diff --git a/pps_ws/src/d_fall_pps/include/CentralManagerService.h b/pps_ws/src/d_fall_pps/include/CentralManagerService.h
index 7f6414c17cf613daf03dd7b1178665e633a733a6..9d7f81e8e9323f5eb9f46c6031e7688f3e9efcdf 100644
--- a/pps_ws/src/d_fall_pps/include/CentralManagerService.h
+++ b/pps_ws/src/d_fall_pps/include/CentralManagerService.h
@@ -30,6 +30,41 @@
// ----------------------------------------------------------------------------------
+
+
+
+// ----------------------------------------------------------------------------------
+// III N N CCCC L U U DDDD EEEEE SSSS
+// I NN N C L U U D D E S
+// I N N N C L U U D D EEE SSS
+// I N NN C L U U D D E S
+// III N N CCCC LLLLL UUU DDDD EEEEE SSSS
+// ----------------------------------------------------------------------------------
+
+#include <stdlib.h>
+#include <ros/ros.h>
+#include "d_fall_pps/CrazyflieContext.h"
+#include "d_fall_pps/CrazyflieDB.h"
+
+#include "d_fall_pps/CMRead.h"
+#include "d_fall_pps/CMQuery.h"
+#include "d_fall_pps/CMUpdate.h"
+#include "d_fall_pps/CMCommand.h"
+
+#include "CrazyflieIO.h"
+
+
+
+
+
+// ----------------------------------------------------------------------------------
+// DDDD EEEEE FFFFF III N N EEEEE SSSS
+// D D E F I NN N E S
+// D D EEE FFF I N N N EEE SSS
+// D D E F I N NN E S
+// DDDD EEEEE F III N N EEEEE SSSS
+// ----------------------------------------------------------------------------------
+
//for field command in CMCommand
#define CMD_SAVE 1
#define CMD_RELOAD 2
@@ -38,3 +73,58 @@
#define ENTRY_INSERT_OR_UPDATE 1
#define ENTRY_REMOVE 2
+// For which controller parameters to load
+#define LOAD_YAML_SAFE_CONTROLLER_AGENT 1
+#define LOAD_YAML_DEMO_CONTROLLER_AGENT 2
+#define LOAD_YAML_SAFE_CONTROLLER_COORDINATOR 3
+#define LOAD_YAML_DEMO_CONTROLLER_COORDINATOR 4
+
+// For which controller parameters and from where to fetch
+#define FETCH_YAML_SAFE_CONTROLLER_FROM_OWN_AGENT 1
+#define FETCH_YAML_DEMO_CONTROLLER_FROM_OWN_AGENT 2
+#define FETCH_YAML_SAFE_CONTROLLER_FROM_COORDINATOR 3
+#define FETCH_YAML_DEMO_CONTROLLER_FROM_COORDINATOR 4
+
+
+using namespace d_fall_pps;
+using namespace std;
+
+
+
+
+
+// ----------------------------------------------------------------------------------
+// V V A RRRR III A BBBB L EEEEE SSSS
+// V V A A R R I A A B B L E S
+// V V A A RRRR I A A BBBB L EEE SSS
+// V V AAAAA R R I AAAAA B B L E S
+// V A A R R III A A BBBB LLLLL EEEEE SSSS
+// ----------------------------------------------------------------------------------
+
+CrazyflieDB crazyflieDB;
+
+
+
+
+
+// ----------------------------------------------------------------------------------
+// FFFFF U U N N CCCC TTTTT III OOO N N
+// F U U NN N C T I O O NN N
+// FFF U U N N N C T I O O N N N
+// F U U N NN C T I O O N NN
+// F UUU N N CCCC T III OOO N N
+//
+// PPPP RRRR OOO TTTTT OOO TTTTT Y Y PPPP EEEEE SSSS
+// P P R R O O T O O T Y Y P P E S
+// PPPP RRRR O O T O O T Y PPPP EEE SSS
+// P R R O O T O O T Y P E S
+// P R R OOO T OOO T Y P EEEEE SSSS
+// ----------------------------------------------------------------------------------
+
+bool cmRead(CMRead::Request &request, CMRead::Response &response);
+int findEntryByStudID(unsigned int studID);
+bool cmQuery(CMQuery::Request &request, CMQuery::Response &response);
+int findEntryByCF(string name);
+bool cmUpdate(CMUpdate::Request &request, CMUpdate::Response &response);
+bool cmCommand(CMCommand::Request &request, CMCommand::Response &response);
+
diff --git a/pps_ws/src/d_fall_pps/include/DemoControllerService.h b/pps_ws/src/d_fall_pps/include/DemoControllerService.h
new file mode 100644
index 0000000000000000000000000000000000000000..b651eeaf66957d30f452b804b2225bf4ba6a1f7b
--- /dev/null
+++ b/pps_ws/src/d_fall_pps/include/DemoControllerService.h
@@ -0,0 +1,283 @@
+// Copyright (C) 2017, ETH Zurich, D-ITET, Paul Beuchat
+//
+// This file is part of D-FaLL-System.
+//
+// D-FaLL-System is free software: you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// D-FaLL-System is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with D-FaLL-System. If not, see <http://www.gnu.org/licenses/>.
+//
+//
+// ----------------------------------------------------------------------------------
+// DDDD FFFFF L L SSSS Y Y SSSS TTTTT EEEEE M M
+// D D F aaa L L S Y Y S T E MM MM
+// D D --- FFFF a a L L --- SSS Y SSS T EEE M M M
+// D D F a aa L L S Y S T E M M
+// DDDD F aa a LLLL LLLL SSSS Y SSSS T EEEEE M M
+//
+//
+// DESCRIPTION:
+// Place for students to implement their controller
+//
+// ----------------------------------------------------------------------------------
+
+
+
+
+
+// ----------------------------------------------------------------------------------
+// III N N CCCC L U U DDDD EEEEE SSSS
+// I NN N C L U U D D E S
+// I N N N C L U U D D EEE SSS
+// I N NN C L U U D D E S
+// III N N CCCC LLLLL UUU DDDD EEEEE SSSS
+// ----------------------------------------------------------------------------------
+
+// These various headers need to be included so that this controller service can be
+// connected with the D-FaLL system.
+
+//some useful libraries
+#include <math.h>
+#include <stdlib.h>
+#include "ros/ros.h"
+#include <ros/package.h>
+
+//the generated structs from the msg-files have to be included
+#include "d_fall_pps/ViconData.h"
+#include "d_fall_pps/Setpoint.h"
+#include "d_fall_pps/ControlCommand.h"
+#include "d_fall_pps/Controller.h"
+#include "d_fall_pps/DebugMsg.h"
+//#include "d_fall_pps/DemoControllerYAML.h"
+
+#include <std_msgs/Int32.h>
+
+
+
+
+
+// ----------------------------------------------------------------------------------
+// DDDD EEEEE FFFFF III N N EEEEE SSSS
+// D D E F I NN N E S
+// D D EEE FFF I N N N EEE SSS
+// D D E F I N NN E S
+// DDDD EEEEE F III N N EEEEE SSSS
+// ----------------------------------------------------------------------------------
+
+// These constants are defined to make the code more readable and adaptable.
+
+// Universal constants
+#define PI 3.1415926535
+
+// These constants define the modes that can be used for controller the Crazyflie 2.0,
+// the constants defined here need to be in agreement with those defined in the
+// firmware running on the Crazyflie 2.0.
+// The following is a short description about each mode:
+// MOTOR_MODE In this mode the Crazyflie will apply the requested 16-bit per motor
+// command directly to each of the motors
+// RATE_MODE In this mode the Crazyflie will apply the requested 16-bit per motor
+// command directly to each of the motors, and additionally request the
+// body frame roll, pitch, and yaw angular rates from the PID rate
+// controllers implemented in the Crazyflie 2.0 firmware.
+// ANGE_MODE In this mode the Crazyflie will apply the requested 16-bit per motor
+// command directly to each of the motors, and additionally request the
+// body frame roll, pitch, and yaw angles from the PID attitude
+// controllers implemented in the Crazyflie 2.0 firmware.
+#define MOTOR_MODE 6
+#define RATE_MODE 7
+#define ANGLE_MODE 8
+
+// These constants define the controller used for computing the response in the
+// "calculateControlOutput" function
+// The following is a short description about each mode:
+// LQR_RATE_MODE LQR controller based on the state vector:
+// [position,velocity,angles]
+//
+// LQR_ANGLE_MODE LQR controller based on the state vector:
+// [position,velocity]
+//
+#define LQR_RATE_MODE 1 // (DEFAULT)
+#define LQR_ANGLE_MODE 2
+
+// Constants for feching the yaml paramters
+#define FETCH_YAML_SAFE_CONTROLLER_AGENT 1
+#define FETCH_YAML_DEMO_CONTROLLER_AGENT 2
+#define FETCH_YAML_SAFE_CONTROLLER_COORDINATOR 3
+#define FETCH_YAML_DEMO_CONTROLLER_COORDINATOR 4
+
+// Namespacing the package
+using namespace d_fall_pps;
+
+
+
+
+
+// ----------------------------------------------------------------------------------
+// V V A RRRR III A BBBB L EEEEE SSSS
+// V V A A R R I A A B B L E S
+// V V A A RRRR I A A BBBB L EEE SSS
+// V V AAAAA R R I AAAAA B B L E S
+// V A A R R III A A BBBB LLLLL EEEEE SSSS
+// ----------------------------------------------------------------------------------
+
+// Variables for controller
+float cf_mass; // Crazyflie mass in grams
+std::vector<float> motorPoly(3); // Coefficients of the 16-bit command to thrust conversion
+float control_frequency; // Frequency at which the controller is running
+float gravity_force; // The weight of the Crazyflie in Newtons, i.e., mg
+
+float previous_stateErrorInertial[9]; // The location error of the Crazyflie at the "previous" time step
+
+std::vector<float> setpoint{0.0,0.0,0.4,0.0}; // The setpoints for (x,y,z) position and yaw angle, in that order
+
+
+// The controller type to run in the "calculateControlOutput" function
+int controller_type = LQR_RATE_MODE;
+
+// The LQR Controller parameters for "LQR_RATE_MODE"
+std::vector<float> gainMatrixRollRate = { 0.00,-1.72, 0.00, 0.00,-1.34, 0.00, 5.12, 0.00, 0.00};
+std::vector<float> gainMatrixPitchRate = { 1.72, 0.00, 0.00, 1.34, 0.00, 0.00, 0.00, 5.12, 0.00};
+std::vector<float> gainMatrixYawRate = { 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 2.84};
+std::vector<float> gainMatrixThrust_NineStateVector = { 0.00, 0.00, 0.25, 0.00, 0.00, 0.14, 0.00, 0.00, 0.00};
+
+
+// The LQR Controller parameters for "LQR_ANGLE_MODE"
+std::vector<float> gainMatrixRollAngle = { 0.00,-0.20, 0.00, 0.00,-0.20, 0.00};
+std::vector<float> gainMatrixPitchAngle = { 0.20, 0.00, 0.00, 0.20, 0.00, 0.00};
+std::vector<float> gainMatrixThrust_SixStateVector = { 0.00, 0.00, 0.31, 0.00, 0.00, 0.14};
+
+// ROS Publisher for debugging variables
+ros::Publisher debugPublisher;
+
+
+// Variable for the namespaces for the paramter services
+// > For the paramter service of this agent
+std::string namespace_to_own_agent_parameter_service;
+// > For the parameter service of the coordinator
+std::string namespace_to_coordinator_parameter_service;
+
+
+
+// VARIABLES RELATING TO PERFORMING THE CONVERSION INTO BODY FRAME
+
+// Boolean whether to execute the convert into body frame function
+bool shouldPerformConvertIntoBodyFrame = false;
+
+
+// VARIABLES RELATING TO THE PUBLISHING OF A DEBUG MESSAGE
+
+// Boolean indiciating whether the "Debug Message" of this agent should be published or not
+bool shouldPublishDebugMessage = false;
+
+// Boolean indiciating whether the debugging ROS_INFO_STREAM should be displayed or not
+bool shouldDisplayDebugInfo = false;
+
+
+// VARIABLES RELATING TO PUBLISHING CURRENT POSITION AND FOLLOWING ANOTHER AGENT'S
+// POSITION
+
+// The ID of this agent, i.e., the ID of this compute
+int my_agentID = 0;
+
+// Boolean indicating whether the (x,y,z,yaw) of this agent should be published or not
+// > The default behaviour is: do not publish,
+// > This varaible is changed based on parameters loaded from the YAML file
+bool shouldPublishCurrent_xyz_yaw = false;
+
+// Boolean indicating whether the (x,y,z,yaw) setpoint of this agent should adapted in
+// an attempt to follow the "my_current_xyz_yaw_topic" from another agent
+// > The default behaviour is: do not follow,
+// > This varaible is changed based on parameters loaded from the YAML file
+bool shouldFollowAnotherAgent = false;
+
+// The order in which agents should follow eachother
+// > This parameter is a vector of integers that specifies agent ID's
+// > The order of the agent ID's is the ordering of the line formation
+// > i.e., the first ID is the leader, the second ID should follow the first ID, and so on
+std::vector<int> follow_in_a_line_agentIDs(100);
+
+// Integer specifying the ID of the agent that will be followed by this agent
+// > The default behaviour not to follow any agent, indicated by ID zero
+// > This varaible is changed based on parameters loaded from the YAML file
+int agentID_to_follow = 0;
+
+// ROS Publisher for my current (x,y,z,yaw) position
+ros::Publisher my_current_xyz_yaw_publisher;
+
+// ROS Subscriber for my position
+ros::Subscriber xyz_yaw_to_follow_subscriber;
+
+
+// RELEVANT NOTES ABOUT THE VARIABLES DECLARE HERE:
+// The "CrazyflieData" type used for the "request" variable is a
+// structure as defined in the file "CrazyflieData.msg" which has the following
+// properties:
+// string crazyflieName The name given to the Crazyflie in the Vicon software
+// float64 x The x position of the Crazyflie [metres]
+// float64 y The y position of the Crazyflie [metres]
+// float64 z The z position of the Crazyflie [metres]
+// float64 roll The roll component of the intrinsic Euler angles [radians]
+// float64 pitch The pitch component of the intrinsic Euler angles [radians]
+// float64 yaw The yaw component of the intrinsic Euler angles [radians]
+// float64 acquiringTime #delta t The time elapsed since the previous "CrazyflieData" was received [seconds]
+// bool occluded A boolean indicted whether the Crazyflie for visible at the time of this measurement
+
+
+
+
+
+// ----------------------------------------------------------------------------------
+// FFFFF U U N N CCCC TTTTT III OOO N N
+// F U U NN N C T I O O NN N
+// FFF U U N N N C T I O O N N N
+// F U U N NN C T I O O N NN
+// F UUU N N CCCC T III OOO N N
+//
+// PPPP RRRR OOO TTTTT OOO TTTTT Y Y PPPP EEEEE SSSS
+// P P R R O O T O O T Y Y P P E S
+// PPPP RRRR O O T O O T Y PPPP EEE SSS
+// P R R O O T O O T Y P E S
+// P R R OOO T OOO T Y P EEEEE SSSS
+// ----------------------------------------------------------------------------------
+
+// These function prototypes are not strictly required for this code to complile, but
+// adding the function prototypes here means the the functions can be written below in
+// any order. If the function prototypes are not included then the function need to
+// written below in an order that ensure each function is implemented before it is
+// called from another function, hence why the "main" function is at the bottom.
