Updated alititude controller

.gitignore

@@ -1,8 +1,18 @@
-config/mocap*
+*.rviz
+setup.txt
+px4_setup/protobuf_install.txt
+config/mocapGazebo_params.yaml
+config/mocapLab_params.yaml
 launch/cortex_bridge.launch
+launch/development_*
+launch/esp_*
 launch/headless_spiri_mocap.launch
 launch/headless_spiri_with_tether_mocap.launch
 launch/mocap_*
+launch/replay.launch
+msg/Marker.msg
+msg/Markers.msg
+srv/BodyToWorld.srv
 src/development_*
 src/killswitch_client.py
 src/land_client.py
@@ -11,9 +21,6 @@ src/Mocap_*.py
 src/mocap_*
 src/segmented_tether.py
 src/segmented_tether_fast.py
-msg/Marker.msg
+
-msg/Markers.msg
+
-*.rviz
-setup.txt
-px4_setup/protobuf_install.txt
 

CMakeLists.txt

@@ -32,6 +32,7 @@ add_message_files(
  add_service_files(
    FILES
    WaypointTrack.srv
+   BodyToWorld.srv
  )
 
 ## Generate actions in the 'action' folder

config/mocapGazebo_params.yaml

@@ -1,14 +1,15 @@
 # Ros param when using Klausen Ctrl
-wait_time: 30 # parameter which can be set to run desired tests at a desired time
+wait_time: 15 # parameter which can be set to run desired tests at a desired time
 #drone_mass: 0.614 # weight with new battery
 drone_mass: 0.602
-pload_mass: 0.1  # mass of payload. Needs to be changed in spiri_with_tether file as well 
+
+pload: true
+pload_mass: 0.2  # mass of payload. 
 #pload_mass: 0.15   # Pload mass with 100g weight
-pload_mass: 0.10   # Pload mass with 50g weight
 #pload_mass: 0.05   # Pload mass with just basket
 #pload_mass: 0.25
-use_ctrl: false   # starts PX4 without attitude controller 
+change_mode: true  # choose whether to switch to oscillation damping controller 
-waypoints: {x:  0.0, y:  0.0, z:  5.0} # takeoff waypoints
+waypoints: {x:  0.0, y:  0.0, z:  2.0} # takeoff waypoints
 # 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]

config/mocapLab_params.yaml

@@ -6,15 +6,18 @@ wait_time: 30 # parameter which can be set to run desired tests at a desired tim
 drone_mass: 0.602
 
 #PLOAD MASSES
-#pload_mass: 0.15   # Pload mass with 100g weight
-pload_mass: 0.10   # Pload mass with 50g weight
-#pload_mass: 0.05   # Pload mass with just basket
 #pload_mass: 0.25
+#pload_mass: 0.15   # Pload mass with 100g 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: false
 
 # CTRL PARAMETER - should be false to start always
-use_ctrl: false   # starts PX4 without attitude controller 
+# use_ctrl: false   # starts PX4 without attitude controller 
+change_mode: false  # choose whether to switch to oscillation damping controller 
 
-waypoints: {x:  0.0, y:  0.0, z:  1.75} # takeoff waypoints
+waypoints: {x: -1.0, y: -1.0, z: 2.0} # takeoff waypoints
 
 # sets waypoints to run a square test
 square_x: [0.5,1,1,1,0.5,0,0]
@@ -22,6 +25,6 @@ square_y: [0,0,0.5,1,1,1,0.5]
 
 # HOVER THROTTLE - Changes depending on mass of pload and drone
 # hover_throttle: 0.32 # Hover throttle with pload 0.15 kg
-hover_throttle: 0.28 # Hover throttle with pload 0.10 kg
+#hover_throttle: 0.28 # Hover throttle with pload 0.10 kg
-# hover_throttle: 0.22 # Hover throttle with no pload
+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

config/spiri_params.yaml

@@ -2,6 +2,7 @@
 wait_time: 30     # parameter which can be set to run desired tests at a desired time
 drone_mass: 1.437 # mass of drone
 pload_mass: 0.25  # mass of payload
+pload: false
 use_ctrl: false   # starts PX4 without attitude controller - needs to be set to false to takeoff 
 waypoints: {x:  0.0, y:  0.0, z:  5.0} # takeoff waypoints
 # sets waypoints to run a square test

launch/oscillation_damp.launch

@@ -35,6 +35,7 @@ Launch file to use klausen oscillaton damping ctrl in Gazebo
 		pkg="oscillation_ctrl"
 		type="klausen_control.py"
 		name="klausenCtrl_node"
+		clear_params="true"
 	/>
 	<!-- PUBLISHES DESIRED COMMANDS -->
 	<node

src/klausen_control.py

@@ -20,30 +20,89 @@ from oscillation_ctrl.srv import WaypointTrack
 from geometry_msgs.msg 	  import Pose, Point, TwistStamped, PoseStamped
 from sensor_msgs.msg 	  import Imu
 from mavros_msgs.msg 	  import AttitudeTarget
+from collections          import deque
 
