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Commit 2f3e2ce1 authored by muelmarc's avatar muelmarc
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safeRateCommandPkg added as Output from safeController. This gets then... 

safeRateCommandPkg added as Output from safeController. This gets then pubslished via callbackRateCommand.
parent 4c4a526b
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pps_ws/src/d_fall_pps/crazyradio/CrazyRadio.py
+ 5
− 3
View file @ 2f3e2ce1
......@@ -94,7 +94,7 @@ class PPSRadioClient:
def motorCommandCallback(data):
"""Callback for motor controller actions"""
cf_client._send_to_commander(0, 0, 0, 0, data.cmd1, data.cmd2, data.cmd3, data.cmd4, CONTROLLER_MOTOR)
#cf_client._send_to_commander(0, 0, 0, 0, data.cmd1, data.cmd2, data.cmd3, data.cmd4, CONTROLLER_MOTOR)
rospy.loginfo("motor controller callback: %s, %s, %s, %s", data.cmd1, data.cmd2, data.cmd3, data.cmd4)
def angleCommandCallback(data):
......@@ -106,8 +106,10 @@ def angleCommandCallback(data):
def rateCommandCallback(data):
"""Callback for rate controller actions"""
#cmd1..4 must not be 0, as crazyflie onboard controller resets
#cf_client._send_to_commander(data.rollRate,data.pitchRate,data.yawRate,data.thrust, 1, 1, 1 , 1, CONTROLLER_RATE)
rospy.loginfo("rate controller callback: %s, %s, %s, %s", data.rollRate, data.pitchRate, data.yawRate, data.thrust)
#cf_client._send_to_commander(data.rollRate,data.pitchRate,data.yawRate,data.thrust, 1, 1, 1, 1, CONTROLLER_RATE)
cf_client._send_to_commander(0,0,0,0, 20000, 20000, 0, 0, 2)
#ACHTUNG: mode ist auf 2 (CONTROLLER_MOTOR), da die rateCommandCallback zum testen verwendet wurde!!!!!!!!!!!!!!!!!!!!!!!!
rospy.loginfo("rate controller callback : %s, %s, %s, %s", data.rollRate, data.pitchRate, data.yawRate, data.thrust)
if __name__ == '__main__':
rospy.init_node('CrazyRadio', anonymous=True)
......
pps_ws/src/d_fall_pps/src/PPSClient.cpp
+ 62
− 49
View file @ 2f3e2ce1
......@@ -47,13 +47,16 @@ std::string team; //is this needed here? maybe for room asignment received from
std::string cflie;
//global sevices
ros::ServiceClient rateClient;
ros::ServiceClient safeController;
ros::ServiceClient centralClient;
ros::Publisher angleCommandPublisher;
ros::Publisher rateCommandPublisher;
ros::Publisher motorCommandPublisher;
//msg for safeController Output
d_fall_pps::RateCommand safeRateCommandPkg;
//uncommenting the next line causes FATAL Error at runtime: "You must call ros::init() before creating the first NodeHandle"
//ros::NodeHandle nodeHandle;
......@@ -72,6 +75,7 @@ AreaBoundaries Area;
//struct consistent with dusans controller
/*
struct ControllerOutput
{
//ControllerOutput():roll(0),pitch(0),yaw(0),thrust(0),motorCmd1(0),motorCmd2(0),motorCmd3(0),motorCmd4(0) {}
......@@ -86,7 +90,7 @@ struct ControllerOutput
uint8_t onboardControllerType;
};
ControllerOutput ControlCommandTest;
ControllerOutput ControlCommandTest;*/
//<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<move this section to a separate file that is included
......@@ -94,44 +98,51 @@ ControllerOutput ControlCommandTest;
//not void: sould give back controlldata
void ppsClientToController(ViconData data, bool autocontrolOn){
if(data.crazyflieName == cflie){
//call safecontroller if autocontrol is true
//safeRateCommandPkg.motorCmd1 = 0;
//safeRateCommandPkg.motorCmd2 = 0;
//safeRateCommandPkg.motorCmd3 = 0;
//safeRateCommandPkg.motorCmd4 = 0;
if(autocontrolOn){
//call safecontroller if autocontrol is true
ControlCommandTest.motorCmd1 = 0;
ControlCommandTest.motorCmd2 = 0;
ControlCommandTest.motorCmd3 = 0;
ControlCommandTest.motorCmd4 = 0;
return;
//call safecontroller here
}
else {
//
ControlCommandTest.motorCmd1 = 1000;
ControlCommandTest.motorCmd2 = 1000;
ControlCommandTest.motorCmd3 = 1000;
ControlCommandTest.motorCmd4 = 1000;
//student controller is called here
//for the moment use safecontroller for TESTING
RateController srvRate;
Setpoint goalLocation;
goalLocation.x = -5; //testvalue
goalLocation.y = 250; //testvalue
goalLocation.z = 300; //testvalue
srvRate.request.crazyflieLocation = data;
srvRate.request.setpoint = goalLocation;
//TODO:
//return control commands
if(safeController.call(srvRate)){
ROS_INFO("Received control input");
ROS_INFO_STREAM(srvRate.response.controlOutput);
safeRateCommandPkg.rollRate = srvRate.response.controlOutput.rollRate;
safeRateCommandPkg.pitchRate = srvRate.response.controlOutput.pitchRate;
safeRateCommandPkg.yawRate = srvRate.response.controlOutput.yawRate;
safeRateCommandPkg.thrust = srvRate.response.controlOutput.thrust;
//onboardControllerType = ??????????????????????
