DroneXControllerService.cpp 89.8 KB
Newer Older
1
2
3
//    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.
pragash1's avatar
pragash1 committed
4
//
5
6
7
8
//    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.
pragash1's avatar
pragash1 committed
9
//
10
11
12
13
//    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.
pragash1's avatar
pragash1 committed
14
//
15
16
//    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/>.
pragash1's avatar
pragash1 committed
17
//
18
19
20
21
22
23
24
25
26
27
//
//    ----------------------------------------------------------------------------------
//    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:
pragash1's avatar
pragash1 committed
28
//    Place for students to implement their controller
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
//
//    ----------------------------------------------------------------------------------





// INCLUDE THE HEADER
#include "nodes/DroneXControllerService.h"





//    ----------------------------------------------------------------------------------
//    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
//
//    III M   M PPPP  L     EEEEE M   M EEEEE N   N TTTTT   A   TTTTT III  OOO  N   N
//     I  MM MM P   P L     E     MM MM E     NN  N   T    A A    T    I  O   O NN  N
//     I  M M M PPPP  L     EEE   M M M EEE   N N N   T   A   A   T    I  O   O N N N
//     I  M   M P     L     E     M   M E     N  NN   T   AAAAA   T    I  O   O N  NN
//    III M   M P     LLLLL EEEEE M   M EEEEE N   N   T   A   A   T   III  OOO  N   N
//    ----------------------------------------------------------------------------------
pragash1's avatar
pragash1 committed
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183




// REMINDER OF THE NAME OF USEFUL CLASS VARIABLE
// // > Mass of the Crazyflie quad-rotor, in [grams]
// float m_mass_CF_grams;
// // > Mass of the letters to be lifted, in [grams]
// float m_mass_E_grams;
// float m_mass_T_grams;
// float m_mass_H_grams;
// // > Total mass of the Crazyflie plus whatever it is carrying, in [grams]
// float m_mass_total_grams;
// // Thickness of the object at pick-up and put-down, in [meters]
// // > This should also account for extra height due to
// //   the surface where the object is
// float m_thickness_of_object_at_pickup;
// float m_thickness_of_object_at_putdown;
// // (x,y) coordinates of the pickup location
// std::vector<float> m_pickup_coordinates_xy(2);
// // (x,y) coordinates of the drop off location
// std::vector<float> m_dropoff_coordinates_xy_for_E(2);
// std::vector<float> m_dropoff_coordinates_xy_for_T(2);
// std::vector<float> m_dropoff_coordinates_xy_for_H(2);
// // Length of the string from the Crazyflie
// // to the end of the DroneX, in [meters]
// float m_dronex_string_length;
// // > The setpoints for (x,y,z) position and yaw angle, in that order
// float m_setpoint[4] = {0.0,0.0,0.4,0.0};
// float m_setpoint_for_controller[4] = {0.0,0.0,0.4,0.0};
// // > Small adjustments to the x-y setpoint
// float m_xAdjustment = 0.0f;
// float m_yAdjustment = 0.0f;
// // Boolean for whether to limit rate of change of the setpoint
// bool m_shouldSmoothSetpointChanges = true;
// // Max setpoint change per second
// float m_max_setpoint_change_per_second_horizontal;
// float m_max_setpoint_change_per_second_vertical;
// float m_max_setpoint_change_per_second_yaw_degrees;
// float m_max_setpoint_change_per_second_yaw_radians;
// // Frequency at which the controller is running
// float m_vicon_frequency;


// A FEW EXTRA COMMENTS ABOUT THE MOST IMPORTANT VARIABLES

// Variable name:    m_setpoint
// Description:
// This is a float array of length 4. It specifies a location
// in space where you want the drone to be. The 4 element are:
// >> m_setpoint[0]   The x-poistion in [meters]
// >> m_setpoint[1]   The y-poistion in [meters]
// >> m_setpoint[2]   The z-poistion in [meters]
// >> m_setpoint[3]   The yaw heading angle in [radians]


// Variable name:    m_setpoint_for_controller
// Description:
// Similar to the variable "m_setpoint" this is also float array
// of length 4 that specifies an (x,y,z,yaw) location. The
// difference it that this variable specifies the location where
// the low-level controller is guiding the drone to be.
// HINT: to make changes the "m_setpoint" variable, you can edit
// the function named "perControlCycleOperations" so that the
// "m_setpoint_for_controller" changes by a maximum amount at
// each cycle of the contoller



// THIS FUNCTION IS CALLED AT "m_vicon_frequency" HERTZ.
// IT CAN BE USED TO ADJUST THINGS IN "REAL TIME".
// For example, the equation:
// >> m_max_setpoint_change_per_second_horizontal / m_vicon_frequency
// will convert the "change per second" to a "change per cycle".

void perControlCycleOperations()
{
	if (m_shouldSmoothSetpointChanges)
	{
		for(int i = 0; i < 4; ++i)
		{
			float max_for_this_coordinate;
			// FILLE IN THE STATE INERTIAL ESTIMATE TO BE USED FOR CONTROL
			switch (i)
			{
				case 0:
					max_for_this_coordinate = m_max_setpoint_change_per_second_horizontal / m_vicon_frequency;
					break;
				case 1:
					max_for_this_coordinate = m_max_setpoint_change_per_second_horizontal / m_vicon_frequency;
					break;
				case 2:
					max_for_this_coordinate = m_max_setpoint_change_per_second_vertical / m_vicon_frequency;
					break;
				case 3:
					max_for_this_coordinate = m_max_setpoint_change_per_second_yaw_radians / m_vicon_frequency;
					break;
				// Handle the exception
				default:
					max_for_this_coordinate = 0.0f;
					break;
			}

			// Compute the difference in setpoint
			float setpoint_difference = m_setpoint[i] - m_setpoint_for_controller[i];

			// Clip the difference to the maximum
			if (setpoint_difference > max_for_this_coordinate)
			{
				setpoint_difference = max_for_this_coordinate;
			}
			else if (setpoint_difference < -max_for_this_coordinate)
			{
				setpoint_difference = -max_for_this_coordinate;
			}

			// Update the setpoint of the controller
			m_setpoint_for_controller[i] += setpoint_difference;
		}