+
+// CONTROLLER COMPUTATIONS
+bool calculateControlOutput(Controller::Request &request, Controller::Response &response);
+void calculateControlOutput_viaLQRforRates(float stateErrorBody[9], Controller::Request &request, Controller::Response &response);
+void calculateControlOutput_viaLQRforAngles(float stateErrorBody[9], Controller::Request &request, Controller::Response &response);
+
+// TRANSFORMATION OF THE (x,y) INERTIAL FRAME ERROR INTO AN (x,y) BODY FRAME ERROR
+void convertIntoBodyFrame(float stateInertial[9], float (&stateBody)[9], float yaw_measured);
+
+// CONVERSION FROM THRUST IN NEWTONS TO 16-BIT COMMAND
+float computeMotorPolyBackward(float thrust);
+
+// SETPOINT CHANGE CALLBACK
+void setpointCallback(const Setpoint& newSetpoint);
+void xyz_yaw_to_follow_callback(const Setpoint& newSetpoint);
+
+// LOAD PARAMETERS
+float getParameterFloat(ros::NodeHandle& nodeHandle, std::string name);
+void getParameterFloatVector(ros::NodeHandle& nodeHandle, std::string name, std::vector<float>& val, int length);
+int getParameterInt(ros::NodeHandle& nodeHandle, std::string name);
+void getParameterIntVectorWithKnownLength(ros::NodeHandle& nodeHandle, std::string name, std::vector<int>& val, int length);
+int getParameterIntVectorWithUnknownLength(ros::NodeHandle& nodeHandle, std::string name, std::vector<int>& val);
+bool getParameterBool(ros::NodeHandle& nodeHandle, std::string name);
+
+void yamlReadyForFetchCallback(const std_msgs::Int32& msg);
+void fetchYamlParameters(ros::NodeHandle& nodeHandle);
+void processFetchedParameters();
+
diff --git a/pps_ws/src/d_fall_pps/include/PPSClient.h b/pps_ws/src/d_fall_pps/include/PPSClient.h
new file mode 100644
index 0000000000000000000000000000000000000000..e1d84a0fbae7443e3473d65c37fe49efbe4e106c
--- /dev/null
+++ b/pps_ws/src/d_fall_pps/include/PPSClient.h
@@ -0,0 +1,293 @@
+// Copyright (C) 2017, ETH Zurich, D-ITET, Paul Beuchat, Angel Romero, Cyrill Burgener, Marco Mueller, Philipp Friedli
+//
+// This file is part of D-FaLL-System.
+//
+// D-FaLL-System is free software: you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// D-FaLL-System is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with D-FaLL-System. If not, see <http://www.gnu.org/licenses/>.
+//
+//
+// ----------------------------------------------------------------------------------
+// DDDD FFFFF L L SSSS Y Y SSSS TTTTT EEEEE M M
+// D D F aaa L L S Y Y S T E MM MM
+// D D --- FFFF a a L L --- SSS Y SSS T EEE M M M
+// D D F a aa L L S Y S T E M M
+// DDDD F aa a LLLL LLLL SSSS Y SSSS T EEEEE M M
+//
+//
+// DESCRIPTION:
+// ROS node that manages the student's setup.
+//
+// ----------------------------------------------------------------------------------
+
+
+
+
+
+// ----------------------------------------------------------------------------------
+// III N N CCCC L U U DDDD EEEEE SSSS
+// I NN N C L U U D D E S
+// I N N N C L U U D D EEE SSS
+// I N NN C L U U D D E S
+// III N N CCCC LLLLL UUU DDDD EEEEE SSSS
+// ----------------------------------------------------------------------------------
+
+#include "ros/ros.h"
+#include <stdlib.h>
+#include <std_msgs/String.h>
+#include <ros/package.h>
+
+#include "d_fall_pps/Controller.h"
+#include "d_fall_pps/CMQuery.h"
+
+#include "d_fall_pps/ViconData.h"
+#include "d_fall_pps/CrazyflieData.h"
+#include "d_fall_pps/ControlCommand.h"
+#include "d_fall_pps/CrazyflieContext.h"
+#include "d_fall_pps/Setpoint.h"
+#include "std_msgs/Int32.h"
+#include "std_msgs/Float32.h"
+
+// Need for having a ROS "bag" to store data for post-analysis
+//#include <rosbag/bag.h>
+
+#include "d_fall_pps/ControlCommand.h"
+
+
+
+
+
+// ----------------------------------------------------------------------------------
+// DDDD EEEEE FFFFF III N N EEEEE SSSS
+// D D E F I NN N E S
+// D D EEE FFF I N N N EEE SSS
+// D D E F I N NN E S
+// DDDD EEEEE F III N N EEEEE SSSS
+// ----------------------------------------------------------------------------------
+
+// Types PPS firmware
+#define CF_COMMAND_TYPE_MOTORS 6
+#define CF_COMMAND_TYPE_RATE 7
+#define CF_COMMAND_TYPE_ANGLE 8
+
+// Types of controllers being used:
+#define SAFE_CONTROLLER 0
+#define DEMO_CONTROLLER 1
+
+// The constants that "command" changes in the
+// operation state of this agent
+#define CMD_USE_SAFE_CONTROLLER 1
+#define CMD_USE_DEMO_CONTROLLER 2
+#define CMD_CRAZYFLY_TAKE_OFF 3
+#define CMD_CRAZYFLY_LAND 4
+#define CMD_CRAZYFLY_MOTORS_OFF 5
+
+// Flying states
+#define STATE_MOTORS_OFF 1
+#define STATE_TAKE_OFF 2
+#define STATE_FLYING 3
+#define STATE_LAND 4
+
+// Battery states
+#define BATTERY_STATE_NORMAL 0
+#define BATTERY_STATE_LOW 1
+
+// Commands for CrazyRadio
+#define CMD_RECONNECT 0
+#define CMD_DISCONNECT 1
+
+
+// CrazyRadio states:
+#define CONNECTED 0
+#define CONNECTING 1
+#define DISCONNECTED 2
+
+// For which controller parameters to load
+#define FETCH_YAML_SAFE_CONTROLLER_AGENT 1
+#define FETCH_YAML_DEMO_CONTROLLER_AGENT 2
+#define FETCH_YAML_SAFE_CONTROLLER_COORDINATOR 3
+#define FETCH_YAML_DEMO_CONTROLLER_COORDINATOR 4
+
+
+// Universal constants
+#define PI 3.141592653589
+
+// Namespacing the package
+using namespace d_fall_pps;
+
+
+
+
+
+// ----------------------------------------------------------------------------------
+// V V A RRRR III A BBBB L EEEEE SSSS
+// V V A A R R I A A B B L E S
+// V V A A RRRR I A A BBBB L EEE SSS
+// V V AAAAA R R I AAAAA B B L E S
+// V A A R R III A A BBBB LLLLL EEEEE SSSS
+// ----------------------------------------------------------------------------------
+
+// "studentID", gives namespace and identifier in CentralManagerService
+int studentID;
+
+// The safe controller specified in the ClientConfig.yaml, is considered stable
+ros::ServiceClient safeController;
+// The Demo controller specified in the ClientConfig.yaml, is considered potentially unstable
+ros::ServiceClient demoController;
+
+//values for safteyCheck
+bool strictSafety;
+float angleMargin;
+
+// battery threshold
+float m_battery_threshold_while_flying;
+float m_battery_threshold_while_motors_off;
+
+
+// battery values
+
+int m_battery_state;
+float m_battery_voltage;
+
+Setpoint controller_setpoint;
+
+// variables for linear trayectory
+Setpoint current_safe_setpoint;
+double distance;
+double unit_vector[3];
+bool was_in_threshold = false;
+double distance_threshold; //to be loaded from yaml
+
+
+ros::ServiceClient centralManager;
+ros::Publisher controlCommandPublisher;
+
+// communicate with safeControllerService, setpoint, etc...
+ros::Publisher safeControllerServiceSetpointPublisher;
+
+// publisher for flying state
+ros::Publisher flyingStatePublisher;
+
+// publisher for battery state
+ros::Publisher batteryStatePublisher;
+
+// publisher to send commands to itself.
+ros::Publisher commandPublisher;
+
+// communication with crazyRadio node. Connect and disconnect
+ros::Publisher crazyRadioCommandPublisher;
+
+
+// Variable for the namespaces for the paramter services
+// > For the paramter service of this agent
+std::string namespace_to_own_agent_parameter_service;
+// > For the parameter service of the coordinator
+std::string namespace_to_coordinator_parameter_service;
+
+
+// variables for the states:
+int flying_state;
+bool changed_state_flag;
+
+// variable for crazyradio status
+int crazyradio_status;
+
+//describes the area of the crazyflie and other parameters
+CrazyflieContext context;
+
+//wheter to use safe of demo controller
+int instant_controller; //variable for the instant controller, e.g., we use safe controller for taking off and landing even if demo controller is enabled. This variable WILL change automatically
+
+// controller used:
+int controller_used;
+
+ros::Publisher controllerUsedPublisher;
+
+std::string ros_namespace;
+
+float take_off_distance;
+float landing_distance;
+float duration_take_off;
+float duration_landing;
+
+bool finished_take_off = false;
+bool finished_land = false;
+
+ros::Timer timer_takeoff;
+ros::Timer timer_land;
+
+// A ROS "bag" to store data for post-analysis
+//rosbag::Bag bag;
+
+
+
+
+// ----------------------------------------------------------------------------------
+// FFFFF U U N N CCCC TTTTT III OOO N N
+// F U U NN N C T I O O NN N
+// FFF U U N N N C T I O O N N N
+// F U U N NN C T I O O N NN
+// F UUU N N CCCC T III OOO N N
+//
+// PPPP RRRR OOO TTTTT OOO TTTTT Y Y PPPP EEEEE SSSS
+// P P R R O O T O O T Y Y P P E S
+// PPPP RRRR O O T O O T Y PPPP EEE SSS
+// P R R O O T O O T Y P E S
+// P R R OOO T OOO T Y P EEEEE SSSS
+// ----------------------------------------------------------------------------------
+
+
+// > For the LOAD PARAMETERS
+void yamlReadyForFetchCallback(const std_msgs::Int32& msg);
+void fetchYamlParametersForSafeController(ros::NodeHandle& nodeHandle);
+void fetchClientConfigParameters(ros::NodeHandle& nodeHandle);
+
+void crazyRadioCommandAllAgentsCallback(const std_msgs::Int32& msg);
+
+
+
+
+
+// > For the LOADING of YAML PARAMETERS
+void yamlReadyForFetchCallback(const std_msgs::Int32& msg);
+void fetchYamlParametersForSafeController(ros::NodeHandle& nodeHandle);
+void fetchClientConfigParameters(ros::NodeHandle& nodeHandle);
+
+
+
+// > For the {dis/re}-connect command received from the coordinator
+void crazyRadioCommandAllAgentsCallback(const std_msgs::Int32& msg);
+
+
+// > For the BATTERY
+int getBatteryState();
+void setBatteryStateTo(int new_battery_state);
+float movingAverageBatteryFilter(float new_input);
+void CFBatteryCallback(const std_msgs::Float32& msg);
+
+
+
+
+
+
+void loadSafeController();
+void loadDemoController();
+void sendMessageUsingController(int controller);
+void setInstantController(int controller);
+int getInstantController();
+void setControllerUsed(int controller);
+int getControllerUsed();
+
+
+
+
+
diff --git a/pps_ws/src/d_fall_pps/include/ParameterService.h b/pps_ws/src/d_fall_pps/include/ParameterService.h
new file mode 100644
index 0000000000000000000000000000000000000000..136f5c04958da05cd3d12b4755668f2b1f2236b5
--- /dev/null
+++ b/pps_ws/src/d_fall_pps/include/ParameterService.h
@@ -0,0 +1,129 @@
+// Copyright (C) 2017, ETH Zurich, D-ITET, Paul Beuchat
+//
+// This file is part of D-FaLL-System.
