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Merge pull request #2150 from guidoAI/act_fast_PR

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ACT-FAST
This commit is contained in:
Kirk Scheper
2017-11-02 16:08:24 +01:00
committed by GitHub
parent 5f353dac29 9e6edf925c
commit 05deb64637
11 changed files with 4239 additions and 40 deletions
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conf/airframes/tudelft/bebop2_optitrack_visionfront.xml
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@@ -0,0 +1,261 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<airframe name="bebop2_optitrack_visionfront">
<firmware name="rotorcraft">
<target name="ap" board="bebop2"/>
<module name="telemetry" type="transparent_udp"/>
<module name="radio_control" type="datalink"/>
<module name="motor_mixing"/>
<module name="actuators" type="bebop"/>
<module name="imu" type="bebop"/>
<module name="gps" type="datalink"/>
<module name="stabilization" type="indi_simple"/>
<module name="ahrs" type="int_cmpl_quat">
<configure name="USE_MAGNETOMETER" value="FALSE"/>
<!-- <define name="AHRS_USE_GPS_HEADING" value="TRUE"/> -->
</module>
<define name="USE_SONAR" value="0"/>
<module name="ins" type="extended"/>
<define name="MT9F002_OUTPUT_HEIGHT" value="640" />
<define name="MT9F002_OUTPUT_WIDTH" value="640" />
<define name="MT9F002_INITIAL_OFFSET_X" value="0.15" />
<define name="MT9F002_INITIAL_OFFSET_Y" value="0.0" />
<define name="MT9F002_TARGET_EXPOSURE" value="30" />
<define name="MT9F002_GAIN_GREEN1" value="4"/>
<define name="MT9F002_GAIN_GREEN2" value="4"/>
<define name="MT9F002_GAIN_RED" value="5"/>
<define name="MT9F002_GAIN_BLUE" value="5"/>
<define name="MT9F002_OUTPUT_SCALER" value="0.25"/>
<define name="MT9F002_X_ODD_INC_VAL" value="1"/>
<define name="MT9F002_Y_ODD_INC_VAL" value="1"/>
</firmware>
<modules main_freq="512">
<module name="geo_mag"/>
<module name="air_data"/>
<module name="send_imu_mag_current"/>
<module name="logger_file">
<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
</module>
<module name="video_thread"/>
<module name="video_capture">
<define name="VIDEO_CAPTURE_CAMERA" value="front_camera"/>
<define name="VIDEO_CAPTURE_PATH" value="/data/ftp/internal_000/images/"/>
</module>
<module name="pose_history">
<define name="POSE_HISTORY_SIZE" value="128" />
</module>
<!-- <define name="INS_INT_VEL_ID" value="ABI_DISABLE"/> -->
<module name="cv_opticflow">
<define name="OPTICFLOW_CAMERA" value="front_camera"/>
<define name="MAX_HORIZON" value="10"/>
<define name="OPTICFLOW_FX" value="347.22222222"/> <!-- 2.5 / (3.6 * 2.0) * 1000 -->
<define name="OPTICFLOW_FY" value="347.22222222"/> <!-- 2.5 / (3.6 * 2.0) * 1000 -->
<define name="OPTICFLOW_FOV_W" value="0.665499265"/> <!-- 2 * arctan(240 / (2*347.22222222)) -->
<define name="OPTICFLOW_FOV_H" value="0.665499265"/> <!-- 2 * arctan(240 / (2*347.22222222)) -->
<define name="OPTICFLOW_DEROTATION" value="0"/> <!-- formulas are not correct for the front cam -->
<define name="OPTICFLOW_DEROTATION_CORRECTION_FACTOR_X" value="0.8"/> <!--Obtained from a linefit-->
<define name="OPTICFLOW_DEROTATION_CORRECTION_FACTOR_Y" value="0.85"/> <!--Obtained from a linefit-->
<define name="OPTICFLOW_FEATURE_MANAGEMENT" value="0"/> <!-- feature management still sucks -->
</module>
<module name="optical_flow_landing">
<define name="OFL_PGAIN" value="0.05"/>
<define name="OFL_IGAIN" value="0.0"/>
</module>
<module name="video_rtp_stream">
<define name="VIEWVIDEO_CAMERA" value="front_camera"/>
<define name="VIEWVIDEO_CAMERA2" value="bottom_camera"/>
<define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="1"/>