	}
	else
	{
		m_setpoint_for_controller[0] = m_setpoint[0];
		m_setpoint_for_controller[1] = m_setpoint[1];
		m_setpoint_for_controller[2] = m_setpoint[2];
		m_setpoint_for_controller[3] = m_setpoint[3];
	}
184

pragash1's avatar
pragash1 committed
185
186
187
188
189
190
191
192
193
194
}








void buttonPressed_take_off(){
pragash1's avatar
pragash1 committed
195

196
	//if(flying_state == DRONEX_STATE_GROUND || flying_state == DRONEX_STATE_ON_MOTHERSHIP){
pragash1's avatar
pragash1 committed
197
198
		ROS_INFO("[DRONEX CONTROLLER-DroneXControllerService] Taking off...");
		flying_state = DRONEX_STATE_TAKING_OFF;
199
200
201
	//}else{
	//	ROS_ERROR("Cannot change to DRONEX_STATE_TAKING_OFF");
	//}
pragash1's avatar
pragash1 committed
202
203
204
}

void buttonPressed_land(){
205
	//if(flying_state == DRONEX_STATE_HOVER){
mastefan's avatar
mastefan committed
206
207
		ROS_INFO("[DRONEX CONTROLLER-DroneXControllerService] Start flight-sequence LA...");
		// OLD:flying_state = DRONEX_STATE_LAND_ON_MOTHERSHIP;
maruggv's avatar
maruggv committed
208
		// NEW:
mastefan's avatar
mastefan committed
209
		flightSequence = SEQUENCE_LAND_ON_MOTHERSHIP;
pragash1's avatar
pragash1 committed
210
211
}

pragash1's avatar
pragash1 committed
212
213
214
void buttonPressed_abort(){
	ROS_INFO("[DRONEX CONTROLLER-DroneXControllerService] Abort Mission!");
	flying_state = DRONEX_STATE_LAND_ON_GROUND;
mastefan's avatar
mastefan committed
215
216
217

	// reset start position
	savedStartCoordinates = false;
pragash1's avatar
pragash1 committed
218
219
}

220
221
void buttonPressed_integrator_on(){
	ROS_INFO("[DRONEX CONTROLLER-DroneXControllerService] Turn ON integrator");
maruggv's avatar
maruggv committed
222
	integratorFlag = DRONEX_INTEGRATOR_ON;
223
224
225
226
}

void buttonPressed_integrator_off(){
	ROS_INFO("[DRONEX CONTROLLER-DroneXControllerService] Turn OFF integrator");
maruggv's avatar
maruggv committed
227
	integratorFlag = DRONEX_INTEGRATOR_OFF;
228
229
230
231
}

void buttonPressed_integrator_reset(){
	ROS_INFO("[DRONEX CONTROLLER-DroneXControllerService] RESET integrator to zero");
maruggv's avatar
maruggv committed
232
	integratorFlag = DRONEX_INTEGRATOR_RESET;
233
234
}

maruggv's avatar
maruggv committed
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265

void buttonPressed_follow_trajectory(){
	ROS_INFO("[DRONEX CONTROLLER-DroneXControllerService] FOLLOW trajectory");

	// Initialize trajectory timers
	flightSequence = SEQUENCE_NONE;
	flying_state = DRONEX_STATE_FOLLOWING_TRAJECTORY;
	total_time_since_start = 0;
	trajectory_x_radius = 0;
	trajectory_y_radius = 0;
	first_trajectory_calculation = true;
	trajectory_start_time = ros::Time::now().toSec();
	trajectory_t0 = 0.0;
	//trajectory_t0 = ros::Time::now().toSec();


	ROS_INFO_STREAM("trajectory start time: " << trajectory_start_time);
}


void buttonPressed_reset(){
	ROS_INFO("[DRONEX CONTROLLER-DroneXControllerService] RESET");

}







mastefan's avatar
mastefan committed
266
267
268
269
270
271
272
273
void integratorCallback (const Setpoint& integrParams ) {
    integrator_sum_XYZ[0] = integrParams.x;
    integrator_sum_XYZ[1] = integrParams.y;
    integrator_sum_XYZ[2] = integrParams.z;
}

void WeightParamCallback (const Setpoint& weightParam ) {
    // TODO for changing yaml: set weight in yaml OR just set m_mass_CF_grams?
maruggv's avatar
maruggv committed
274
275
    m_mass_total_grams = weightParam.x;

mastefan's avatar
mastefan committed
276
277
278

}

maruggv's avatar
maruggv committed
279
// Add a factor to the Pitchbaseline (default factor is 1)
mastefan's avatar
mastefan committed
280
void PitchBaselineParamCallback(const Setpoint& pitchAngleParam ) {
maruggv's avatar
maruggv committed
281
    pitchAngle_baseline = pitchAngleParam.x;
mastefan's avatar
mastefan committed
282
283
284
285
286
}




pragash1's avatar
pragash1 committed
287
288


289
290
291
292
293
294





//    ------------------------------------------------------------------------------
pragash1's avatar
pragash1 committed
295
//     OOO   U   U  TTTTT  EEEEE  RRRR
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
//    O   O  U   U    T    E      R   R
//    O   O  U   U    T    EEE    RRRR
//    O   O  U   U    T    E      R  R
//     OOO    UUU     T    EEEEE  R   R
//
//     CCCC   OOO   N   N  TTTTT  RRRR    OOO   L           L       OOO    OOO   PPPP
//    C      O   O  NN  N    T    R   R  O   O  L           L      O   O  O   O  P   P
//    C      O   O  N N N    T    RRRR   O   O  L           L      O   O  O   O  PPPP
//    C      O   O  N  NN    T    R  R   O   O  L           L      O   O  O   O  P
//     CCCC   OOO   N   N    T    R   R   OOO   LLLLL       LLLLL   OOO    OOO   P
//    ----------------------------------------------------------------------------------

