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Commit fdb019d5 authored by Tobias's avatar Tobias
Browse files

final commit by TK

parent 63aa325f
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......@@ -341,7 +341,7 @@ Eigen::MatrixXf readMatrix(std::string filename);
std::string getcwd_string( void );
void distributed_control_command( Controller::Request &request, Controller::Response &response );
void centralized_control_command( Controller::Request &request, Controller::Response &response);
void display_control_agent1( Controller::Request &request, Controller::Response &response) ;
std::vector<float> transformation_frame_load_to_world(std::vector<float> P_load , float roll, float pitch, float yaw );
void desired_eulerrates_to_bodyrates( Controller::Request &request , float roll_rate , float pitch_rate, float (&bodyrates)[2]);
......
......@@ -679,22 +679,6 @@ void centralized_control_command( Controller::Request &request, Controller::Resp
// response.controlOutput.onboardControllerType = ANGLE_MODE;
}
/*void write_vector_to_csv(std::ofstream filehandle, int len, std::vector<float> x)
{
for(int i=0 ; i < len ; i++)
{
if (i < len-1)
{
filehandle<< x(i) << ",";
}
else
{
filehandle<< x(i) ;
}
}
filehandle<< "\n" ;
return;
}*/
void desired_eulerrates_to_bodyrates( Controller::Request &request , float roll_rate , float pitch_rate, float (&bodyrates)[2])
{
......@@ -712,98 +696,6 @@ void desired_eulerrates_to_bodyrates( Controller::Request &request , float roll_
}
void display_control_agent1( Controller::Request &request, Controller::Response &response)
{
/*
// Control output
Eigen::Matrix<float,12,1> u = centralized_controller.K * estimator_state_prev_only_agent1;
// Estimator update
estimator_state_prev_only_agent1 = centralized_controller.Phi * estimator_state_prev_only_agent1 + centralized_controller.Gamma * y_only_agent_1;
// extract motor command from u:
float thrustSum = 0.0;
float outRoll = 0.0;
float outPitch = 0.0;
float outYaw = 0.0;
if (my_agentID == 1 )
{
// Controller for crazyflie 01
thrustSum = u(0,0);
outRoll = u(1,0);
outPitch = u(2,0);
outYaw = u(3,0);
}
// Debugging
if (outer_loop_counter % 50 == 0)
{
float est_error_roll = estimator_state_prev_only_agent1(0)-request.otherCrazyflies[0].roll;
float est_error_pitch = estimator_state_prev_only_agent1(1)-request.otherCrazyflies[0].pitch;
float est_error_yaw = estimator_state_prev_only_agent1(2)-request.otherCrazyflies[0].yaw;
ROS_INFO_STREAM("[STUDENT CONTROLLER] ESTIMATION ERRORS:");
ROS_INFO_STREAM("[STUDENT CONTROLLER] agent1: roll = " << est_error_roll);
ROS_INFO_STREAM("[STUDENT CONTROLLER] agent1: pitch = " << est_error_pitch);
ROS_INFO_STREAM("[STUDENT CONTROLLER] agent1: yaw = " << est_error_yaw);
ROS_INFO_STREAM("[STUDENT CONTROLLER] ESTIMATES:");
ROS_INFO_STREAM("[STUDENT CONTROLLER] Only agent1: roll estimate = " << estimator_state_prev_only_agent1(0) );
ROS_INFO_STREAM("[STUDENT CONTROLLER] Only agent1: pitch estimate = " << estimator_state_prev_only_agent1(1) );
ROS_INFO_STREAM("[STUDENT CONTROLLER] Only agent1: yaw estimate = " <<estimator_state_prev_only_agent1(2) );
ROS_INFO_STREAM("[STUDENT CONTROLLER] Only agent1: cable phi estimate = " << estimator_state_prev_only_agent1(3) );
ROS_INFO_STREAM("[STUDENT CONTROLLER] Only agent1: cable theta estimate = " << estimator_state_prev_only_agent1(4) );
ROS_INFO_STREAM("[STUDENT CONTROLLER] Only agent1: cable phi_dot estimate = " << estimator_state_prev_only_agent1(5) );
ROS_INFO_STREAM("[STUDENT CONTROLLER] Only agent1: cable ttheta_dot estimate = " << estimator_state_prev_only_agent1(6) );
