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Fix PPRZ Bebop Orange (#3592)
* Fixes from last year * Remove old GCS * FP cleanup * Change AHRS to version that works with simulaton * Install script updates: Gazebo packages moved * Install New Gazebo * Apply suggestion from @dewagter * Apply suggestion from @dewagter
This commit is contained in:
Christophe De Wagter
committed by
GitHub
GitHub
parent
5aa3d5f368
commit
6a640bf84e
@@ -33,7 +33,7 @@
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<define name="COLOR_OBJECT_DETECTOR_CR_MAX1" value="249"/>
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</target>
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<define name="ARRIVED_AT_WAYPOINT" value="0.5"/><!-- Detect arrival at waypoint when within 0.5m -->
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<define name="ARRIVED_AT_WAYPOINT" value="0.3"/><!-- Detect arrival at waypoint when within 0.3m -->
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<!-- Subsystem section -->
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<module name="telemetry" type="transparent_udp"/>
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@@ -44,7 +44,7 @@
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<module name="gps" type="datalink"/>
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<module name="stabilization" type="indi_simple"/>
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<module name="stabilization" type="rate_indi"/>
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<module name="ahrs" type="int_cmpl_quat">
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<module name="ahrs" type="float_mlkf"> <!-- was int_cmpl_quat -->
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<configure name="USE_MAGNETOMETER" value="FALSE"/>
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<define name="AHRS_USE_GPS_HEADING" value="TRUE"/>
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</module>
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@@ -81,7 +81,7 @@
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<axis name="PITCH" failsafe_value="0"/>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="YAW" failsafe_value="0"/>
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<axis name="THRUST" failsafe_value="6000"/>
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<axis name="THRUST" failsafe_value="0"/>
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</commands>
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<servos driver="Default">
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@@ -227,7 +227,7 @@
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<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
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<define name="ADAPT_INITIAL_HOVER_THROTTLE" value="0.68" />
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<define name="ADAPT_MIN_HOVER_THROTTLE" value="0.55" />
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<define name="ADAPT_MIN_HOVER_THROTTLE" value="0.50" />
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<define name="ADAPT_MAX_HOVER_THROTTLE" value="0.72" />
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<!-- <define name="ADAPT_NOISE_FACTOR" value="0.8" /> -->
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</section>
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@@ -17,7 +17,7 @@
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<session name="Flight UDP/WiFi">
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<program name="Server"/>
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<program name="PprgGCS"/>
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<program name="PprzGCS"/>
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<program name="Data Link">
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<arg flag="-udp"/>
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</program>
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@@ -1,20 +1,25 @@
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<?xml version="1.0"?>
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<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
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<flight_plan alt="1.0" ground_alt="0" lat0="51.990634" lon0="4.376789" max_dist_from_home="60" name="Bebop avoid orange TU Delft Cyberzoo" security_height="0.4">
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<!--=== Header: module and Gazebo simulation world includes ===-->
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<header>
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#include "modules/datalink/datalink.h"
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#include "modules/energy/electrical.h"
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#include "modules/radio_control/radio_control.h"
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#include "modules/ahrs/ahrs.h"
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#define NPS_GAZEBO_WORLD "cyberzoo_orange_poles.world"
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</header>
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</header>
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<!--=== Waypoints: define all waypoints and geofence corners ===-->
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<waypoints>
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<waypoint lat="51.990631" lon="4.376796" name="HOME"/>
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<waypoint name="CLIMB" x="1.9" y="1.0"/>
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<waypoint name="STDBY" x="1.9" y="1.0"/>
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<waypoint name="TD" x="0.8" y="-1.7"/>
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<waypoint name="TD" x="0.8" y="-1.7" height="0.5"/>
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<waypoint name="GOAL" x="1.9" y="1.0"/>
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<waypoint name="TRAJECTORY" x="1.9" y="1.0"/>
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<waypoint name="RETREAT" x="1.9" y="1.0"/>
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<waypoint lat="51.9905834" lon="4.3767710" name="_CZ1"/>
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<waypoint lat="51.9906440" lon="4.3767060" name="_CZ2"/>
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<waypoint lat="51.9906860" lon="4.3768080" name="_CZ3"/>
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@@ -24,13 +29,18 @@
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<waypoint lat="51.9906687" lon="4.3768025" name="_OZ3"/>
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<waypoint lat="51.9906273" lon="4.3768438" name="_OZ4"/>
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</waypoints>
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<!--=== Sectors: define geofence regions ===-->
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<sectors>
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<!-- Outer geofence (hard stop, Cyberzoo walls) -->
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<sector color="red" name="CyberZoo">
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<corner name="_CZ1"/>
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<corner name="_CZ2"/>
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<corner name="_CZ3"/>
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<corner name="_CZ4"/>
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</sector>
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<!-- Inner geofence (soft stop, obstacle zone) -->
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<sector color="#FF9922" name="ObstacleZone">
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<corner name="_OZ1"/>
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<corner name="_OZ2"/>