// This function is the callback that is linked to the "DroneXController" 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)
//
// The arument "request" is a structure provided to this service with the following two
// properties:
// request.ownCrazyflie
// This property is itself a structure of type "CrazyflieData",  which is defined in the
// file "CrazyflieData.msg", and has the following properties
// string crazyflieName
//     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
// The values in these properties are directly the measurement taken by the Vicon
// motion capture system of the Crazyflie that is to be controlled by this service
//
// request.otherCrazyflies
// This property is an array of "CrazyflieData" structures, what allows access to the
// Vicon measurements of other Crazyflies.
//
// The argument "response" is a structure that is expected to be filled in by this
// service by this function, it has only the following property
// response.ControlCommand
// This property is iteself a structure of type "ControlCommand", which is defined in
// the file "ControlCommand.msg", and has the following properties:
//     float32 roll                      The command sent to the Crazyflie for the body frame x-axis
//     float32 pitch                     The command sent to the Crazyflie for the body frame y-axis
//     float32 yaw                       The command sent to the Crazyflie for the body frame z-axis
//     uint16 motorCmd1                  The command sent to the Crazyflie for motor 1
//     uint16 motorCmd2                  The command sent to the Crazyflie for motor 1
//     uint16 motorCmd3                  The command sent to the Crazyflie for motor 1
//     uint16 motorCmd4                  The command sent to the Crazyflie for motor 1
//     uint8 onboardControllerType       The flag sent to the Crazyflie for indicating how to implement the command
pragash1's avatar
pragash1 committed
347
//
348
349
// IMPORTANT NOTES FOR "onboardControllerType"  AND AXIS CONVENTIONS
// > The allowed values for "onboardControllerType" are in the "Defines" section at the
pragash1's avatar
pragash1 committed
350
351
352
353
354
//   top of this file, they are:
//   CF_COMMAND_TYPE_MOTOR
//   CF_COMMAND_TYPE_RATE
//   CF_COMMAND_TYPE_ANGLE.
// > With CF_COMMAND_TYPE_RATE the ".roll", ".ptich", and ".yaw" properties of "response.ControlCommand"
355
356
//   specify the angular rate in [radians/second] that will be requested from the
//   PID controllers running in the Crazyflie 2.0 firmware.
pragash1's avatar
pragash1 committed
357
// > With CF_COMMAND_TYPE_RATE the ".motorCmd1" to ".motorCmd4" properties of "response.ControlCommand"
358
359
360
//   are the baseline motor commands requested from the Crazyflie, with the adjustment
//   for body rates being added on top of this in the firmware (i.e., as per the code
//   of the "distribute_power" function provided in exercise sheet 2).
pragash1's avatar
pragash1 committed
361
// > With CF_COMMAND_TYPE_RATE the axis convention for the roll, pitch, and yaw body rates returned
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
//   in "response.ControlCommand" should use right-hand coordinate axes with x-forward
//   and z-upwards (i.e., the positive z-axis is aligned with the direction of positive
//   thrust). To assist, teh following is an ASCII art of this convention:
//
// ASCII ART OF THE CRAZYFLIE 2.0 LAYOUT
//
//  > This is a top view,
//  > M1 to M4 stand for Motor 1 to Motor 4,
//  > "CW"  indicates that the motor rotates Clockwise,
//  > "CCW" indicates that the motor rotates Counter-Clockwise,
//  > By right-hand axis convention, the positive z-direction points our of the screen,
//  > This being a "top view" means tha the direction of positive thrust produced
//    by the propellers is also out of the screen.
//
//        ____                         ____
//       /    \                       /    \
//  (CW) | M4 |           x           | M1 | (CCW)
//       \____/\          ^          /\____/
//            \ \         |         / /
//             \ \        |        / /
//              \ \______ | ______/ /
//               \        |        /
//                |       |       |
//        y <-------------o       |
//                |               |
//               / _______________ \
//              / /               \ \
//             / /                 \ \
//        ____/ /                   \ \____
//       /    \/                     \/    \
// (CCW) | M3 |                       | M2 | (CW)
//       \____/                       \____/
//
//
//
// This function WILL NEED TO BE edited for successful completion of the PPS exercise
bool calculateControlOutput(Controller::Request &request, Controller::Response &response)
{

pragash1's avatar
pragash1 committed
401
402
403
	// Keep track of time
	m_time_ticks++;
	m_time_seconds = float(m_time_ticks) / m_vicon_frequency;
404

405
406
	switch(flying_state){
		case DRONEX_STATE_APPROACH:
407
		{
mastefan's avatar
mastefan committed
408
			//ROS_INFO("DRONEX_STATE_APPROACH");
409
410
			dronexSetpoint.x = request.otherCrazyflies[0].x;
			dronexSetpoint.y = request.otherCrazyflies[0].y;
maruggv's avatar
maruggv committed
411
			dronexSetpoint.z = request.otherCrazyflies[0].z + 0.4;
mastefan's avatar
mastefan committed
412
413


maruggv's avatar
maruggv committed
414
415
416
			ROS_INFO_STREAM("APPROACH: (x,y,z) Difference: ("
				<< request.ownCrazyflie.x-dronexSetpoint.x << ", "
				<< request.ownCrazyflie.y-dronexSetpoint.y << ", "
mastefan's avatar
mastefan committed
417
				<< request.ownCrazyflie.z-dronexSetpoint.z << ")");
mastefan's avatar
mastefan committed
418

mastefan's avatar
mastefan committed
419
420
			if(abs(request.ownCrazyflie.x-dronexSetpoint.x) < tol_approach[0] && abs(request.ownCrazyflie.y-dronexSetpoint.y) < tol_approach[1] &&
				abs(request.ownCrazyflie.z-dronexSetpoint.z) < tol_approach[2] ){
mastefan's avatar
mastefan committed
421
422
423
				approachedFlag = true;
				ROS_INFO("approached");
			}
424
		}
425
426
		break;

427
		case DRONEX_STATE_GROUND:
428
		{
mastefan's avatar
mastefan committed
429
430
			//ROS_INFO("DRONEX_STATE_GROUND");
			// Variable for choosing flight sequence off
mastefan's avatar
mastefan committed
431
			flightSequence = SEQUENCE_NONE;
mastefan's avatar
mastefan committed
432
433
434
435
436
437
438
439
440
441

			// Flags of landing sequence reset
			tookOffFlag = false;
			approachedFlag = false;
			//bool landedFlag = true;

			dronexSetpoint.x = request.ownCrazyflie.x;
			dronexSetpoint.y = request.ownCrazyflie.y;
			dronexSetpoint.z = request.ownCrazyflie.z;

442
443
		}
		break;
444

mastefan's avatar
mastefan committed
445
446
447
448
		case DRONEX_STATE_ON_MOTHERSHIP:
		{
			//ROS_INFO("DRONEX_STATE_ON_MOTHERSHIP");
			// Variable for choosing flight sequence off
mastefan's avatar
mastefan committed
449
			flightSequence = SEQUENCE_NONE;
mastefan's avatar
mastefan committed
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464