}
else{
ROS_ERROR("Failed to call SafeControllerService");
//return 1; //return some useful stuff
}
}
//TODO:
//communicating with Controller
RateController srvRate;
Setpoint goalLocation;
goalLocation.x = 9; //testvalue
goalLocation.y = 8; //testvalue
goalLocation.z = 7; //testvalue
srvRate.request.crazyflieLocation = data;
srvRate.request.setpoint = goalLocation;
//TODO:
//return control commands
if(rateClient.call(srvRate)){
ROS_INFO("Service gave response");
ROS_INFO("Received control input");
ROS_INFO_STREAM(srvRate.response.controlOutput);
}
else{
ROS_ERROR("Failed to call SafeControllerService");
//return 1; //return some useful stuff
}
}
else {
ROS_INFO("ViconData from other crazyflie received");
......@@ -197,26 +208,28 @@ void callbackAngleCommand(const ros::TimerEvent&)
}
//callback method to publish d_fall_pps::RateCommand
void callbackRateCommand(const ros::TimerEvent&)
void callbackRateCommand(const ros::TimerEvent)
{
d_fall_pps::RateCommand rateCommandPkg;
rateCommandPkg.rollRate = 2;
rateCommandPkg.pitchRate = 2;
rateCommandPkg.yawRate = 2;
rateCommandPkg.thrust = 50;
//d_fall_pps::RateCommand rateCommandPkg;
//rateCommandPkg.rollRate = ...;
//rateCommandPkg.pitchRate = ...;
//rateCommandPkg.yawRate = ...;
//rateCommandPkg.thrust = ...,
rateCommandPublisher.publish(rateCommandPkg);
ROS_INFO_STREAM("RateCommandTimer pubslishes: " << rateCommandPkg.rollRate << ", " << rateCommandPkg.pitchRate << ", " << rateCommandPkg.yawRate);
//Achtung: gepublisht wird safeRateCommandPkg vom Type d_fall_pps::RateCommand >>>> brauchen wir eine separate callback fuer die commands des safetyController benoetigt?????
rateCommandPublisher.publish(safeRateCommandPkg);
ROS_INFO_STREAM("RateCommandTimer pubslishes: " << safeRateCommandPkg.rollRate << ", " << safeRateCommandPkg.pitchRate << ", " << safeRateCommandPkg.yawRate);
}
//callback method to publish d_fall_pps::MotorCommand
void callbackMotorCommand(const ros::TimerEvent&)
{
d_fall_pps::MotorCommand motorCommandPkg;
motorCommandPkg.cmd1 = ControlCommandTest.motorCmd1;
motorCommandPkg.cmd2 = ControlCommandTest.motorCmd2;
motorCommandPkg.cmd3 = ControlCommandTest.motorCmd3;
motorCommandPkg.cmd4 = ControlCommandTest.motorCmd4;
//motorCommandPkg.cmd1 = ControlCommandTest.motorCmd1;
//motorCommandPkg.cmd2 = ControlCommandTest.motorCmd2;
//motorCommandPkg.cmd3 = ControlCommandTest.motorCmd3;
//motorCommandPkg.cmd4 = ControlCommandTest.motorCmd4;
motorCommandPublisher.publish(motorCommandPkg);
ROS_INFO_STREAM("MotorCommandTimer pubslishes: " << motorCommandPkg.cmd1 << ", " << motorCommandPkg.cmd2 << ", " << motorCommandPkg.cmd3 << ", " << motorCommandPkg.cmd4);
......@@ -264,9 +277,9 @@ int main(int argc, char* argv[]){
//service
//to be expanded with additional services depending on controller (currently only one available)
rateClient = nodeHandle.serviceClient<d_fall_pps::RateController>("/SafeControllerService/RateController");
safeController = nodeHandle.serviceClient<d_fall_pps::RateController>("/SafeControllerService/RateController");
//rateClient = nodeHandle.serviceClient<d_fall_pps::RateController>("/SafeControllerService/RateController", true);
//safeController = nodeHandle.serviceClient<d_fall_pps::RateController>("/SafeControllerService/RateController", true);
//http://wiki.ros.org/roscpp/Overview/Services
//2.1 Persistenct Connection: ROS also allows for persistent connections to services. With a persistent connection, a client stays connected to a service.