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@@ -38,6 +48,8 @@
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<corner name="_OZ4"/>
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</sector>
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</sectors>
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<!--=== Exceptions: handle emergencies and geofencing ===-->
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<exceptions>
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<!-- RC lost -->
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<!--exception cond="((radio_control.status == RC_REALLY_LOST) @AND
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@@ -74,50 +86,78 @@
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!(nav_block >= IndexOfBlock('land here')) @AND
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(autopilot_in_flight() == true) )" deroute="land here"/>
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</exceptions>
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<!--=== Blocks: define mission workflow ===-->
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<blocks>
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<block name="Wait GPS">
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<call_once fun="NavKillThrottle()"/>
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<while cond="!GpsFixValid()"/>
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</block>
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<block name="Geo init">
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<while cond="LessThan(NavBlockTime(), 2)"/>
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<call_once fun="NavSetAltitudeReferenceHere()"/>
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</block>
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<block name="Holding point">
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<call_once fun="NavKillThrottle()"/>
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<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
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</block>
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<block key="r" name="Start Engine">
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<call_once fun="NavResurrect()"/>
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<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
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<call_once fun="NavResurrect()"/>
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</block>
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<block key="t" name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
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<call_once fun="NavSetWaypointHere(WP_TD)"/>
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<exception cond="GetPosAlt() @GT 0.8" deroute="Standby"/>
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<call_once fun="NavSetWaypointHere(WP_CLIMB)"/>
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<stay climb="nav.climb_vspeed" vmode="climb" wp="CLIMB"/>
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</block>
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<block key="s" name="Standby" strip_button="Standby" strip_icon="home.png">
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<call_once fun="NavSetWaypointHere(WP_STDBY)"/>
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<stay wp="STDBY"/>
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</block>
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<block key="g" name="START" strip_button="Go" strip_icon="lookfore.png">
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<call_once fun="NavSetWaypointHere(WP_GOAL)"/>
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<stay wp="GOAL"/>
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</block>
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<block name="STOP">
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<call_once fun="NavSetWaypointHere(WP_STDBY)"/>
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<stay wp="STDBY"/>
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</block>
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<block name="RETREAT">
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<exception cond="block_time @GT 2.0" deroute="STOP"/>
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<call_once fun="NavSetWaypointHere(WP_RETREAT)"/>
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<stay wp="RETREAT"/>
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</block>
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<block key="e" name="Emergency Landing">
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<exception cond="!nav_is_in_flight()" deroute="KILL"/>
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<exception cond="0.10 @GT GetPosAlt()" deroute="KILL"/>
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<call_once fun="NavSetWaypointHere(WP_TD)"/>
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<call_once fun="NavStartDetectGround()"/>
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<stay climb="-1.25" vmode="climb" wp="TD"/>
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</block>
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<block key="l" name="land here" strip_button="land here" strip_icon="land-right.png">
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<call_once fun="NavSetWaypointHere(WP_TD)"/>
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<go wp="TD"/>
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<deroute block="Flare"/>
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</block>
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<block name="Land">
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<exception cond="0.55 @GEQ GetPosAlt()" deroute="Flare"/>
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<exception cond="block_time @GT 5" deroute="Flare"/>
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<go wp="TD"/>
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<deroute block="Flare"/>
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</block>
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<block name="Flare">
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<exception cond="NavDetectGround()" deroute="Holding point"/>
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<exception cond="!nav_is_in_flight()" deroute="Landed"/>
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@@ -125,9 +165,16 @@
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<call_once fun="NavStartDetectGround()"/>
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<stay climb="nav.descend_vspeed" vmode="climb" wp="TD"/>
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</block>
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<block name="Landed">
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<call_once fun="NavKillThrottle()"/>
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<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
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</block>
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<block name="KILL">
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<call_once fun="autopilot_set_mode(AP_MODE_KILL)"/>
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<call_once fun="NavKillThrottle()"/>
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<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
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</block>
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</blocks>
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</flight_plan>
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@@ -1,6 +1,7 @@