			// Flags of landing sequence reset
			tookOffFlag = false;
			approachedFlag = false;
			//bool landedFlag = true;

			dronexSetpoint.x = request.ownCrazyflie.x;
			dronexSetpoint.y = request.ownCrazyflie.y;
			dronexSetpoint.z = request.ownCrazyflie.z;

		}
		break;

		case DRONEX_STATE_LAND_ON_MOTHERSHIP:
		{
mastefan's avatar
mastefan committed
465
			//ROS_INFO("DRONEX_STATE_LAND_ON_MOTHERSHIP");
maruggv's avatar
maruggv committed
466
			dronexSetpoint.x = request.otherCrazyflies[0].x;
mastefan's avatar
mastefan committed
467
			dronexSetpoint.y = request.otherCrazyflies[0].y;
mastefan's avatar
mastefan committed
468
			dronexSetpoint.z = request.otherCrazyflies[0].z + 0.05;
mastefan's avatar
mastefan committed
469
470
471
		}
		break;

pragash1's avatar
pragash1 committed
472
		case DRONEX_STATE_LAND_ON_GROUND:
473
		{
mastefan's avatar
mastefan committed
474
475
			if(tookOffFlag){
				ROS_INFO("DRONEX_STATE_LAND_ON_GROUND");
mastefan's avatar
mastefan committed
476
477
				dronexSetpoint.x = request.ownCrazyflie.x;
				dronexSetpoint.y = request.ownCrazyflie.y;
mastefan's avatar
mastefan committed
478
				dronexSetpoint.z = 0.0;
pragash1's avatar
pragash1 committed
479

mastefan's avatar
mastefan committed
480
481
				tookOffFlag = false;
			}
pragash1's avatar
pragash1 committed
482

483
484
		}
		break;
mastefan's avatar
mastefan committed
485

486
		case DRONEX_STATE_TAKING_OFF:
487
		{
mastefan's avatar
mastefan committed
488
			//ROS_INFO_STREAM("DRONEX_STATE_TAKING_OFF");
pragash1's avatar
pragash1 committed
489

mastefan's avatar
mastefan committed
490
491
			if(!savedStartCoordinates)
			{
maruggv's avatar
maruggv committed
492
				startCoordinateX = request.ownCrazyflie.x;
mastefan's avatar
mastefan committed
493
				startCoordinateY = request.ownCrazyflie.y;
mastefan's avatar
mastefan committed
494
				startCoordinateZ = request.ownCrazyflie.z;
495

mastefan's avatar
mastefan committed
496
				savedStartCoordinates = true;
maruggv's avatar
maruggv committed
497

mastefan's avatar
mastefan committed
498
499
500
501
				ROS_INFO_STREAM("DRONEX: saved start Coordinates");
				ROS_INFO_STREAM("x = " << startCoordinateX);
				ROS_INFO_STREAM("y = " << startCoordinateY);
				ROS_INFO_STREAM("z = " << startCoordinateZ);
maruggv's avatar
maruggv committed
502

mastefan's avatar
mastefan committed
503
504
505
			}

			dronexSetpoint.x = startCoordinateX;
506
			dronexSetpoint.y = startCoordinateY;
mastefan's avatar
mastefan committed
507
			dronexSetpoint.z = startCoordinateZ + 0.4;
maruggv's avatar
maruggv committed
508
509
510
511
512
513

			// For debugging the integrator
			//	ROS_INFO_STREAM("TO: (x,y,z) Difference: ("
			//		<< request.ownCrazyflie.x-dronexSetpoint.x << ", "
			//		<< request.ownCrazyflie.y-dronexSetpoint.y << ", "
			//		<< request.ownCrazyflie.z-dronexSetpoint.z << ")");
mastefan's avatar
mastefan committed
514

mastefan's avatar
mastefan committed
515
516
			if(abs(request.ownCrazyflie.x-dronexSetpoint.x) < tol_takeoff[0] && abs(request.ownCrazyflie.y-dronexSetpoint.y) < tol_takeoff[1] &&
				abs(request.ownCrazyflie.z-dronexSetpoint.z) < tol_takeoff[2]) {
mastefan's avatar
mastefan committed
517
518
				ROS_INFO("took off");
				tookOffFlag = true;
mastefan's avatar
mastefan committed
519
520

				ROS_INFO_STREAM("Entering: DRONEX_STATE_HOVER");
mastefan's avatar
mastefan committed
521
				flying_state = DRONEX_STATE_HOVER;
mastefan's avatar
mastefan committed
522
			}
523
524
525
		}
		break;

mastefan's avatar
mastefan committed
526
		case DRONEX_STATE_HOVER:
527
		{
maruggv's avatar
maruggv committed
528
			//ROS_INFO_STREAM("DRONEX_STATE_HOVER");
mastefan's avatar
mastefan committed
529
			// keep setpoint constant
maruggv's avatar
maruggv committed
530
531

			// for testing hover over mothership
mastefan's avatar
mastefan committed
532
			/*
maruggv's avatar
maruggv committed
533
534
535
			dronexSetpoint.x = request.otherCrazyflies[0].x;
			dronexSetpoint.y = request.otherCrazyflies[0].y;
			dronexSetpoint.z = request.otherCrazyflies[0].z+0.3;
mastefan's avatar
mastefan committed
536
			*/
maruggv's avatar
maruggv committed
537

538
539
		}
		break;
mastefan's avatar
mastefan committed
540

maruggv's avatar
maruggv committed
541
		case DRONEX_STATE_FOLLOWING_TRAJECTORY:
mastefan's avatar
mastefan committed
542
543
544
			if(abs(request.ownCrazyflie.x-request.otherCrazyflies[0].x) < tol_approach[0] && 
				abs(request.ownCrazyflie.y-request.otherCrazyflies[0].y) < tol_approach[1] &&
				abs(request.ownCrazyflie.z-request.otherCrazyflies[0].z + 0.2) < tol_approach[2] ){
maruggv's avatar
maruggv committed
545

mastefan's avatar
mastefan committed
546
547
				//flying_state = DRONEX_STATE_LAND_ON_MOTHERSHIP;
				ROS_INFO_STREAM("Entering from Trajectory: DRONEX_STATE_LAND_ON_MOTHERSHIP");
maruggv's avatar
maruggv committed
548
549
550
551
			}
		break;