// Otherwise, a client normally does a lookup and reconnects to a service each time.
......
pps_ws/src/d_fall_pps/src/SafeControllerService.cpp
+ 49
− 13
View file @ 2f3e2ce1
......@@ -23,29 +23,65 @@
using namespace d_fall_pps;
/*TODO:
request from paul
Specificy controller in a file
ViconData previousLocation;
*/
bool calculateControlOutput(RateController::Request &request, RateController::Response &response) {
ROS_INFO("calculate control output");
//Philipp: I have put this here, because in the first call, we wouldnt have previousLocation initialized
//save previous data for calculating velocities in next step
previousLocation = request.crazyflieLocation;
ViconData vicon = request.crazyflieLocation;
Setpoint goal = request.setpoint;
//ROS_INFO("request received with following ViconData");
//ROS_INFO_STREAM(vicon);
//ROS_INFO("the goal setpoint is:");
//ROS_INFO_STREAM(request.setpoint);
ROS_INFO("request received with following ViconData");
ROS_INFO_STREAM(vicon);
ROS_INFO("the goal setpoint is:");
ROS_INFO_STREAM(request.setpoint);
//add/calculate safeController
response.controlOutput.rollRate = 1; //testvalue
response.controlOutput.pitchRate = 2; //testvalue
response.controlOutput.yawRate = 3; //testvalue
response.controlOutput.thrust = 50;
//K matrix for kLqrOuter
const float k[] = {
0, -1.714330725, 0, 0, -1.337107465, 0, 5.115369735, 0, 0,
1.714330725, 0, 0, 1.337107465, 0, 0, 0, 5.115369735, 0,
0, 0, 0, 0, 0, 0, 0, 0, 3.843099534,
0, 0, 0.22195826, 0, 0, 0.12362477, 0, 0, 0
};
float px = request.crazyflieLocation.x - request.setpoint.x;
float py = request.crazyflieLocation.y - request.setpoint.y;
float pz = request.crazyflieLocation.z - request.setpoint.z;
//linear approximation of derivative of position
float vx = (request.crazyflieLocation.x - previousLocation.x) / request.crazyflieLocation.acquiringTime;
float vy = (request.crazyflieLocation.y - previousLocation.y) / request.crazyflieLocation.acquiringTime;
float vz = (request.crazyflieLocation.z - previousLocation.z) / request.crazyflieLocation.acquiringTime;
float roll = request.crazyflieLocation.roll;
float pitch = request.crazyflieLocation.pitch;
float yaw = request.crazyflieLocation.yaw - request.setpoint.yaw;
response.controlOutput.rollRate = -(k[0] * px + k[1] * py + k[2] * pz + k[3] * vx + k[4] * vy + k[5] * vz + k[6] * roll + k[7] * pitch + k[8] * yaw);
response.controlOutput.pitchRate = -(k[9] * px + k[10] * py + k[11] * pz + k[12] * vx + k[13] * vy + k[14] * vz + k[15] * roll + k[16] * pitch + k[17] * yaw);
response.controlOutput.yawRate = -(k[18] * px + k[19] * py + k[20] * pz + k[21] * vx + k[22] * vy + k[23] * vz + k[24] * roll + k[25] * pitch + k[26] * yaw);
float thrustIntermediate = -(k[27] * px + k[28] * py + k[29] * pz + k[30] * vx + k[31] * vy + k[32] * vz + k[33] * roll + k[34] * pitch + k[35] * yaw);
//idea: linerazie plot and apply on sum of thrust instead of on each motor
response.controlOutput.thrust = 20000;
/*cmd1Thrust=(-m_a1+sqrt(m_a1*m_a1-4*m_a2*(m_a0-(thrust+m_ffCmd1Thrust))))/(2*m_a2);
cmd2Thrust=(-m_a1+sqrt(m_a1*m_a1-4*m_a2*(m_a0-(thrust+m_ffCmd2Thrust))))/(2*m_a2);
cmd3Thrust=(-m_a1+sqrt(m_a1*m_a1-4*m_a2*(m_a0-(thrust+m_ffCmd3Thrust))))/(2*m_a2);
cmd4Thrust=(-m_a1+sqrt(m_a1*m_a1-4*m_a2*(m_a0-(thrust+m_ffCmd4Thrust))))/(2*m_a2);
*/
return true;
}
......
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