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<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
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<flight_plan alt="1.0" ground_alt="0" lat0="51.990634" lon0="4.376789" max_dist_from_home="60" name="Bebop avoid orange guided TU Delft Cyberzoo" security_height="0.4">
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<flight_plan alt="1.0" ground_alt="0" lat0="51.990634" lon0="4.376789" max_dist_from_home="60" name="Bebop avoid orange TU Delft Cyberzoo" security_height="0.4">
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<!--=== Header: module and Gazebo simulation world includes ===-->
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<header>
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#include "modules/datalink/datalink.h"
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#include "modules/energy/electrical.h"
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@@ -21,25 +22,30 @@ inline void setGuided(void){
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<waypoint lat="51.990631" lon="4.376796" name="HOME"/>
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<waypoint name="CLIMB" x="1.9" y="1.0"/>
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<waypoint name="STDBY" x="1.9" y="1.0"/>
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<waypoint name="TD" x="0.8" y="-1.7"/>
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<waypoint name="TD" x="0.8" y="-1.7" height="0.5"/>
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<waypoint name="GOAL" x="1.9" y="1.0"/>
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<waypoint name="TRAJECTORY" x="1.9" y="1.0"/>
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<waypoint lat="51.9905834" lon="4.3767710" name="_CZ1"/>
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<waypoint lat="51.9906440" lon="4.3767060" name="_CZ2"/>
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<waypoint lat="51.9906860" lon="4.3768080" name="_CZ3"/>
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<waypoint lat="51.9906238" lon="4.3768729" name="_CZ4"/>
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<waypoint lat="51.990595" lon="4.376779" name="_OZ1"/>
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<waypoint lat="51.990640" lon="4.376734" name="_OZ2"/>
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<waypoint lat="51.990667" lon="4.376804" name="_OZ3"/>
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<waypoint lat="51.990623" lon="4.376850" name="_OZ4"/>
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<waypoint lat="51.9906006" lon="4.3767764" name="_OZ1"/>
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<waypoint lat="51.9906405" lon="4.3767316" name="_OZ2"/>
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<waypoint lat="51.9906687" lon="4.3768025" name="_OZ3"/>
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<waypoint lat="51.9906273" lon="4.3768438" name="_OZ4"/>
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</waypoints>
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<!--=== Sectors: define geofence regions ===-->
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<sectors>
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<!-- Outer geofence (hard stop, Cyberzoo walls) -->
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<sector color="red" name="CyberZoo">
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<corner name="_CZ1"/>
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<corner name="_CZ2"/>
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<corner name="_CZ3"/>
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<corner name="_CZ4"/>
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</sector>
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<!-- Inner geofence (soft stop, obstacle zone) -->
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<sector color="#FF9922" name="ObstacleZone">
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<corner name="_OZ1"/>
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<corner name="_OZ2"/>
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@@ -47,6 +53,8 @@ inline void setGuided(void){
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<corner name="_OZ4"/>
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</sector>
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</sectors>
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<!--=== Exceptions: handle emergencies and geofencing ===-->
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<exceptions>
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<!-- RC lost -->
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<!--exception cond="((radio_control.status == RC_REALLY_LOST) @AND
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@@ -83,42 +91,69 @@ inline void setGuided(void){
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!(nav_block >= IndexOfBlock('land here')) @AND
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(autopilot_in_flight() == true) )" deroute="land here"/>
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</exceptions>
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<!--=== Blocks: define mission workflow ===-->
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<blocks>
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<block name="Wait GPS">
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<call_once fun="NavKillThrottle()"/>
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<while cond="!GpsFixValid()"/>
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</block>
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<block name="Geo init">
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<while cond="LessThan(NavBlockTime(), 2)"/>
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<call_once fun="NavSetAltitudeReferenceHere()"/>
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</block>
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<block name="Holding point">
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<call_once fun="NavKillThrottle()"/>
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<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
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</block>
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<block key="r" name="Start Engine">
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<call_once fun="NavResurrect()"/>
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<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
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<call_once fun="NavResurrect()"/>
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</block>
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<block key="t" name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
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<call_once fun="NavSetWaypointHere(WP_TD)"/>
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<exception cond="GetPosAlt() @GT 0.8" deroute="Standby"/>
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<call_once fun="NavSetWaypointHere(WP_CLIMB)"/>
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<stay climb="nav.climb_vspeed" vmode="climb" wp="CLIMB"/>
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</block>
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<block key="s" name="Standby" strip_button="Standby" strip_icon="home.png">
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<call_once fun="NavSetWaypointHere(WP_STDBY)"/>
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<stay wp="STDBY"/>
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</block>
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<block key="g" name="START" strip_button="Go" strip_icon="lookfore.png">
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<call_once fun="setGuided()"/>