-class DesiredPoint():
+class DesiredPoint(Point):
 	def __init__(self,x,y,z):
 		self.x = x
 		self.y = y
 		self.z = z
 
+class LiveFilter:
+    """Base class for live filters.
+    """
+    def process(self, x):
+        # do not process NaNs
+        # if numpy.isnan(x):
+        #     return x
+
+        return self._process(x)
+
+    def __call__(self, x):
+        return self.process(x)
+
+    def _process(self, x):
+        raise NotImplementedError("Derived class must implement _process")
+
+class LiveLFilter(LiveFilter):
+    def __init__(self, b, a):
+        """Initialize live filter based on difference equation.
+
+        Args:
+            b (array-like): numerator coefficients obtained from scipy.
+            a (array-like): denominator coefficients obtained from scipy.
+            n (int): How many dimensions are we dealing with?
+        """
+        self.b = b
+        self.a = a
+        n = len(b)
+        # 3 because x,y,z
+        # self.n because that is how many terms we need
+        self._xs = deque(np.zeros(n), maxlen = n) # unfiltered data
+        self._ys = deque(np.zeros(n - 1), maxlen = n - 1) # filtered signal
+
+    def _process(self, x):
+        """
+        Filter incoming data with standard difference equations*:
+            a_0*y[n] = b_0*x[n] + b_1*x[n-1] + b_2*x[n-2] - a_1*y[n-1] - a_2*y[n-2]
+            *Changes depending on order of filter
+        """
+        # y = numpy.empty(3)
+        # self._xs.appendleft(x)
+        # # get every x val (idx = 0), then y val (idx=1), then z val (idx=2) to determine y
+        # for i in range(3):
+        #     last_x_vals = [val_x[i] for val_x in self._xs]
+        #     last_y_vals = [val_y[i] for val_y in self._ys]
+        #     y[i] = numpy.dot(self.b, last_x_vals) - numpy.dot(self.a[1:], last_y_vals)
+
+        # y = y / self.a[0]
+        # self._ys.appendleft(y)
+        
+        # return y
+
+        self._xs.appendleft(x)
+        y = np.dot(self.b, self._xs) - np.dot(self.a[1:], self._ys)
+        y = y / self.a[0]
+        self._ys.appendleft(y)
+
+        return y
 class Main:
 
 	def __init__(self):
 
 		# rate(s)
-		rate = 25 # rate for the publisher method, specified in Hz -- 50 Hz #25
+		rate = 20 # rate for the publisher method, specified in Hz -- 50 Hz #25
 
 		# initialize variables
 		
 		# time variables
 		self.dt 	= 1.0/rate
 		self.tmax	= self.dt
-		self.n		= self.tmax/self.dt + 1
+		self.n		= self.tmax/self.dt + 9
 		self.t 		= np.linspace(0, self.tmax, self.n) # Time array
 		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()
+			self.tstart = rospy.get_time()
 		
 		# Msgs types
 		self.vel_data	 = TwistStamped() # This is needed to get drone vel from gps
@@ -55,14 +114,14 @@ class Main:
 		self.att_targ    = AttitudeTarget()	# used to send quaternion attitude commands
 		self.load_angles = LoadAngles()
 		self.EulerAng	 = [0,0,0] # Will find the euler angles, and then convert to q
-		self.EulerPose = [0,0,0]
+		self.EulerPose   = [0,0,0]
 
 		# Service var
 		self.get_xd = rospy.ServiceProxy('/status/waypoint_tracker',WaypointTrack)		
 		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	= 0 # 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]]) 
@@ -72,10 +131,14 @@ class Main:
 
 		# Tether var - Check if current method is used
 		# Get tether length
-		self.param_exists = False
+		if rospy.get_param('status/pload', False):
-		self.tetherL = self.get_tether()
+			self.tetherL = self.get_tether()
-		self.tether = True if self.tetherL > 0.01 else False
+			self.tether = True
-		# Check if tether was correctly detected
+		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
@@ -88,18 +151,19 @@ class Main:
 		self.a45_0	  = np.zeros(2)
 		self.alpha	  = np.zeros([5,1])
 		self.alphadot = np.zeros([5,1])
-		self.a45	  = self.alpha[3:5]
+		self.a45	  = np.zeros(2)
 		self.a45dot	  = np.array([[0],[0]])
 
 		# Error terms
 		self.z1		= np.zeros([3,1]) # dr_pos - ref_sig_pos
 		self.z2 	= np.zeros([5,1]) # [vx;vy;vz;thetadot;phidot] - alpha
+		self.z_sum  = np.zeros([3,1])
 	