<define name="VIEWVIDEO_QUALITY_FACTOR" value="40"/>
</module>
<!--<module name="bebop_ae_awb"/>-->
</modules>
<commands>
<axis name="PITCH" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="6000"/>
</commands>
<servos driver="Default">
<servo name="TOP_LEFT" no="0" min="2500" neutral="2500" max="12000"/>
<servo name="TOP_RIGHT" no="1" min="2500" neutral="2500" max="12000"/>
<servo name="BOTTOM_RIGHT" no="2" min="2500" neutral="2500" max="12000"/>
<servo name="BOTTOM_LEFT" no="3" min="2500" neutral="2500" max="12000"/>
</servos>
<section name="MIXING" prefix="MOTOR_MIXING_">
<define name="TRIM_ROLL" value="0"/>
<define name="TRIM_PITCH" value="0"/>
<define name="TRIM_YAW" value="0"/>
<define name="REVERSE" value="TRUE"/>
<define name="TYPE" value="QUAD_X"/>
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
<set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
<set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
</command_laws>
<section name="AIR_DATA" prefix="AIR_DATA_">
<define name="CALC_AIRSPEED" value="FALSE"/>
<define name="CALC_TAS_FACTOR" value="FALSE"/>
<define name="CALC_AMSL_BARO" value="TRUE"/>
</section>
<!-- Magnetometer still needs to be calibrated -->
<section name="IMU" prefix="IMU_">
<define name="MAG_X_NEUTRAL" value="0"/>
<define name="MAG_Y_NEUTRAL" value="0"/>
<define name="MAG_Z_NEUTRAL" value="0"/>
<define name="MAG_X_SENS" value="7.28514789391" integer="16"/>
<define name="MAG_Y_SENS" value="7.33022132691" integer="16"/>
<define name="MAG_Z_SENS" value="7.57102035692" integer="16"/>
</section>
<!-- local magnetic field -->
<!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
<section name="AHRS" prefix="AHRS_">
<!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
<!-- Delft -->
<define name="H_X" value="0.3892503"/>
<define name="H_Y" value="0.0017972"/>
<define name="H_Z" value="0.9211303"/>
<!-- Use GPS heading instead of magneto -->
<define name="USE_GPS_HEADING" value="1"/>
<define name="HEADING_UPDATE_GPS_MIN_SPEED" value="0"/>
</section>
<section name="INS" prefix="INS_">
<!--<define name="SONAR_MAX_RANGE" value="2.2"/>
<define name="SONAR_UPDATE_ON_AGL" value="TRUE"/> -->
<!-- Use GPS altitude measurments and set the R gain -->
<define name="USE_GPS_ALT" value="1"/>
<define name="VFF_R_GPS" value="0.01"/>
</section>
<section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoint limits for attitude stabilization rc flight -->
<define name="SP_MAX_PHI" value="45" unit="deg"/>
<define name="SP_MAX_THETA" value="45" unit="deg"/>
<define name="SP_MAX_R" value="300" unit="deg/s"/>
<define name="DEADBAND_A" value="0"/>
<define name="DEADBAND_E" value="0"/>
<define name="DEADBAND_R" value="50"/>
</section>
<section name="ATTITUDE_REFERENCE" prefix="STABILIZATION_ATTITUDE_">
<!-- attitude reference generation model -->
<define name="REF_OMEGA_P" value="450" unit="deg/s"/>
<define name="REF_ZETA_P" value="0.9"/>
<define name="REF_MAX_P" value="600." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_Q" value="450" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.9"/>
<define name="REF_MAX_Q" value="600." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_R" value="450" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.9"/>
<define name="REF_MAX_R" value="600." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(8000.)"/>
</section>
<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
<!-- control effectiveness -->
<define name="G1_P" value="0.094"/>
<define name="G1_Q" value="0.094"/>
<define name="G1_R" value="0.0025"/>
<define name="G2_R" value="0.36"/>
<!-- Here it is assumed that your removed the damping from your bebop2!
