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[rotorcraft][modules] add orange_avoider and MavLab course confs
closes #1539
This commit is contained in:
mavlabcourse
committed by
Felix Ruess
Felix Ruess
parent
1e29cb623f
commit
9fcef07f45
@@ -0,0 +1,24 @@
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<conf>
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<aircraft
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name="bebop_avoid"
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ac_id="2"
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airframe="airframes/TUDELFT/tudelft_course2016_bebop_avoider.xml"
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radio="radios/dummy.xml"
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telemetry="telemetry/default_rotorcraft.xml"
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flight_plan="flight_plans/TUDELFT/tudelft_course2016_avoid_orange_cyberzoo.xml"
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settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml ../conf/modules/cv_colorfilter.xml"
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settings_modules="modules/geo_mag.xml modules/air_data.xml modules/video_thread.xml modules/cv_colorfilter.xml"
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gui_color="#db67fffffaeb"
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/>
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<aircraft
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name="bebop_video"
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ac_id="1"
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airframe="airframes/examples/course_bebop_colorfilter.xml"
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radio="radios/dummy.xml"
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telemetry="telemetry/default_rotorcraft.xml"
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flight_plan="flight_plans/dummy.xml"
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settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml [settings/control/stabilization_att_indi.xml] settings/control/stabilization_rate.xml"
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settings_modules="modules/geo_mag.xml modules/air_data.xml modules/video_thread.xml modules/cv_colorfilter.xml modules/video_rtp_stream.xml"
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gui_color="#ffffb1c0b1c0"
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/>
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</conf>
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@@ -0,0 +1,92 @@
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<control_panel name="paparazzi control panel">
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<section name="programs">
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<program name="Server" command="sw/ground_segment/tmtc/server"/>
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<program name="Data Link" command="sw/ground_segment/tmtc/link">
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<arg flag="-d" constant="/dev/ttyUSB0"/>
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</program>
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<program name="Link Combiner" command="sw/ground_segment/python/redundant_link/link_combiner.py"/>
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<program name="GCS" command="sw/ground_segment/cockpit/gcs"/>
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<program name="Flight Plan Editor" command="sw/ground_segment/cockpit/gcs">
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<arg flag="-edit"/>
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</program>
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<program name="Messages" command="sw/ground_segment/tmtc/messages"/>
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<program name="Messages (Python)" command="sw/ground_segment/python/messages_app/messagesapp.py"/>
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<program name="Settings" command="sw/ground_segment/tmtc/settings">
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<arg flag="-ac" constant="@AIRCRAFT"/>
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</program>
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<program name="Settings (Python)" command="sw/ground_segment/python/settings_app/settingsapp.py"/>
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<program name="GPSd position display" command="sw/ground_segment/tmtc/gpsd2ivy"/>
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<program name="Log Plotter" command="sw/logalizer/logplotter"/>
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<program name="Real-time Plotter" command="sw/logalizer/plotter"/>
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<program name="Real-time Plotter (Python)" command="sw/ground_segment/python/real_time_plot/messagepicker.py"/>
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<program name="Log File Player" command="sw/logalizer/play"/>
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<program name="Simulator" command="sw/simulator/pprzsim-launch"/>
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<program name="Video Synchronizer" command="sw/ground_segment/misc/video_synchronizer"/>
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<program name="Joystick" command="sw/ground_segment/joystick/input2ivy">
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<arg flag="-ac" constant="@AIRCRAFT"/>