552
	} // END switch case
553

mastefan's avatar
mastefan committed
554

maruggv's avatar
maruggv committed
555
556


mastefan's avatar
mastefan committed
557
	// flightSeqeunce 1: simple approaching and landing on static mothership
558
	if (flightSequence == SEQUENCE_LAND_ON_MOTHERSHIP){
mastefan's avatar
mastefan committed
559
		//ROS_INFO_STREAM("Entering: DRONEX_STATE_TAKING_OFF");
mastefan's avatar
mastefan committed
560
		flying_state = DRONEX_STATE_TAKING_OFF;
mastefan's avatar
mastefan committed
561

562
563
		//ROS_INFO_STREAM("Flight sequence: Landing on mothership");
		if(tookOffFlag){
mastefan's avatar
mastefan committed
564
			//ROS_INFO_STREAM("Entering: DRONEX_STATE_APPROACH");
565
566
567
			flying_state = DRONEX_STATE_APPROACH;

			if(approachedFlag){
mastefan's avatar
mastefan committed
568
569
				ROS_INFO_STREAM("Entering: DRONEX_STATE_LAND_ON_MOTHERSHIP");
				flying_state = DRONEX_STATE_LAND_ON_MOTHERSHIP;
mastefan's avatar
mastefan committed
570
571
			}

572
573
		}

574
	}
575

mastefan's avatar
mastefan committed
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
/*
	// flightSequence 2: approach and land with velocity optimized controller
	// TODO: define SEQUENCE names in .h (maybe rename sequences)
	if (flightSequence == SEQUENCE_2){
		flying_state = DRONEX_STATE_TAKING_OFF;

		if (tookOffFlag){
			// TODO:
			// approach landing zone: maybe a point "behind" the mothership in some angle
			// maybe turn to yaw so that CF points to mothership
			// -> in DRONEX_STATE_APPROACH or own function

			if (approachedFlag){
				// TODO:
				// turn on velocity optimized controller
				// land and turn off motors, when velocity and position requirements met
				// -> define i.e. tol_velocity, tol_land[3]
			}
		}

	}
*/

mastefan's avatar
mastefan committed
599
600
601
602
603
604
605

	// PERFORM THE ESTIMATOR UPDATE FOR THE INTERIAL FRAME STATE
	// > After this function is complete the class variable
	//   "current_stateInertialEstimate" is updated and ready
	//   to be used for subsequent controller copmutations
	performEstimatorUpdate_forStateInterial(request);

maruggv's avatar
maruggv committed
606
	calculateMSVelocity(request);
mastefan's avatar
mastefan committed
607

pragash1's avatar
pragash1 committed
608
609
610
611
	// THIS IS THE START OF THE "OUTER" CONTROL LOOP
	// > i.e., this is the control loop run on this laptop
	// > this function is called at the frequency specified
	// > this function performs all estimation and control
612
613


maruggv's avatar
maruggv committed
614
	if(controller_mode == 0){	// lqr controller
615

maruggv's avatar
maruggv committed
616
		// do not change, use setpoint defined in states
617

maruggv's avatar
maruggv committed
618
	}else if(controller_mode == 1){	// nested lqr controller
619

maruggv's avatar
maruggv committed
620
621
		if(flying_state == DRONEX_STATE_FOLLOWING_TRAJECTORY){	// Trajectory Follower
			// to implement the trajectory tracking
622
623
624
625
626
627
628
629
630
631
632
633
634

			calculateTrajectory(request);

			dronexSetpoint.x = trajectory_setpoint[0];
			dronexSetpoint.y = trajectory_setpoint[1];
			dronexSetpoint.z = trajectory_setpoint[2];
			//m_setpoint_for_controller_2[3] = trajectory_setpoint[3];
			dronexSetpoint.yaw = request.otherCrazyflies[0].yaw;	// same yaw as mothership

			dronexVelocity.x = trajectory_velocity[0];
			dronexVelocity.y = trajectory_velocity[1];
			dronexVelocity.z = trajectory_velocity[2];

mastefan's avatar
mastefan committed
635
636


637
638
639
640
641
642
643
644
645
646
			/*
			m_setpoint_for_controller_2[0] = request.owncraazyflie.x;
			m_setpoint_for_controller_2[1] = request.owncraazyflie.y;
			m_setpoint_for_controller_2[2] = request.owncraazyflie.z;

			m_velocity_for_controller_2[0] = 1;
			m_velocity_for_controller_2[1] = 0;
			m_velocity_for_controller_2[2] = 0;
			*/

maruggv's avatar
maruggv committed
647
648
		}else{	// standard: if not following trajectory

649
650
651
652
653
			//dronexSetpoint.x = dronexSetpoint.x;
			//dronexSetpoint.y = dronexSetpoint.y;
			//dronexSetpoint.z = dronexSetpoint.z;
			dronexSetpoint.yaw = request.otherCrazyflies[0].yaw;	// same yaw as mothership

mastefan's avatar
mastefan committed
654
655
656
			dronexVelocity.x = mothership_vel[0]*0;
			dronexVelocity.y = mothership_vel[1]*0;
			dronexVelocity.z = mothership_vel[2]*0;
657
658
659
		}
	}

mastefan's avatar
mastefan committed
660
661
662
663
	setpointCallback(dronexSetpoint);
	m_velocity_for_controller[0] = dronexVelocity.x;
	m_velocity_for_controller[1] = dronexVelocity.y;
	m_velocity_for_controller[2] = dronexVelocity.z;
maruggv's avatar
maruggv committed
664
665

	// CALL THE FUNCTION FOR PER CYLCE OPERATIONS: limits setpoint changes and velocity for controller
666
667
668
	perControlCycleOperations();

	// > Call the function to perform the conversion
maruggv's avatar
maruggv committed
669
	float stateErrorBody[12];
670
671
	convert_stateInertial_to_bodyFrameError(current_stateInertialEstimate, m_setpoint_for_controller, stateErrorBody);

maruggv's avatar
maruggv committed
672

pragash1's avatar
pragash1 committed
673
674
	// CARRY OUT THE CONTROLLER COMPUTATIONS
	// Call the function that performs the control computations for this mode
675

