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oscillation_ctrl
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Controller now uses MAVROS for localization

This commit is contained in:
cesar.alejnadro 2022-04-13 14:41:13 -03:00
parent 08bcb9fbc9
commit ee7ec83869
5 changed files with 149 additions and 178 deletions
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15
launch/klausen_dampen.launch
View File

@ -25,13 +25,12 @@ Launch file to use klausen oscillaton damping ctrl in Gazebo
pkg="oscillation_ctrl" pkg="oscillation_ctrl"
type="LinkState.py" type="LinkState.py"
name="linkStates_node" name="linkStates_node"
launch-prefix="xterm -fa 'Monospace' -fs 18 -e" launch-prefix="xterm -e"
/> />
<node <node
pkg="oscillation_ctrl" pkg="oscillation_ctrl"
type="wpoint_tracker.py" type="wpoint_tracker.py"
name="waypoints_server" name="waypoints_server"
launch-prefix="xterm -e"
/> />
<node <node
pkg="oscillation_ctrl" pkg="oscillation_ctrl"
@ -52,11 +51,13 @@ Launch file to use klausen oscillaton damping ctrl in Gazebo
launch-prefix="xterm -e" launch-prefix="xterm -e"
/> />
<node <group if="$(eval test != 'none')">
pkg="oscillation_ctrl" <node
type="perform_test.py" pkg="oscillation_ctrl"
name="test_node" type="perform_test.py"
/> name="test_node"
/>
</group>
<node pkg="geometric_controller" type="geometric_controller_node" name="geometric_controller" output="screen"> <node pkg="geometric_controller" type="geometric_controller_node" name="geometric_controller" output="screen">
<param name="mav_name" type="string" value="$(arg mav_name)" /> <param name="mav_name" type="string" value="$(arg mav_name)" />
<!--remap from="command/bodyrate_command" to="/mavros/setpoint_raw/attitude"/--> <!--remap from="command/bodyrate_command" to="/mavros/setpoint_raw/attitude"/-->

80
src/LinkState.py
View File

@ -19,7 +19,6 @@ class Main:
# rate(s) # rate(s)
rate = 60 # rate for the publisher method, specified in Hz -- 20 Hz rate = 60 # rate for the publisher method, specified in Hz -- 20 Hz
self.dt = 1.0/rate self.dt = 1.0/rate
rospy.sleep(5) # Sleep for 1 sec. Need to give time to Gazebo to ru rospy.sleep(5) # Sleep for 1 sec. Need to give time to Gazebo to ru
@ -41,21 +40,18 @@ class Main:
# Will be set to true when test should start # Will be set to true when test should start
self.bool = False self.bool = False
# Vehicle is spawned with yaw offset for convenience, need to deal with that
self.yaw_offset = 0.0
# variables for message gen # variables for message gen
self.status = tethered_status() self.status = tethered_status()
self.drone_id = 'spiri_with_tether::spiri::base' self.drone_id = 'spiri_with_tether::spiri::base'
self.pload_id = 'spiri_with_tether::mass::payload' self.pload_id = 'spiri_with_tether::mass::payload'
self.loadAngles = LoadAngles() self.loadAngles = LoadAngles()
# initialize variables # initialize variables
self.tetherL = 0.0 # Tether length self.tetherL = 0.0 # Tether length
self.has_run = 0 # Boolean to keep track of first run instance self.has_run = 0 # Boolean to keep track of first run instance
self.phibuf = 0.0 # Need buffers to determine their rates self.phibuf = 0.0 # Need buffers to determine their rates
self.thetabuf = 0.0 # self.thetabuf = 0.0 #
self.pload = True # Check if payload exists self.pload = True # Check if payload exists
# Max dot values to prevent 'blowup' # Max dot values to prevent 'blowup'
self.phidot_max = 3.0 self.phidot_max = 3.0
@ -74,6 +70,7 @@ class Main:
self.pub_timer = rospy.Timer(rospy.Duration(1.0/rate), self.link_state) self.pub_timer = rospy.Timer(rospy.Duration(1.0/rate), self.link_state)
self.path_timer = rospy.Timer(rospy.Duration(40.0/rate), self.path_follow) self.path_timer = rospy.Timer(rospy.Duration(40.0/rate), self.path_follow)
self.gui_timer = rospy.Timer(rospy.Duration(1/10.0), self.user_feedback)
def cutoff(self,value,ceiling): def cutoff(self,value,ceiling):
""" """
@ -102,9 +99,9 @@ class Main:
eul[2] = Yaw eul[2] = Yaw
""" """
eul = euler_from_quaternion([orientation.x, eul = euler_from_quaternion([orientation.x,
orientation.y, orientation.y,
orientation.z, orientation.z,
orientation.w]) orientation.w])
return eul return eul
