-
Notifications
You must be signed in to change notification settings - Fork 889
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Merge pull request #382 from bitcraze/add-setpoints
Add full state setpoints
- Loading branch information
Showing
5 changed files
with
364 additions
and
6 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,197 @@ | ||
| # -*- coding: utf-8 -*- | ||
| # | ||
| # || ____ _ __ | ||
| # +------+ / __ )(_) /_______________ _____ ___ | ||
| # | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \ | ||
| # +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/ | ||
| # || || /_____/_/\__/\___/_/ \__,_/ /___/\___/ | ||
| # | ||
| # Copyright (C) 2023 Bitcraze AB | ||
| # | ||
| # This program 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 2 | ||
| # of the License, or (at your option) any later version. | ||
| # | ||
| # This program 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 this program. If not, see <https://www.gnu.org/licenses/>. | ||
| """ | ||
| Shows how to send full state control setpoints to the Crazyflie | ||
| """ | ||
| import time | ||
|
|
||
| from scipy.spatial.transform import Rotation | ||
|
|
||
| import cflib.crtp | ||
| from cflib.crazyflie import Crazyflie | ||
| from cflib.crazyflie.log import LogConfig | ||
| from cflib.crazyflie.syncCrazyflie import SyncCrazyflie | ||
| from cflib.crazyflie.syncLogger import SyncLogger | ||
| from cflib.utils import uri_helper | ||
|
|
||
|
|
||
| # URI to the Crazyflie to connect to | ||
| uri = uri_helper.uri_from_env(default='radio://0/65/2M/E7E7E7E7F2') | ||
|
|
||
|
|
||
| def quaternion_from_euler(roll: float, pitch: float, yaw: float): | ||
| """Convert Euler angles to quaternion | ||
| Args: | ||
| roll (float): roll, in radians | ||
| pitch (float): pitch, in radians | ||
| yaw (float): yaw, in radians | ||
| Returns: | ||
| array: the quaternion [x, y, z, w] | ||
| """ | ||
| return Rotation.from_euler(seq='xyz', angles=(roll, pitch, yaw), degrees=False).as_quat() | ||
|
|
||
|
|
||
| def wait_for_position_estimator(scf): | ||
| print('Waiting for estimator to find position...') | ||
|
|
||
| log_config = LogConfig(name='Kalman Variance', period_in_ms=500) | ||
| log_config.add_variable('kalman.varPX', 'float') | ||
| log_config.add_variable('kalman.varPY', 'float') | ||
| log_config.add_variable('kalman.varPZ', 'float') | ||
|
|
||
| var_y_history = [1000] * 10 | ||
| var_x_history = [1000] * 10 | ||
| var_z_history = [1000] * 10 | ||
|
|
||
| threshold = 0.001 | ||
|
|
||
| with SyncLogger(scf, log_config) as logger: | ||
| for log_entry in logger: | ||
| data = log_entry[1] | ||
|
|
||
| var_x_history.append(data['kalman.varPX']) | ||
| var_x_history.pop(0) | ||
| var_y_history.append(data['kalman.varPY']) | ||
| var_y_history.pop(0) | ||
| var_z_history.append(data['kalman.varPZ']) | ||
| var_z_history.pop(0) | ||
|
|
||
| min_x = min(var_x_history) | ||
| max_x = max(var_x_history) | ||
| min_y = min(var_y_history) | ||
| max_y = max(var_y_history) | ||
| min_z = min(var_z_history) | ||
| max_z = max(var_z_history) | ||
|
|
||
| # print("{} {} {}". | ||
| # format(max_x - min_x, max_y - min_y, max_z - min_z)) | ||
|
|
||
| if (max_x - min_x) < threshold and ( | ||
| max_y - min_y) < threshold and ( | ||
| max_z - min_z) < threshold: | ||
| break | ||
|
|
||
|
|
||
| def reset_estimator(scf): | ||
| cf = scf.cf | ||
| cf.param.set_value('kalman.resetEstimation', '1') | ||
| time.sleep(0.1) | ||