676
	// Turn motors off if wanted or do LQR-control
677

mastefan's avatar
mastefan committed
678
	if(flying_state == DRONEX_STATE_LAND_ON_GROUND && (request.ownCrazyflie.z < 0.05 )){
mastefan's avatar
mastefan committed
679
680
		ROS_INFO("landed -> DRONEX_STATE_ON_GROUND");
		flying_state = DRONEX_STATE_GROUND;
681
	}
mastefan's avatar
mastefan committed
682
	else if(flying_state == DRONEX_STATE_LAND_ON_MOTHERSHIP && 	(abs(request.ownCrazyflie.x - request.otherCrazyflies[0].x) < tol_land[0]) &&
maruggv's avatar
maruggv committed
683
																(abs(request.ownCrazyflie.y - request.otherCrazyflies[0].y) < tol_land[1]) &&
mastefan's avatar
mastefan committed
684
																(abs(request.ownCrazyflie.z - 0.03 - request.otherCrazyflies[0].z) < tol_land[2]) ){
mastefan's avatar
mastefan committed
685
686
		ROS_INFO("landed -> DRONEX_STATE_ON_MOTHERSHIP");
		flying_state = DRONEX_STATE_ON_MOTHERSHIP;
687
	}
mastefan's avatar
mastefan committed
688
689

	if(flying_state == DRONEX_STATE_GROUND || flying_state == DRONEX_STATE_ON_MOTHERSHIP){
690
691
692
		motorsOFF(response);
	}
	else{
maruggv's avatar
maruggv committed
693
		calculateControlOutputDroneX(request, response, stateErrorBody);	// chooses controller mode
pragash1's avatar
pragash1 committed
694
	}
pragash1's avatar
pragash1 committed
695
696
697
698


	// PUBLISH THE CURRENT X,Y,Z, AND YAW (if required)
	if (shouldPublishCurrent_xyz_yaw)
699
	{
pragash1's avatar
pragash1 committed
700
		publish_current_xyz_yaw(request.ownCrazyflie.x,request.ownCrazyflie.y,request.ownCrazyflie.z,request.ownCrazyflie.yaw);
701
702
	}

pragash1's avatar
pragash1 committed
703
704
705
706
707
	// PUBLISH THE DEBUG MESSAGE (if required)
	if (shouldPublishDebugMessage)
	{
		construct_and_publish_debug_message(request,response);
	}
708

maruggv's avatar
maruggv committed
709

pragash1's avatar
pragash1 committed
710
711
712
	// RETURN "true" TO INDICATE THAT THE COMPUTATIONS WERE SUCCESSFUL
	return true;
}
mastefan's avatar
mastefan committed
713

maruggv's avatar
maruggv committed
714
715
716
717
void crazyfliecontextRefresh(d_fall_pps::CrazyflieContext context){
	area = context.localArea;
	originX = (area.xmin + area.xmax) / 2.0;
	originY = (area.ymin + area.ymax) / 2.0;
mastefan's avatar
mastefan committed
718

maruggv's avatar
maruggv committed
719
720
	ROS_INFO_STREAM("New OriginX: " << originX << " New OriginY: " << originY);
}
mastefan's avatar
mastefan committed
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738


//	State Error Body
//	1)	x Error
//	2)	y Error
//	3)	z Error
//	4)	x dot Error
//	5)	y dot Error
//	6)	z dot Error
//	7)	Roll
//	8)	Pitch
//	9)	yaw
//	10)	Roll dot
//	11)	Pitch dot
//	12)	Yaw dot


// DroneX Controller
mastefan's avatar
mastefan committed
739
void calculateControlOutputDroneX(Controller::Request &request, Controller::Response &response, float (&stateErrorBody)[12]){
mastefan's avatar
mastefan committed
740
741
742

	if(controller_mode == 0){

maruggv's avatar
maruggv committed
743
		// integrator
744
		integrator_XYZ(stateErrorBody);
maruggv's avatar
maruggv committed
745
746

		// Compute control output via LQR controller:
747
		calculateControlOutput_viaLQRforRates(stateErrorBody,request,response);
maruggv's avatar
maruggv committed
748
749
750

	}else if(controller_mode == 1){

751
		// integrator
mastefan's avatar
mastefan committed
752
753
		integrator_XYZ(stateErrorBody);

maruggv's avatar
maruggv committed
754
		// Compute control output via Nested LQR controller:
755
		calculateControlOutput_viaLQRforRates_Nested(stateErrorBody, request, response);
mastefan's avatar
mastefan committed
756

maruggv's avatar
maruggv committed
757
758
	}else{ // Don't know what to do ^^
		ROS_ERROR("[DRONEXCONTROLLERSERVICE] Please change the controller mode");
mastefan's avatar
mastefan committed
759
760
	}

maruggv's avatar
maruggv committed
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
}

















// Calculate a trajectory

// Gives back computes trajectory_setpoint and trajectory_velocity
void calculateTrajectory(Controller::Request &request){

	total_time_since_start = ros::Time::now().toSec() - trajectory_start_time;

mastefan's avatar
mastefan committed
786
787
	std::vector<float> trajectory_temp_setpoint(3);
	trajectory_temp_setpoint = trajectory_to_ms(request, total_time_since_start);
788
789
790
	trajectory_setpoint[0] = trajectory_temp_setpoint[0];
	trajectory_setpoint[1] = trajectory_temp_setpoint[1];
	trajectory_setpoint[2] = trajectory_temp_setpoint[2];
maruggv's avatar
maruggv committed
791
792
793
	trajectory_setpoint[3] = 0;

	// just some deltaT to look ahead
mastefan's avatar
mastefan committed
794
	float deltaT = 0.2;
795
796


mastefan's avatar
mastefan committed
797
798
	std::vector<float> trajectory_temp_setpoint_future(3);
	trajectory_temp_setpoint_future = trajectory_to_ms(request, total_time_since_start + deltaT);
799
800
	trajectory_velocity[0] = (trajectory_temp_setpoint_future[0]-request.ownCrazyflie.x)/deltaT;
	trajectory_velocity[1] = (trajectory_temp_setpoint_future[1]-request.ownCrazyflie.y)/deltaT;
maruggv's avatar
maruggv committed
801
	trajectory_velocity[2] = 0;
mastefan's avatar
mastefan committed
802