 		# Tuning gains
-		self.K1	= np.identity(3)
+		self.K1	= np.identity(3)*0.75 # 0.75
-		self.K2	= np.identity(5)
+		self.K2	= np.identity(5)*0.35 # 0.35
-		self.tune	  = 0.1 # Tuning parameter
+		self.tune = 1 # Tuning parameter 1
-		self.dist	  =	np.array([0,0,0,0.1,0.1]) # Wind disturbance 
+		self.dist =	np.array([0,0,0,0.1,0.1]) # 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]
@@ -107,9 +171,12 @@ class Main:
 
 		# PD Thrust Controller terms
 		# gains for thrust PD Controller
-		self.Kp_thrust 	= 1.5 
+		### Failed when both gains were set to 1.0
-		self.Kd_thrust 	= 1.0
+		##### Works better when Kp_thrust is higher? Try 10
+		self.Kp_thrust 	= 3.5 # 1.5 for lab # 2.5 for gazebo 
+		self.Kd_thrust 	= 2.5 # 1.5 for lab # 2.5 for gazebo 2.0 if no tether?
 		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]])
 		# Get scaling thrust factor, kf
 		self.kf = self.get_kf()
@@ -124,15 +191,16 @@ class Main:
 		rospy.Subscriber('/mavros/local_position/pose', PoseStamped, self.dronePos_cb)
 		rospy.Subscriber('/mavros/local_position/velocity_body', TwistStamped, self.droneVel_cb)
 		rospy.Subscriber('/mavros/imu/data', Imu, self.droneAcc_cb)
-		
 # --------------------------------------------------------------------------------#		
 # 									PUBLISHERS
 # --------------------------------------------------------------------------------#
-
 		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) #f this was 5.0 rate before
+		self.pub_time  = rospy.Timer(rospy.Duration(1.0/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
+
 
 # --------------------------------------------------------------------------------#		
 # 								SETUP PARAM METHODS
@@ -142,6 +210,7 @@ class Main:
 		""" Get tether length based on set parameters"""
 		param_exists = False
 		while param_exists == False:
+			rospy.loginfo('Waiting for tether length...')
 			if rospy.has_param('status/tether_length'):
 				tether_length	= rospy.get_param('status/tether_length') # Tether length
 				rospy.loginfo('TETHER LENGTH IN CONFG FILE')
@@ -167,6 +236,7 @@ class Main:
 		if self.tether:
 			param_exists = False
 			while param_exists == False:
+				rospy.loginfo('Waiting for pload mass...')
 				if rospy.has_param('status/pload_mass'):
 					pl_m	= rospy.get_param('status/pload_mass') # wait time
 					rospy.loginfo('PLOAD MASS FOUND')
@@ -183,11 +253,23 @@ class Main:
 		
 	def get_kf(self):
 		if rospy.has_param('status/hover_throttle'):
+
+			rospy.loginfo('total mass: %.3f',self.tot_m)
+
 			hover_throttle = rospy.get_param('status/hover_throttle')
+			rospy.loginfo('Using hover throttle from config %.3f',hover_throttle)
+			self.max_throttle = 0.5
 		else:
-			hover_throttle = (self.tot_m*9.81 + 11.2)/34.84 # linear scaling depending on dependent on mass
+
+			rospy.loginfo('total mass: %.3f',self.tot_m)
+
+			hover_throttle = (self.tot_m*9.81 + 9.81)/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)
+			self.max_throttle = 0.8
 		kf = hover_throttle/(self.tot_m*9.81)
+		rospy.set_param('status/motor_constant',kf)
 		return kf
 
 	# Check if vehicle has tether
@@ -207,44 +289,52 @@ class Main:
 			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]])
-		except ValueError:
+
-			pass
+			# self.PHI = np.array([[0.0,0.0],[0.0,0.0]])
+
+			# print('PHI:\n{0}'.format(self.PHI))
+			# print('Angles:\n{0}'.format(self.PHI[0,:]))
+			# print('Ang_dot:\n{0}'.format(self.PHI[1,:]))
+
+		except ValueError as e:
+			rospy.loginfo('Load angles callback failed due to: {0}'.format(e))
 
 	# Callback drone pose
 	def dronePos_cb(self,msg): 
+		""" Subscribed to /mavros/local_position/pose, gets PoseStamped msgs """
 		try:
 			self.dr_pos = msg.pose
 			self.EulerPose = self.convert2eul(self.dr_pos.orientation)
 			# self.dr_pos = msg.drone_pos
-		except ValueError:
+		except ValueError as e:
-			pass
+			rospy.loginfo('Drone pos callback failed due to: {0}'.format(e))
 
-	# Callback for drone velocity ####### IS THIS ON? ##########
+	# Callback for drone velocity
 	def droneVel_cb(self,msg):
 		try:
-			self.dr_vel 	= np.array([[msg.twist.linear.x],[msg.twist.linear.y],[msg.twist.linear.z]])
+			self.dr_vel 	= np.array([msg.twist.linear.x,msg.twist.linear.y,msg.twist.linear.z]).reshape(3,1)
 			self.dr_angVel	= np.array([[msg.twist.angular.x],[msg.twist.angular.y],[msg.twist.angular.z]])
 