The dampers do not really damp, but cause oscillation. By removing/
fixing them, the bebop2 will fly much better-->
<define name="FILTER_ROLL_RATE" value="FALSE"/>
<define name="FILTER_PITCH_RATE" value="FALSE"/>
<define name="FILTER_YAW_RATE" value="FALSE"/>
<!-- reference acceleration for attitude control -->
<define name="REF_ERR_P" value="600.0"/>
<define name="REF_ERR_Q" value="600.0"/>
<define name="REF_ERR_R" value="600.0"/>
<define name="REF_RATE_P" value="28.0"/>
<define name="REF_RATE_Q" value="28.0"/>
<define name="REF_RATE_R" value="28.0"/>
<!-- second order filter parameters -->
<define name="FILT_CUTOFF" value="3.2"/>
<define name="FILT_CUTOFF_R" value="3.2"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.06"/>
<define name="ACT_DYN_Q" value="0.06"/>
<define name="ACT_DYN_R" value="0.06"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
<define name="ADAPTIVE_MU" value="0.0001"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="HOVER_KP" value="350"/>
<define name="HOVER_KD" value="85"/>
<define name="HOVER_KI" value="20"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.655"/>
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="REF_MAX_SPEED" value="2" unit="m/s"/>
<define name="MAX_BANK" value="32" unit="deg"/>
<define name="PGAIN" value="220"/>
<define name="DGAIN" value="160"/>
<define name="IGAIN" value="15"/>
</section>
<section name="NAVIGATION" prefix="NAV_">
<define name="CLIMB_VSPEED" value="1.0"/>
<define name="DESCEND_VSPEED" value="-1.0"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
<define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
<define name="MODE_MANUAL" value="AP_MODE_MODULE"/>
<!-- <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/> -->
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
</section>
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.9" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="11.0" unit="V"/>
<define name="LOW_BAT_LEVEL" value="11.1" unit="V"/>
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
</section>
</airframe>
conf/modules/cv_opticflow.xml
+17
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@@ -43,6 +43,8 @@
<define name="MAX_ITERATIONS" value="10" description="Maximum number of iterations the Lucas Kanade algorithm should take"/>
<define name="THRESHOLD_VEC" value="2" description="TThreshold in subpixels when the iterations of Lucas Kanade should stop"/>
<define name="CORNER_METHOD" value="1" description="Method used to look for corners, exhaustive FAST (0) or ACT-FAST (1)."/>
<!-- FAST9 corner detection parameters -->
<define name="FAST9_ADAPTIVE" value="TRUE" description="Whether we should use and adapative FAST9 crner detection threshold"/>
<define name="FAST9_THRESHOLD" value="20" description="FAST9 default threshold"/>
@@ -50,6 +52,13 @@
<define name="FAST9_PADDING" value="20" description="The outer border in which no corners will be searched"/>
<define name="FAST9_REGION_DETECT" value="1" description="Whether to detect fast9 corners in regions of interest or the whole image (only works with feature management)"/>
<define name="FAST9_NUM_REGIONS" value="9" description="The number of regions of interest to split the image into"/>
<!-- ACT-FAST parameters -->
<define name="ACTFAST_LONG_STEP" value="10" description="Step size to take when there is no texture"/>
<define name="ACTFAST_SHORT_STEP" value="2" description="Step size to take when there is an edge to be followed"/>
<define name="ACTFAST_MIN_GRADIENT" value="10" description="Threshold that decides when there is sufficient texture for edge following"/>
<define name="ACTFAST_GRADIENT_METHOD" value="1" description="Whether to use a simple (0) or Sobel (1) filter"/>