803
804
805
806
807
808
	float trajectory_real_velocity[3];
	trajectory_real_velocity[0] = (trajectory_temp_setpoint_future[0]-trajectory_temp_setpoint[0])/deltaT;
	trajectory_real_velocity[1] = (trajectory_temp_setpoint_future[1]-trajectory_temp_setpoint[1])/deltaT;
	trajectory_real_velocity[2] = (trajectory_temp_setpoint_future[2]-trajectory_temp_setpoint[2])/deltaT;


mastefan's avatar
mastefan committed
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
	// clip if velocity is too big
	float tot_velocity_xy = sqrt(pow(trajectory_velocity[0],2)+pow(trajectory_velocity[1],2));
	if(tot_velocity_xy > 1.0){
		trajectory_velocity[0] = 1.0 * trajectory_velocity[0]/tot_velocity_xy;
		trajectory_velocity[1] = 1.0 * trajectory_velocity[1]/tot_velocity_xy;
	}
	if(trajectory_velocity[2]<-0.8){
		trajectory_velocity[2] = -0.8;
	}else if(m_velocity[2]>0.8){
		trajectory_velocity[2] = 0.8;
	}
	/*
	for(int i=0; i<3; i++){
		if(trajectory_velocity[i]-current_stateInertialEstimate[i+3] > 0.8 ){
			trajectory_velocity[i] = 0.8 + current_stateInertialEstimate[i+3];
		}else if(trajectory_velocity[i]-current_stateInertialEstimate[i+3] < -0.8 ){
			trajectory_velocity[i] = -0.8 + current_stateInertialEstimate[i+3];
		}
	}*/
828
829
830
831
832
833
834

	// TO BE TESTED:
	/*
	float tot_real_velocity_xy = sqrt(pow(trajectory_real_velocity[0],2)+pow(trajectory_real_velocity[1],2));
	trajectory_velocity[0] = trajectory_velocity[0]*tot_real_velocity_xy/tot_velocity_xy;
	trajectory_velocity[1] = trajectory_velocity[1]*tot_real_velocity_xy/tot_velocity_xy;
	*/
mastefan's avatar
mastefan committed
835
836
837
	trajectory_velocity[0] = 0;
	trajectory_velocity[1] = 0;
	
mastefan's avatar
mastefan committed
838
839
840
841
}



maruggv's avatar
maruggv committed
842
843
844
845
846
847
848
// returns (x,y,z) for a given time t
// Calculate the trajectory from the Crazyflie to the mothership
// Trajectory: xcf0 -> xm1 -> xm2 -> xms, All segments are straight lines. (For testing purposes) Later should be curves
// xcf0: inital(Button pressed) position of Crazyflie
// xm1: next Point after the Crazyflie: the Drone should reach the final height by xm1
// xm2: Point behind the mothership
// xms: Point on mothership where we will land
mastefan's avatar
mastefan committed
849

maruggv's avatar
maruggv committed
850
851
852
853
// Please use trajectory_t0 as starting time
// Input: t in [trajectory_t0 and trajectory_t3]
// If t > trajectory_t3 then OUTPUT: (-1,-1,-1) -> exception handling
std::vector<float> trajectory_to_ms(Controller::Request &request, double t){
mastefan's avatar
mastefan committed
854

maruggv's avatar
maruggv committed
855
	std::vector<float> trajectory_return(3);
mastefan's avatar
mastefan committed
856
857


maruggv's avatar
maruggv committed
858
859
860
861
862
863
864
	// If this method is called the first time after follow trajectory button
	// or land on mothership button
	// then save xcf0 and calculate xm1
	if(first_trajectory_calculation){
		xcf0[0] = request.ownCrazyflie.x;
		xcf0[1] = request.ownCrazyflie.y;
		xcf0[2] = request.ownCrazyflie.z;
mastefan's avatar
mastefan committed
865

maruggv's avatar
maruggv committed
866
867
868
		// TODO possible change: choose xm1 based on relative position CF and mothership, CF velocity, mothership velocity
		xm1[0] = xcf0[0] + xm1_x_distance; // xm1_x_distance hardcoded at the moment
		xm1[1] = xcf0[1];
mastefan's avatar
mastefan committed
869
		xm1[2] = request.otherCrazyflies[0].z+0.6;
mastefan's avatar
mastefan committed
870

maruggv's avatar
maruggv committed
871
872
		first_trajectory_calculation = false;
	}
mastefan's avatar
mastefan committed
873

maruggv's avatar
maruggv committed
874
875
	float sinYaw = sin(request.ownCrazyflie.yaw);
	float cosYaw = cos(request.ownCrazyflie.yaw);
mastefan's avatar
mastefan committed
876

maruggv's avatar
maruggv committed
877
878
879
880
881
882
	// TODO cosYaw and sinYaw maybe otherway round
	// xm2_distance_to_ms: hardcoded distance
	// xm2_distance_to_ms should be chosen based on mothership velocity
	xm2[0] = request.otherCrazyflies[0].x - cosYaw*xm2_distance_to_ms;
	xm2[1] = request.otherCrazyflies[0].y - sinYaw*xm2_distance_to_ms;
	xm2[2] = xm1[2];
mastefan's avatar
mastefan committed
883

maruggv's avatar
maruggv committed
884
885
	xms[0] = request.otherCrazyflies[0].x;
	xms[1] = request.otherCrazyflies[0].y;
mastefan's avatar
mastefan committed
886
	xms[2] = request.otherCrazyflies[0].z+0.2; // TODO add a certain height to not collide with mothership
mastefan's avatar
mastefan committed
887
888


maruggv's avatar
maruggv committed
889
	// Calculate the whole trajectory distance
890
891
892
	trajectory_total_distance = 	calculate_distance_in_xyz(xcf0,xm1) +
									calculate_distance_in_xyz(xm1,xm2) +
									calculate_distance_in_xyz(xm2,xms);
mastefan's avatar
mastefan committed
893
894


maruggv's avatar
maruggv committed
895
	trajectory_duration = trajectory_total_distance/trajectory_velocity_of_CF;
mastefan's avatar
mastefan committed
896