+//
+// D-FaLL-System is free software: you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// D-FaLL-System is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with D-FaLL-System. If not, see <http://www.gnu.org/licenses/>.
+//
+//
+// ----------------------------------------------------------------------------------
+// DDDD FFFFF L L SSSS Y Y SSSS TTTTT EEEEE M M
+// D D F aaa L L S Y Y S T E MM MM
+// D D --- FFFF a a L L --- SSS Y SSS T EEE M M M
+// D D F a aa L L S Y S T E M M
+// DDDD F aa a LLLL LLLL SSSS Y SSSS T EEEEE M M
+//
+//
+// DESCRIPTION:
+// The service that manages the loading of YAML parameters
+//
+// ----------------------------------------------------------------------------------
+
+
+
+
+
+// ----------------------------------------------------------------------------------
+// III N N CCCC L U U DDDD EEEEE SSSS
+// I NN N C L U U D D E S
+// I N N N C L U U D D EEE SSS
+// I N NN C L U U D D E S
+// III N N CCCC LLLLL UUU DDDD EEEEE SSSS
+// ----------------------------------------------------------------------------------
+
+#include <stdlib.h>
+#include <string>
+
+#include <ros/ros.h>
+#include <ros/package.h>
+#include <ros/network.h>
+#include "std_msgs/Int32.h"
+//#include "std_msgs/Float32.h"
+//#include <std_msgs/String.h>
+
+#include "d_fall_pps/Controller.h"
+
+
+// ----------------------------------------------------------------------------------
+// DDDD EEEEE FFFFF III N N EEEEE SSSS
+// D D E F I NN N E S
+// D D EEE FFF I N N N EEE SSS
+// D D E F I N NN E S
+// DDDD EEEEE F III N N EEEEE SSSS
+// ----------------------------------------------------------------------------------
+
+
+// For which controller parameters to load
+#define LOAD_YAML_SAFE_CONTROLLER_AGENT 1
+#define LOAD_YAML_DEMO_CONTROLLER_AGENT 2
+#define LOAD_YAML_SAFE_CONTROLLER_COORDINATOR 3
+#define LOAD_YAML_DEMO_CONTROLLER_COORDINATOR 4
+
+#define FETCH_YAML_SAFE_CONTROLLER_FROM_OWN_AGENT 1
+#define FETCH_YAML_DEMO_CONTROLLER_FROM_OWN_AGENT 2
+#define FETCH_YAML_SAFE_CONTROLLER_FROM_COORDINATOR 3
+#define FETCH_YAML_DEMO_CONTROLLER_FROM_COORDINATOR 4
+
+#define TYPE_INVALID -1
+#define TYPE_COORDINATOR 1
+#define TYPE_AGENT 2
+
+
+// Namespacing the package
+using namespace d_fall_pps;
+//using namespace std;
+
+
+
+
+// ----------------------------------------------------------------------------------
+// V V A RRRR III A BBBB L EEEEE SSSS
+// V V A A R R I A A B B L E S
+// V V A A RRRR I A A BBBB L EEE SSS
+// V V AAAAA R R I AAAAA B B L E S
+// V A A R R III A A BBBB LLLLL EEEEE SSSS
+// ----------------------------------------------------------------------------------
+
+// The type of this node, i.e., agent or a coordinator, specified as a parameter in the
+// "*.launch" file
+int my_type = 0;
+
+// The ID of this agent, i.e., the ID of this computer in the case that this computer is
+// and agent
+int my_agentID = 0;
+
+// Publisher that notifies the relevant nodes when the YAML paramters have been loaded
+// from file into ram/cache, and hence are ready to be fetched
+ros::Publisher controllerYamlReadyForFetchPublihser;
+
+
+std::string m_ros_namespace;
+
+ros::Subscriber requestLoadControllerYamlSubscriber_agent_to_self;
+
+
+// ----------------------------------------------------------------------------------
+// FFFFF U U N N CCCC TTTTT III OOO N N
+// F U U NN N C T I O O NN N
+// FFF U U N N N C T I O O N N N
+// F U U N NN C T I O O N NN
+// F UUU N N CCCC T III OOO N N
+//
+// PPPP RRRR OOO TTTTT OOO TTTTT Y Y PPPP EEEEE SSSS
+// P P R R O O T O O T Y Y P P E S
+// PPPP RRRR O O T O O T Y PPPP EEE SSS
+// P R R O O T O O T Y P E S
+// P R R OOO T OOO T Y P EEEEE SSSS
+// ----------------------------------------------------------------------------------
+
+void requestLoadControllerYamlCallback(const std_msgs::Int32& msg);
diff --git a/pps_ws/src/d_fall_pps/launch/Student.launch b/pps_ws/src/d_fall_pps/launch/Student.launch
index 11c72653e12e4c278b465ae06f3cb87b4d26276a..925b7489d7fcd583c5b7d09b594e2cc8a538ff4a 100755
--- a/pps_ws/src/d_fall_pps/launch/Student.launch
+++ b/pps_ws/src/d_fall_pps/launch/Student.launch
@@ -15,8 +15,8 @@
<node pkg="d_fall_pps" name="SafeControllerService" output="screen" type="SafeControllerService">
</node>
- <!-- CUSTOM CONTROLLER -->
- <node pkg="d_fall_pps" name="CustomControllerService" output="screen" type="CustomControllerService">
+ <!-- DEMO CONTROLLER -->
+ <node pkg="d_fall_pps" name="DemoControllerService" output="screen" type="DemoControllerService">
</node>
<!-- PARAMETER SERVICE -->
@@ -24,7 +24,7 @@
<param name="type" type="str" value="agent" />
<param name="agentID" value="$(optenv ROS_NAMESPACE)" />
<rosparam command="load" file="$(find d_fall_pps)/param/SafeController.yaml" ns="SafeController" />
- <rosparam command="load" file="$(find d_fall_pps)/param/DemoController.yaml" ns="CustomController" />
+ <rosparam command="load" file="$(find d_fall_pps)/param/DemoController.yaml" ns="DemoController" />
</node>
<!-- AGENT GUI (aka. the "student GUI") -->
diff --git a/pps_ws/src/d_fall_pps/param/ClientConfig.yaml b/pps_ws/src/d_fall_pps/param/ClientConfig.yaml
index cda1948a7611b0cf78bc3dc4c481b5fb07f842f2..7c810af8fa057037ac7e374aa7ffe540b26ea550 100755
--- a/pps_ws/src/d_fall_pps/param/ClientConfig.yaml
+++ b/pps_ws/src/d_fall_pps/param/ClientConfig.yaml
@@ -1,5 +1,5 @@
safeController: "SafeControllerService/RateController"
-customController: "CustomControllerService/CustomController"
+demoController: "DemoControllerService/DemoController"
strictSafety: true
angleMargin: 0.6
battery_threshold_while_flying: 2.8 # in V
diff --git a/pps_ws/src/d_fall_pps/param/SafeController.yaml b/pps_ws/src/d_fall_pps/param/SafeController.yaml
index 400d253640349519f090c0926005f5e466077109..d8cc093bf657f978ba4d31980bd9f69c81e95450 100644
--- a/pps_ws/src/d_fall_pps/param/SafeController.yaml
+++ b/pps_ws/src/d_fall_pps/param/SafeController.yaml
@@ -7,7 +7,7 @@ motorPoly: [5.484560e-4, 1.032633e-6, 2.130295e-11]
gainMatrixRoll: [0, -1.714330725, 0, 0, -1.337107465, 0, 5.115369735, 0, 0]
gainMatrixPitch: [1.714330725, 0, 0, 1.337107465, 0, 0, 0, 5.115369735, 0]
gainMatrixYaw: [0, 0, 0, 0, 0, 0, 0, 0, 2.843099534]
-gainMatrixThrust: [0, 0, 0.20195826, 0, 0, 0.08362477, 0, 0, 0]
+gainMatrixThrust: [0, 0, 0.19195826, 0, 0, 0.08362477, 0, 0, 0]
#kalman filter
filterGain: [1, 1, 1, 22.3384, 22.3384, 22.3384] #K_infinite of feedback
diff --git a/pps_ws/src/d_fall_pps/src/CentralManagerService.cpp b/pps_ws/src/d_fall_pps/src/CentralManagerService.cpp
index 4a0e58a8ebbe3a75bbbc05ec619dbad05ac2211e..20643e62ecd073e35ee98541b67be1ff043f584f 100755
--- a/pps_ws/src/d_fall_pps/src/CentralManagerService.cpp
+++ b/pps_ws/src/d_fall_pps/src/CentralManagerService.cpp
@@ -33,94 +33,10 @@
-// ----------------------------------------------------------------------------------
-// III N N CCCC L U U DDDD EEEEE SSSS
-// I NN N C L U U D D E S
-// I N N N C L U U D D EEE SSS
-// I N NN C L U U D D E S
-// III N N CCCC LLLLL UUU DDDD EEEEE SSSS
-// ----------------------------------------------------------------------------------
-
-#include <stdlib.h>
-#include <ros/ros.h>
-#include "d_fall_pps/CrazyflieContext.h"
-#include "d_fall_pps/CrazyflieDB.h"
-
-#include "d_fall_pps/CMRead.h"
-#include "d_fall_pps/CMQuery.h"
-#include "d_fall_pps/CMUpdate.h"
-#include "d_fall_pps/CMCommand.h"
+// INCLUDE THE HEADER
#include "CentralManagerService.h"
-#include "CrazyflieIO.h"
-
-
-
-
-
-// ----------------------------------------------------------------------------------
-// DDDD EEEEE FFFFF III N N EEEEE SSSS
-// D D E F I NN N E S
-// D D EEE FFF I N N N EEE SSS
-// D D E F I N NN E S
-// DDDD EEEEE F III N N EEEEE SSSS
-// ----------------------------------------------------------------------------------
-
-
-// For which controller parameters to load
-#define LOAD_YAML_SAFE_CONTROLLER_AGENT 1
-#define LOAD_YAML_CUSTOM_CONTROLLER_AGENT 2
-#define LOAD_YAML_SAFE_CONTROLLER_COORDINATOR 3
-#define LOAD_YAML_CUSTOM_CONTROLLER_COORDINATOR 4
-
-// For which controller parameters and from where to fetch
-#define FETCH_YAML_SAFE_CONTROLLER_FROM_OWN_AGENT 1
-#define FETCH_YAML_CUSTOM_CONTROLLER_FROM_OWN_AGENT 2
-#define FETCH_YAML_SAFE_CONTROLLER_FROM_COORDINATOR 3
-#define FETCH_YAML_CUSTOM_CONTROLLER_FROM_COORDINATOR 4
-
-
-using namespace d_fall_pps;
-using namespace std;
-
-
-
-
-
-// ----------------------------------------------------------------------------------
-// V V A RRRR III A BBBB L EEEEE SSSS
-// V V A A R R I A A B B L E S
-// V V A A RRRR I A A BBBB L EEE SSS
-// V V AAAAA R R I AAAAA B B L E S
-// V A A R R III A A BBBB LLLLL EEEEE SSSS
-// ----------------------------------------------------------------------------------
-
-CrazyflieDB crazyflieDB;
-
-
-
-
-
-// ----------------------------------------------------------------------------------
-// FFFFF U U N N CCCC TTTTT III OOO N N
-// F U U NN N C T I O O NN N
-// FFF U U N N N C T I O O N N N
-// F U U N NN C T I O O N NN
-// F UUU N N CCCC T III OOO N N
-//
-// PPPP RRRR OOO TTTTT OOO TTTTT Y Y PPPP EEEEE SSSS
-// P P R R O O T O O T Y Y P P E S
-// PPPP RRRR O O T O O T Y PPPP EEE SSS
-// P R R O O T O O T Y P E S
-// P R R OOO T OOO T Y P EEEEE SSSS
-// ----------------------------------------------------------------------------------
-bool cmRead(CMRead::Request &request, CMRead::Response &response);
-int findEntryByStudID(unsigned int studID);
-bool cmQuery(CMQuery::Request &request, CMQuery::Response &response);
-int findEntryByCF(string name);
-bool cmUpdate(CMUpdate::Request &request, CMUpdate::Response &response);
-bool cmCommand(CMCommand::Request &request, CMCommand::Response &response);
@@ -142,24 +58,6 @@ bool cmCommand(CMCommand::Request &request, CMCommand::Response &response);
-// ----------------------------------------------------------------------------------
-// L OOO A DDDD
-// L O O A A D D
-// L O O A A D D
-// L O O AAAAA D D
-// LLLLL OOO A A DDDD
-//
-// PPPP A RRRR A M M EEEEE TTTTT EEEEE RRRR SSSS
-// P P A A R R A A MM MM E T E R R S
-// PPPP A A RRRR A A M M M EEE T EEE RRRR SSS
-// P AAAAA R R AAAAA M M E T E R R S
-// P A A R R A A M M EEEEE T EEEEE R R SSSS
-// ----------------------------------------------------------------------------------
-
-// The requesting to load parameters is currently handled by the Paramter Service
-
-
-
// ----------------------------------------------------------------------------------
// DDDD A TTTTT A BBBB A SSSS EEEEE
// D D A A T A A B B A A S E
diff --git a/pps_ws/src/d_fall_pps/src/DemoControllerService.cpp b/pps_ws/src/d_fall_pps/src/DemoControllerService.cpp
index 7d4889183a77e57fc4897f4e662a627264c0ca3a..9cc9c9f6cc4cc78bc0e5bcabf8d8f35fda5aa98a 100644
--- a/pps_ws/src/d_fall_pps/src/DemoControllerService.cpp
+++ b/pps_ws/src/d_fall_pps/src/DemoControllerService.cpp
@@ -33,254 +33,8 @@
-// ----------------------------------------------------------------------------------
-// III N N CCCC L U U DDDD EEEEE SSSS
-// I NN N C L U U D D E S
-// I N N N C L U U D D EEE SSS
-// I N NN C L U U D D E S
-// III N N CCCC LLLLL UUU DDDD EEEEE SSSS
-// ----------------------------------------------------------------------------------
-
-// These various headers need to be included so that this controller service can be
-// connected with the D-FaLL system.