</section>
</doc>
@@ -58,6 +67,7 @@
<!-- Optical flow calculations parameters -->
<dl_settings name="vision_calc">
<dl_setting var="opticflow.method" min="0" step="1" max="1" module="computer_vision/opticflow_module" shortname="method" values="LK_Fast9|EdgeFlow" param="METHOD"/>
<dl_setting var="opticflow.corner_method" min="0" step="1" max="1" module="computer_vision/opticflow_module" shortname="corner_method" values="exhaustive-FAST|ACT-FAST" param="CORNER_METHOD"/>
<dl_setting var="opticflow.window_size" module="computer_vision/opticflow_module" min="0" step="1" max="20" shortname="window_size" param="OPTICFLOW_WINDOW_SIZE"/>
<dl_setting var="opticflow.search_distance" module="computer_vision/opticflow_module" min="0" step="1" max="50" shortname="search_distance" param="SEARCH_DISTANCE"/>
<dl_setting var="opticflow.subpixel_factor" module="computer_vision/opticflow_module" min="0" step="10" max="1000" shortname="subpixel_factor" param="OPTICFLOW_SUBPIXEL_FACTOR"/>
@@ -78,6 +88,12 @@
<dl_setting var="opticflow.fast9_region_detect" module="computer_vision/opticflow_module" min="0" step="1" max="1" values="OFF|ON" shortname="fast9_region_detect" param="OPTICFLOW_FAST9_REGION_DETECT"/>
<dl_setting var="opticflow.fast9_num_regions" module="computer_vision/opticflow_module" min="1" step="1" max="25" shortname="fast9_num_regions" param="OPTICFLOW_FAST9_NUM_REGIONS"/>
<!-- ACT-FAST settings -->
<dl_setting var="opticflow.actfast_long_step" module="computer_vision/opticflow_module" min="1" step="1" max="100" shortname="actfast_long_step" param="OPTICFLOW_ACTFAST_LONG_STEP"/>
<dl_setting var="opticflow.actfast_short_step" module="computer_vision/opticflow_module" min="1" step="1" max="10" shortname="actfast_short_step" param="OPTICFLOW_ACTFAST_SHORT_STEP"/>
<dl_setting var="opticflow.actfast_min_gradient" module="computer_vision/opticflow_module" min="1" step="1" max="255" shortname="actfast_min_gradient" param="OPTICFLOW_ACTFAST_MIN_GRADIENT"/>
<dl_setting var="opticflow.actfast_gradient_method" module="computer_vision/opticflow_module" min="0" step="1" max="1" values="SIMPLE|SOBEL" shortname="actfast_gradient_method" param="OPTICFLOW_ACTFAST_GRADIENT_METHOD"/>
<!-- Changes pyramid level of lucas kanade optical flow. -->
<dl_setting var="opticflow.pyramid_level" module="computer_vision/opticflow_module" min="0" step="1" max="10" shortname="pyramid_level" param="OPTICFLOW_PYRAMID_LEVEL"/>
</dl_settings>
@@ -112,6 +128,7 @@
<file name="pprz_matrix_decomp_float.c" dir="math"/>
<!-- Main vision calculations -->
<file name="act_fast.c" dir="modules/computer_vision/lib/vision"/>
<file name="fast_rosten.c" dir="modules/computer_vision/lib/vision"/>
<file name="lucas_kanade.c" dir="modules/computer_vision/lib/vision"/>
<file name="edge_flow.c" dir="modules/computer_vision/lib/vision"/>
conf/userconf/tudelft/conf.xml
+12 -1
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@@ -485,6 +485,18 @@
settings_modules="modules/gps_ubx_ucenter.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
gui_color="#ffffbf17bf17"
/>
<aircraft
name="bebop2_vision_front"
ac_id="217"
airframe="airframes/tudelft/bebop2_optitrack_visionfront.xml"
radio="radios/dummy.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_guido_optitrack.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/video_rtp_stream.xml modules/optical_flow_landing.xml modules/cv_opticflow.xml modules/video_capture.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
gui_color="#ffffbf17bf17"
release=""
/>
<aircraft
name="bebop_flip"
ac_id="3"
@@ -577,4 +589,3 @@
release="2a6ad556f183875fa9fb8072d774beec7ba55701"
/>
</conf>