# Get link states (drone and pload) and determine angle between them # Get link states (drone and pload) and determine angle between them
@ -123,7 +120,7 @@ class Main:
drone_P = get_P(self.drone_id,reference) drone_P = get_P(self.drone_id,reference)
# Get orientation of drone in euler angles to determine yaw offset # Get orientation of drone in euler angles to determine yaw offset
drone_Eul = self.euler_array(drone_P.link_state.pose.orientation) self.drone_Eul = self.euler_array(drone_P.link_state.pose.orientation)
# Check if payload is part of simulation # Check if payload is part of simulation
if not drone_P.success: if not drone_P.success:
@ -136,7 +133,7 @@ class Main:
if not self.has_run == 1: if not self.has_run == 1:
if self.pload == True: if self.pload == True:
# Determine yaw offset # Determine yaw offset
self.yaw_offset = drone_Eul[2] self.yaw_offset = self.drone_Eul[2]
# Get tether length based off initial displacement # Get tether length based off initial displacement
@ -155,25 +152,9 @@ class Main:
# Need to detemine their location to get angle of deflection # Need to detemine their location to get angle of deflection
# Drone # Drone
drone_Px = drone_P.link_state.pose.position.x self.drone_Px = drone_P.link_state.pose.position.x
drone_Py = drone_P.link_state.pose.position.y self.drone_Py = drone_P.link_state.pose.position.y
drone_Pz = drone_P.link_state.pose.position.z self.drone_Pz = drone_P.link_state.pose.position.z
# Get drone orientation
#drone_q = [drone_P.link_state.pose.orientation.x,drone_P.link_state.pose.orientation.y,
# drone_P.link_state.pose.orientation.z,drone_P.link_state.pose.orientation.w]
# offset orientation by yaw offset
#q_offset = quaternion_from_euler(0,0,-self.yaw_offset)
#drone_q = quaternion_multiply(drone_q,q_offset)
#drone_P.link_state.pose.orientation.x = drone_q[0]
#drone_P.link_state.pose.orientation.y = drone_q[1]
#drone_P.link_state.pose.orientation.z = drone_q[2]
#drone_P.link_state.pose.orientation.w = drone_q[3]
# Get euler angles again for feedback to user
#drone_Eul = self.euler_array(drone_P.link_state.pose.orientation)
if self.pload == True: # If there is payload, determine the variables if self.pload == True: # If there is payload, determine the variables
# Pload # Pload
@ -181,7 +162,7 @@ class Main:
pload_Py = pload_P.link_state.pose.position.y pload_Py = pload_P.link_state.pose.position.y
# Determine theta (pitch) # Determine theta (pitch)
x_sep = pload_Px - drone_Px x_sep = pload_Px - self.drone_Px
if math.fabs(x_sep) >= self.tetherL or x_sep == 0: if math.fabs(x_sep) >= self.tetherL or x_sep == 0:
self.loadAngles.theta = 0 self.loadAngles.theta = 0
@ -194,12 +175,12 @@ class Main:
self.thetabuf = self.loadAngles.theta self.thetabuf = self.loadAngles.theta
# Determine phi (roll) # Determine phi (roll)
y_sep = pload_Py - drone_Py y_sep = pload_Py - self.drone_Py
if math.fabs(y_sep) >= self.tetherL or y_sep == 0: if math.fabs(y_sep) >= self.tetherL or y_sep == 0:
self.loadAngles.phi = 0 self.loadAngles.phi = 0
else: else:
self.loadAngles.phi = math.asin(y_sep/self.tetherL) self.loadAngles.phi = -math.asin(y_sep/self.tetherL)
# Determine phidot # Determine phidot
self.loadAngles.phidot = (self.loadAngles.phi - self.phibuf)/self.dt self.loadAngles.phidot = (self.loadAngles.phi - self.phibuf)/self.dt
@ -209,16 +190,6 @@ class Main:
else: # Otherwise, vars = 0 else: # Otherwise, vars = 0
x_sep = self.loadAngles.phi = self.loadAngles.phidot = self.loadAngles.theta = self.thetadot = 0 x_sep = self.loadAngles.phi = self.loadAngles.phidot = self.loadAngles.theta = self.thetadot = 0
# Print and save results
print "\n"
rospy.loginfo("")
print"Roll: "+str(round(drone_Eul[0]*180/3.14,2)),"\nPitch: "+str(round(drone_Eul[1]*180/3.14,2)),"\nYaw: "+str(round(drone_Eul[2]*180/3.14,2))
print "drone pos.x: " + str(round(drone_Px,2))
print "drone pos.y: " + str(round(drone_Py,2))
print "drone pos.z: " + str(round(drone_Pz,2))
print "phi: " + str(round(self.loadAngles.phi*180/3.14,3))
print "theta: " + str(round(self.loadAngles.theta*180/3.14,3))
# Populate message # Populate message
self.status.header.stamp = rospy.Time.now() self.status.header.stamp = rospy.Time.now()
