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101 changes: 101 additions & 0 deletions
101
rotors_control/include/rotors_control/controller_parameters_mellinger.h
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| /* | ||
| * Copyright 2020 Ria Sonecha, Massachusetts Institute of Technology in Cambridge, MA, USA | ||
| * Copyright 2020 Giuseppe Silano, University of Sannio in Benevento, Italy | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| */ | ||
|
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||
| #ifndef CONTROLLER_PARAMETERS_MELLINGER_H | ||
| #define CONTROLLER_PARAMETERS_MELLINGER_H | ||
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| // Default values for the position controller of the Crazyflie2. XYController [x,y], AttitudeController [phi,theta] | ||
| //RateController [p,q,r], YawController[yaw], HoveringController[z] | ||
| static const Eigen::Vector2f kpXYDefaultPositionController = Eigen::Vector2f(0.4, 0.4); | ||
| static const Eigen::Vector2f kdXYDefaultPositionController = Eigen::Vector2f(0.2, 0.2); | ||
| static const Eigen::Vector2f kiXYDefaultPositionController = Eigen::Vector2f(0.05, 0.05); | ||
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| static const double kpZDefaultPositionController = 1.25; | ||
| static const double kdZDefaultPositionController = 0.4; | ||
| static const double kiZDefaultPositionController = 0.05; | ||
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| static const Eigen::Vector2f krXYDefaultPositionController = Eigen::Vector2f(70000, 70000); | ||
| static const Eigen::Vector2f kwXYDefaultPositionController = Eigen::Vector2f(20000, 20000); | ||
| static const Eigen::Vector2f ki_mXYDefaultPositionController = Eigen::Vector2f(0.0, 0.0); | ||
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| static const double krZDefaultPositionController = 60000; | ||
| static const double kwZDefaultPositionController = 12000; | ||
| static const double ki_mZDefaultPositionController = 500; | ||
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| static const Eigen::Vector2f iRangeMXY = Eigen::Vector2f(1.0, 1.0); | ||
| static const Eigen::Vector2f iRangeXY = Eigen::Vector2f(2.0, 2.0); | ||
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| static const double iRangeMZ = 1500; | ||
| static const double iRangeZ = 0.4; | ||
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| static const Eigen::Vector2f kdOmegaRP = Eigen::Vector2f(200, 200); | ||
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| namespace rotors_control { | ||
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| class MellingerControllerParameters { | ||
| public: | ||
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| MellingerControllerParameters() | ||
| : kpXYPositionController_(kpXYDefaultPositionController), | ||
| kdXYPositionController_(kdXYDefaultPositionController), | ||
| kiXYPositionController_(kiXYDefaultPositionController), | ||
| kpZPositionController_(kpZDefaultPositionController), | ||
| kdZPositionController_(kdZDefaultPositionController), | ||
| kiZPositionController_(kiZDefaultPositionController), | ||
| krXYPositionController_(krXYDefaultPositionController), | ||
| kwXYPositionController_(kwXYDefaultPositionController), | ||
| ki_mXYPositionController_(ki_mXYDefaultPositionController), | ||
| krZPositionController_(krZDefaultPositionController), | ||
| kwZPositionController_(kwZDefaultPositionController), | ||
| ki_mZPositionController_(ki_mZDefaultPositionController), | ||
| iRangeMXY_(iRangeMXY), | ||
| iRangeXY_(iRangeXY), | ||
| iRangeMZ_(iRangeMZ), | ||
| iRangeZ_(iRangeZ), | ||
| kdOmegaRP_(kdOmegaRP){ | ||
| } | ||
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| Eigen::Vector2f kpXYPositionController_; | ||
| Eigen::Vector2f kdXYPositionController_; | ||
| Eigen::Vector2f kiXYPositionController_; | ||
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| double kpZPositionController_; | ||
| double kdZPositionController_; | ||
| double kiZPositionController_; | ||
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| Eigen::Vector2f krXYPositionController_; | ||
| Eigen::Vector2f kwXYPositionController_; | ||
| Eigen::Vector2f ki_mXYPositionController_; | ||
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| double krZPositionController_; | ||
| double kwZPositionController_; | ||
| double ki_mZPositionController_; | ||
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| Eigen::Vector2f iRangeMXY_; | ||
| Eigen::Vector2f iRangeXY_; | ||
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| double iRangeMZ_; | ||
| double iRangeZ_; | ||
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| Eigen::Vector2f kdOmegaRP_; | ||
| }; | ||
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| } | ||
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| #endif // CONTROLLER_PARAMETERS_MELLINGER_H |
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177
rotors_control/include/rotors_control/internal_model_controller.h
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| /* | ||
| * Copyright 2020 Ria Sonecha, Massachusetts Institute of Technology in Cambridge, MA, USA | ||
| * Copyright 2020 Giuseppe Silano, University of Sannio in Benevento, Italy | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| */ | ||
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| #ifndef INTERNAL_MODEL_CONTROLLER_H | ||
| #define INTERNAL_MODEL_CONTROLLER_H | ||
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| #include <mav_msgs/conversions.h> | ||
| #include <mav_msgs/eigen_mav_msgs.h> | ||
| #include <mav_msgs/DroneState.h> | ||
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| #include <string> | ||
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| #include <ros/time.h> | ||
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| #include "stabilizer_types.h" | ||
| #include "parameters.h" | ||
| #include "common.h" | ||
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| using namespace std; | ||
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| namespace rotors_control { | ||
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| // Default values for the Parrot Bebop controller. For more information about the control architecture, please take a look | ||
| // at the publications page into the Wiki section. | ||