-
-//some useful libraries
-#include <math.h>
-#include <stdlib.h>
-#include "ros/ros.h"
-#include <ros/package.h>
-
-//the generated structs from the msg-files have to be included
-#include "d_fall_pps/ViconData.h"
-#include "d_fall_pps/Setpoint.h"
-#include "d_fall_pps/ControlCommand.h"
-#include "d_fall_pps/Controller.h"
-#include "d_fall_pps/DebugMsg.h"
-#include "d_fall_pps/CustomControllerYAML.h"
-
-#include <std_msgs/Int32.h>
-
-
-
-
-
-// ----------------------------------------------------------------------------------
-// DDDD EEEEE FFFFF III N N EEEEE SSSS
-// D D E F I NN N E S
-// D D EEE FFF I N N N EEE SSS
-// D D E F I N NN E S
-// DDDD EEEEE F III N N EEEEE SSSS
-// ----------------------------------------------------------------------------------
-
-// These constants are defined to make the code more readable and adaptable.
-
-// Universal constants
-#define PI 3.1415926535
-
-// These constants define the modes that can be used for controller the Crazyflie 2.0,
-// the constants defined here need to be in agreement with those defined in the
-// firmware running on the Crazyflie 2.0.
-// The following is a short description about each mode:
-// MOTOR_MODE In this mode the Crazyflie will apply the requested 16-bit per motor
-// command directly to each of the motors
-// RATE_MODE In this mode the Crazyflie will apply the requested 16-bit per motor
-// command directly to each of the motors, and additionally request the
-// body frame roll, pitch, and yaw angular rates from the PID rate
-// controllers implemented in the Crazyflie 2.0 firmware.
-// ANGE_MODE In this mode the Crazyflie will apply the requested 16-bit per motor
-// command directly to each of the motors, and additionally request the
-// body frame roll, pitch, and yaw angles from the PID attitude
-// controllers implemented in the Crazyflie 2.0 firmware.
-#define MOTOR_MODE 6
-#define RATE_MODE 7
-#define ANGLE_MODE 8
-
-// These constants define the controller used for computing the response in the
-// "calculateControlOutput" function
-// The following is a short description about each mode:
-// LQR_RATE_MODE LQR controller based on the state vector:
-// [position,velocity,angles]
-//
-// LQR_ANGLE_MODE LQR controller based on the state vector:
-// [position,velocity]
-//
-#define LQR_RATE_MODE 1 // (DEFAULT)
-#define LQR_ANGLE_MODE 2
-
-// Constants for feching the yaml paramters
-#define FETCH_YAML_SAFE_CONTROLLER_AGENT 1
-#define FETCH_YAML_CUSTOM_CONTROLLER_AGENT 2
-#define FETCH_YAML_SAFE_CONTROLLER_COORDINATOR 3
-#define FETCH_YAML_CUSTOM_CONTROLLER_COORDINATOR 4
-
-// Namespacing the package
-using namespace d_fall_pps;
-
-
-
-
-
-// ----------------------------------------------------------------------------------
-// V V A RRRR III A BBBB L EEEEE SSSS
-// V V A A R R I A A B B L E S
-// V V A A RRRR I A A BBBB L EEE SSS
-// V V AAAAA R R I AAAAA B B L E S
-// V A A R R III A A BBBB LLLLL EEEEE SSSS
-// ----------------------------------------------------------------------------------
-
-// Variables for controller
-float cf_mass; // Crazyflie mass in grams
-std::vector<float> motorPoly(3); // Coefficients of the 16-bit command to thrust conversion
-float control_frequency; // Frequency at which the controller is running
-float gravity_force; // The weight of the Crazyflie in Newtons, i.e., mg
-
-float previous_stateErrorInertial[9]; // The location error of the Crazyflie at the "previous" time step
-
-std::vector<float> setpoint{0.0,0.0,0.4,0.0}; // The setpoints for (x,y,z) position and yaw angle, in that order
-
-
-// The controller type to run in the "calculateControlOutput" function
-int controller_type = LQR_RATE_MODE;
-
-// The LQR Controller parameters for "LQR_RATE_MODE"
-std::vector<float> gainMatrixRollRate = { 0.00,-1.72, 0.00, 0.00,-1.34, 0.00, 5.12, 0.00, 0.00};
-std::vector<float> gainMatrixPitchRate = { 1.72, 0.00, 0.00, 1.34, 0.00, 0.00, 0.00, 5.12, 0.00};
-std::vector<float> gainMatrixYawRate = { 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 2.84};
-std::vector<float> gainMatrixThrust_NineStateVector = { 0.00, 0.00, 0.25, 0.00, 0.00, 0.14, 0.00, 0.00, 0.00};
-
-
-// The LQR Controller parameters for "LQR_ANGLE_MODE"
-std::vector<float> gainMatrixRollAngle = { 0.00,-0.20, 0.00, 0.00,-0.20, 0.00};
-std::vector<float> gainMatrixPitchAngle = { 0.20, 0.00, 0.00, 0.20, 0.00, 0.00};
-std::vector<float> gainMatrixThrust_SixStateVector = { 0.00, 0.00, 0.31, 0.00, 0.00, 0.14};
-
-// ROS Publisher for debugging variables
-ros::Publisher debugPublisher;
-
-
-// Variable for the namespaces for the paramter services
-// > For the paramter service of this agent
-std::string namespace_to_own_agent_parameter_service;
-// > For the parameter service of the coordinator
-std::string namespace_to_coordinator_parameter_service;
-
-
-
-// VARIABLES RELATING TO PERFORMING THE CONVERSION INTO BODY FRAME
-
-// Boolean whether to execute the convert into body frame function
-bool shouldPerformConvertIntoBodyFrame = false;
-
-
-// VARIABLES RELATING TO THE PUBLISHING OF A DEBUG MESSAGE
-
-// Boolean indiciating whether the "Debug Message" of this agent should be published or not
-bool shouldPublishDebugMessage = false;
-
-// Boolean indiciating whether the debugging ROS_INFO_STREAM should be displayed or not
-bool shouldDisplayDebugInfo = false;
-
-
-// VARIABLES RELATING TO PUBLISHING CURRENT POSITION AND FOLLOWING ANOTHER AGENT'S
-// POSITION
-
-// The ID of this agent, i.e., the ID of this compute
-int my_agentID = 0;
-
-// Boolean indicating whether the (x,y,z,yaw) of this agent should be published or not
-// > The default behaviour is: do not publish,
-// > This varaible is changed based on parameters loaded from the YAML file
-bool shouldPublishCurrent_xyz_yaw = false;
-
-// Boolean indicating whether the (x,y,z,yaw) setpoint of this agent should adapted in
-// an attempt to follow the "my_current_xyz_yaw_topic" from another agent
-// > The default behaviour is: do not follow,
-// > This varaible is changed based on parameters loaded from the YAML file
-bool shouldFollowAnotherAgent = false;
-
-// The order in which agents should follow eachother
-// > This parameter is a vector of integers that specifies agent ID's
-// > The order of the agent ID's is the ordering of the line formation
-// > i.e., the first ID is the leader, the second ID should follow the first ID, and so on
-std::vector<int> follow_in_a_line_agentIDs(100);
-
-// Integer specifying the ID of the agent that will be followed by this agent
-// > The default behaviour not to follow any agent, indicated by ID zero
-// > This varaible is changed based on parameters loaded from the YAML file
-int agentID_to_follow = 0;
-
-// ROS Publisher for my current (x,y,z,yaw) position
-ros::Publisher my_current_xyz_yaw_publisher;
-
-// ROS Subscriber for my position
-ros::Subscriber xyz_yaw_to_follow_subscriber;
-
-
-// RELEVANT NOTES ABOUT THE VARIABLES DECLARE HERE:
-// The "CrazyflieData" type used for the "request" variable is a
-// structure as defined in the file "CrazyflieData.msg" which has the following
-// properties:
-// string crazyflieName The name given to the Crazyflie in the Vicon software
-// float64 x The x position of the Crazyflie [metres]
-// float64 y The y position of the Crazyflie [metres]
-// float64 z The z position of the Crazyflie [metres]
-// float64 roll The roll component of the intrinsic Euler angles [radians]
-// float64 pitch The pitch component of the intrinsic Euler angles [radians]
-// float64 yaw The yaw component of the intrinsic Euler angles [radians]
-// float64 acquiringTime #delta t The time elapsed since the previous "CrazyflieData" was received [seconds]
-// bool occluded A boolean indicted whether the Crazyflie for visible at the time of this measurement
-
-
-
-
-
-// ----------------------------------------------------------------------------------
-// FFFFF U U N N CCCC TTTTT III OOO N N
-// F U U NN N C T I O O NN N
-// FFF U U N N N C T I O O N N N
-// F U U N NN C T I O O N NN
-// F UUU N N CCCC T III OOO N N
-//
-// PPPP RRRR OOO TTTTT OOO TTTTT Y Y PPPP EEEEE SSSS
-// P P R R O O T O O T Y Y P P E S
-// PPPP RRRR O O T O O T Y PPPP EEE SSS
-// P R R O O T O O T Y P E S
-// P R R OOO T OOO T Y P EEEEE SSSS
-// ----------------------------------------------------------------------------------
-
-// These function prototypes are not strictly required for this code to complile, but
-// adding the function prototypes here means the the functions can be written below in
-// any order. If the function prototypes are not included then the function need to
-// written below in an order that ensure each function is implemented before it is
-// called from another function, hence why the "main" function is at the bottom.
-
-// CONTROLLER COMPUTATIONS
-bool calculateControlOutput(Controller::Request &request, Controller::Response &response);
-void calculateControlOutput_viaLQRforRates(float stateErrorBody[9], Controller::Request &request, Controller::Response &response);
-void calculateControlOutput_viaLQRforAngles(float stateErrorBody[9], Controller::Request &request, Controller::Response &response);
-
-// TRANSFORMATION OF THE (x,y) INERTIAL FRAME ERROR INTO AN (x,y) BODY FRAME ERROR
-void convertIntoBodyFrame(float stateInertial[9], float (&stateBody)[9], float yaw_measured);
-
-// CONVERSION FROM THRUST IN NEWTONS TO 16-BIT COMMAND
-float computeMotorPolyBackward(float thrust);
-
-// SETPOINT CHANGE CALLBACK
-void setpointCallback(const Setpoint& newSetpoint);
-void xyz_yaw_to_follow_callback(const Setpoint& newSetpoint);
-
-// LOAD PARAMETERS
-float getParameterFloat(ros::NodeHandle& nodeHandle, std::string name);
-void getParameterFloatVector(ros::NodeHandle& nodeHandle, std::string name, std::vector<float>& val, int length);
-int getParameterInt(ros::NodeHandle& nodeHandle, std::string name);
-void getParameterIntVectorWithKnownLength(ros::NodeHandle& nodeHandle, std::string name, std::vector<int>& val, int length);
-int getParameterIntVectorWithUnknownLength(ros::NodeHandle& nodeHandle, std::string name, std::vector<int>& val);
-bool getParameterBool(ros::NodeHandle& nodeHandle, std::string name);
-
-void yamlReadyForFetchCallback(const std_msgs::Int32& msg);
-void fetchYamlParameters(ros::NodeHandle& nodeHandle);
-void processFetchedParameters();
-//void customYAMLasMessageCallback(const CustomControllerYAML& newCustomControllerParameters);
+// INCLUDE THE HEADER
+#include "DemoControllerService.h"
@@ -318,7 +72,7 @@ void processFetchedParameters();
// CCCC OOO N N T R R OOO LLLLL LLLLL OOO OOO P
// ----------------------------------------------------------------------------------
-// This function is the callback that is linked to the "CustomController" service that
+// This function is the callback that is linked to the "DemoController" service that
// is advertised in the main function. This must have arguments that match the
// "input-output" behaviour defined in the "Controller.srv" file (located in the "srv"
// folder)
@@ -485,7 +239,7 @@ bool calculateControlOutput(Controller::Request &request, Controller::Response &
default:
{
// Display that the "controller_type" was not recognised
- ROS_INFO_STREAM("ERROR: in the 'calculateControlOutput' function of the 'CustomControllerService': the 'controller_type' is not recognised.");
+ ROS_INFO_STREAM("ERROR: in the 'calculateControlOutput' function of the 'DemoControllerService': the 'controller_type' is not recognised.");
// Set everything in the response to zero
response.controlOutput.roll = 0;
response.controlOutput.pitch = 0;
@@ -544,52 +298,41 @@ bool calculateControlOutput(Controller::Request &request, Controller::Response &
void calculateControlOutput_viaLQRforRates(float stateErrorBody[9], Controller::Request &request, Controller::Response &response)
{
- // **********************
- // Y Y A W W
- // Y Y A A W W
- // Y A A W W
- // Y AAAAA W W W
- // Y A A W W
- //
- // YAW CONTROLLER
-
- // Instantiate the local variable for the yaw rate that will be requested
- // from the Crazyflie's on-baord "inner-loop" controller
+ // PERFORM THE "u=Kx" LQR CONTROLLER COMPUTATION
+
+ // Instantiate the local variables for the following:
+ // > body frame roll rate,
+ // > body frame pitch rate,
+ // > body frame yaw rate,
+ // > total thrust adjustment.