-		except ValueError or TypeError:
+		except (ValueError or TypeError) as e:
-			pass
+			rospy.loginfo('Drone vel callback failed due to: {0}'.format(e))
 
 	# Callback for drone accel from IMU data
 	def droneAcc_cb(self,msg):
 		try:
 			self.dr_acc = np.array([[msg.linear_acceleration.x],[msg.linear_acceleration.y],[msg.linear_acceleration.z]])
 
-		except ValueError:
+		except ValueError as e:
-			pass
+			rospy.loginfo('Drone accel. callback failed due to: {0}'.format(e))
 
 	# Callback reference signal
 	def refsig_cb(self,msg):
 		try:
 			self.path_pos = np.array([[msg.position.x],[msg.position.y],[msg.position.z]])
 			self.path_vel = np.array([[msg.velocity.x],[msg.velocity.y],[msg.velocity.z]])
-			self.path_acc =	np.array([[msg.acceleration.x],[msg.acceleration.y],[msg.acceleration.z]]) #TODO
+			self.path_acc =	np.array([[msg.acceleration.x],[msg.acceleration.y],[msg.acceleration.z]])
 
-		except ValueError:
+		except ValueError as e:
-			pass
+			rospy.loginfo('Reference signal callback failed due to: {0}'.format(e))
 
 	def waypoints_srv_cb(self):
 		if '/status/waypoint_tracker' in self.service_list:
@@ -260,12 +350,15 @@ class Main:
 # ---------------------------------ODE SOLVER-------------------------------------#
 	def statespace(self,y,t,Ka,Kb,Kc):
 		# Need the statespace array:
-		a1,a2 = y
+		_y = np.array(y).reshape(2,1)
-		K = np.dot(Ka,[[a1],[a2]]) + Kb
+		# print('Ka:\n{0}\nKb:\n{1}'.format(Ka, Kb))		
+
+		K = np.dot(Ka,_y) + Kb # Kb should be 2x1
 
 		# Derivative of statespace array:
-		dydt = np.dot(Kc,K)		
+		dydt = np.dot(Kc,K)
-		dydt = [dydt[0][0], dydt[1][0]]	# og dydt is list of arrays, need list of floats	
+		# print('dydt:\n{0}'.format(dydt))		
+		dydt = [dydt[0][0], dydt[1][0]]
 		
 		return dydt
 # --------------------------------------------------------------------------------#
@@ -314,7 +407,7 @@ class Main:
 		Convers quaternion in pose message into euler angles
 
 		Input
-		:param Q: orientatiom pose message
+		:param Q: orientation pose message
 
 		Output
 		:return:  Array of euler angles
@@ -340,26 +433,29 @@ class Main:
 		euler = [roll,pitch,yaw]
 		return euler
 
-	def determine_throttle(self):
+	def determine_throttle(self,throttle_timer):
-		# thrust as per Geometric Tracking Control of a Quadrotor UAV on SE(3)
+		""" Thrust as per Geometric Tracking Control of a Quadrotor UAV on SE(3) Taeyoung Lee, Melvin Leok, and N. Harris McClamroch"""
-		# Taeyoung Lee, Melvin Leok, and N. Harris McClamroch
+
-		self.waypoints_srv_cb()
+		self.waypoints_srv_cb() # check for new waypoints
-		self.R = self.quaternion_rotation_matrix()
+		self.R = self.quaternion_rotation_matrix() # get rotation matrix
+		b3 = self.R.dot(np.array([0,0,1]).reshape(3,1))
+
 		self.error = np.array([ [self.path_pos[0] - self.dr_pos.position.x],
 								[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 - self.R.dot(self.dr_vel)
+		
+		self.error_vel = self.path_vel.reshape(3,1) - self.dr_vel # best performance
 
-		# determine Rotation Matrix
+		thrust_vector = self.tot_m*self.g + self.Kp_thrust*self.error + self.Kd_thrust*self.error_vel + self.tot_m*self.path_acc
-		self.R_e3 =  np.array([[self.R.T[2][0]],[self.R.T[2][1]],[self.R.T[2][2]]])
+		# thrust_vector = (self.g*self.tot_m + self.Kp_thrust*self.error + self.Kd_thrust*self.error_vel) * self.kf
 
-		thrust_vector = (9.81*self.tot_m + self.Kp_thrust*self.error[2] + self.Kd_thrust*self.error_vel[2] - self.tot_m*self.path_acc[2])*self.kf
+		# thrust = thrust_vector/(math.cos(self.EulerPose[0])*math.cos(self.EulerPose[1]))
-		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
 