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<arg flag="xbox_gamepad.xml"/>
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</program>
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<program name="Hardware in the Loop" command="sw/simulator/simhitl"/>
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<program name="Environment Simulator" command="sw/simulator/gaia"/>
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<program name="Http Server" command="$python">
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<arg flag="-m" constant="SimpleHTTPServer"/>
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<arg flag="8889"/>
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</program>
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<program name="Plot Meteo Profile" command="sw/logalizer/plotprofile"/>
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<program name="Weather Station" command="sw/ground_segment/misc/davis2ivy">
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<arg flag="-d" constant="/dev/ttyUSB1"/>
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</program>
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<program name="Attitude Visualizer" command="sw/tools/attitude_viz.py"/>
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<program name="App Server" command="sw/ground_segment/tmtc/app_server"/>
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<program name="NatNet" command="sw/ground_segment/misc/natnet2ivy"/>
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<program name="Ivy2Nmea" command="sw/ground_segment/tmtc/ivy2nmea">
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<arg flag="--port" constant="/dev/ttyUSB1"/>
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<arg flag="--id" constant="1"/>
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</program>
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<program name="BluegigaUsbDongleScanner" command="sw/tools/bluegiga_usb_dongle/bluegiga_usb_driver">
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<arg flag="/dev/ttyACM2"/>
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<arg flag="scan"/>
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</program>
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<program name="BluegigaUsbDongle" command="sw/tools/bluegiga_usb_dongle/bluegiga_usb_driver">
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<arg flag="/dev/ttyACM2"/>
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<arg flag="00:07:00:2d:d6:bb"/>
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<arg flag="4242"/>
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<arg flag="4252"/>
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</program>
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</section>
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<section name="sessions">
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<session name="Bebop basic">
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<program name="Data Link">
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<arg flag="-udp"/>
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</program>
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<program name="Server"/>
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<program name="GCS">
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<arg flag="-speech"/>
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</program>
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<program name="Joystick" command="sw/ground_segment/joystick/input2ivy">
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<arg flag="-ac" constant="@AIRCRAFT"/>
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<arg flag="hobbyking.xml"/>
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</program>
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</session>
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<session name="Bebop extensive">
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<program name="Data Link">
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<arg flag="-udp"/>
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</program>
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<program name="Server"/>
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<program name="GCS">
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<arg flag="-speech"/>
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</program>
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<program name="Joystick" command="sw/ground_segment/joystick/input2ivy">
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<arg flag="-d" constant="2"/>
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<arg flag="-ac" constant="@AIRCRAFT"/>
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<arg flag="hobbyking.xml"/>
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</program>
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<program name="NatNet" command="sw/ground_segment/misc/natnet2ivy">
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<arg flag="-ac 3" constant="@AC_ID"/>
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</program>
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<program name="Messages" command="sw/ground_segment/tmtc/messages"/>
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</session>
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</section>
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</control_panel>