+ // These will be requested from the Crazyflie's on-baord "inner-loop" controller
+ float rollRate_forResponse = 0;
+ float pitchRate_forResponse = 0;
float yawRate_forResponse = 0;
-
- // Perform the "-Kx" LQR computation for the yaw rate to respoond with
+ float thrustAdjustment = 0;
+
+ // Perform the "-Kx" LQR computation for the rates and thrust:
for(int i = 0; i < 9; ++i)
{
- yawRate_forResponse -= gainMatrixYawRate[i] * stateErrorBody[i];
+ // BODY FRAME Y CONTROLLER
+ rollRate_forResponse -= gainMatrixRollRate[i] * stateErrorBody[i];
+ // BODY FRAME X CONTROLLER
+ pitchRate_forResponse -= gainMatrixPitchRate[i] * stateErrorBody[i];
+ // BODY FRAME YAW CONTROLLER
+ yawRate_forResponse -= gainMatrixYawRate[i] * stateErrorBody[i];
+ // > ALITUDE CONTROLLER (i.e., z-controller):
+ thrustAdjustment -= gainMatrixThrust_NineStateVector[i] * stateErrorBody[i];
}
- // Put the computed yaw rate into the "response" variable
- response.controlOutput.yaw = yawRate_forResponse;
+ // UPDATE THE "RETURN" THE VARIABLE NAME "response"
-
-
- // **************************************
- // BBBB OOO DDDD Y Y ZZZZZ
- // B B O O D D Y Y Z
- // BBBB O O D D Y Z
- // B B O O D D Y Z
- // BBBB OOO DDDD Y ZZZZZ
- //
- // ALITUDE CONTROLLER (i.e., z-controller)
-
- // Instantiate the local variable for the thrust adjustment that will be
- // requested from the Crazyflie's on-baord "inner-loop" controller
- float thrustAdjustment = 0;
-
- // Perform the "-Kx" LQR computation for the thrust adjustment to respoond with
- for(int i = 0; i < 9; ++i)
- {
- thrustAdjustment -= gainMatrixThrust_NineStateVector[i] * stateErrorBody[i];
- }
-
- // Put the computed thrust adjustment into the "response" variable,
- // as well as adding the feed-forward thrust to counter-act gravity.
+ // Put the computed rates and thrust into the "response" variable
+ // > For roll, pitch, and yaw:
+ response.controlOutput.roll = rollRate_forResponse;
+ response.controlOutput.pitch = pitchRate_forResponse;
+ response.controlOutput.yaw = yawRate_forResponse;
+ // > For the thrust adjustment we must add the feed-forward thrust to counter-act gravity.
// > NOTE: remember that the thrust is commanded per motor, so you sohuld
// consider whether the "thrustAdjustment" computed by your
// controller needed to be divided by 4 or not.
@@ -601,67 +344,14 @@ void calculateControlOutput_viaLQRforRates(float stateErrorBody[9], Controller::
response.controlOutput.motorCmd3 = computeMotorPolyBackward(thrustAdjustment + gravity_force);
response.controlOutput.motorCmd4 = computeMotorPolyBackward(thrustAdjustment + gravity_force);
-
-
-
- // **************************************
- // BBBB OOO DDDD Y Y X X
- // B B O O D D Y Y X X
- // BBBB O O D D Y X
- // B B O O D D Y X X
- // BBBB OOO DDDD Y X X
- //
- // BODY FRAME X CONTROLLER
-
- // Instantiate the local variable for the pitch rate that will be requested
- // from the Crazyflie's on-baord "inner-loop" controller
- float pitchRate_forResponse = 0;
-
- // Perform the "-Kx" LQR computation for the pitch rate to respoond with
- for(int i = 0; i < 9; ++i)
- {
- pitchRate_forResponse -= gainMatrixPitchRate[i] * stateErrorBody[i];
- }
-
- // Put the computed pitch rate into the "response" variable
- response.controlOutput.pitch = pitchRate_forResponse;
-
-
-
-
- // **************************************
- // BBBB OOO DDDD Y Y Y Y
- // B B O O D D Y Y Y Y
- // BBBB O O D D Y Y
- // B B O O D D Y Y
- // BBBB OOO DDDD Y Y
- //
- // BODY FRAME Y CONTROLLER
-
- // Instantiate the local variable for the roll rate that will be requested
- // from the Crazyflie's on-baord "inner-loop" controller
- float rollRate_forResponse = 0;
-
- // Perform the "-Kx" LQR computation for the roll rate to respoond with
- for(int i = 0; i < 9; ++i)
- {
- rollRate_forResponse -= gainMatrixRollRate[i] * stateErrorBody[i];
- }
-
- // Put the computed roll rate into the "response" variable
- response.controlOutput.roll = rollRate_forResponse;
-
-
-
-
- // PREPARE AND RETURN THE VARIABLE "response"
-
- /*choosing the Crazyflie onBoard controller type.
- it can either be Motor, Rate or Angle based */
+
+ // Specify that this controller is a rate controller
// response.controlOutput.onboardControllerType = MOTOR_MODE;
response.controlOutput.onboardControllerType = RATE_MODE;
// response.controlOutput.onboardControllerType = ANGLE_MODE;
+
+
// ***********************************************************
// DDDD EEEEE BBBB U U GGGG M M SSSS GGGG
// D D E B B U U G MM MM S G
@@ -709,13 +399,13 @@ void calculateControlOutput_viaLQRforRates(float stateErrorBody[9], Controller::
{
// An example of "printing out" the data from the "request" argument to the
// command line. This might be useful for debugging.
- ROS_INFO_STREAM("x-coordinates: " << request.ownCrazyflie.x);
- ROS_INFO_STREAM("y-coordinates: " << request.ownCrazyflie.y);
- ROS_INFO_STREAM("z-coordinates: " << request.ownCrazyflie.z);
- ROS_INFO_STREAM("roll: " << request.ownCrazyflie.roll);
- ROS_INFO_STREAM("pitch: " << request.ownCrazyflie.pitch);
- ROS_INFO_STREAM("yaw: " << request.ownCrazyflie.yaw);
- ROS_INFO_STREAM("Delta t: " << request.ownCrazyflie.acquiringTime);
+ ROS_INFO_STREAM("x-coordinate [m]: " << request.ownCrazyflie.x);
+ ROS_INFO_STREAM("y-coordinate [m]: " << request.ownCrazyflie.y);
+ ROS_INFO_STREAM("z-coordinate [m]: " << request.ownCrazyflie.z);
+ ROS_INFO_STREAM("roll [deg]: " << request.ownCrazyflie.roll);
+ ROS_INFO_STREAM("pitch [deg]: " << request.ownCrazyflie.pitch);
+ ROS_INFO_STREAM("yaw [deg]: " << request.ownCrazyflie.yaw);
+ ROS_INFO_STREAM("Delta t [s]: " << request.ownCrazyflie.acquiringTime);
// An example of "printing out" the control actions computed.
ROS_INFO_STREAM("thrustAdjustment = " << thrustAdjustment);
@@ -741,42 +431,36 @@ void calculateControlOutput_viaLQRforRates(float stateErrorBody[9], Controller::
void calculateControlOutput_viaLQRforAngles(float stateErrorBody[9], Controller::Request &request, Controller::Response &response)
{
- // **********************
- // Y Y A W W
- // Y Y A A W W
- // Y A A W W
- // Y AAAAA W W W
- // Y A A W W
- //
- // YAW CONTROLLER
-
- // Put the yaw setpoint directly as the response
- response.controlOutput.yaw = setpoint[3];
+ // PERFORM THE "u=Kx" LQR CONTROLLER COMPUTATION
-
-
-
- // **************************************
- // BBBB OOO DDDD Y Y ZZZZZ
- // B B O O D D Y Y Z
- // BBBB O O D D Y Z
- // B B O O D D Y Z
- // BBBB OOO DDDD Y ZZZZZ
- //
- // ALITUDE CONTROLLER (i.e., z-controller)
-
- // Instantiate the local variable for the thrust adjustment that will be
- // requested from the Crazyflie's on-baord "inner-loop" controller
+ // Instantiate the local variables for the following:
+ // > body frame roll angle,
+ // > body frame pitch angle,
+ // > total thrust adjustment.
+ // These will be requested from the Crazyflie's on-baord "inner-loop" controller
+ float rollAngle_forResponse = 0;
+ float pitchAngle_forResponse = 0;
float thrustAdjustment = 0;
- // Perform the "-Kx" LQR computation for the thrust adjustment to respoond with
- for(int i = 0; i < 6; ++i)
+ // Perform the "-Kx" LQR computation for the rates and thrust:
+ for(int i = 0; i < 9; ++i)
{
- thrustAdjustment -= gainMatrixThrust_SixStateVector[i] * stateErrorBody[i];
+ // BODY FRAME Y CONTROLLER
+ rollAngle_forResponse -= gainMatrixRollAngle[i] * stateErrorBody[i];
+ // BODY FRAME X CONTROLLER
+ pitchAngle_forResponse -= gainMatrixPitchAngle[i] * stateErrorBody[i];
+ // > ALITUDE CONTROLLER (i.e., z-controller):
+ thrustAdjustment -= gainMatrixThrust_SixStateVector[i] * stateErrorBody[i];
}
- // Put the computed thrust adjustment into the "response" variable,
- // as well as adding the feed-forward thrust to counter-act gravity.
+ // UPDATE THE "RETURN" THE VARIABLE NAME "response"
+
+ // Put the computed rates and thrust into the "response" variable
+ // > For roll, pitch, and yaw:
+ response.controlOutput.roll = rollAngle_forResponse;
+ response.controlOutput.pitch = pitchAngle_forResponse;
+ response.controlOutput.yaw = setpoint[3];
+ // > For the thrust adjustment we must add the feed-forward thrust to counter-act gravity.
// > NOTE: remember that the thrust is commanded per motor, so you sohuld
// consider whether the "thrustAdjustment" computed by your
// controller needed to be divided by 4 or not.
@@ -788,66 +472,13 @@ void calculateControlOutput_viaLQRforAngles(float stateErrorBody[9], Controller:
response.controlOutput.motorCmd3 = computeMotorPolyBackward(thrustAdjustment + gravity_force);
response.controlOutput.motorCmd4 = computeMotorPolyBackward(thrustAdjustment + gravity_force);
+
+ // Specify that this controller is a rate controller
+ // response.controlOutput.onboardControllerType = MOTOR_MODE;
+ // response.controlOutput.onboardControllerType = RATE_MODE;
+ response.controlOutput.onboardControllerType = ANGLE_MODE;
-
- // **************************************
- // BBBB OOO DDDD Y Y X X
- // B B O O D D Y Y X X
- // BBBB O O D D Y X
- // B B O O D D Y X X
- // BBBB OOO DDDD Y X X
- //
- // BODY FRAME X CONTROLLER
-
- // Instantiate the local variable for the pitch angle that will be requested
- // from the Crazyflie's on-baord "inner-loop" controller
- float pitchAngle_forResponse = 0;
-
- // Perform the "-Kx" LQR computation for the pitch angle to respoond with
- for(int i = 0; i < 6; ++i)
- {
- pitchAngle_forResponse -= gainMatrixPitchAngle[i] * stateErrorBody[i];
- }
-
- // Put the computed pitch angle into the "response" variable
- response.controlOutput.pitch = pitchAngle_forResponse;
-
-
-
-
- // **************************************
- // BBBB OOO DDDD Y Y Y Y
- // B B O O D D Y Y Y Y
- // BBBB O O D D Y Y
- // B B O O D D Y Y
- // BBBB OOO DDDD Y Y
- //
- // BODY FRAME Y CONTROLLER
-
- // Instantiate the local variable for the roll angle that will be requested
- // from the Crazyflie's on-baord "inner-loop" controller
- float rollAngle_forResponse = 0;
-
- // Perform the "-Kx" LQR computation for the roll angle to respoond with
- for(int i = 0; i < 6; ++i)
- {
- rollAngle_forResponse -= gainMatrixRollAngle[i] * stateErrorBody[i];
- }
-
- // Put the computed roll angle into the "response" variable
- response.controlOutput.roll = rollAngle_forResponse;
-
-
-
-
- // PREPARE AND RETURN THE VARIABLE "response"
-
- /*choosing the Crazyflie onBoard controller type.