 		# Value needs to be between 0 - 1.0
-		self.att_targ.thrust = max(0.0,min(thrust,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
-
+		# print('thrust_vector:\n{0}\nthrust:{1}'.format(thrust_vector, self.att_targ.thrust))
 
 	def determine_q(self):
 		""" Determine attitude commands based on feedback and feedforward methods"""
@@ -378,13 +474,13 @@ class Main:
 		M = [[self.tot_m, 0, 0, 0, L*self.pl_m*c_theta],
 			 [0, self.tot_m, 0, -L*self.pl_m*c_phi*c_theta, L*self.pl_m*s_phi*s_theta],
 			 [0, 0, self.tot_m, -L*self.pl_m*c_theta*s_phi, -L*self.pl_m*c_phi*s_theta],
-			 [0, -L*self.pl_m*c_phi*c_theta,-L*self.pl_m*c_theta*s_phi, (L**2)*self.pl_m*c_theta**2 + 0.01*s_theta**2, 0],
+			 [0, -L*self.pl_m*c_phi*c_theta,-L*self.pl_m*c_theta*s_phi, (L**2)*self.pl_m*c_theta**2 + 0.001*s_theta**2, 0],
 			 [L*self.pl_m*c_theta, L*self.pl_m*s_phi*s_theta, -L*self.pl_m*c_phi*s_theta, 0, L**2*self.pl_m]]
 
 		C = [[0,0,0,0,-L*self.load_angles.thetadot*self.pl_m*s_theta],
 			 [0,0,0,L*self.pl_m*(self.load_angles.phidot*c_theta*s_phi + self.load_angles.thetadot*c_phi*s_theta), L*self.pl_m*(self.load_angles.phidot*c_phi*s_theta  + self.load_angles.thetadot*c_theta*s_phi)],
 			 [0,0,0,-L*self.pl_m*(self.load_angles.phidot*c_phi*c_theta - self.load_angles.thetadot*s_phi*s_theta),-L*self.pl_m*(self.load_angles.thetadot*c_phi*c_theta - self.load_angles.phidot*s_phi*s_theta)],
-			 [0,0,0,-0.5*(L**2)*self.pl_m*self.load_angles.thetadot*math.sin(2*self.load_angles.theta) + 0.5*0.01*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.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]]
@@ -407,60 +503,81 @@ class Main:
 		M_b  = M[3:5,:3] # M_4:5,1:3 - rows 4 to 5 and columns 1 to 3
 		M_c	 = M[:3,3:5] # M_1:3,4:5 - rows 1 to 3 and columns 4 to 5
 		C_c  = C[:3,3:5]
-
+	
-		# Constants from Eq. 49
-		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]) - np.dot(M_b,self.path_acc - np.dot(self.K1,self.dr_vel - self.path_vel))
-		
 		# Determine alpha
-		if self.tether: 
+		if self.tether:
+			# Constants from Eq. 49
+			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)) 
+
+			#TODO divide by M_a after finding a45_buff
+
 			M_aI = np.linalg.inv(M_a) # Inverse of M_a
+			# print('M_aI was found to be:\n{0}\n'.format(M_aI))
 
 			# SOLVE ODE (get alpha)
-			# Populate buffer
+			# Populate buffer 
-			self.a45_buff  = odeint(self.statespace,self.a45_0,self.t,args=(Ka,Kb,M_aI))
+			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))
 			
 			# Update a45_0 to new a45. Need to transpose to column vector
-			self.a45_0 = self.a45_buff[-1,:]
+			self.a45_0 = self.a45_buff[0,:]
-			self.a45   = np.array([[self.a45_0[0]],[self.a45_0[1]]])
+			self.a45 = self.a45_buff[-1,:]
+			# self.a45 = M_aI.dot(self.a45_buff[-1,:])
+
+			# print('a45_0 was found to be {0}'.format(self.a45_0))
 
 			# Get alphadot_4:5
-			self.a45dot = self.statespace(self.a45_0,1,Ka,Kb,M_aI) # Do not need 't' and that's why it is a 1
+			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 = np.array([[self.a45dot[0]],[self.a45dot[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]])
 			self.a45dot = np.array([[0],[0]])
 
-		# Determine a_1:3
-		self.alpha[:3] = self.path_vel - np.dot(self.K1,p - self.path_pos)
-		self.alpha[3:5] = self.a45
-
 		# populate error terms
-		self.z1 = p - self.path_pos
+		self.z1 = p.reshape(3,1) - self.path_pos.reshape(3,1)
-		z1_dot	= self.dr_vel - self.path_vel
+		# z1_dot	= self.dr_vel - self.path_vel
+		z1_dot	= self.R.dot(-self.path_vel) + self.dr_vel
 		self.z2 = g - self.alpha
 
-		B = np.dot(C_c,self.a45) + np.dot(M_c,self.a45dot)
+		# Determine alpha
+		self.alpha[:3] = self.path_vel - np.dot(self.K1,self.z1)
+		self.alpha[3:5] = self.a45.reshape(2,1)
 