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@@ -0,0 +1,258 @@
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<!-- And example airframe to be use in the TU DElft Course 2016 -->
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<airframe name="AvoiderBob"> <!-- The name of your airframe -->
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<firmware name="rotorcraft">
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<target name="ap" board="bebop"/> <!-- The type of Autopilot board hardware one uses -->
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<target name="nps" board="pc">
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<subsystem name="fdm" type="jsbsim"/>
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<subsystem name="udp"/>
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</target>
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<!--define name="USE_SONAR" value="TRUE"/-->
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<!-- Subsystem section -->
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<subsystem name="telemetry" type="transparent_udp"/>
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<subsystem name="radio_control" type="datalink"/> <!-- We control the bebop through wifi -->
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<subsystem name="motor_mixing"/>
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<subsystem name="actuators" type="bebop"/>
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<subsystem name="imu" type="bebop"/>
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<subsystem name="gps" type="datalink"/> <!-- The GPS information also comes over this wifi, as we are sitting in the cyberzoo all the time -->
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<subsystem name="stabilization" type="indi"/>
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<subsystem name="ahrs" type="int_cmpl_quat">
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<configure name="USE_MAGNETOMETER" value="FALSE"/> <!-- Heading is from Optitrack, in reguler outside flight case one would use and Magnetometer-->
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<define name="AHRS_USE_GPS_HEADING" value="TRUE"/>
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</subsystem>
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<subsystem name="ins" type="extended"/>
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</firmware>
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<!-- This is the place where you add all your modules -->
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<!-- If there is a variable you can define in your module you can add it within the load node-->
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<!-- Note that for vision the order in which modules are loaded is important -->
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<!-- If you place cv_colorfilter before your own module your own module will only get the filtered image-->
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<modules main_freq="512">
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<load name="geo_mag.xml"/>
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<load name="air_data.xml"/>
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<load name="send_imu_mag_current.xml"/>
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<!--load name="logger_file.xml">
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<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
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</load-->
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<load name="video_thread.xml">
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<define name="VIDEO_THREAD_FPS" value="4"/>
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<define name="VIDEO_THREAD_CAMERA" value="front_camera"/>
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<define name="VIDEO_THREAD_SHOT_PATH" value="/data/ftp/internal_000/images"/>
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</load>
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<!--
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<load name="video_rtp_stream.xml">
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<define name="VIEWVIDEO_QUALITY_FACTOR" value="80"/>
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<define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="1"/>
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</load>
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-->
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<load name="cv_colorfilter.xml">
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</load>
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<load name="orange_avoider.xml"/>
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</modules>
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<commands>
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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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</commands>
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<servos driver="Default">
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<servo name="TOP_RIGHT" no="0" min="3000" neutral="3000" max="12000"/>
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<servo name="TOP_LEFT" no="1" min="3000" neutral="3000" max="12000"/>
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<servo name="BOTTOM_LEFT" no="2" min="3000" neutral="3000" max="12000"/>