self.status.drone_pos = drone_P.link_state.pose self.status.drone_pos = drone_P.link_state.pose
@ -232,6 +203,17 @@ class Main:
except rospy.ServiceException as e: except rospy.ServiceException as e:
rospy.loginfo("Get Link State call failed: {0}".format(e)) rospy.loginfo("Get Link State call failed: {0}".format(e))
def user_feedback(self,gui_timer):
# Print and save results
print "\n"
rospy.loginfo("")
print"Roll: "+str(round(self.drone_Eul[0]*180/3.14,2)),"\nPitch: "+str(round(self.drone_Eul[1]*180/3.14,2)),"\nYaw: "+str(round(self.drone_Eul[2]*180/3.14,2))
print "drone pos.x: " + str(round(self.drone_Px,2))
print "drone pos.y: " + str(round(self.drone_Py,2))
print "drone pos.z: " + str(round(self.drone_Pz,2))
print "phi: " + str(round(self.loadAngles.phi*180/3.14,3))
print "theta: " + str(round(self.loadAngles.theta*180/3.14,3))
def path_follow(self,path_timer): def path_follow(self,path_timer):
now = rospy.get_time() now = rospy.get_time()
if now - self.tstart < self.wait: if now - self.tstart < self.wait:
@ -240,7 +222,6 @@ class Main:
self.bool = True self.bool = True
self.pub_wd.publish(self.bool) self.pub_wd.publish(self.bool)
if __name__=="__main__": if __name__=="__main__":
# Initiate ROS node # Initiate ROS node
@ -251,4 +232,3 @@ if __name__=="__main__":
except rospy.ROSInterruptException: except rospy.ROSInterruptException:
pass pass

114
src/klausen_control.py
View File

@ -12,44 +12,44 @@ import numpy as np
import time import time
import math import math
from tf.transformations import * from tf.transformations import *
from scipy.integrate import odeint from scipy.integrate import odeint
from oscillation_ctrl.msg import tethered_status, RefSignal, LoadAngles from oscillation_ctrl.msg import tethered_status, RefSignal, LoadAngles
from controller_msgs.msg import FlatTarget from controller_msgs.msg import FlatTarget
from geometry_msgs.msg import Point, Pose from geometry_msgs.msg import Point, Pose
from geometry_msgs.msg import TwistStamped, Vector3, Vector3Stamped, PoseStamped, Quaternion from geometry_msgs.msg import TwistStamped, Vector3, Vector3Stamped, PoseStamped, Quaternion
from gazebo_msgs.srv import GetLinkState from gazebo_msgs.srv import GetLinkState
from sensor_msgs.msg import Imu from sensor_msgs.msg import Imu
from pymavlink import mavutil from pymavlink import mavutil
class Main: class Main:
def __init__(self): def __init__(self):
# rate(s) # rate(s)
rate = 200 # rate for the publisher method, specified in Hz -- 20 Hz rate = 200 # rate for the publisher method, specified in Hz -- 20 Hz
# initialize variables # initialize variables
# time variables # time variables
self.dt = 1.0/rate self.dt = 1.0/rate
self.tmax = self.dt self.tmax = self.dt
self.n = self.tmax/self.dt + 1 self.n = self.tmax/self.dt + 1
self.t = np.linspace(0, self.tmax, self.n) # Time array self.t = np.linspace(0, self.tmax, self.n) # Time array
self.tstart = rospy.get_time() # Keep track of the start time self.tstart = rospy.get_time() # Keep track of the start time
while self.tstart == 0.0: # Need to make sure get_rostime works while self.tstart == 0.0: # Need to make sure get_rostime works
self.tstart = rospy.get_time() self.tstart = rospy.get_time()
# Msgs types # Msgs types
self.vel_data = TwistStamped() # This is needed to get drone vel from gps self.vel_data = TwistStamped() # This is needed to get drone vel from gps
self.imu_data = Imu() # Needed for to get drone acc from IMU self.imu_data = Imu() # Needed for to get drone acc from IMU
self.path_pos = np.zeros([3,1]) self.path_pos = np.zeros([3,1])
self.path_vel = np.zeros([3,1]) self.path_vel = np.zeros([3,1])
self.path_acc = np.zeros([3,1]) self.path_acc = np.zeros([3,1])
self.dr_pos = Pose() self.dr_pos = Pose()
self.quaternion = PoseStamped() self.quaternion = PoseStamped() # used to send quaternion attitude commands
self.load_angles = LoadAngles() self.load_angles = LoadAngles()
self.EulerAng = [0,0,0] # Will find the euler angles, and then convert to q self.EulerAng = [0,0,0] # Will find the euler angles, and then convert to q
# Drone var # 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
@ -78,12 +78,12 @@ class Main:
self.K2 = np.identity(5) self.K2 = np.identity(5)
