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mw-hover-controller.py
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mw-hover-controller.py
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#!/usr/bin/env python
""" Drone Pilot - Control of MRUAV """
""" mw-hover-controller.py: Script that calculates pitch and roll movements for a vehicle
with MultiWii flight controller and a MoCap system in order to keep a specified position."""
__author__ = "Aldo Vargas"
__copyright__ = "Copyright 2016 Altax.net"
__license__ = "GPL"
__version__ = "1.5"
__maintainer__ = "Aldo Vargas"
__email__ = "alduxvm@gmail.com"
__status__ = "Development"
import time, datetime, csv, threading
from math import *
from modules.utils import *
from modules.pyMultiwii import MultiWii
import modules.UDPserver as udp
# Main configuration
logging = True
update_rate = 0.01 # 100 hz loop cycle
vehicle_weight = 0.84 # Kg
u0 = 1000 # Zero throttle command
uh = 1360 # Hover throttle command
kt = vehicle_weight * g / (uh-u0)
ky = 500 / pi # Yaw controller gain
# MRUAV initialization
vehicle = MultiWii("/dev/ttyUSB0")
# Position coordinates [x, y, x]
desiredPos = {'x':0.0, 'y':0.0, 'z':1.0} # Set at the beginning (for now...)
currentPos = {'x':0.0, 'y':0.0, 'z':0.0} # It will be updated using UDP
# Initialize RC commands and pitch/roll to be sent to the MultiWii
rcCMD = [1500,1500,1500,1000]
desiredRoll = desiredPitch = desiredYaw = 1500
desiredThrottle = 1000
# Controller PID's gains (Gains are considered the same for pitch and roll)
p_gains = {'kp': 2.61, 'ki':0.57, 'kd':3.41, 'iMax':2, 'filter_bandwidth':50} # Position Controller gains
h_gains = {'kp': 4.64, 'ki':1.37, 'kd':4.55, 'iMax':2, 'filter_bandwidth':50} # Height Controller gains
y_gains = {'kp': 1.0, 'ki':0.0, 'kd':0.0, 'iMax':2, 'filter_bandwidth':50} # Yaw Controller gains
# PID modules initialization
rollPID = PID(p_gains['kp'], p_gains['ki'], p_gains['kd'], p_gains['filter_bandwidth'], 0, 0, update_rate, p_gains['iMax'], -p_gains['iMax'])
rPIDvalue = 0.0
pitchPID = PID(p_gains['kp'], p_gains['ki'], p_gains['kd'], p_gains['filter_bandwidth'], 0, 0, update_rate, p_gains['iMax'], -p_gains['iMax'])
pPIDvalue = 0.0
heightPID = PID(h_gains['kp'], h_gains['ki'], h_gains['kd'], h_gains['filter_bandwidth'], 0, 0, update_rate, h_gains['iMax'], -h_gains['iMax'])
hPIDvalue = 0.0
yawPID = PID(y_gains['kp'], y_gains['ki'], y_gains['kd'], y_gains['filter_bandwidth'], 0, 0, update_rate, y_gains['iMax'], -y_gains['iMax'])
yPIDvalue = 0.0
# Filters initialization
f_yaw = low_pass(20,update_rate)
f_pitch = low_pass(20,update_rate)
f_roll = low_pass(20,update_rate)
# Function to update commands and attitude to be called by a thread
def control():
global vehicle, rcCMD
global rollPID, pitchPID, heightPID, yawPID
global desiredPos, currentPos
global desiredRoll, desiredPitch, desiredThrottle
global rPIDvalue, pPIDvalue, yPIDvalue
global f_yaw, f_pitch, f_roll
global ky
while True:
if udp.active:
print "UDP server is active..."
break
else:
print "Waiting for UDP server to be active..."
time.sleep(0.5)
try:
if logging:
st = datetime.datetime.fromtimestamp(time.time()).strftime('%m_%d_%H-%M-%S')+".csv"
f = open("logs/mw-"+st, "w")
logger = csv.writer(f)
# V -> vehicle | P -> pilot (joystick) | D -> desired position
# M -> motion capture | C -> commanded controls | sl -> Second marker | Mode
logger.writerow(('timestamp','Vroll','Vpitch','Vyaw','Proll','Ppitch','Pyaw','Pthrottle', \
'x','y','z','Dx','Dy','Dz','Mroll','Mpitch','Myaw','Mode','Croll','Cpitch','Cyaw','Cthrottle', \
'slx','sly','slz','slr','slp','sly', 'mode' ))
while True:
# Variable to time the loop
current = time.time()
elapsed = 0
# Update joystick commands from UDP communication, order (roll, pitch, yaw, throttle)
rcCMD[0] = udp.message[0]
rcCMD[1] = udp.message[1]
rcCMD[2] = udp.message[2]
rcCMD[3] = udp.message[3]