maruggv's avatar
maruggv committed
897
898
899
900
901
902
903
	// Calculate each duration of the different segments of the trajectory
	// Time between xcf0 and xm1
	trajectory_duration_1 = calculate_distance_in_xyz(xcf0, xm1)/trajectory_velocity_of_CF;
	// Time between xm1 and xm2
	trajectory_duration_2 = calculate_distance_in_xyz(xm1,xm2)/trajectory_velocity_of_CF;
	// Time between xm2 and xms
	trajectory_duration_3 = calculate_distance_in_xyz(xm2,xms)/trajectory_velocity_of_CF;
mastefan's avatar
mastefan committed
904

maruggv's avatar
maruggv committed
905
906
907
908
909
910
	// Time when at xm1
	trajectory_t1 = trajectory_t0 + trajectory_duration_1;
	// Time when at xm2
	trajectory_t2 = trajectory_t1 + trajectory_duration_2;
	// Time when at xms
	trajectory_t3 = trajectory_t2 + trajectory_duration_3;
mastefan's avatar
mastefan committed
911
912
913



maruggv's avatar
maruggv committed
914
915
916
917
	// Calculate the x,y,z position depending on where the CF should be at a certain time t

	if(trajectory_t0 <= t && t <= trajectory_t1){ // Calculate position on line between xcf0 and xm1
		for(int i = 0; i < 3; i++){
mastefan's avatar
mastefan committed
918
			trajectory_return[i] = xcf0[i] + t*(xm1[i] - xcf0[i])/trajectory_t1;
maruggv's avatar
maruggv committed
919
920
921
		}
	}else if(trajectory_t1 < t && t <= trajectory_t2){ // Calculate position on line between xm1 and xm2
		for(int i = 0; i < 3; i++){
mastefan's avatar
mastefan committed
922
			trajectory_return[i] = xm1[i] + (t - trajectory_t1)*(xm2[i] - xm1[i])/(trajectory_t2 - trajectory_t1);
maruggv's avatar
maruggv committed
923
924
925
		}
	}else if(trajectory_t2 < t && t <= trajectory_t3){ // Calculate position on line between xm2 and xms
		for(int i = 0; i < 3; i++){
mastefan's avatar
mastefan committed
926
			trajectory_return[i] = xm2[i] + (t - trajectory_t2)*(xms[i] - xm2[i])/(trajectory_t3 - trajectory_t2);
maruggv's avatar
maruggv committed
927
928
		}
	}else{
mastefan's avatar
mastefan committed
929
930
931
		trajectory_return[0] = xms[0];
		trajectory_return[1] = xms[1];
		trajectory_return[2] = xms[2];
maruggv's avatar
maruggv committed
932
933
	}

mastefan's avatar
mastefan committed
934
	
maruggv's avatar
maruggv committed
935
936
937
938
939
940
941
942
	/*
	trajectory_x_radius = 1.0;
	trajectory_y_radius =	0.4;

	trajectory_return[0] = originX + cos(2*PI/trajectory_period * t)*(trajectory_x_radius);
	trajectory_return[1] = originY + sin(2*PI/trajectory_period * t)*(trajectory_y_radius);
	trajectory_return[2] = 0.5;
	*/
mastefan's avatar
mastefan committed
943
	
maruggv's avatar
maruggv committed
944
945
946
947
948
949
950
951
952
953
954
955

	return trajectory_return;
}

// Calculate distance between two points
float calculate_distance_in_xyz(std::vector<float> p1, std::vector<float> p2){
	float distance = 0.0f;

	distance = sqrt(pow(p2[0]-p1[0],2)+pow(p2[1]-p1[1],2)+pow(p2[2]-p1[2],2));

	return distance;
}
mastefan's avatar
mastefan committed
956
957
958
959
960





961

pragash1's avatar
pragash1 committed
962
963
// Set motors Output to 0
void motorsOFF(Controller::Response &response){
maruggv's avatar
maruggv committed
964
965
966
967
968
969
	float feed_forward_thrust_per_motor = m_mass_total_grams * 9.81/(1000*4);
	// > Put in the per motor commands
	response.controlOutput.motorCmd1 = /*0.8 */0* computeMotorPolyBackward(feed_forward_thrust_per_motor);
	response.controlOutput.motorCmd2 = /*0.8 */0* computeMotorPolyBackward(feed_forward_thrust_per_motor);
	response.controlOutput.motorCmd3 = /*0.8 */0* computeMotorPolyBackward(feed_forward_thrust_per_motor);
	response.controlOutput.motorCmd4 = /*0.8 */0* computeMotorPolyBackward(feed_forward_thrust_per_motor);
pragash1's avatar
pragash1 committed
970
971
972
973
974
975

	// Specify that this controller is a rate controller
	// response.controlOutput.onboardControllerType = CF_COMMAND_TYPE_MOTOR;
	response.controlOutput.onboardControllerType = CF_COMMAND_TYPE_RATE;
	// response.controlOutput.onboardControllerType = CF_COMMAND_TYPE_ANGLE;
}
976
977
978



mastefan's avatar
mastefan committed
979
// Estimate mothership velocity
maruggv's avatar
maruggv committed
980
void calculateMSVelocity(Controller::Request &request){
mastefan's avatar
mastefan committed
981

maruggv's avatar
maruggv committed
982
983
984
	prev_MS_pos[0]  = current_MS_pos[0];
	prev_MS_pos[1]  = current_MS_pos[1];
	prev_MS_pos[2]  = current_MS_pos[2];
mastefan's avatar
mastefan committed
985

maruggv's avatar
maruggv committed
986
987
988
	current_MS_pos[0] = request.otherCrazyflies[0].x;
	current_MS_pos[1] = request.otherCrazyflies[0].y;
	current_MS_pos[2] = request.otherCrazyflies[0].z;
mastefan's avatar
mastefan committed
989

maruggv's avatar
maruggv committed
990
991
992
	mothership_vel[0] = (current_MS_pos[0] - prev_MS_pos[0])*m_vicon_frequency;
	mothership_vel[1] = (current_MS_pos[1] - prev_MS_pos[1])*m_vicon_frequency;
	mothership_vel[2] = (current_MS_pos[2] - prev_MS_pos[2])*m_vicon_frequency;
mastefan's avatar
mastefan committed
993

maruggv's avatar
maruggv committed
994
	//ROS_INFO_STREAM("Velocity: vx " << mothership_vel[0] << ", vy " << mothership_vel[1] << ", vz " << mothership_vel[2]);
mastefan's avatar
mastefan committed
995
996
997
998
999
1000

}