- it can either be Motor, Rate or Angle based */
- //response.controlOutput.onboardControllerType = MOTOR_MODE;
- //response.controlOutput.onboardControllerType = RATE_MODE;
- response.controlOutput.onboardControllerType = ANGLE_MODE;
}
@@ -870,29 +501,28 @@ void calculateControlOutput_viaLQRforAngles(float stateErrorBody[9], Controller:
// ----------------------------------------------------------------------------------
// The arguments for this function are as follows:
-// est
+// stateInertial
// This is an array of length 9 with the estimates the error of of the following values
// relative to the sepcifed setpoint:
-// est[0] x position of the Crazyflie relative to the inertial frame origin [meters]
-// est[1] y position of the Crazyflie relative to the inertial frame origin [meters]
-// est[2] z position of the Crazyflie relative to the inertial frame origin [meters]
-// est[3] x-axis component of the velocity of the Crazyflie in the inertial frame [meters/second]
-// est[4] y-axis component of the velocity of the Crazyflie in the inertial frame [meters/second]
-// est[5] z-axis component of the velocity of the Crazyflie in the inertial frame [meters/second]
-// est[6] The roll component of the intrinsic Euler angles [radians]
-// est[7] The pitch component of the intrinsic Euler angles [radians]
-// est[8] The yaw component of the intrinsic Euler angles [radians]
+// stateInertial[0] x position of the Crazyflie relative to the inertial frame origin [meters]
+// stateInertial[1] y position of the Crazyflie relative to the inertial frame origin [meters]
+// stateInertial[2] z position of the Crazyflie relative to the inertial frame origin [meters]
+// stateInertial[3] x-axis component of the velocity of the Crazyflie in the inertial frame [meters/second]
+// stateInertial[4] y-axis component of the velocity of the Crazyflie in the inertial frame [meters/second]
+// stateInertial[5] z-axis component of the velocity of the Crazyflie in the inertial frame [meters/second]
+// stateInertial[6] The roll component of the intrinsic Euler angles [radians]
+// stateInertial[7] The pitch component of the intrinsic Euler angles [radians]
+// stateInertial[8] The yaw component of the intrinsic Euler angles [radians]
//
-// estBody
+// stateBody
// This is an empty array of length 9, this function should fill in all elements of this
-// array with the same ordering as for the "est" argument, expect that the (x,y) position
-// and (x,y) velocities are rotated into the body frame.
+// array with the same ordering as for the "stateInertial" argument, expect that the (x,y)
+// position and (x,y) velocities are rotated into the body frame.
//
// yaw_measured
// This is the yaw component of the intrinsic Euler angles in [radians] as measured by
// the Vicon motion capture system
//
-// This function WILL NEED TO BE edited for successful completion of the PPS exercise
void convertIntoBodyFrame(float stateInertial[9], float (&stateBody)[9], float yaw_measured)
{
if (shouldPerformConvertIntoBodyFrame)
@@ -1034,10 +664,10 @@ void yamlReadyForFetchCallback(const std_msgs::Int32& msg)
{
// > FOR FETCHING FROM THE AGENT'S OWN PARAMETER SERVICE
- case FETCH_YAML_CUSTOM_CONTROLLER_AGENT:
+ case FETCH_YAML_DEMO_CONTROLLER_AGENT:
{
// Let the user know that this message was received
- ROS_INFO("The CustomControllerService received the message that YAML parameters were (re-)loaded. > Now fetching the parameter values from this agent.");
+ ROS_INFO("The DemoControllerService received the message that YAML parameters were (re-)loaded. > Now fetching the parameter values from this agent.");
// Create a node handle to the parameter service running on this agent's machine
ros::NodeHandle nodeHandle_to_own_agent_parameter_service(namespace_to_own_agent_parameter_service);
// Call the function that fetches the parameters
@@ -1046,10 +676,10 @@ void yamlReadyForFetchCallback(const std_msgs::Int32& msg)
}
// > FOR FETCHING FROM THE COORDINATOR'S PARAMETER SERVICE
- case FETCH_YAML_CUSTOM_CONTROLLER_COORDINATOR:
+ case FETCH_YAML_DEMO_CONTROLLER_COORDINATOR:
{
// Let the user know that this message was received
- ROS_INFO("The CustomControllerService received the message that YAML parameters were (re-)loaded. > Now fetching the parameter values from the coordinator.");
+ ROS_INFO("The DemoControllerService received the message that YAML parameters were (re-)loaded. > Now fetching the parameter values from the coordinator.");
// Create a node handle to the parameter service running on the coordinator machine
ros::NodeHandle nodeHandle_to_coordinator_parameter_service(namespace_to_coordinator_parameter_service);
// Call the function that fetches the parameters
@@ -1060,7 +690,7 @@ void yamlReadyForFetchCallback(const std_msgs::Int32& msg)
default:
{
// Let the user know that the command was not relevant
- //ROS_INFO("The CustomControllerService received the message that YAML parameters were (re-)loaded");
+ //ROS_INFO("The DemoControllerService received the message that YAML parameters were (re-)loaded");
//ROS_INFO("> However the parameters do not relate to this controller, hence nothing will be fetched.");
break;
}
@@ -1073,39 +703,39 @@ void yamlReadyForFetchCallback(const std_msgs::Int32& msg)
// your controller easier and quicker.
void fetchYamlParameters(ros::NodeHandle& nodeHandle)
{
- // Here we load the parameters that are specified in the CustomController.yaml file
+ // Here we load the parameters that are specified in the DemoController.yaml file
- // Add the "CustomController" namespace to the "nodeHandle"
- ros::NodeHandle nodeHandle_for_customController(nodeHandle, "CustomController");
+ // Add the "DemoController" namespace to the "nodeHandle"
+ ros::NodeHandle nodeHandle_for_demoController(nodeHandle, "DemoController");
// > The mass of the crazyflie
- cf_mass = getParameterFloat(nodeHandle_for_customController , "mass");
+ cf_mass = getParameterFloat(nodeHandle_for_demoController , "mass");
// Display one of the YAML parameters to debug if it is working correctly
//ROS_INFO_STREAM("DEBUGGING: mass leaded from loacl file = " << cf_mass );
// > The frequency at which the "computeControlOutput" is being called, as determined
// by the frequency at which the Vicon system provides position and attitude data
- control_frequency = getParameterFloat(nodeHandle_for_customController, "control_frequency");
+ control_frequency = getParameterFloat(nodeHandle_for_demoController, "control_frequency");
// > The co-efficients of the quadratic conversation from 16-bit motor command to
// thrust force in Newtons
- getParameterFloatVector(nodeHandle_for_customController, "motorPoly", motorPoly, 3);
+ getParameterFloatVector(nodeHandle_for_demoController, "motorPoly", motorPoly, 3);
// > The boolean for whether to execute the convert into body frame function
- shouldPerformConvertIntoBodyFrame = getParameterBool(nodeHandle_for_customController, "shouldPerformConvertIntoBodyFrame");
+ shouldPerformConvertIntoBodyFrame = getParameterBool(nodeHandle_for_demoController, "shouldPerformConvertIntoBodyFrame");
// > The boolean indicating whether the (x,y,z,yaw) of this agent should be published
// or not
- shouldPublishCurrent_xyz_yaw = getParameterBool(nodeHandle_for_customController, "shouldPublishCurrent_xyz_yaw");
+ shouldPublishCurrent_xyz_yaw = getParameterBool(nodeHandle_for_demoController, "shouldPublishCurrent_xyz_yaw");
// > The boolean indicating whether the (x,y,z,yaw) setpoint of this agent should adapted in
// an attempt to follow the "my_current_xyz_yaw_topic" from another agent
- shouldFollowAnotherAgent = getParameterBool(nodeHandle_for_customController, "shouldFollowAnotherAgent");
+ shouldFollowAnotherAgent = getParameterBool(nodeHandle_for_demoController, "shouldFollowAnotherAgent");
// > The ordered vector for ID's that specifies how the agents should follow eachother
follow_in_a_line_agentIDs.clear();
- int temp_number_of_agents_in_a_line = getParameterIntVectorWithUnknownLength(nodeHandle_for_customController, "follow_in_a_line_agentIDs", follow_in_a_line_agentIDs);
+ int temp_number_of_agents_in_a_line = getParameterIntVectorWithUnknownLength(nodeHandle_for_demoController, "follow_in_a_line_agentIDs", follow_in_a_line_agentIDs);
// > Double check that the sizes agree
if ( temp_number_of_agents_in_a_line != follow_in_a_line_agentIDs.size() )
{
@@ -1114,27 +744,27 @@ void fetchYamlParameters(ros::NodeHandle& nodeHandle)
}
// Boolean indiciating whether the "Debug Message" of this agent should be published or not
- shouldPublishDebugMessage = getParameterBool(nodeHandle_for_customController, "shouldPublishDebugMessage");
+ shouldPublishDebugMessage = getParameterBool(nodeHandle_for_demoController, "shouldPublishDebugMessage");
// Boolean indiciating whether the debugging ROS_INFO_STREAM should be displayed or not
- shouldDisplayDebugInfo = getParameterBool(nodeHandle_for_customController, "shouldDisplayDebugInfo");
+ shouldDisplayDebugInfo = getParameterBool(nodeHandle_for_demoController, "shouldDisplayDebugInfo");
// THE CONTROLLER GAINS:
// A flag for which controller to use, defined as:
- controller_type = getParameterInt( nodeHandle_for_customController , "controller_type" );
+ controller_type = getParameterInt( nodeHandle_for_demoController , "controller_type" );
// The LQR Controller parameters for "LQR_RATE_MODE"
- getParameterFloatVector(nodeHandle_for_customController, "gainMatrixRollRate", gainMatrixRollRate, 9);
- getParameterFloatVector(nodeHandle_for_customController, "gainMatrixPitchRate", gainMatrixPitchRate, 9);
- getParameterFloatVector(nodeHandle_for_customController, "gainMatrixYawRate", gainMatrixYawRate, 9);
- getParameterFloatVector(nodeHandle_for_customController, "gainMatrixThrust_NineStateVector", gainMatrixThrust_NineStateVector, 9);
+ getParameterFloatVector(nodeHandle_for_demoController, "gainMatrixRollRate", gainMatrixRollRate, 9);
+ getParameterFloatVector(nodeHandle_for_demoController, "gainMatrixPitchRate", gainMatrixPitchRate, 9);
+ getParameterFloatVector(nodeHandle_for_demoController, "gainMatrixYawRate", gainMatrixYawRate, 9);
+ getParameterFloatVector(nodeHandle_for_demoController, "gainMatrixThrust_NineStateVector", gainMatrixThrust_NineStateVector, 9);
// The LQR Controller parameters for "LQR_ANGLE_MODE"
- getParameterFloatVector(nodeHandle_for_customController, "gainMatrixRollAngle", gainMatrixRollAngle, 6);
- getParameterFloatVector(nodeHandle_for_customController, "gainMatrixPitchAngle", gainMatrixPitchAngle, 6);
- getParameterFloatVector(nodeHandle_for_customController, "gainMatrixThrust_SixStateVector", gainMatrixThrust_SixStateVector, 6);
+ getParameterFloatVector(nodeHandle_for_demoController, "gainMatrixRollAngle", gainMatrixRollAngle, 6);
+ getParameterFloatVector(nodeHandle_for_demoController, "gainMatrixPitchAngle", gainMatrixPitchAngle, 6);
+ getParameterFloatVector(nodeHandle_for_demoController, "gainMatrixThrust_SixStateVector", gainMatrixThrust_SixStateVector, 6);
// DEBUGGING: Print out one of the parameters that was loaded
@@ -1230,45 +860,6 @@ void processFetchedParameters()
}
-/*
-// This function DOES NOT NEED TO BE edited for successful completion of the PPS exercise
-void customYAMLasMessageCallback(const CustomControllerYAML& newCustomControllerParameters)
-{
- // This function puts all the same parameters as the "fetchYamlParameters" function
- // above into the same variables.
- // The difference is that this function allows us to send all parameters from one
- // central coordinator node
- cf_mass = newCustomControllerParameters.mass;
- control_frequency = newCustomControllerParameters.control_frequency;
- for (int i=0;i<3;i++)
- {
- motorPoly[i] = newCustomControllerParameters.motorPoly[i];
- }
-
- // > The boolean for whether to execute the convert into body frame function
- shouldPerformConvertIntoBodyFrame = newCustomControllerParameters.shouldPerformConvertIntoBodyFrame;
-
- shouldPublishCurrent_xyz_yaw = newCustomControllerParameters.shouldPublishCurrent_xyz_yaw;
- shouldFollowAnotherAgent = newCustomControllerParameters.shouldFollowAnotherAgent;
- follow_in_a_line_agentIDs.clear();
- for ( int i=0 ; i<newCustomControllerParameters.follow_in_a_line_agentIDs.size() ; i++ )
- {
- follow_in_a_line_agentIDs.push_back( newCustomControllerParameters.follow_in_a_line_agentIDs[i] );
- }
-
- // Let the user know that the message was received with new YAML parameters
- ROS_INFO("Received message containing a new set of Custom Controller YAML parameters");
-
- // Display one of the YAML parameters to debug if it is working correctly
- ROS_INFO_STREAM("DEBUGGING: mass received in message = " << newCustomControllerParameters.mass );
-
- // Call the function that computes details an values that are needed from these
- // parameters loaded above
- ros::NodeHandle nodeHandle("~");
- processFetchedParameters(nodeHandle);
-
-}
-*/
// ----------------------------------------------------------------------------------
@@ -1356,7 +947,7 @@ bool getParameterBool(ros::NodeHandle& nodeHandle, std::string name)
int main(int argc, char* argv[]) {
// Starting the ROS-node
- ros::init(argc, argv, "CustomControllerService");
+ ros::init(argc, argv, "DemoControllerService");
// Create a "ros::NodeHandle" type local variable "nodeHandle" as the current node,
// the "~" indcates that "self" is the node handle assigned to this variable.