ROS_INFO_STREAM("[STUDENT CONTROLLER] COMMANDS:");
ROS_INFO_STREAM("[STUDENT CONTROLLER] Only agent1: u thrust sum computed = " << thrustSum );
ROS_INFO_STREAM("[STUDENT CONTROLLER] Only agent1: desired roll-rate computed = " << outRoll );
ROS_INFO_STREAM("[STUDENT CONTROLLER] Only agent1: desired pitch-rate computed = " << outPitch );
ROS_INFO_STREAM("[STUDENT CONTROLLER] Only agent1: desired yaw-rate computed = " << outYaw );
ROS_INFO_STREAM("[STUDENT CONTROLLER] errors:");
ROS_INFO_STREAM("[STUDENT CONTROLLER] roll-error for copter1 = " << y_only_agent_1(0,0) );
ROS_INFO_STREAM("[STUDENT CONTROLLER] pitch-error for copter1 = " << y_only_agent_1(1,0) );
ROS_INFO_STREAM("[STUDENT CONTROLLER] yaw-error for copter1 = " << y_only_agent_1(2,0) );
ROS_INFO_STREAM("[STUDENT CONTROLLER] x-error for copter1 = " << y_only_agent_1(3,0) );
ROS_INFO_STREAM("[STUDENT CONTROLLER] y-error for copter1 = " << y_only_agent_1(4,0) );
ROS_INFO_STREAM("[STUDENT CONTROLLER] z-error for copter1 = " << y_only_agent_1(5,0) );
ROS_INFO_STREAM("[STUDENT CONTROLLER] roll-error for copter2 = " << y_only_agent_1(6,0) );
ROS_INFO_STREAM("[STUDENT CONTROLLER] pitch-error for copter2 = " << y_only_agent_1(7,0) );
ROS_INFO_STREAM("[STUDENT CONTROLLER] yaw-error for copter2 = " << y_only_agent_1(8,0) );
ROS_INFO_STREAM("[STUDENT CONTROLLER] x-error for copter2 = " << y_only_agent_1(9,0) );
ROS_INFO_STREAM("[STUDENT CONTROLLER] y-error for copter2 = " << y_only_agent_1(10,0) );
ROS_INFO_STREAM("[STUDENT CONTROLLER] z-error for copter2 = " << y_only_agent_1(11,0) );
ROS_INFO_STREAM("[STUDENT CONTROLLER] roll-error for copter3 = " << y_only_agent_1(12,0) );
ROS_INFO_STREAM("[STUDENT CONTROLLER] pitch-error for copter3 = " << y_only_agent_1(13,0) );
ROS_INFO_STREAM("[STUDENT CONTROLLER] yaw-error for copter3 = " << y_only_agent_1(14,0) );
ROS_INFO_STREAM("[STUDENT CONTROLLER] x-error for copter3 = " << y_only_agent_1(15,0) );
ROS_INFO_STREAM("[STUDENT CONTROLLER] y-error for copter3 = " << y_only_agent_1(16,0) );
ROS_INFO_STREAM("[STUDENT CONTROLLER] z-error for copter3 = " << y_only_agent_1(17,0) );
ROS_INFO_STREAM("[STUDENT CONTROLLER] x-error for load = " << y_only_agent_1(18,0) );
ROS_INFO_STREAM("[STUDENT CONTROLLER] y-error for load = " << y_only_agent_1(19,0) );
ROS_INFO_STREAM("[STUDENT CONTROLLER] z-error for load = " << y_only_agent_1(20,0) );
ROS_INFO_STREAM("[STUDENT CONTROLLER] roll-error for load = " << y_only_agent_1(21,0) );
ROS_INFO_STREAM("[STUDENT CONTROLLER] pitch-error for load = " << y_only_agent_1(22,0) );
ROS_INFO_STREAM("[STUDENT CONTROLLER] yaw-error for load = " << y_only_agent_1(23,0) );
ROS_INFO_STREAM("[STUDENT CONTROLLER] y_only_agent_1^T = " << y_only_agent_1.transpose() );
}
// PREPARE AND RETURN THE VARIABLE "response"
response.controlOutput.roll = outRoll;
response.controlOutput.pitch = outPitch;
response.controlOutput.yaw = outYaw;
response.controlOutput.motorCmd1 = computeMotorPolyBackward(thrustSum/4 + gravity_force_copterloadsystem);
response.controlOutput.motorCmd2 = computeMotorPolyBackward(thrustSum/4 + gravity_force_copterloadsystem);
response.controlOutput.motorCmd3 = computeMotorPolyBackward(thrustSum/4 + gravity_force_copterloadsystem);
response.controlOutput.motorCmd4 = computeMotorPolyBackward(thrustSum/4 + gravity_force_copterloadsystem);
// 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; */
}
void get_y_from_CFData( Controller::Request &request )
{
......
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