| static const Eigen::Vector2d kPDefaultXYController = Eigen::Vector2d(-26.4259, -26.3627); | ||
| static const double kPDefaultAltitudeController = -27.2277; | ||
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| static const double kPDefaultRollController = -1.7514; | ||
| static const double kPDefaultPitchController = -1.7513; | ||
| static const double kPDefaultYawRateController = -14.3431; | ||
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| static const Eigen::Vector2d MuDefaultXYController = Eigen::Vector2d(1, 1); | ||
| static const double MuDefaultAltitudeController = 1; | ||
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| static const double MuDefaultRollController = 0.0544; | ||
| static const double MuDefaultPitchController = 0.0543; | ||
| static const double MuDefaultYawRateController = 0.44; | ||
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| static const Eigen::Vector3d UqDefaultXYZ = Eigen::Vector3d(1.1810, 1.1810, 4.6697); | ||
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| class InternalModelControllerParameters { | ||
| public: | ||
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| InternalModelControllerParameters() | ||
| : beta_xy_(kPDefaultXYController), | ||
| beta_z_(kPDefaultAltitudeController), | ||
| beta_phi_(kPDefaultRollController), | ||
| beta_theta_(kPDefaultPitchController), | ||
| beta_psi_(kPDefaultYawRateController), | ||
| mu_xy_(MuDefaultXYController), | ||
| mu_z_(MuDefaultAltitudeController), | ||
| mu_theta_(MuDefaultPitchController), | ||
| mu_phi_(MuDefaultRollController), | ||
| mu_psi_(MuDefaultYawRateController), | ||
| U_q_(UqDefaultXYZ){ | ||
| } | ||
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| Eigen::Vector2d beta_xy_; | ||
| double beta_z_; | ||
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| double beta_phi_; | ||
| double beta_theta_; | ||
| double beta_psi_; | ||
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| Eigen::Vector2d mu_xy_; | ||
| double mu_z_; | ||
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| double mu_phi_; | ||
| double mu_theta_; | ||
| double mu_psi_; | ||
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| Eigen::Vector3d U_q_; | ||
| }; | ||
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| class InternalModelController{ | ||
| public: | ||
| InternalModelController(); | ||
| ~InternalModelController(); | ||
| void CalculateRotorVelocities(Eigen::Vector4d* rotor_velocities); | ||
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| void SetOdometryWithoutStateEstimator(const EigenOdometry& odometry); | ||
| void SetTrajectoryPoint(const mav_msgs::EigenDroneState& command_trajectory); | ||
| void SetControllerGains(); | ||
| void SetVehicleParameters(); | ||
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| InternalModelControllerParameters controller_parameters_im_; | ||
| VehicleParameters vehicle_parameters_; | ||
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| EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| private: | ||
| //Boolean variables to active/unactive the controller and the data storage | ||
| bool controller_active_; | ||
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| //Gazebo Message for attitude and position | ||
| ros::NodeHandle clientHandlePosition_; | ||
| ros::ServiceClient clientPosition_; | ||
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| ros::NodeHandle clientHandleAttitude_; | ||
| ros::ServiceClient clientAttitude_; | ||
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| //Controller gains | ||
| double beta_x_, beta_y_, beta_z_; | ||
| double beta_phi_, beta_theta_, beta_psi_; | ||
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| double alpha_x_, alpha_y_, alpha_z_; | ||
| double alpha_phi_, alpha_theta_, alpha_psi_; | ||
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| double mu_x_, mu_y_, mu_z_; | ||
| double mu_phi_, mu_theta_, mu_psi_; | ||
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| double U_q_x_, U_q_y_, U_q_z_; | ||
| double K_x_1_, K_x_2_; | ||
| double K_y_1_, K_y_2_; | ||
| double K_z_1_, K_z_2_; | ||
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| //Position and linear velocity errors | ||
| double e_x_; | ||
| double e_y_; | ||
| double e_z_; | ||
| double dot_e_x_; | ||
| double dot_e_y_; | ||
| double dot_e_z_; | ||
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| //Attitude and angular velocity errors | ||
| double e_phi_; | ||
| double e_theta_; | ||
| double e_psi_; | ||
| double dot_e_phi_; | ||
| double dot_e_theta_; | ||
| double dot_e_psi_; | ||
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| //Vehicle parameters | ||
| double bf_, m_, g_; | ||
| double l_, bm_; | ||
| double Ix_, Iy_, Iz_; | ||
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| ros::NodeHandle n1_; | ||
| ros::NodeHandle n2_; | ||
| ros::Timer timer1_; | ||
| ros::Timer timer2_; | ||
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| //Callback functions to compute the errors among axis and angles | ||
| void CallbackAttitude(const ros::TimerEvent& event); | ||
| void CallbackPosition(const ros::TimerEvent& event); | ||
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| state_t state_; | ||
| control_t control_; | ||
| mav_msgs::EigenDroneState command_trajectory_; | ||
| EigenOdometry odometry_; | ||
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| void SetOdometryEstimated(); | ||
| void Quaternion2Euler(double* roll, double* pitch, double* yaw) const; | ||
| void AttitudeController(double* u_phi, double* u_theta, double* u_psi); | ||
| void AngularVelocityErrors(double* dot_e_phi_, double* dot_e_theta_, double* dot_e_psi_); | ||
| void AttitudeErrors(double* e_phi_, double* e_theta_, double* e_psi_); | ||
| void PosController(double* u_T, double* phi_r, double* theta_r, double* u_x, double* u_y, double* u_z, double* u_Terr); | ||
| void PositionErrors(double* e_x, double* e_y, double* e_z); | ||
| void VelocityErrors(double* dot_e_x, double* dot_e_y, double* dot_e_z); | ||
| void Quaternion2EulerCommandTrajectory(double* roll, double* pitch, double* yaw) const; | ||
|
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| }; | ||
|
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| } | ||
| #endif // INTERNAL_MODEL_CONTROLLER_H |
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