+		# determine stability factor
+		B = np.dot(C_c,self.a45.reshape(2,1)) + np.dot(M_c,self.a45dot.reshape(2,1))
 
 		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):
+			z_int = self.z_sum + self.z1_p * self.dt + 0.5 * (self.z1 - self.z1_p) * 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
+
 		# Desired body-oriented forces
-		Fd = B + G[:3] + self.tot_m*self.dr_acc - np.dot(self.Kd,z1_dot) - np.dot(self.Kp,self.z1) -  np.dot(self.Ki,0.5*self.dt*(self.z1 - self.z1_p))
+		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)
+		# rospy.loginfo('\nFd:\n{0}'.format(Fd))
 		
 		# Update self.z1_p for integration		
 		self.z1_p = self.z1
+		self.z_sum = z_int
 
-		# Covert Fd into drone frame
+		# Covert Fd into drone frame, do not need Fz since we have a seperate altitude controller  
-		Fd_tf = Fd
+		# 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],Fd[2],0.0],dr_orientation_inv)) # Real part of Fd needs = 0
+		# rospy.loginfo('\nFd_tf:\n{0}'.format(Fd_tf))
 		
 		# Convert forces to attiude *EulerAng[2] = yaw = 0
-		self.EulerAng[1] = math.atan(Fd_tf[0]/(self.drone_m*9.81)) # Pitch
+		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.drone_m*9.81)) # Roll	
+		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])
 
@@ -470,11 +587,14 @@ class Main:
 		# Attitude control
 		self.att_targ.header.stamp = rospy.Time.now()
 		self.att_targ.header.frame_id = '/map'
-		self.att_targ.type_mask = 1|2|4 
+		self.att_targ.type_mask = 1|2|4 # ignore body rate command
 		self.att_targ.orientation.x = q[0] 
 		self.att_targ.orientation.y = q[1]
 		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.y = 0.0
+		self.att_targ.body_rate.z = 0.0
 
 	def user_feedback(self,F_noTransform, F_Transform):
 		print('\n')
@@ -484,8 +604,8 @@ class Main:
 		rospy.loginfo('Fd after transform: %.2f, %.2f, %.2f', F_Transform[0],F_Transform[1],F_Transform[2])
 
 	def publisher(self,pub_time):
+		# self.determine_throttle()
 		self.determine_q()
-		self.determine_throttle()
 		self.pub_att_targ.publish(self.att_targ)
 
 # --------------------------------------------------------------------------------#		

src/path_follow.cpp

@@ -37,25 +37,11 @@ void att_targ_cb(const mavros_msgs::AttitudeTarget::ConstPtr& msg){
 
 // Cb to recieve pose information
 geometry_msgs::PoseStamped buff_pose;
-geometry_msgs::Quaternion q_init;
 geometry_msgs::PoseStamped mavPose;
-bool gps_read = false;
 double current_altitude;
 void mavPose_cb(const geometry_msgs::PoseStamped::ConstPtr& msg){
 	mavPose = *msg;
 	current_altitude = mavPose.pose.position.z;
-	// while(gps_read == false){
-	// 	q_init = mavPose.pose.orientation;
-	// 	if(q_init.x == 0.0 && q_init.w == 0.0){
-	// 		ROS_INFO("Waiting...");
-	// 	} else {
-	// 		buff_pose.pose.orientation.x = q_init.x;
-	// 		buff_pose.pose.orientation.y = q_init.y;
-	// 		buff_pose.pose.orientation.z = q_init.z;
-	// 		buff_pose.pose.orientation.w = q_init.w;
-	// 		gps_read = true;
-	// 	}
-	// }
 }
 
 int main(int argc, char **argv)
@@ -90,8 +76,6 @@ int main(int argc, char **argv)
 		("mavros/cmd/arming");
     ros::ServiceClient set_mode_client = nh.serviceClient<mavros_msgs::SetMode>
     	("mavros/set_mode");
-    ros::ServiceClient takeoff_cl = nh.serviceClient<mavros_msgs::CommandTOL>
-		("mavros/cmd/takeoff");
 	ros::ServiceClient waypoint_cl = nh.serviceClient<oscillation_ctrl::WaypointTrack>
 		("status/waypoint_tracker");
 

src/ref_signalGen.py

@@ -17,9 +17,14 @@ from sensor_msgs.msg import Imu
 
 class DesiredPoint():
 	def __init__(self,x,y,z):
-		self.x = x
+		self.point = Point()
-		self.y = y
+		self.point.x = x
-		self.z = z
+		self.point.y = y
+		self.point.z = z
+		self.return_xd()
+
+	def return_xd(self):
+		return self.point
 
 class Main:
 
@@ -44,12 +49,15 @@ class Main:
 		self.ref_sig	 = RefSignal()	  # Smooth Signal
 		self.load_angles = LoadAngles()
 