@@ -1370,7 +961,7 @@ int main(int argc, char* argv[]) {
// This line of code adds a parameter named "studentID" to the "PPSClient"
// > Thus, to get access to this "studentID" paremeter, we first need to get a handle
// to the "PPSClient" node within which this controller service is nested.
- // Get the namespace of this "CustomControllerService" node
+ // Get the namespace of this "DemoControllerService" node
std::string m_namespace = ros::this_node::getNamespace();
// Get the handle to the "PPSClient" node
ros::NodeHandle PPSClient_nodeHandle(m_namespace + "/PPSClient");
@@ -1378,7 +969,7 @@ int main(int argc, char* argv[]) {
if(!PPSClient_nodeHandle.getParam("studentID", my_agentID))
{
// Throw an error if the student ID parameter could not be obtained
- ROS_ERROR("Failed to get studentID from FollowN_1Service");
+ ROS_ERROR("Failed to get studentID from PPSClient");
}
@@ -1455,14 +1046,14 @@ int main(int argc, char* argv[]) {
ros::Subscriber setpointSubscriber = nodeHandle.subscribe("Setpoint", 1, setpointCallback);
// Instantiate the local variable "service" to be a "ros::ServiceServer" type
- // variable that advertises the service called "CustomController". This service has
+ // variable that advertises the service called "DemoController". This service has
// the input-output behaviour defined in the "Controller.srv" file (located in the
// "srv" folder). This service, when called, is provided with the most recent
// measurement of the Crazyflie and is expected to respond with the control action
// that should be sent via the Crazyradio and requested from the Crazyflie, i.e.,
// this is where the "outer loop" controller function starts. When a request is made
// of this service the "calculateControlOutput" function is called.
- ros::ServiceServer service = nodeHandle.advertiseService("CustomController", calculateControlOutput);
+ ros::ServiceServer service = nodeHandle.advertiseService("DemoController", calculateControlOutput);
// Create a "ros::NodeHandle" type local variable "namespace_nodeHandle" that points
// to the name space of this node, i.e., "d_fall_pps" as specified by the line:
@@ -1477,7 +1068,7 @@ int main(int argc, char* argv[]) {
my_current_xyz_yaw_publisher = nodeHandle.advertise<Setpoint>("/" + std::to_string(my_agentID) + "/my_current_xyz_yaw_topic", 1);
// Print out some information to the user.
- ROS_INFO("CustomControllerService ready");
+ ROS_INFO("DemoControllerService ready");
// Enter an endless while loop to keep the node alive.
ros::spin();
diff --git a/pps_ws/src/d_fall_pps/src/PPSClient.cpp b/pps_ws/src/d_fall_pps/src/PPSClient.cpp
index bfadefa53ca4d7fd770caa4aa25bbcf0ba2b9eb5..95a3e186c6e7f7c19747b70ce471b6f17754b41d 100755
--- a/pps_ws/src/d_fall_pps/src/PPSClient.cpp
+++ b/pps_ws/src/d_fall_pps/src/PPSClient.cpp
@@ -33,232 +33,10 @@
-// ----------------------------------------------------------------------------------
-// III N N CCCC L U U DDDD EEEEE SSSS
-// I NN N C L U U D D E S
-// I N N N C L U U D D EEE SSS
-// I N NN C L U U D D E S
-// III N N CCCC LLLLL UUU DDDD EEEEE SSSS
-// ----------------------------------------------------------------------------------
-
-#include "ros/ros.h"
-#include <stdlib.h>
-#include <std_msgs/String.h>
-#include <ros/package.h>
-
-#include "d_fall_pps/Controller.h"
-#include "d_fall_pps/CMQuery.h"
-
-#include "d_fall_pps/ViconData.h"
-#include "d_fall_pps/CrazyflieData.h"
-#include "d_fall_pps/ControlCommand.h"
-#include "d_fall_pps/CrazyflieContext.h"
-#include "d_fall_pps/Setpoint.h"
-#include "std_msgs/Int32.h"
-#include "std_msgs/Float32.h"
-
-#include "d_fall_pps/ControlCommand.h"
-
-// Need for having a ROS "bag" to store data for post-analysis
-//#include <rosbag/bag.h>
-
-
-
-
-// ----------------------------------------------------------------------------------
-// DDDD EEEEE FFFFF III N N EEEEE SSSS
-// D D E F I NN N E S
-// D D EEE FFF I N N N EEE SSS
-// D D E F I N NN E S
-// DDDD EEEEE F III N N EEEEE SSSS
-// ----------------------------------------------------------------------------------
-
-// Types PPS firmware
-#define TYPE_PPS_MOTORS 6
-#define TYPE_PPS_RATE 7
-#define TYPE_PPS_ANGLE 8
+// INCLUDE THE HEADER
+#include "PPSClient.h"
-// Types of controllers being used:
-#define SAFE_CONTROLLER 0
-#define CUSTOM_CONTROLLER 1
-// The constants that "command" changes in the
-// operation state of this agent
-#define CMD_USE_SAFE_CONTROLLER 1
-#define CMD_USE_CUSTOM_CONTROLLER 2
-#define CMD_CRAZYFLY_TAKE_OFF 3
-#define CMD_CRAZYFLY_LAND 4
-#define CMD_CRAZYFLY_MOTORS_OFF 5
-
-// Flying states
-#define STATE_MOTORS_OFF 1
-#define STATE_TAKE_OFF 2
-#define STATE_FLYING 3
-#define STATE_LAND 4
-
-// Battery states
-#define BATTERY_STATE_NORMAL 0
-#define BATTERY_STATE_LOW 1
-
-// Commands for CrazyRadio
-#define CMD_RECONNECT 0
-#define CMD_DISCONNECT 1
-
-
-// CrazyRadio states:
-#define CONNECTED 0
-#define CONNECTING 1
-#define DISCONNECTED 2
-
-// For which controller parameters to load
-#define FETCH_YAML_SAFE_CONTROLLER_AGENT 1
-#define FETCH_YAML_CUSTOM_CONTROLLER_AGENT 2
-#define FETCH_YAML_SAFE_CONTROLLER_COORDINATOR 3
-#define FETCH_YAML_CUSTOM_CONTROLLER_COORDINATOR 4
-
-
-// Parameters for take off and landing. Eventually will go in YAML file
-//#define TAKE_OFF_OFFSET 1 //in meters
-//#define LANDING_DISTANCE 0.15 //in meters
-//#define DURATION_TAKE_OFF 3 // seconds
-//#define DURATION_LANDING 3 // seconds
-
-// Universal constants
-#define PI 3.141592653589
-
-// Namespacing the package
-using namespace d_fall_pps;
-
-
-
-
-
-// ----------------------------------------------------------------------------------
-// V V A RRRR III A BBBB L EEEEE SSSS
-// V V A A R R I A A B B L E S
-// V V A A RRRR I A A BBBB L EEE SSS
-// V V AAAAA R R I AAAAA B B L E S
-// V A A R R III A A BBBB LLLLL EEEEE SSSS
-// ----------------------------------------------------------------------------------
-
-//studentID, gives namespace and identifier in CentralManagerService
-int studentID;
-
-//the safe controller specified in the ClientConfig.yaml, is considered stable
-ros::ServiceClient safeController;
-//the custom controller specified in the ClientConfig.yaml, is considered potentially unstable
-ros::ServiceClient customController;
-
-//values for safteyCheck
-bool strictSafety;
-float angleMargin;
-
-// battery threshold
-float m_battery_threshold_while_flying;
-float m_battery_threshold_while_motors_off;
-
-
-// battery values
-
-int m_battery_state;
-float m_battery_voltage;
-
-Setpoint controller_setpoint;
-
-// variables for linear trayectory
-Setpoint current_safe_setpoint;
-double distance;
-double unit_vector[3];
-bool was_in_threshold = false;
-double distance_threshold; //to be loaded from yaml
-
-
-ros::ServiceClient centralManager;
-ros::Publisher controlCommandPublisher;
-
-// communicate with safeControllerService, setpoint, etc...
-ros::Publisher safeControllerServiceSetpointPublisher;
-
-// publisher for flying state
-ros::Publisher flyingStatePublisher;
-
-// publisher for battery state
-ros::Publisher batteryStatePublisher;
-
-// publisher to send commands to itself.
-ros::Publisher commandPublisher;
-
-// communication with crazyRadio node. Connect and disconnect
-ros::Publisher crazyRadioCommandPublisher;
-
-
-// Variable for the namespaces for the paramter services
-// > For the paramter service of this agent
-std::string namespace_to_own_agent_parameter_service;
-// > For the parameter service of the coordinator
-std::string namespace_to_coordinator_parameter_service;
-
-
-// variables for the states:
-int flying_state;
-bool changed_state_flag;
-
-// variable for crazyradio status
-int crazyradio_status;
-
-//describes the area of the crazyflie and other parameters
-CrazyflieContext context;
-
-//wheter to use safe of custom controller
-int instant_controller; //variable for the instant controller, e.g., we use safe controller for taking off and landing even if custom controller is enabled. This variable WILL change automatically
-
-// controller used:
-int controller_used;
-
-ros::Publisher controllerUsedPublisher;
-
-std::string ros_namespace;
-
-float take_off_distance;
-float landing_distance;
-float duration_take_off;
-float duration_landing;
-
-bool finished_take_off = false;
-bool finished_land = false;
-
-ros::Timer timer_takeoff;
-ros::Timer timer_land;
-
-// A ROS "bag" to store data for post-analysis
-//rosbag::Bag bag;
-
-
-
-
-// ----------------------------------------------------------------------------------
-// FFFFF U U N N CCCC TTTTT III OOO N N
-// F U U NN N C T I O O NN N
-// FFF U U N N N C T I O O N N N
-// F U U N NN C T I O O N NN
-// F UUU N N CCCC T III OOO N N
-//
-// PPPP RRRR OOO TTTTT OOO TTTTT Y Y PPPP EEEEE SSSS
-// P P R R O O T O O T Y Y P P E S
-// PPPP RRRR O O T O O T Y PPPP EEE SSS
-// P R R O O T O O T Y P E S
-// P R R OOO T OOO T Y P EEEEE SSSS
-// ----------------------------------------------------------------------------------
-
-
-// > For the LOAD PARAMETERS
-void yamlReadyForFetchCallback(const std_msgs::Int32& msg);
-void fetchYamlParametersForSafeController(ros::NodeHandle& nodeHandle);
-void fetchClientConfigParameters(ros::NodeHandle& nodeHandle);
-
-
-
-void crazyRadioCommandAllAgentsCallback(const std_msgs::Int32& msg);
@@ -276,84 +54,14 @@ void crazyRadioCommandAllAgentsCallback(const std_msgs::Int32& msg);
// III M M P LLLLL EEEEE M M EEEEE N N T A A T III OOO N N
// ----------------------------------------------------------------------------------
-void loadSafeController() {
- ros::NodeHandle nodeHandle("~");
-
- std::string safeControllerName;
- if(!nodeHandle.getParam("safeController", safeControllerName)) {
- ROS_ERROR("Failed to get safe controller name");
- return;
- }
-
- ros::service::waitForService(safeControllerName);
- safeController = ros::service::createClient<Controller>(safeControllerName, true);
- ROS_INFO_STREAM("loaded safe controller: " << safeController.getService());
-}
-
-void loadCustomController()
-{
- ros::NodeHandle nodeHandle("~");
-
- std::string customControllerName;
- if(!nodeHandle.getParam("customController", customControllerName))
- {
- ROS_ERROR("Failed to get custom controller name");
- return;
- }
-
- customController = ros::service::createClient<Controller>(customControllerName, true);
- ROS_INFO_STREAM("loaded custom controller " << customControllerName);
-}
-
-
-void sendMessageUsingController(int controller)
-{
- // send a message in topic for the studentGUI to read it
- std_msgs::Int32 controller_used_msg;
- controller_used_msg.data = controller;
- controllerUsedPublisher.publish(controller_used_msg);
-}
-
-void setInstantController(int controller) //for right now, temporal use
-{
- instant_controller = controller;
- sendMessageUsingController(controller);
- switch(controller)
- {
- case SAFE_CONTROLLER:
- loadSafeController();
- break;
- case CUSTOM_CONTROLLER:
- loadCustomController();
- break;
- default:
- break;
- }
-}
-int getInstantController()
-{
- return instant_controller;
-}
-void setControllerUsed(int controller) //for permanent configs
-{
- controller_used = controller;
- if(flying_state == STATE_MOTORS_OFF || flying_state == STATE_FLYING)
- {
- setInstantController(controller); //if motors OFF or STATE FLYING, transparent, change is instant
- }
-}
-int getControllerUsed()
-{
- return controller_used;
-}
-//checks if crazyflie is within allowed area and if custom controller returns no data
+//checks if crazyflie is within allowed area and if demo controller returns no data
bool safetyCheck(CrazyflieData data, ControlCommand controlCommand) {
//position check
if((data.x < context.localArea.xmin) or (data.x > context.localArea.xmax)) {
@@ -570,14 +278,15 @@ void viconCallback(const ViconData& viconData) {
{
if(!global.occluded) //if it is not occluded, then proceed to compute the controller output.