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<servo name="BOTTOM_RIGHT" no="3" min="3000" neutral="3000" max="12000"/>
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</servos>
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<section name="MIXING" prefix="MOTOR_MIXING_">
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<!-- Time cross layout (X), with order NW (CW), NE (CCW), SE (CW), SW (CCW) -->
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<define name="TYPE" value="QUAD_X"/>
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</section>
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<command_laws>
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<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
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<set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
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<set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
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<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
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<set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
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</command_laws>
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<section name="AIR_DATA" prefix="AIR_DATA_">
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<define name="CALC_AIRSPEED" value="FALSE"/>
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<define name="CALC_TAS_FACTOR" value="FALSE"/>
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<define name="CALC_AMSL_BARO" value="TRUE"/>
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</section>
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<!-- The IMU calibration can be quite important -->
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<!-- Follow the MAVLab video to see how you can calibrate it -->
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<!-- If your drone tends to always go forward check your primary flight display -->
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<!-- Put the drone on a table, if the horizon is not perfectly straight you might want -->
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<!-- to adjust your body to imu variables until it is -->
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<section name="IMU" prefix="IMU_">
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<!-- Magneto calibration -->
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<define name="MAG_X_NEUTRAL" value="18"/>
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<define name="MAG_Y_NEUTRAL" value="157"/>
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<define name="MAG_Z_NEUTRAL" value="49"/>
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<define name="MAG_X_SENS" value="10.5007722373" integer="16"/>
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<define name="MAG_Y_SENS" value="11.1147400462" integer="16"/>
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<define name="MAG_Z_SENS" value="11.6479371722" integer="16"/>
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<!-- Magneto current calibration -->
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<define name="MAG_X_CURRENT_COEF" value="0.0"/>
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<define name="MAG_Y_CURRENT_COEF" value="0.0"/>
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<define name="MAG_Z_CURRENT_COEF" value="0.0"/>
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<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
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<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
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<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
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</section>
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<!-- local magnetic field -->
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<!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
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<section name="AHRS" prefix="AHRS_">
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<!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
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<!-- Delft, The Netherlands 2014 -->
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<define name="H_X" value="0.3892503"/>
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<define name="H_Y" value="0.0017972"/>
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<define name="H_Z" value="0.9211303"/>
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</section>
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<section name="INS" prefix="INS_">
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<define name="SONAR_MAX_RANGE" value="2.2"/>
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<define name="SONAR_UPDATE_ON_AGL" value="TRUE"/>
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</section>
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<section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
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<!-- setpoint limits for attitude stabilization rc flight -->
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<define name="SP_MAX_PHI" value="45" unit="deg"/>
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<define name="SP_MAX_THETA" value="45" unit="deg"/>