-		self.has_run	= 0		# Bool to keep track of first run instance
 		self.dr_pos 	= Pose()
 		self.dr_vel		= self.vel_data.twist.linear
 		self.dr_acc		= self.imu_data.linear_acceleration
 	
-		self.tetherL = self.get_tether()		
+		if rospy.get_param('status/pload'):
+			self.tetherL = self.get_tether()
+		else: self.tetherL = 0.0
+		rospy.loginfo('tether length: {0}'.format(self.tetherL))	
+
 # --------------------------------------------------------------------------------#		
 # 							SUBSCRIBERS 										  #
 # --------------------------------------------------------------------------------#
@@ -78,7 +86,7 @@ class Main:
 		self.EPS_I 		= np.zeros(9)	# Epsilon shapefilter
 		
 		# Constants for smooth path generation
-		self.w_tune		= 1    # Increase this to increase aggresiveness of trajectory i.e. higher accelerations
+		self.w_tune		= 1.0 #  0.5 for Gaz. Increase this to increase aggresiveness of trajectory i.e. higher accelerations
 		self.epsilon	= 0.7  # Damping ratio
 		
 		# need exception if we do not have tether:
@@ -86,16 +94,16 @@ class Main:
 			self.wn = self.w_tune
 		else:
 			self.wn	= math.sqrt(9.81/self.tetherL)
-			# self.wn	= 7
+			# self.wn	= 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
 		self.k3	= ((2 + 4*self.epsilon**2)*self.w_tune**2)/self.k4
 		self.k2	= (4*self.epsilon*self.w_tune**3)/(self.k4*self.k3)
-		self.k1	= (self.w_tune**4)/(self.k2*self.k3*self.k4)
+		self.k1	= (self.w_tune**4)/(self.k4*self.k3*self.k2)
 		
 		# For saturation:
-		self.max  =	[0, 3, 1.5, 3]  #[0, 5, 1.5, 3]
+		self.max  =	[0, 5, 2.5, 3]  #[0, 3, 1.5, 3] - lab testing
  
 		self.get_xd = rospy.ServiceProxy('/status/waypoint_tracker',WaypointTrack)		
 		self.empty_point = Point() # Needed to query waypoint_server
@@ -119,8 +127,8 @@ class Main:
 		self.A2	= self.A1*self.K
 
 		# Need to determine how large of any array needs to be stored to use delayed functions
-		self.SF_delay_x = np.zeros([4,int(round(self.t2/self.dt))]) # Shapefilter delay; 4 - p,v,a,j
+		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
-		self.SF_delay_y = np.zeros([4,int(round(self.t2/self.dt))])
+		self.SF_delay_y = np.zeros([3,int(round(self.t2/self.dt))])
 
 		self.phi_fb     = np.zeros(int(round(self.td/self.dt))) # Feedback delay
 		self.phi_vel_fb = np.zeros(int(round(self.td/self.dt))) 
@@ -196,7 +204,7 @@ class Main:
 			if rospy.has_param('status/tether_length'):
 				tether_length	= rospy.get_param('status/tether_length') # Tether length
 				self.param_exists = True
-			elif rospy.get_time() - self.tstart >= 15:
+			elif rospy.get_time() - self.tstart >= 3:
 				tether_length = 0.0
 				break
 		return tether_length
@@ -214,11 +222,11 @@ class Main:
 		pos,vel,acc,jer = y
 
 		error = xd - pos
-		if abs(error) <= 0.01: error = 0.0
+		# if abs(error) <= 0.2: error = 0.0 # works well without saturation
 
 		# Derivative of statesape array:		
-		dydt = [vel, acc, jer, 
+		dydt = [vel, acc, jer, self.k4*(self.k3*(self.k2*(self.k1*(error) - vel) - acc) - jer)]
-						self.k4*(self.k3*(self.k2*(self.k1*(error) - vel) - acc) - jer)]
+
 		return dydt
 
 	# Sigmoid
@@ -261,11 +269,11 @@ class Main:
 				# First, fill up the delay array
 				self.theta_fb[self.FB_idx] 	   = self.load_angles.theta
 				self.theta_vel_fb[self.FB_idx] = self.load_angles.thetadot
-				self.theta_acc_fb[self.FB_idx] = self.load_angles.thetadot - self.theta_vel_fb[self.FB_idx-1]
+				self.theta_acc_fb[self.FB_idx] = (self.load_angles.thetadot - self.theta_vel_fb[self.FB_idx-1])/self.dt
 
 				self.phi_fb[self.FB_idx] 	   = self.load_angles.phi
 				self.phi_vel_fb[self.FB_idx]   = self.load_angles.phidot
-				self.phi_acc_fb[self.FB_idx]   = self.load_angles.phidot - self.phi_vel_fb[self.FB_idx-1]
+				self.phi_acc_fb[self.FB_idx]   = (self.load_angles.phidot - self.phi_vel_fb[self.FB_idx-1])/self.dt
 
 			else:
 				# once array is filled, need to shift values w/ latest value at end
@@ -277,13 +285,13 @@ class Main:
 				self.phi_vel_fb[:] = np.roll(self.phi_vel_fb[:],-1)
 				self.phi_acc_fb[:] = np.roll(self.phi_acc_fb[:],-1)			
 		