# Coordinate map from Optitrack in the MAST Lab: X, Y, Z. NED: If going up, Z is negative.
######### WALL ########
#Door | x+ |
# | |
# | y+ |
#---------------------|
# y- | |
# | |
# x-| |
#######################
# Update current position of the vehicle
currentPos['x'] = udp.message[5]
currentPos['y'] = udp.message[6]
currentPos['z'] = -udp.message[7]
# Update Attitude
vehicle.getData(MultiWii.ATTITUDE)
# Filter new values before using them
heading = f_yaw.update(udp.message[12])
# PID updating, Roll is for Y and Pitch for X, Z is negative
rPIDvalue = rollPID.update(desiredPos['y'] - currentPos['y'])
pPIDvalue = pitchPID.update(desiredPos['x'] - currentPos['x'])
hPIDvalue = heightPID.update(desiredPos['z'] - currentPos['z'])
yPIDvalue = yawPID.update(0.0 - heading)
# Heading must be in radians, MultiWii heading comes in degrees, optitrack in radians
sinYaw = sin(heading)
cosYaw = cos(heading)
# Conversion from desired accelerations to desired angle commands
desiredRoll = toPWM(degrees( (rPIDvalue * cosYaw + pPIDvalue * sinYaw) * (1 / g) ),1)
desiredPitch = toPWM(degrees( (pPIDvalue * cosYaw - rPIDvalue * sinYaw) * (1 / g) ),1)
desiredThrottle = ((hPIDvalue + g) * vehicle_weight) / (cos(f_pitch.update(radians(vehicle.attitude['angx'])))*cos(f_roll.update(radians(vehicle.attitude['angy']))))
desiredThrottle = (desiredThrottle / kt) + u0
desiredYaw = 1500 - (yPIDvalue * ky)
# Limit commands for safety
if udp.message[4] == 1:
rcCMD[0] = limit(desiredRoll,1000,2000)
rcCMD[1] = limit(desiredPitch,1000,2000)
rcCMD[2] = limit(desiredYaw,1000,2000)
rcCMD[3] = limit(desiredThrottle,1000,2000)
mode = 'Auto'
else:
# Prevent integrators/derivators to increase if they are not in use
rollPID.resetIntegrator()
pitchPID.resetIntegrator()
heightPID.resetIntegrator()
yawPID.resetIntegrator()
mode = 'Manual'
rcCMD = [limit(n,1000,2000) for n in rcCMD]
# Send commands to vehicle
vehicle.sendCMD(8,MultiWii.SET_RAW_RC,rcCMD)
row = (time.time(), \
vehicle.attitude['angx'], vehicle.attitude['angy'], vehicle.attitude['heading'], \
#vehicle.rawIMU['ax'], vehicle.rawIMU['ay'], vehicle.rawIMU['az'], vehicle.rawIMU['gx'], vehicle.rawIMU['gy'], vehicle.rawIMU['gz'], \
#vehicle.rcChannels['roll'], vehicle.rcChannels['pitch'], vehicle.rcChannels['throttle'], vehicle.rcChannels['yaw'], \
udp.message[0], udp.message[1], udp.message[2], udp.message[3], \
currentPos['x'], currentPos['y'], currentPos['z'], desiredPos['x'], desiredPos['y'], desiredPos['z'], \
udp.message[11], udp.message[13], udp.message[12], \
udp.message[4], \
rcCMD[0], rcCMD[1], rcCMD[2], rcCMD[3], \
udp.message[8], udp.message[9], udp.message[10], udp.message[14],udp.message[15], udp.message[16], \
mode )
if logging:
logger.writerow(row)
print "Mode: %s | X: %0.3f | Y: %0.3f | Z: %0.3f | Heading: %0.3f" % (mode, currentPos['x'], currentPos['y'], currentPos['z'], heading)
#print "Mode: %s | heading: %0.3f | desiredYaw: %0.3f" % (mode, heading, desiredYaw)
# Wait until the update_rate is completed
while elapsed < update_rate:
elapsed = time.time() - current
except Exception,error:
print "Error in control thread: "+str(error)
if __name__ == "__main__":
try:
logThread = threading.Thread(target=control)
logThread.daemon=True
logThread.start()
udp.startTwisted()
except Exception,error:
print "Error on main: "+str(error)
vehicle.ser.close()
except KeyboardInterrupt:
print "Keyboard Interrupt, exiting."
exit()