# Values which require updates. *_p = prior # Values which require updates. *_p = prior
self.z1_p = np.zeros([3,1]) self.z1_p = np.zeros([3,1])
self.a45_0 = np.zeros(2) self.a45_0 = np.zeros(2)
self.alpha = np.zeros([5,1]) self.alpha = np.zeros([5,1])
self.alphadot = np.zeros([5,1]) self.alphadot = np.zeros([5,1])
self.a45 = self.alpha[3:5] self.a45 = self.alpha[3:5]
self.a45dot = np.array([[0],[0]]) self.a45dot = np.array([[0],[0]])
# Error terms # Error terms
self.z1 = np.zeros([3,1]) # dr_pos - ref_sig_pos self.z1 = np.zeros([3,1]) # dr_pos - ref_sig_pos
@ -91,10 +91,10 @@ class Main:
# Constants # Constants
self.drone_m = 1.437 self.drone_m = 1.437
self.pl_m = 0.5 self.pl_m = 0.5
self.tot_m = self.drone_m + self.pl_m self.tot_m = self.drone_m + self.pl_m
self.tune = 1 # Tuning parameter self.tune = 1 # Tuning parameter
self.dist = np.array([0,0,0,0.01,0.01]) # Wind disturbance self.dist = np.array([0,0,0,0.01,0.01]) # Wind disturbance
# --------------------------------------------------------------------------------# # --------------------------------------------------------------------------------#
# SUBSCRIBERS # SUBSCRIBERS
@ -102,6 +102,8 @@ class Main:
# Topic, msg type, and class callback method # Topic, msg type, and class callback method
rospy.Subscriber('/status/load_angles', LoadAngles, self.loadAngles_cb) rospy.Subscriber('/status/load_angles', LoadAngles, self.loadAngles_cb)
rospy.Subscriber('/reference/path', FlatTarget, self.refsig_cb) rospy.Subscriber('/reference/path', FlatTarget, self.refsig_cb)
#rospy.Subscriber('/status/twoBody_status', tethered_status, self.dronePos_cb)
rospy.Subscriber('/mavros/local_position/pose', PoseStamped, self.dronePos_cb)
rospy.Subscriber('/mavros/local_position/velocity_body', TwistStamped, self.droneVel_cb) rospy.Subscriber('/mavros/local_position/velocity_body', TwistStamped, self.droneVel_cb)
rospy.Subscriber('/mavros/imu/data', Imu, self.droneAcc_cb) rospy.Subscriber('/mavros/imu/data', Imu, self.droneAcc_cb)
@ -133,9 +135,10 @@ class Main:
# Callback drone pose # Callback drone pose
def dronePos_cb(self,msg): ### NEED to add mavros/local_pos.. sub def dronePos_cb(self,msg):
try: try:
self.dr_pos = msg.pose self.dr_pos = msg.pose
#self.dr_pos = msg.drone_pos
except ValueError: except ValueError:
pass pass
@ -143,7 +146,7 @@ class Main:
# Callback for drone velocity ####### IS THIS ON? ########## # Callback for drone velocity ####### IS THIS ON? ##########
def droneVel_cb(self,msg): def droneVel_cb(self,msg):
try: 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]])
self.dr_angVel = np.array([[msg.twist.angular.x],[msg.twist.angular.y],[msg.twist.angular.z]]) 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:
@ -162,7 +165,7 @@ class Main:
try: try:
self.path_pos = np.array([[msg.position.x],[msg.position.y],[msg.position.z]]) 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_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 + 9.81]]) #TODO self.path_acc = np.array([[msg.acceleration.x],[msg.acceleration.y],[msg.acceleration.z + 9.81]]) #TODO
except ValueError: except ValueError:
pass pass
@ -190,15 +193,15 @@ class Main:
def control(self): def control(self):
# Populate position vector and gamma (g). g is state space vector: [px,py,pz,theta,phi] # Populate position vector and gamma (g). g is state space vector: [px,py,pz,theta,phi]
p = np.array([[self.dr_pos.position.x],[self.dr_pos.position.y],[self.dr_pos.position.z]]) p = np.array([[self.dr_pos.position.x],[self.dr_pos.position.y],[self.dr_pos.position.z]])
g = np.array([[self.dr_pos.position.x],[self.dr_pos.position.y],[self.dr_pos.position.z],[self.load_angles.theta],[self.load_angles.phi]]) g = np.array([[self.dr_pos.position.x],[self.dr_pos.position.y],[self.dr_pos.position.z],[self.load_angles.theta],[self.load_angles.phi]])
# State some variables for shorthand # State some variables for shorthand
L = self.tetherL L = self.tetherL
c_theta = math.cos(self.load_angles.theta) c_theta = math.cos(self.load_angles.theta)
c_phi = math.cos(self.load_angles.phi) c_phi = math.cos(self.load_angles.phi)
s_theta = math.sin(self.load_angles.theta) s_theta = math.sin(self.load_angles.theta)