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<define name="SP_MAX_R" value="100" unit="deg/s"/>
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<define name="DEADBAND_A" value="0"/>
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<define name="DEADBAND_E" value="0"/>
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<define name="DEADBAND_R" value="50"/>
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</section>
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<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
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<!-- setpoints -->
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<define name="SP_MAX_P" value="140" unit="deg/s"/>
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<define name="SP_MAX_Q" value="140" unit="deg/s"/>
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<define name="SP_MAX_R" value="140" unit="deg/s"/>
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<define name="DEADBAND_P" value="20"/>
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<define name="DEADBAND_Q" value="20"/>
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<define name="DEADBAND_R" value="200"/>
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<!-- feedback -->
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<define name="GAIN_P" value="400"/>
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<define name="GAIN_Q" value="400"/>
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<define name="GAIN_R" value="350"/>
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<define name="IGAIN_P" value="75"/>
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<define name="IGAIN_Q" value="75"/>
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<define name="IGAIN_R" value="50"/>
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</section>
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<section name="ATTITUDE_REFERENCE" prefix="STABILIZATION_ATTITUDE_">
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<!-- attitude reference generation model -->
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<define name="REF_OMEGA_P" value="450" unit="deg/s"/>
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<define name="REF_ZETA_P" value="0.9"/>
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<define name="REF_MAX_P" value="600." unit="deg/s"/>
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<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
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<define name="REF_OMEGA_Q" value="450" unit="deg/s"/>
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<define name="REF_ZETA_Q" value="0.9"/>
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<define name="REF_MAX_Q" value="600." unit="deg/s"/>
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<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
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<define name="REF_OMEGA_R" value="450" unit="deg/s"/>
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<define name="REF_ZETA_R" value="0.9"/>
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<define name="REF_MAX_R" value="600." unit="deg/s"/>
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<define name="REF_MAX_RDOT" value="RadOfDeg(8000.)"/>
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</section>
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<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
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<!-- control effectiveness -->
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<define name="G1_P" value="0.0639"/>
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<define name="G1_Q" value="0.0361"/>
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<define name="G1_R" value="0.0022"/>
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<define name="G2_R" value="0.1450"/>
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<!-- reference acceleration for attitude control -->
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<define name="REF_ERR_P" value="600.0"/>
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<define name="REF_ERR_Q" value="600.0"/>
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<define name="REF_ERR_R" value="600.0"/>
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<define name="REF_RATE_P" value="28.0"/>
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<define name="REF_RATE_Q" value="28.0"/>
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<define name="REF_RATE_R" value="28.0"/>
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<!--Maxium yaw rate, to avoid instability-->
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<define name="MAX_R" value="120.0"/> <!--deg/s-->
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<!-- second order filter parameters -->
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<define name="FILT_OMEGA" value="50.0"/>
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<define name="FILT_ZETA" value="0.55"/>
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<define name="FILT_OMEGA_R" value="50.0"/>
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<define name="FILT_ZETA_R" value="0.55"/>
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<!-- first order actuator dynamics -->
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<define name="ACT_DYN_P" value="0.1"/>
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<define name="ACT_DYN_Q" value="0.1"/>