-				self.theta_fb[len(self.theta_fb)-1] 	= self.load_angles.theta # change final value
+				self.theta_fb[-1] 	  = self.load_angles.theta # change final value
-				self.theta_vel_fb[len(self.theta_fb)-1] = self.load_angles.thetadot
+				self.theta_vel_fb[-1] = self.load_angles.thetadot
-				self.theta_acc_fb[len(self.theta_fb)-1] = self.load_angles.thetadot - self.theta_vel_fb[len(self.theta_fb)-1]
+				self.theta_acc_fb[-1] = (self.load_angles.thetadot - self.theta_vel_fb[-1])/self.dt
 
-				self.phi_fb[len(self.phi_fb)-1] 		= self.load_angles.phi
+				self.phi_fb[-1] 	= self.load_angles.phi
-				self.phi_vel_fb[len(self.theta_fb)-1]   = self.load_angles.phidot
+				self.phi_vel_fb[-1] = self.load_angles.phidot
-				self.phi_acc_fb[len(self.theta_fb)-1]   = self.load_angles.phidot - self.phi_vel_fb[len(self.theta_fb)-1]
+				self.phi_acc_fb[-1] = (self.load_angles.phidot - self.phi_vel_fb[-1])/self.dt
 
 		else:
 			print('No delay')
@@ -308,6 +316,7 @@ class Main:
 			self.y[:,i] = np.clip(self.y[:,i], a_min = -self.max[i], a_max = self.max[i])
 			self.z[:,i] = np.clip(self.z[:,i], a_min = -self.max[i], a_max = self.max[i])
 			
+		# convolution	
 		for j in range(3): # 3 is due to pos, vel, acc. NOT due x, y, z
 
 			self.delay(j,SHAPEFIL) # Determine the delay (shapefilter) array
@@ -319,18 +328,18 @@ class Main:
 				
 			else:
 				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.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
-		EPS_D = self.fback()  # Feedback Epsilon
+		Eps_D = self.fback()  # Feedback Epsilon
 
-		self.EPS_F = self.EPS_I + self.s_gain*EPS_D
+		self.EPS_F = self.EPS_I  + self.s_gain*Eps_D
 
 		# Populate msg with epsilon_final
 		self.ref_sig.header.stamp = rospy.Time.now()
-		#self.ref_sig.type_mask  = 2 # Need typemask = 2 to use correct attitude controller - Jaeyoung Lin
 		self.ref_sig.position.x = self.EPS_F[0]
 		self.ref_sig.position.y = self.EPS_F[1]
 		self.ref_sig.position.z = self.EPS_F[2]
@@ -341,9 +350,10 @@ class Main:
 		self.ref_sig.acceleration.y	= self.EPS_F[7]
 		self.ref_sig.acceleration.z	= self.EPS_F[8]
 		
+		# update initial states
 		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.z0 = [self.z[1,0], self.z[1,1], self.z[1,2], self.z[1,3]]  
 
 		self.SF_idx += 1
 		self.FB_idx += 1
@@ -360,9 +370,9 @@ class Main:
 		ydotr  = -self.Gd*self.tetherL*math.cos(self.phi_fb[0])*self.phi_vel_fb[0]
 		yddotr =  self.Gd*self.tetherL*math.sin(self.phi_fb[0])*self.phi_vel_fb[0]**2 + math.cos(self.phi_fb[0])*self.phi_acc_fb[0]
 
-		EPS_D  = np.array([xr,yr,0,xdotr,ydotr,0,xddotr,yddotr,0])
+		Eps_D  = np.array([xr,yr,0,xdotr,ydotr,0,xddotr,yddotr,0])
 
-		return EPS_D 
+		return Eps_D 
 
 	def user_feeback(self):
 
@@ -376,17 +386,20 @@ class Main:
 
 	def publisher(self,pub_tim):
 	
-		# Determine final ref signal		
+		# Determine final ref signal
-		self.convo()
+		try:		
+			self.convo()
 
-		# Publish reference signal
+			# Publish reference signal
-		self.pub_path.publish(self.ref_sig)
+			self.pub_path.publish(self.ref_sig)
 
-		# Publish what the setpoints are
+			# Publish what the setpoints are
-		self.waypointTracker_pub.publish(self.xd)
+			self.waypointTracker_pub.publish(self.xd)
 
-		# Give user feedback on published message:
+			# Give user feedback on published message:
-		self.user_feeback()
+			self.user_feeback()
+		except AttributeError:
+			pass # catches case at beginning when self.xd is not properly initialized
 
 if __name__=="__main__":