s_phi = math.sin(self.load_angles.phi) s_phi = math.sin(self.load_angles.phi)
# Check for tether # Check for tether
if L <= 0.01: if L <= 0.01:
@ -211,24 +214,16 @@ class Main:
# Control matrices - this may be better in _init_ # Control matrices - this may be better in _init_
M = [[self.tot_m, 0, 0, 0, L*self.pl_m*c_theta], 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, 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, 0, self.tot_m, -L*self.pl_m*c_theta*s_phi, -L*self.pl_m*c_phi*s_theta], [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]]
[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],
[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], 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_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,-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.phidot*math.sin(2*self.load_angles.theta),0]]
[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.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]]
@ -271,7 +266,7 @@ class Main:
self.a45dot = np.array([[self.a45dot[0]],[self.a45dot[1]]]) self.a45dot = np.array([[self.a45dot[0]],[self.a45dot[1]]])
else: # if no tether, alpha_4:5 = 0 else: # if no tether, alpha_4:5 = 0
self.a45 = np.array([[0],[0]]) self.a45 = np.array([[0],[0]])
self.a45dot = np.array([[0],[0]]) self.a45dot = np.array([[0],[0]])
# Determine a_1:3 # Determine a_1:3
@ -290,20 +285,21 @@ class Main:
Ki = self.tune*self.K1 Ki = self.tune*self.K1
# Desired body-oriented forces # Desired body-oriented forces
# shouldnt it be tot_m*path_acc?
Fd = B + G[:3] + self.tot_m*self.dr_acc - np.dot(Kd,z1_dot) - np.dot(Kp,self.z1) - np.dot(Ki,self.dt*(self.z1 - self.z1_p)) Fd = B + G[:3] + self.tot_m*self.dr_acc - np.dot(Kd,z1_dot) - np.dot(Kp,self.z1) - np.dot(Ki,self.dt*(self.z1 - self.z1_p))
# Update self.z1_p for "integration" # Update self.z1_p for "integration"
self.z1_p = self.z1 self.z1_p = self.z1
# Covert Fd into drone frame # Covert Fd into drone frame
dr_orientation = [self.dr_pos.orientation.x, self.dr_pos.orientation.y, self.dr_pos.orientation.z, self.dr_pos.orientation.w] 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) dr_orientation_inv = quaternion_inverse(dr_orientation)
Fd_tf = quaternion_multiply(dr_orientation,quaternion_multiply([Fd[0],Fd[1],Fd[2],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],dr_orientation_inv)) # Real part of Fd needs = 0
# Convert forces to attiude *EulerAng[2] = yaw = 0 # Convert forces to attiude *EulerAng[2] = yaw = 0
self.EulerAng[1] = math.atan(-Fd_tf[0]/(self.drone_m*9.81)) # Pitch -- maybe self.EulerAng[1] = math.atan(Fd_tf[0]/(self.drone_m*9.81)) # Pitch
self.EulerAng[0] = math.atan(Fd_tf[1]*math.cos(self.EulerAng[1])/(self.drone_m*9.81)) # Roll -- maybe self.EulerAng[0] = math.atan(-Fd_tf[1]*math.cos(self.EulerAng[1])/(self.drone_m*9.81)) # Roll
# Convert Euler angles to quaternions # Convert Euler angles to quaternions
q = quaternion_from_euler(self.EulerAng[0],self.EulerAng[1],self.EulerAng[2]) q = quaternion_from_euler(self.EulerAng[0],self.EulerAng[1],self.EulerAng[2])

2
src/path_follow.cpp
View File

@ -229,7 +229,7 @@ int main(int argc, char **argv)
attitude.thrust = thrust.thrust; attitude.thrust = thrust.thrust;
// Determine which messages to send // Determine which messages to send
if(ros::Time::now() - tkoff_req > ros::Duration(22.0) && takeoff){ if(ros::Time::now() - tkoff_req > ros::Duration(30.0) && takeoff){
attitude.orientation = q_des; attitude.orientation = q_des;
attitude.header.stamp = ros::Time::now(); attitude.header.stamp = ros::Time::now();
att_targ.publish(attitude); att_targ.publish(attitude);

108
src/ref_signalGen.py
View File

@ -32,8 +32,6 @@ class Main:
self.tstart = rospy.get_time() self.tstart = rospy.get_time()
self.dt = 1.0/rate self.dt = 1.0/rate
# self.dt = 0.5
# self.tmax = 100
self.tmax = self.dt self.tmax = self.dt
self.n = self.tmax/self.dt + 1 self.n = self.tmax/self.dt + 1
self.t = np.linspace(0, self.tmax, self.n) # Time array self.t = np.linspace(0, self.tmax, self.n) # Time array
@ -68,12 +66,13 @@ class Main:
# Topic, msg type, and class callback method # Topic, msg type, and class callback method
rospy.Subscriber('/status/load_angles', LoadAngles, self.loadAngles_cb) rospy.Subscriber('/status/load_angles', LoadAngles, self.loadAngles_cb)
rospy.Subscriber('/mavros/local_position/pose', PoseStamped, self.dronePos_cb) rospy.Subscriber('/mavros/local_position/pose', PoseStamped, self.dronePos_cb)
#rospy.Subscriber('/status/twoBody_status', tethered_status, self.dronePos_cb)
rospy.Subscriber('/mavros/local_position/velocity_body', TwistStamped, self.droneVel_cb) rospy.Subscriber('/mavros/local_position/velocity_body', TwistStamped, self.droneVel_cb)
rospy.Subscriber('/mavros/imu/data', Imu, self.droneAcc_cb) rospy.Subscriber('/mavros/imu/data', Imu, self.droneAcc_cb)
rospy.Subscriber('/mavros/state', State, self.state_cb) rospy.Subscriber('/mavros/state', State, self.state_cb)
# --------------------------------------------------------------------------------# # --------------------------------------------------------------------------------#
# PUBLISHERS # PUBLISHERS
# --------------------------------------------------------------------------------# # --------------------------------------------------------------------------------#
# Publish desired path to compute attitudes # Publish desired path to compute attitudes
self.pub_path = rospy.Publisher('/reference/path',FlatTarget,queue_size = 10) self.pub_path = rospy.Publisher('/reference/path',FlatTarget,queue_size = 10)
@ -84,7 +83,7 @@ class Main:
self.pub_tim = rospy.Timer(rospy.Duration(1.0/rate), self.publisher) self.pub_tim = rospy.Timer(rospy.Duration(1.0/rate), self.publisher)
# --------------------------------------------------------------------------------# # --------------------------------------------------------------------------------#
# FEEDBACK AND INPUT SHAPING # FEEDBACK AND INPUT SHAPING
# --------------------------------------------------------------------------------# # --------------------------------------------------------------------------------#
# Smooth path variables # Smooth path variables
@ -92,36 +91,29 @@ class Main:
self.EPS_I = np.zeros(9) # Epsilon shapefilter self.EPS_I = np.zeros(9) # Epsilon shapefilter
# Constants for smooth path generation # Constants for smooth path generation
self.w_tune = 3.13 # 3.13 works well? ######################################################################### self.w_tune = 3.5 # 3.13 works well? #########################################################################
self.epsilon = 0.7 # Damping ratio self.epsilon = 0.7 # Damping ratio
# need exception if we do not have tether: # need exception if we do not have tether:
if self.tetherL == 0.0: if self.tetherL == 0.0:
self.wn = self.w_tune self.wn = self.w_tune
else: else:
self.wn = math.sqrt(9.81/self.tetherL) self.wn = math.sqrt(9.81/self.tetherL)
self.wd = self.wn*math.sqrt(1 - self.epsilon**2) self.wd = self.wn*math.sqrt(1 - self.epsilon**2)
self.k4 = 4*self.epsilon*self.w_tune self.k4 = 4*self.epsilon*self.w_tune
self.k3 = ((2 + 4*self.epsilon**2)*self.w_tune**2)/self.k4 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.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.k2*self.k3*self.k4)
# For saturation: # For saturation:
self.jmax = [3, 3, 1] self.jmax = [3, 3, 1]
self.amax = [1.5, 1.5, 1] self.amax = [1.5, 1.5, 1]
self.vmax = [3, 3, 1] self.vmax = [3, 3, 1]
self.max = [0, 3, 1.5, 3] #[0, 3, 1.5, 3] self.max = [0, 3, 1.5, 3] #[0, 3, 1.5, 3]
# create the array: [vmax; amax; jmax] # create the array: [vmax; amax; jmax]
self.max_array = np.array([[self.vmax],[self.amax],[self.jmax]]).T self.max_array = np.array([[self.vmax],[self.amax],[self.jmax]]).T
# Desired position array
#if rospy.has_param('sim/waypoints'):
# self.xd = rospy.get_param('sim/waypoints') # waypoints
#elif rospy.get_time() - self.tstart >= 3.0:
# self.xd = np.array([[0],[0],[5.0]]) # make our own if there are no waypoints
#self.xd = Point()
self.get_xd = rospy.ServiceProxy('/status/waypoint_tracker',WaypointTrack) self.get_xd = rospy.ServiceProxy('/status/waypoint_tracker',WaypointTrack)
self.empty_point = Point() # Needed to query waypoint_server self.empty_point = Point() # Needed to query waypoint_server
@ -137,11 +129,11 @@ class Main:
self.td = 2*self.Gd*math.pi/self.wd self.td = 2*self.Gd*math.pi/self.wd
# Constants for shape filter/ Input shaping # Constants for shape filter/ Input shaping
self.t1 = 0 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
# Need to determine how large of any array needs to be stored to use delayed functions # 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([4,int(round(self.t2/self.dt))]) # Shapefilter delay; 4 - p,v,a,j
@ -160,11 +152,11 @@ class Main:
self.FB_idx = 0 self.FB_idx = 0
# Constants for sigmoid # Constants for sigmoid
self.at = 3 # acceleration theshold self.at = 3 # acceleration theshold
self.pc = 0.7 # From Klausen 2017 self.pc = 0.7 # From Klausen 2017
self.sk = len(self.SF_delay_x[0]) # from Klausen 2017 self.sk = len(self.SF_delay_x[0]) # from Klausen 2017
self.ak = np.zeros(len(self.SF_delay_x[0])) self.ak = np.zeros(len(self.SF_delay_x[0]))
self.s_gain = 0.0 # Gain found from sigmoid self.s_gain = 0.0 # Gain found from sigmoid
# --------------------------------------------------------------------------------# # --------------------------------------------------------------------------------#
# CALLBACK FUNCTIONS # CALLBACK FUNCTIONS
# --------------------------------------------------------------------------------# # --------------------------------------------------------------------------------#
@ -198,9 +190,10 @@ class Main:
pass pass
# Callback drone pose # Callback drone pose
def dronePos_cb(self,msg): ### NEED to add mavros/local_pos.. sub def dronePos_cb(self,msg):
try: try:
self.dr_pos = msg.pose self.dr_pos = msg.pose
#self.dr_pos = msg.drone_pos
except ValueError: except ValueError:
pass pass
@ -229,17 +222,17 @@ class Main:
except ValueError: except ValueError:
pass pass
################################################################# ######################################################################
#TODO Will need to add a function that gets a message from # #TODO Will need to add a function that gets a message from #
# a node which lets refsignal_gen.py know there has been a # # a node which lets refsignal_gen.py know there has been a #
# change in xd and therefore runs waypoints_srv_cb again # # change in xd and therefore runs waypoints_srv_cb again #
################################################################# ######################################################################
# --------------------------------------------------------------------------------# # --------------------------------------------------------------------------------#
# ALGORITHM # ALGORITHM
# --------------------------------------------------------------------------------# # --------------------------------------------------------------------------------#
# --------------------------------------------------------------------------------# # --------------------------------------------------------------------------------#
# TRAJECTORY GENERATION BASED ON WAYPONTS xd # TRAJECTORY GENERATION BASED ON WAYPONTS xd
# --------------------------------------------------------------------------------# # --------------------------------------------------------------------------------#
def statespace(self,y,t,xd): def statespace(self,y,t,xd):
# Update initial conditions # # Update initial conditions #
@ -290,7 +283,7 @@ class Main:
elif cmd == 2: # Feedback elif cmd == 2: # Feedback
if self.FB_idx < len(self.theta_fb): if self.FB_idx < len(self.theta_fb):
# First, fill up the delay array # First, fill up the delay array
self.theta_fb[self.FB_idx] = self.load_angles.theta self.theta_fb[self.FB_idx] = self.load_angles.theta
self.theta_vel_fb[self.FB_idx] = self.load_angles.thetadot 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]
@ -300,19 +293,19 @@ class Main:
else: else:
# once array is filled, need to shift values w/ latest value at end # once array is filled, need to shift values w/ latest value at end
self.theta_fb[:] = np.roll(self.theta_fb[:],-1) self.theta_fb[:] = np.roll(self.theta_fb[:],-1)
self.theta_vel_fb[:] = np.roll(self.theta_vel_fb[:],-1) self.theta_vel_fb[:] = np.roll(self.theta_vel_fb[:],-1)
self.theta_acc_fb[:] = np.roll(self.theta_acc_fb[:],-1) self.theta_acc_fb[:] = np.roll(self.theta_acc_fb[:],-1)