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<define name="ACT_DYN_R" value="0.1"/>
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<!-- Adaptive Learning Rate -->
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<define name="USE_ADAPTIVE" value="FALSE"/>
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<define name="ADAPTIVE_MU" value="0.0001"/>
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</section>
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<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
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<define name="HOVER_KP" value="283"/>
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<define name="HOVER_KD" value="82"/>
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<define name="HOVER_KI" value="70"/>
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<define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
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<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
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</section>
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<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
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<define name="MAX_BANK" value="32" unit="deg"/>
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<define name="PGAIN" value="79"/>
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<define name="DGAIN" value="100"/>
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<define name="IGAIN" value="30"/>
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</section>
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<section name="NAVIGATION" prefix="NAV_">
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<define name="CLIMB_VSPEED" value="1.0" />
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<define name="DESCEND_VSPEED" value="-1.0" />
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</section>
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<section name="SIMULATOR" prefix="NPS_">
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<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
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<define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
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<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
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</section>
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<!-- Here you put the modes that your drone can fly in -->
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<!-- If you are using a hobbyking joystick mode_manual and mode_auto2 have to be set-->
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<!-- These settings are probably ok for your project! -->
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<section name="AUTOPILOT">
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<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
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<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
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<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
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<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
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<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
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</section>
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<section name="MISC">
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<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
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</section>
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<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="10.5" unit="V"/>
|
||||
<define name="CRITIC_BAT_LEVEL" value="10.8" unit="V"/>
|
||||
<define name="LOW_BAT_LEVEL" value="11.0" unit="V"/>
|
||||
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
|
||||
</section>
|
||||
</airframe>
|
||||
@@ -0,0 +1,243 @@
|
||||
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
|
||||
|
||||
<airframe name="bebop"> <!-- The name of your airframe, not that important -->
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<target name="ap" board="bebop"/>
|
||||
<!--define name="USE_SONAR" value="TRUE"/--> <!-- As we have a height from Optitrack we dont need to use the sonar -->
|
||||
|
||||
<!-- Subsystem section -->
|
||||
<subsystem name="telemetry" type="transparent_udp"/>
|
||||
<subsystem name="radio_control" type="datalink"/> <!-- We control the bebop through wifi -->
|
||||
<subsystem name="motor_mixing"/>
|
||||
<subsystem name="actuators" type="bebop"/>
|
||||
<subsystem name="imu" type="bebop"/>
|
||||
<subsystem name="gps" type="datalink"/> <!-- The GPS information also comes over this wifi, as we are sitting in the cyberzoo all the time -->
|
||||
<subsystem name="stabilization" type="indi"/>
|
||||
<subsystem name="ahrs" type="int_cmpl_quat">
|
||||
<configure name="USE_MAGNETOMETER" value="FALSE"/>
|
||||
<define name="AHRS_USE_GPS_HEADING" value="TRUE"/>
|
||||
</subsystem>
|
||||
<subsystem name="ins" type="extended"/>
|
||||
</firmware>
|
||||
|
||||
<!-- This is the place where you add all your modules -->
|
||||
<!-- If there is a variable you can define in your module you can add it within the load node-->
|
||||
<!-- Note that for vision the order in which modules are loaded is important -->
