			pass
+	# 		pass
 
 if __name__=="__main__":
 

srv/UseCtrl.srv

@@ -0,0 +1,6 @@
+bool state  # What the desired state of /status/use_ctrl should be
+bool query  # True if state is desired to be "query", False if client just wants to determine the state
+---
+bool success # Whether it was able to change modes
+bool result  # Current state of /status/use_ctrl
+