| cf.param.set_value('kalman.resetEstimation', '0') | ||
|
|
||
| wait_for_position_estimator(cf) | ||
|
|
||
|
|
||
| def position_callback(timestamp, data, logconf): | ||
| x = data['kalman.stateX'] | ||
| y = data['kalman.stateY'] | ||
| z = data['kalman.stateZ'] | ||
| print('pos: ({}, {}, {})'.format(x, y, z)) | ||
|
|
||
|
|
||
| def start_position_printing(scf): | ||
| log_conf = LogConfig(name='Position', period_in_ms=500) | ||
| log_conf.add_variable('kalman.stateX', 'float') | ||
| log_conf.add_variable('kalman.stateY', 'float') | ||
| log_conf.add_variable('kalman.stateZ', 'float') | ||
|
|
||
| scf.cf.log.add_config(log_conf) | ||
| log_conf.data_received_cb.add_callback(position_callback) | ||
| log_conf.start() | ||
|
|
||
|
|
||
| def send_setpoint(cf, duration, pos, vel, acc, orientation, rollrate, pitchrate, yawrate): | ||
| # Set points must be sent continuously to the Crazyflie, if not it will think that connection is lost | ||
| end_time = time.time() + duration | ||
| while time.time() < end_time: | ||
| cf.commander.send_full_state_setpoint(pos, vel, acc, orientation, rollrate, pitchrate, yawrate) | ||
| time.sleep(0.2) | ||
|
|
||
|
|
||
| def run_sequence(scf): | ||
| cf = scf.cf | ||
|
|
||
| # Set to mellinger controller | ||
| # cf.param.set_value('stabilizer.controller', '2') | ||
|
|
||
| print('takeoff') | ||
| send_setpoint(cf, 4.0, | ||
| [0.0, 0.0, 1.0], | ||
| [0.0, 0.0, 0.0], | ||
| [0.0, 0.0, 0.0], | ||
| quaternion_from_euler(0.0, 0.0, 0.0), | ||
| 0.0, 0.0, 0.0) | ||
|
|
||
| send_setpoint(cf, 2.0, | ||
| [0.0, 0.0, 1.0], | ||
| [0.0, 0.0, 0.0], | ||
| [0.0, 0.0, 0.0], | ||
| quaternion_from_euler(0.0, 0.0, 0.7), | ||
| 0.0, 0.0, 0.0) | ||
| print('land') | ||
| send_setpoint(cf, 2.0, | ||
| [0.0, 0.0, 0.2], | ||
| [0.0, 0.0, 0.0], | ||
| [0.0, 0.0, 0.0], | ||
| quaternion_from_euler(0.0, 0.0, 0.0), | ||
| 0.0, 0.0, 0.0) | ||
|
|
||
| cf.commander.send_stop_setpoint() | ||
| # Hand control over to the high level commander to avoid timeout and locking of the Crazyflie | ||
| cf.commander.send_notify_setpoint_stop() | ||
|
|
||
| # Make sure that the last packet leaves before the link is closed | ||
| # since the message queue is not flushed before closing | ||
| time.sleep(0.1) | ||
|
|
||
|
|
||
| def _stab_log_data(timestamp, data, logconf): | ||
| print('roll: {}, pitch: {}, yaw: {}'.format(data['controller.roll'], | ||
| data['controller.pitch'], | ||
| data['controller.yaw'])) | ||
| print('ctrltarget.x: {}, ctrltarget.y: {}, ctrltarget.z: {}'.format(data['ctrltarget.x'], | ||
| data['ctrltarget.y'], | ||
| data['ctrltarget.z'])) | ||
|
|
||
|
|
||
| def set_up_logging(scf): | ||
| _lg_stab = LogConfig(name='Stabilizer', period_in_ms=500) | ||
| _lg_stab.add_variable('controller.roll', 'float') | ||
| _lg_stab.add_variable('controller.pitch', 'float') | ||
| _lg_stab.add_variable('controller.yaw', 'float') | ||
| _lg_stab.add_variable('ctrltarget.x', 'float') | ||
| _lg_stab.add_variable('ctrltarget.y', 'float') | ||
| _lg_stab.add_variable('ctrltarget.z', 'float') | ||
|
|
||
| scf.cf.log.add_config(_lg_stab) | ||
| _lg_stab.data_received_cb.add_callback(_stab_log_data) | ||
| _lg_stab.start() | ||
|
|
||
|
|
||
| if __name__ == '__main__': | ||
| cflib.crtp.init_drivers() | ||
|
|
||
| with SyncCrazyflie(uri, cf=Crazyflie(rw_cache='./cache')) as scf: | ||
| # set_up_logging(scf) | ||
| reset_estimator(scf) | ||
| run_sequence(scf) |
Oops, something went wrong.