{
- if(getInstantController() == CUSTOM_CONTROLLER && flying_state == STATE_FLYING) // only enter in custom controller if we are not using safe controller AND the flying state is FLYING
+ // only enter in demo controller if we are not using safe controller AND the flying state is FLYING
+ if(getInstantController() == DEMO_CONTROLLER && flying_state == STATE_FLYING)
{
- bool success = customController.call(controllerCall);
+ bool success = demoController.call(controllerCall);
if(!success)
{
- ROS_ERROR("Failed to call custom controller, switching to safe controller");
- ROS_ERROR_STREAM("custom controller status: valid: " << customController.isValid() << ", exists: " << customController.exists());
- ROS_ERROR_STREAM("custom controller name: " << customController.getService());
+ ROS_ERROR("Failed to call demo controller, switching to safe controller");
+ ROS_ERROR_STREAM("demo controller status: valid: " << demoController.isValid() << ", exists: " << demoController.exists());
+ ROS_ERROR_STREAM("demo controller name: " << demoController.getService());
setInstantController(SAFE_CONTROLLER);
}
else if(!safetyCheck(global, controllerCall.response.controlOutput))
@@ -634,7 +343,7 @@ void viconCallback(const ViconData& viconData) {
else
{
ControlCommand zeroOutput = ControlCommand(); //everything set to zero
- zeroOutput.onboardControllerType = TYPE_PPS_MOTORS; //set to motor_mode
+ zeroOutput.onboardControllerType = CF_COMMAND_TYPE_MOTORS; //set to motor_mode
controlCommandPublisher.publish(zeroOutput);
// Putting data into the ROS "bag" for post-analysis
@@ -700,9 +409,9 @@ void commandCallback(const std_msgs::Int32& commandMsg) {
setControllerUsed(SAFE_CONTROLLER);
break;
- case CMD_USE_CUSTOM_CONTROLLER:
- ROS_INFO("USE_CUSTOM_CONTROLLER Command received");
- setControllerUsed(CUSTOM_CONTROLLER);
+ case CMD_USE_DEMO_CONTROLLER:
+ ROS_INFO("USE_DEMO_CONTROLLER Command received");
+ setControllerUsed(DEMO_CONTROLLER);
break;
case CMD_CRAZYFLY_TAKE_OFF:
@@ -832,7 +541,7 @@ void fetchYamlParametersForSafeController(ros::NodeHandle& nodeHandle)
{
// Here we load the parameters that are specified in the SafeController.yaml file
- // Add the "CustomController" namespace to the "nodeHandle"
+ // Add the "SafeController" namespace to the "nodeHandle"
ros::NodeHandle nodeHandle_for_safeController(nodeHandle, "SafeController");
if(!nodeHandle_for_safeController.getParam("takeOffDistance", take_off_distance))
@@ -893,6 +602,8 @@ void fetchClientConfigParameters(ros::NodeHandle& nodeHandle)
+
+
void crazyRadioCommandAllAgentsCallback(const std_msgs::Int32& msg)
{
// The "msg" received can be directly published on the "crazyRadioCommandPublisher"
@@ -906,6 +617,12 @@ void crazyRadioCommandAllAgentsCallback(const std_msgs::Int32& msg)
+
+
+
+
+
+
int getBatteryState()
{
return m_battery_state;
@@ -985,6 +702,102 @@ void CFBatteryCallback(const std_msgs::Float32& msg)
}
+
+
+
+
+
+
+
+
+
+
+
+
+
+void loadSafeController() {
+ ros::NodeHandle nodeHandle("~");
+
+ std::string safeControllerName;
+ if(!nodeHandle.getParam("safeController", safeControllerName)) {
+ ROS_ERROR("Failed to get safe controller name");
+ return;
+ }
+
+ ros::service::waitForService(safeControllerName);
+ safeController = ros::service::createClient<Controller>(safeControllerName, true);
+ ROS_INFO_STREAM("loaded safe controller: " << safeController.getService());
+}
+
+void loadDemoController()
+{
+ ros::NodeHandle nodeHandle("~");
+
+ std::string demoControllerName;
+ if(!nodeHandle.getParam("demoController", demoControllerName))
+ {
+ ROS_ERROR("Failed to get demo controller name");
+ return;
+ }
+
+ demoController = ros::service::createClient<Controller>(demoControllerName, true);
+ ROS_INFO_STREAM("Loaded demo controller " << demoController.getService());
+}
+
+
+void sendMessageUsingController(int controller)
+{
+ // send a message in topic for the studentGUI to read it
+ std_msgs::Int32 controller_used_msg;
+ controller_used_msg.data = controller;
+ controllerUsedPublisher.publish(controller_used_msg);
+}
+
+void setInstantController(int controller) //for right now, temporal use
+{
+ instant_controller = controller;
+ sendMessageUsingController(controller);
+ switch(controller)
+ {
+ case SAFE_CONTROLLER:
+ loadSafeController();
+ break;
+ case DEMO_CONTROLLER:
+ loadDemoController();
+ break;
+ default:
+ break;
+ }
+}
+
+int getInstantController()
+{
+ return instant_controller;
+}
+
+void setControllerUsed(int controller) //for permanent configs
+{
+ controller_used = controller;
+
+ if(flying_state == STATE_MOTORS_OFF || flying_state == STATE_FLYING)
+ {
+ setInstantController(controller); //if motors OFF or STATE FLYING, transparent, change is instant
+ }
+}
+
+int getControllerUsed()
+{
+ return controller_used;
+}
+
+
+
+
+
+
+
+
+
// ----------------------------------------------------------------------------------
// M M A III N N
// MM MM A A I NN N
diff --git a/pps_ws/src/d_fall_pps/src/ParameterService.cpp b/pps_ws/src/d_fall_pps/src/ParameterService.cpp
index cf9c361e14e6fc22ef9ff49c17b7cde5a0071981..0919d7657b8b4a9884069b6655c3ba472ea8c989 100755
--- a/pps_ws/src/d_fall_pps/src/ParameterService.cpp
+++ b/pps_ws/src/d_fall_pps/src/ParameterService.cpp
@@ -33,100 +33,10 @@
-// ----------------------------------------------------------------------------------
-// III N N CCCC L U U DDDD EEEEE SSSS
-// I NN N C L U U D D E S
-// I N N N C L U U D D EEE SSS
-// I N NN C L U U D D E S
-// III N N CCCC LLLLL UUU DDDD EEEEE SSSS
-// ----------------------------------------------------------------------------------
-
-#include <stdlib.h>
-#include <string>
-
-#include <ros/ros.h>
-#include <ros/package.h>
-#include <ros/network.h>
-#include "std_msgs/Int32.h"
-//#include "std_msgs/Float32.h"
-//#include <std_msgs/String.h>
-
-#include "d_fall_pps/Controller.h"
-
-
-// ----------------------------------------------------------------------------------
-// DDDD EEEEE FFFFF III N N EEEEE SSSS
-// D D E F I NN N E S
-// D D EEE FFF I N N N EEE SSS
-// D D E F I N NN E S
-// DDDD EEEEE F III N N EEEEE SSSS
-// ----------------------------------------------------------------------------------
-
-
-// For which controller parameters to load
-#define LOAD_YAML_SAFE_CONTROLLER_AGENT 1
-#define LOAD_YAML_CUSTOM_CONTROLLER_AGENT 2
-#define LOAD_YAML_SAFE_CONTROLLER_COORDINATOR 3
-#define LOAD_YAML_CUSTOM_CONTROLLER_COORDINATOR 4
-
-#define FETCH_YAML_SAFE_CONTROLLER_FROM_OWN_AGENT 1
-#define FETCH_YAML_CUSTOM_CONTROLLER_FROM_OWN_AGENT 2
-#define FETCH_YAML_SAFE_CONTROLLER_FROM_COORDINATOR 3
-#define FETCH_YAML_CUSTOM_CONTROLLER_FROM_COORDINATOR 4
-
-#define TYPE_INVALID -1
-#define TYPE_COORDINATOR 1
-#define TYPE_AGENT 2
-
-
-// Namespacing the package
-using namespace d_fall_pps;
-//using namespace std;
-
-
-
+// INCLUDE THE HEADER
+#include "ParameterService.h"
-// ----------------------------------------------------------------------------------
-// V V A RRRR III A BBBB L EEEEE SSSS
-// V V A A R R I A A B B L E S
-// V V A A RRRR I A A BBBB L EEE SSS
-// V V AAAAA R R I AAAAA B B L E S
-// V A A R R III A A BBBB LLLLL EEEEE SSSS
-// ----------------------------------------------------------------------------------
-
-// The type of this node, i.e., agent or a coordinator, specified as a parameter in the
-// "*.launch" file
-int my_type = 0;
-
-// The ID of this agent, i.e., the ID of this computer in the case that this computer is
-// and agent
-int my_agentID = 0;
-
-// Publisher that notifies the relevant nodes when the YAML paramters have been loaded
-// from file into ram/cache, and hence are ready to be fetched
-ros::Publisher controllerYamlReadyForFetchPublihser;
-
-
-std::string m_ros_namespace;
-
-ros::Subscriber requestLoadControllerYamlSubscriber_agent_to_self;
-
-
-// ----------------------------------------------------------------------------------
-// FFFFF U U N N CCCC TTTTT III OOO N N
-// F U U NN N C T I O O NN N
-// FFF U U N N N C T I O O N N N
-// F U U N NN C T I O O N NN
-// F UUU N N CCCC T III OOO N N
-//
-// PPPP RRRR OOO TTTTT OOO TTTTT Y Y PPPP EEEEE SSSS
-// P P R R O O T O O T Y Y P P E S
-// PPPP RRRR O O T O O T Y PPPP EEE SSS
-// P R R O O T O O T Y P E S
-// P R R OOO T OOO T Y P EEEEE SSSS
-// ----------------------------------------------------------------------------------
-void requestLoadControllerYamlCallback(const std_msgs::Int32& msg);
@@ -195,15 +105,15 @@ void requestLoadControllerYamlCallback(const std_msgs::Int32& msg)
// Re-load the parameters of the safe controller:
cmd = "rosparam load " + d_fall_pps_path + "/param/SafeController.yaml " + m_ros_namespace + "/SafeController";
}
- else if ( (controller_to_load_yaml==LOAD_YAML_CUSTOM_CONTROLLER_COORDINATOR) && (my_type==TYPE_COORDINATOR) )
+ else if ( (controller_to_load_yaml==LOAD_YAML_DEMO_CONTROLLER_COORDINATOR) && (my_type==TYPE_COORDINATOR) )
{
- // Re-load the parameters of the custom controller:
- cmd = "rosparam load " + d_fall_pps_path + "/param/CustomController.yaml " + m_ros_namespace + "/CustomController";
+ // Re-load the parameters of the demo controller:
+ cmd = "rosparam load " + d_fall_pps_path + "/param/DemoController.yaml " + m_ros_namespace + "/DemoController";
}
- else if ( (controller_to_load_yaml==LOAD_YAML_CUSTOM_CONTROLLER_AGENT) && (my_type==TYPE_AGENT) )
+ else if ( (controller_to_load_yaml==LOAD_YAML_DEMO_CONTROLLER_AGENT) && (my_type==TYPE_AGENT) )
{
- // Re-load the parameters of the custom controller:
- cmd = "rosparam load " + d_fall_pps_path + "/param/CustomController.yaml " + m_ros_namespace + "/CustomController";
+ // Re-load the parameters of the demo controller:
+ cmd = "rosparam load " + d_fall_pps_path + "/param/DemoController.yaml " + m_ros_namespace + "/DemoController";
}
else
{
@@ -242,14 +152,14 @@ void requestLoadControllerYamlCallback(const std_msgs::Int32& msg)
case (LOAD_YAML_SAFE_CONTROLLER_COORDINATOR):
fetch_msg.data = FETCH_YAML_SAFE_CONTROLLER_FROM_COORDINATOR;
break;
- case (LOAD_YAML_CUSTOM_CONTROLLER_COORDINATOR):
- fetch_msg.data = FETCH_YAML_CUSTOM_CONTROLLER_FROM_COORDINATOR;
+ case (LOAD_YAML_DEMO_CONTROLLER_COORDINATOR):
+ fetch_msg.data = FETCH_YAML_DEMO_CONTROLLER_FROM_COORDINATOR;
break;
case (LOAD_YAML_SAFE_CONTROLLER_AGENT):
fetch_msg.data = FETCH_YAML_SAFE_CONTROLLER_FROM_OWN_AGENT;
break;
- case (LOAD_YAML_CUSTOM_CONTROLLER_AGENT):
- fetch_msg.data = FETCH_YAML_CUSTOM_CONTROLLER_FROM_OWN_AGENT;
+ case (LOAD_YAML_DEMO_CONTROLLER_AGENT):
+ fetch_msg.data = FETCH_YAML_DEMO_CONTROLLER_FROM_OWN_AGENT;
break;
default:
// Let the user know that the command was not recognised