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mw-slung-load.py
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mw-slung-load.py
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#!/usr/bin/env python
""" Drone Pilot - Control of MRUAV """
""" mw-slung-load.py: Script that calculates pitch and roll movements for a vehicle
with MultiWii flight controller and a MoCap system in order to keep a slung load on a
specified position."""
__author__ = "Aldo Vargas"
__copyright__ = "Copyright 2016 Altax.net"
__license__ = "GPL"
__version__ = "1.1"
__maintainer__ = "Aldo Vargas"
__email__ = "alduxvm@gmail.com"
__status__ = "Development"
import time, datetime, csv, threading
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
sl_weight = 0.1 # Kg
u0 = 1000 # Zero throttle command
uh = 1360 # Hover throttle command
kt = vehicle_weight * g / (uh-u0)
kt_sl = (vehicle_weight + sl_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':1.6} # Set at the beginning (for now...)
currentPos = {'x':0.0, 'y':0.0, 'z':0.0} # It will be updated using UDP
sl_currentPos = {'x':0.0, 'y':0.0, 'z':0.0} # It will be updated using UDP
# Velocity
velocities = {'x':0.0, 'y':0.0, 'z':0.0, 'fx':0.0, 'fy':0.0, 'fz':0.0}
# 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
sl_gains = {'kp': 0.3, 'ki':0.0, 'kd':0.0, 'iMax':2, 'filter_bandwidth':10} # Slung load controller gains (slower than position)
# 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'])
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'])
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'])
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'])
rPIDvalue = pPIDvalue = yPIDvalue = hPIDvalue = 0.0
# PID for slung load
slx_posPID = PID(sl_gains['kp'], sl_gains['ki'], sl_gains['kd'], sl_gains['filter_bandwidth'], 0, 0, update_rate, sl_gains['iMax'], -sl_gains['iMax'])
sly_posPID = PID(sl_gains['kp'], sl_gains['ki'], sl_gains['kd'], sl_gains['filter_bandwidth'], 0, 0, update_rate, sl_gains['iMax'], -sl_gains['iMax'])
sl_xPIDvalue = sl_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)
# Desired positions filters
f_desx = low_pass(10,update_rate)
f_desy = low_pass(10,update_rate)
# Calculate velocities
vel_x = velocity(20,update_rate)
vel_y = velocity(20,update_rate)
vel_z = velocity(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, velocities
global desiredRoll, desiredPitch, desiredThrottle
global rPIDvalue, pPIDvalue, yPIDvalue
global f_yaw, f_pitch, f_roll, f_desx, f_desy
global vel_x, vel_y, vel_z
global sl_currentPos, sl_xPIDvalue, sl_yPIDvalue, slx_posPID, sly_posPID
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-sl-"+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', \
'vel_x', 'vel_fx', 'vel_y', 'vel_fy', 'vel_z', 'vel_fz' ))
while True:
# Variable to time the loop
current = time.time()
elapsed = 0
# Update joystick commands from UDP communication, order (roll, pitch, yaw, throttle)
for channel in range(0, 4):
rcCMD[channel] = int(udp.message[channel])
# 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 position of the slung load
sl_currentPos['x'] = udp.message[8]
sl_currentPos['y'] = udp.message[9]
# Get velocities of the vehicle
velocities['x'],velocities['fx'] = vel_x.get_velocity(currentPos['x'])
velocities['y'],velocities['fy'] = vel_y.get_velocity(currentPos['y'])
velocities['z'],velocities['fz'] = vel_z.get_velocity(currentPos['z'])
# Update vehicle Attitude
vehicle.getData(MultiWii.ATTITUDE)
# Slung load PID calculation, the relative position of the vehicle vs the slung load
sl_xPIDvalue = slx_posPID.update(sl_currentPos['x'] - currentPos['x'])
sl_yPIDvalue = sly_posPID.update(sl_currentPos['y'] - currentPos['y'])
# Desired position changed using slung load movements
if udp.message[4] == 1:
desiredPos['x'] = 0.0
desiredPos['y'] = 0.0
if udp.message[4] == 2:
desiredPos['x'] = limit(f_desx.update(sl_xPIDvalue), -1.0, 1.0)
desiredPos['y'] = limit(f_desy.update(sl_yPIDvalue), -1.0, 1.0)
# 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']))))
if udp.message[4] == 2:
desiredThrottle = round((desiredThrottle / kt_sl) + u0, 0)
else:
desiredThrottle = round((desiredThrottle / kt) + u0, 0)
desiredYaw = round(1500 - (yPIDvalue * ky), 0)
# Limit commands for safety
if udp.message[4] == 1:
rcCMD[0] = limit(desiredRoll,1200,1800)
rcCMD[1] = limit(desiredPitch,1200,1800)
rcCMD[2] = limit(desiredYaw,1000,2000)
rcCMD[3] = limit(desiredThrottle,1000,2000)
slx_posPID.resetIntegrator()
sly_posPID.resetIntegrator()
mode = 'Auto'
elif udp.message[4] == 2:
rcCMD[0] = limit(desiredRoll,1200,1800)
rcCMD[1] = limit(desiredPitch,1200,1800)
rcCMD[2] = limit(desiredYaw,1000,2000)
rcCMD[3] = limit(desiredThrottle,1000,2000)
mode = 'SlungLoad'
else:
# Prevent integrators/derivators to increase if they are not in use
rollPID.resetIntegrator()
pitchPID.resetIntegrator()
heightPID.resetIntegrator()
yawPID.resetIntegrator()
slx_posPID.resetIntegrator()
sly_posPID.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'], \
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], \
velocities['x'], velocities['fx'], velocities['y'], velocities['fy'], velocities['z'], velocities['fz'] )
if logging:
logger.writerow(row)
if mode == 'Manual':
print "Mode: %s | X: %0.3f | Y: %0.3f | Z: %0.3f | Heading: %0.3f" % (mode, currentPos['x'], currentPos['y'], currentPos['z'], heading)
if mode == 'Auto':
print "Mode: %s | X: %0.3f | Y: %0.3f | Z: %0.3f" % (mode, currentPos['x'], currentPos['y'], currentPos['z'])
elif mode == 'SlungLoad':
print "Mode: %s | SL_X: %0.3f | SL_Y: %0.3f" % (mode, sl_currentPos['x'], sl_currentPos['y'])
# 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()