self.phi_fb[:] = np.roll(self.phi_fb[:],-1) self.phi_fb[:] = np.roll(self.phi_fb[:],-1)
self.phi_vel_fb[:] = np.roll(self.phi_vel_fb[:],-1) self.phi_vel_fb[:] = np.roll(self.phi_vel_fb[:],-1)
self.phi_acc_fb[:] = np.roll(self.phi_acc_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[len(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[len(self.theta_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[len(self.theta_fb)-1] = self.load_angles.thetadot - self.theta_vel_fb[len(self.theta_fb)-1]
self.phi_fb[len(self.phi_fb)-1] = self.load_angles.phi self.phi_fb[len(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[len(self.theta_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[len(self.theta_fb)-1] = self.load_angles.phidot - self.phi_vel_fb[len(self.theta_fb)-1]
@ -343,17 +336,17 @@ class Main:
self.delay(j,shapeFil) # Determine the delay (shapefilter) array self.delay(j,shapeFil) # Determine the delay (shapefilter) array
if self.SF_idx < len(self.SF_delay_x[0]): if self.SF_idx < len(self.SF_delay_x[0]):
self.EPS_I[3*j] = self.x[1,j] self.EPS_I[3*j] = self.x[1,j]
self.EPS_I[3*j+1] = self.y[1,j] self.EPS_I[3*j+1] = self.y[1,j]
self.EPS_I[3*j+2] = self.z[1,j] self.EPS_I[3*j+2] = self.z[1,j]
else: 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] = 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.EPS_I[3*j+2] = self.z[1,j] # No need to convolute z-dim self.EPS_I[3*j+2] = self.z[1,j] # No need to convolute z-dim
self.delay(1,feedBack) # Detemine feedback array self.delay(1,feedBack) # Detemine feedback array
self.sigmoid() # Determine sigmoid gain self.sigmoid() # Determine sigmoid gain
EPS_D = self.fback() # Feedback Epsilon EPS_D = self.fback() # Feedback Epsilon
for i in range(9): for i in range(9):
@ -365,7 +358,8 @@ class Main:
self.ref_sig.type_mask = 2 # Need typemask = 2 to use correct attitude controller - Jaeyoung Lin 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.x = self.EPS_F[0]
self.ref_sig.position.y = self.EPS_F[1] self.ref_sig.position.y = self.EPS_F[1]
self.ref_sig.position.z = self.EPS_F[2] #self.ref_sig.position.z = self.EPS_F[2]
self.ref_sig.position.z = 5.0
self.ref_sig.velocity.x = self.EPS_F[3] self.ref_sig.velocity.x = self.EPS_F[3]
self.ref_sig.velocity.y = self.EPS_F[4] self.ref_sig.velocity.y = self.EPS_F[4]
self.ref_sig.velocity.z = self.EPS_F[5] self.ref_sig.velocity.z = self.EPS_F[5]
@ -383,11 +377,11 @@ class Main:
def fback(self): def fback(self):
xr = self.Gd*self.tetherL*math.sin(self.theta_fb[0]) xr = self.Gd*self.tetherL*math.sin(self.theta_fb[0])
xdotr = self.Gd*self.tetherL*math.cos(self.theta_fb[0])*self.theta_vel_fb[0] xdotr = self.Gd*self.tetherL*math.cos(self.theta_fb[0])*self.theta_vel_fb[0]
xddotr = -self.Gd*self.tetherL*math.sin(self.theta_fb[0])*(self.theta_vel_fb[0]**2) + math.cos(self.theta_fb[0])*self.theta_acc_fb[0] xddotr = -self.Gd*self.tetherL*math.sin(self.theta_fb[0])*(self.theta_vel_fb[0]**2) + math.cos(self.theta_fb[0])*self.theta_acc_fb[0]
yr = -self.Gd*self.tetherL*math.sin(self.phi_fb[0]) yr = -self.Gd*self.tetherL*math.sin(self.phi_fb[0])
ydotr = -self.Gd*self.tetherL*math.cos(self.phi_fb[0])*self.phi_vel_fb[0] 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] 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]
@ -398,13 +392,13 @@ class Main:
def screen_output(self): def screen_output(self):
# Feedback to user # Feedback to user
#rospy.loginfo(' Var | x | y | z ') rospy.loginfo(' Var | x | y | z ')
#rospy.loginfo('Pos: %.2f %.2f %.2f',self.EPS_F[0],self.EPS_F[1],self.EPS_F[2]) rospy.loginfo('Pos: %.2f %.2f %.2f',self.EPS_F[0],self.EPS_F[1],self.EPS_F[2])
#rospy.loginfo('Vel: %.2f %.2f %.2f',self.EPS_F[3],self.EPS_F[4],self.EPS_F[5]) rospy.loginfo('Vel: %.2f %.2f %.2f',self.EPS_F[3],self.EPS_F[4],self.EPS_F[5])
#rospy.loginfo('Acc: %.2f %.2f %.2f',self.EPS_F[6],self.EPS_F[7],self.EPS_F[8]) rospy.loginfo('Acc: %.2f %.2f %.2f',self.EPS_F[6],self.EPS_F[7],self.EPS_F[8])
#rospy.loginfo('_______________________') rospy.loginfo('_______________________')
rospy.loginfo('xd = %.2f',self.xd.x) #rospy.loginfo('xd = %.2f',self.xd.x)
def publisher(self,pub_tim): def publisher(self,pub_tim):