|
||||
<!-- If you place cv_colorfilter before your own module your own module will only get the filtered image-->
|
||||
<modules main_freq="512">
|
||||
<load name="geo_mag.xml"/>
|
||||
<load name="air_data.xml"/>
|
||||
<load name="send_imu_mag_current.xml"/>
|
||||
<load name="video_thread.xml">
|
||||
<define name="VIDEO_THREAD_FPS" value="4"/>
|
||||
<define name="VIDEO_THREAD_CAMERA" value="front_camera"/>
|
||||
<define name="VIDEO_THREAD_SHOT_PATH" value="/data/ftp/internal_000/images"/>
|
||||
</load>
|
||||
<load name="cv_colorfilter.xml">
|
||||
</load>
|
||||
|
||||
<load name="orange_avoider.xml">
|
||||
</load>
|
||||
|
||||
<load name="video_rtp_stream.xml">
|
||||
<define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="1"/>
|
||||
<define name="VIEWVIDEO_QUALITY_FACTOR" value="70"/>
|
||||
</load>
|
||||
</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_RIGHT" no="0" min="3000" neutral="3000" max="12000"/>
|
||||
<servo name="TOP_LEFT" no="1" min="3000" neutral="3000" max="12000"/>
|
||||
<servo name="BOTTOM_LEFT" no="2" min="3000" neutral="3000" max="12000"/>
|
||||
<servo name="BOTTOM_RIGHT" no="3" min="3000" neutral="3000" max="12000"/>
|
||||
</servos>
|
||||
|
||||
<section name="MIXING" prefix="MOTOR_MIXING_">
|
||||
<!-- Time cross layout (X), with order NW (CW), NE (CCW), SE (CW), SW (CCW) -->
|
||||
<define name="TYPE" value="QUAD_X"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<call fun="motor_mixing_run(autopilot_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>
|
||||
|
||||
<!-- The IMU calibration can be quite important -->
|
||||
<!-- Follow the MAVLab video to see how you can calibrate it -->
|
||||
<!-- If your drone tends to always go forward check your primary flight display -->
|
||||
<!-- Put the drone on a table, if the horizon is not perfectly straight you might want -->
|
||||
<!-- to adjust your body to imu variables until it is -->
|
||||
<section name="IMU" prefix="IMU_">
|
||||
<!-- Magneto calibration -->
|
||||
<define name="MAG_X_NEUTRAL" value="18"/>
|
||||
<define name="MAG_Y_NEUTRAL" value="157"/>
|
||||
<define name="MAG_Z_NEUTRAL" value="49"/>
|
||||
<define name="MAG_X_SENS" value="10.5007722373" integer="16"/>
|
||||
<define name="MAG_Y_SENS" value="11.1147400462" integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="11.6479371722" integer="16"/>
|
||||
|
||||
<!-- Magneto current calibration -->
|
||||
<define name="MAG_X_CURRENT_COEF" value="0.0"/>
|
||||
<define name="MAG_Y_CURRENT_COEF" value="0.0"/>
|
||||
<define name="MAG_Z_CURRENT_COEF" value="0.0"/>
|
||||
|
||||
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
|
||||
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
|
||||
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
|
||||
</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"/>
|
||||
</section>
|
||||
|
||||
<section name="INS" prefix="INS_">
|
||||
<define name="SONAR_MAX_RANGE" value="2.2"/>
|
||||
<define name="SONAR_UPDATE_ON_AGL" value="TRUE"/>
|
||||
</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="100" unit="deg/s"/>
|
||||
<define name="DEADBAND_A" value="0"/>
|
||||
<define name="DEADBAND_E" value="0"/>
|
||||
<define name="DEADBAND_R" value="50"/>
|
||||
</section>
|
||||
|
||||
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
|
||||
<!-- setpoints -->
|
||||
<define name="SP_MAX_P" value="140" unit="deg/s"/>
|
||||
<define name="SP_MAX_Q" value="140" unit="deg/s"/>
|
||||
<define name="SP_MAX_R" value="140" unit="deg/s"/>
|
||||
<define name="DEADBAND_P" value="20"/>
|
||||
<define name="DEADBAND_Q" value="20"/>
|
||||
<define name="DEADBAND_R" value="200"/>
|
||||
|
||||
<!-- feedback -->
|
||||
<define name="GAIN_P" value="400"/>
|
||||
<define name="GAIN_Q" value="400"/>
|
||||
<define name="GAIN_R" value="350"/>
|
||||
|
||||
<define name="IGAIN_P" value="75"/>
|
||||
<define name="IGAIN_Q" value="75"/>
|
||||
<define name="IGAIN_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="0.0639"/>
|
||||
<define name="G1_Q" value="0.0361"/>
|
||||
<define name="G1_R" value="0.0022"/>
|
||||
<define name="G2_R" value="0.1450"/>
|
||||
|
||||
<!-- 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"/>
|
||||
|
||||
<!--Maxium yaw rate, to avoid instability-->
|
||||
<define name="MAX_R" value="120.0"/> <!--deg/s-->
|
||||
|
||||
<!-- second order filter parameters -->
|
||||
<define name="FILT_OMEGA" value="50.0"/>
|
||||
<define name="FILT_ZETA" value="0.55"/>
|
||||
<define name="FILT_OMEGA_R" value="50.0"/>
|
||||
<define name="FILT_ZETA_R" value="0.55"/>
|
||||
|
||||
<!-- first order actuator dynamics -->
|
||||
<define name="ACT_DYN_P" value="0.1"/>
|
||||
<define name="ACT_DYN_Q" value="0.1"/>
|
||||
<define name="ACT_DYN_R" value="0.1"/>
|
||||
|
||||
<!-- 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="283"/>
|
||||
<define name="HOVER_KD" value="82"/>
|
||||
<define name="HOVER_KI" value="13"/>
|
||||
<define name="NOMINAL_HOVER_THROTTLE" value="0.655"/>
|
||||
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
|
||||
<!-- Good weather -->
|
||||
<define name="MAX_BANK" value="20" unit="deg"/>
|
||||
<!-- Bad weather -->
|
||||
<!-- define name="MAX_BANK" value="32" unit="deg"/ -->
|
||||
<define name="PGAIN" value="79"/>
|
||||
<define name="DGAIN" value="100"/>
|
||||
<define name="IGAIN" value="30"/>
|
||||
</section>
|
||||
|
||||
<section name="NAVIGATION" prefix="NAV_">
|
||||
<define name="CLIMB_VSPEED" value="2.5" />
|
||||
<define name="DESCEND_VSPEED" value="-1.0" />
|
||||