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<stay wp="STDBY"/>
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</block>
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<block name="STOP">
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<call_once fun="NavSetWaypointHere(WP_STDBY)"/>
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<call_once fun="setNav()"/>
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<stay wp="STDBY"/>
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</block>
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<block name="RETREAT">
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<call_once fun="setGuided()"/>
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<call_once fun="orange_avoider_guided_retreat()"/>
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<exception cond="block_time @GT 2.0" deroute="STOP"/>
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<stay wp="STDBY"/>
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</block>
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<block key="e" name="Emergency Landing">
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<exception cond="!nav_is_in_flight()" deroute="KILL"/>
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<exception cond="0.10 @GT GetPosAlt()" deroute="KILL"/>
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<call_once fun="setNav()"/>
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<call_once fun="NavSetWaypointHere(WP_TD)"/>
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<call_once fun="NavStartDetectGround()"/>
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<stay climb="-1.25" vmode="climb" wp="TD"/>
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</block>
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<block key="l" name="land here" strip_button="Land Here" strip_icon="land-right.png">
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<call_once fun="setNav()"/>
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<call_once fun="NavSetWaypointHere(WP_TD)"/>
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@@ -126,10 +161,13 @@ inline void setGuided(void){
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<deroute block="Flare"/>
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</block>
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<block name="Land">
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<exception cond="0.55 @GEQ GetPosAlt()" deroute="Flare"/>
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<exception cond="block_time @GT 5" deroute="Flare"/>
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<call_once fun="setNav()"/>
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<go wp="TD"/>
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<deroute block="Flare"/>
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</block>
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<block name="Flare">
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<exception cond="NavDetectGround()" deroute="Holding point"/>
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<exception cond="!nav_is_in_flight()" deroute="Landed"/>
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@@ -137,9 +175,16 @@ inline void setGuided(void){
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<call_once fun="NavStartDetectGround()"/>
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<stay climb="nav.descend_vspeed" vmode="climb" wp="TD"/>
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</block>
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<block name="Landed">
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<call_once fun="NavKillThrottle()"/>
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<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
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</block>
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<block name="KILL">
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<call_once fun="autopilot_set_mode(AP_MODE_KILL)"/>
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<call_once fun="NavKillThrottle()"/>
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<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
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</block>
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</blocks>
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</flight_plan>
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@@ -11,7 +11,7 @@ The avoidance strategy is to simply count the total number of orange pixels. Whe
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The color filter settings are set using the cv_detect_color_object. This module can run multiple filters simultaneously
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so you have to define which filter to use with the ORANGE_AVOIDER_VISUAL_DETECTION_ID setting.
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</description>
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<define name="ORANGE_AVOIDER_VISUAL_DETECTION_ID" value="ABI_BROADCAST" description="which VISUAL_DETECTION message to recieve for orange pole detection."/>
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<define name="ORANGE_AVOIDER_VISUAL_DETECTION_ID" value="ABI_BROADCAST" description="which VISUAL_DETECTION message to receive for orange pixel detection."/>
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</doc>
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<settings>
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<dl_settings>
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@@ -7,7 +7,7 @@
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telemetry="telemetry/default_rotorcraft.xml"
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flight_plan="flight_plans/tudelft/course_orangeavoid_cyberzoo.xml"
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settings="settings/rotorcraft_basic.xml"
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settings_modules="modules/ahrs_int_cmpl_quat.xml modules/bebop_cam.xml modules/cv_detect_color_object.xml modules/electrical.xml modules/gps.xml modules/guidance_pid_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_rotorcraft.xml modules/orange_avoider.xml modules/stabilization_indi_simple.xml modules/video_capture.xml modules/video_rtp_stream.xml"
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settings_modules="modules/ahrs_float_mlkf.xml modules/bebop_cam.xml modules/cv_detect_color_object.xml modules/electrical.xml modules/gps.xml modules/guidance_pid_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_rotorcraft.xml modules/orange_avoider.xml modules/stabilization_indi_simple.xml modules/video_capture.xml modules/video_rtp_stream.xml"
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gui_color="white"
|
||||
/>
|
||||
<aircraft
|
||||
|
||||
@@ -15,14 +15,8 @@
|
||||
<program name="Server">
|
||||
<arg flag="-n"/>
|
||||
</program>
|
||||
<program name="GCS">
|
||||
<arg flag="-speech"/>
|
||||
<arg flag="-maximize"/>
|
||||
<arg flag="-center_ac"/>
|
||||
<arg flag="-mercator"/>
|
||||
<arg flag="-maps_no_http"/>
|
||||
<arg flag="-track_size" constant="200"/>
|
||||
<arg flag="-zoom" constant="40."/>
|
||||
<program name="PprzGCS">
|
||||
<arg flag="--speech"/>
|
||||
</program>
|
||||
<program name="Joystick" command="sw/ground_segment/joystick/input2ivy">
|
||||
<arg flag="-ac" constant="@AIRCRAFT"/>
|
||||
@@ -41,8 +35,8 @@
|
||||
<arg flag="-udp"/>
|
||||
</program>
|
||||
<program name="Server"/>
|
||||
<program name="GCS">
|
||||
<arg flag="-speech"/>
|
||||
<program name="PprzGCS">
|
||||
<arg flag="--speech"/>
|
||||
</program>
|
||||
<program name="Joystick" command="sw/ground_segment/joystick/input2ivy">
|
||||
<arg flag="-ac" constant="@AIRCRAFT"/>
|
||||
|
||||
Reference in New Issue
Block a user