</section>
|
||||
|
||||
<!-- Here you put the modes that your drone can fly in -->
|
||||
<!-- If you are using a hobbyking joystick mode_manual and mode_auto2 have to be set-->
|
||||
<!-- These settings are probably ok for your project! -->
|
||||
<section name="AUTOPILOT">
|
||||
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
|
||||
<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"/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="10.8" unit="V"/>
|
||||
<define name="CRITIC_BAT_LEVEL" value="11.0" unit="V"/>
|
||||
<define name="LOW_BAT_LEVEL" value="11.2" unit="V"/>
|
||||
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
|
||||
</section>
|
||||
</airframe>
|
||||
@@ -0,0 +1,124 @@
|
||||
<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
|
||||
|
||||
<flight_plan alt="1.5" ground_alt="0" lat0="51.990634" lon0="4.376789" max_dist_from_home="8" name="Bebop avoid orange TU Delft Cyberzoo" security_height="0.4">
|
||||
<header>
|
||||
#include "autopilot.h"
|
||||
#include "subsystems/ahrs.h"
|
||||
#include "subsystems/electrical.h"
|
||||
#include "subsystems/datalink/datalink.h"
|
||||
</header>
|
||||
<waypoints>
|
||||
<waypoint height="0" name="HOME" x="0.0" y="0.0"/>
|
||||
<waypoint height="5" name="CLIMB" x="1.2" y="-0.6"/>
|
||||
<waypoint name="GOAL" x="2.0" y="2.0"/>
|
||||
<waypoint height="1.342321" name="STDBY" x="-0.7" y="-0.8"/>
|
||||
<waypoint name="TD" x="0.8" y="-1.7"/>
|
||||
<waypoint lat="51.9906213" lon="4.3768628" name="_CZ1"/>
|
||||
<waypoint lat="51.9905874" lon="4.3767766" name="_CZ2"/>
|
||||
<waypoint lat="51.9906409" lon="4.3767226" name="_CZ3"/>
|
||||
<waypoint lat="51.990667" lon="4.376806" name="_CZ4"/>
|
||||
<waypoint lat="51.990624" lon="4.376845" name="_OZ1"/>
|
||||
<waypoint lat="51.990601" lon="4.376782" name="_OZ2"/>
|
||||
<waypoint alt="11.5" lat="51.990638" lon="4.376748" name="_OZ3"/>
|
||||
<waypoint lat="51.990657" lon="4.376804" name="_OZ4"/>
|
||||
</waypoints>
|
||||
<sectors>
|
||||
<sector color="red" name="CyberZoo">
|
||||
<corner name="_CZ1"/>
|
||||
<corner name="_CZ2"/>
|
||||
<corner name="_CZ3"/>
|
||||
<corner name="_CZ4"/>
|
||||
</sector>
|
||||
<sector color="#FF9922" name="ObstacleZone">
|
||||
<corner name="_OZ1"/>
|
||||
<corner name="_OZ2"/>
|
||||
<corner name="_OZ3"/>
|
||||
<corner name="_OZ4"/>
|
||||
</sector>
|
||||
</sectors>
|
||||
<exceptions>
|
||||
<exception cond="!InsideCyberZoo(GetPosX(), GetPosY())" deroute="Standby"/>
|
||||
<exception cond="datalink_time > 2" deroute="Land here"/>
|
||||
<exception cond="electrical.bat_low && !(nav_block == IndexOfBlock('Land')) && !(nav_block == IndexOfBlock('Flare')) && !(nav_block == IndexOfBlock('Landed'))" deroute="Land"/>
|
||||
<exception cond="electrical.bat_critical && !(nav_block == IndexOfBlock('Land')) && !(nav_block == IndexOfBlock('Flare')) && !(nav_block == IndexOfBlock('Landed'))" deroute="Land here"/>
|
||||
</exceptions>
|
||||
<blocks>
|
||||
<block name="Wait GPS">
|
||||
<call fun="NavKillThrottle()"/>
|
||||
<while cond="!GpsFixValid()"/>
|
||||
</block>
|
||||
<block name="Geo init">
|
||||
<while cond="LessThan(NavBlockTime(), 2)"/>
|
||||
<call fun="NavSetAltitudeReferenceHere()"/>
|
||||
</block>
|
||||
<block name="Holding point">
|
||||
<call fun="NavKillThrottle()"/>
|
||||
<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
|
||||
</block>
|
||||
<block key="r" name="Start Engine">
|
||||
<call fun="NavResurrect()"/>
|
||||
<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
|
||||
</block>
|
||||
<block key="t" name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
|
||||
<exception cond="stateGetPositionEnu_f()->z > 1.25" deroute="Standby"/>
|
||||
<call fun="NavSetWaypointHere(WP_CLIMB)"/>
|
||||
<stay climb="nav_climb_vspeed" vmode="climb" wp="CLIMB"/>
|
||||
</block>
|
||||
<block key="s" name="Standby" strip_button="Standby" strip_icon="home.png">
|
||||
<call fun="NavSetWaypointHere(WP_STDBY)"/>
|
||||
<stay wp="STDBY"/>
|
||||
</block>
|
||||
<block key="g" name="START" strip_button="Go" strip_icon="lookfore.png">
|
||||
<call fun="NavSetWaypointHere(WP_GOAL)"/>
|
||||
</block>
|
||||
<block name="StayGoal">
|
||||
<go wp="GOAL"/>
|
||||
<exception cond="block_time > 1" deroute="MoveGoalForward"/>
|
||||
<exception cond="!safeToGoForwards" deroute="ChangeHeading"/>
|
||||
<exception cond="!InsideObstacleZone(GetPosX(),GetPosY())" deroute="PrepareObstacleRun"/>
|
||||
</block>
|
||||
<block name="MoveGoalForward">
|
||||
<call fun="moveWaypointForwards(WP_GOAL,3.0)"/>
|
||||
<deroute block="StayGoal"/>
|
||||
<exception cond="!safeToGoForwards" deroute="ChangeHeading"/>
|
||||
<exception cond="!InsideObstacleZone(WaypointX(WP_GOAL),WaypointY(WP_GOAL))" deroute="PrepareObstacleRun"/>
|
||||
</block>
|
||||
<block name="ChangeHeading">
|
||||
<call fun="NavSetWaypointHere(WP_STDBY)"/>
|
||||
<while cond="1">
|
||||
<call fun="increase_nav_heading(&nav_heading, incrementForAvoidance)"/>
|
||||
<call fun="moveWaypointForwards(WP_GOAL,3.0)"/>
|
||||
<go wp="STDBY"/>
|
||||
</while>
|
||||
<exception cond="safeToGoForwards" deroute="StayGoal"/>
|
||||
</block>
|
||||
<block name="PrepareObstacleRun">
|
||||
<call fun="NavSetWaypointHere(WP_STDBY)"/>
|
||||
<call fun="nav_set_heading_towards_waypoint(WP_HOME)"/>
|
||||
<stay wp="STDBY"/>
|
||||
<exception cond="block_time > 1" deroute="GetOutOfObstacleZone"/>
|
||||
</block>
|
||||
<block name="GetOutOfObstacleZone">
|
||||
<call fun="moveWaypointForwards(WP_GOAL,0.5)"/>
|
||||
<call fun="chooseRandomIncrementAvoidance()"/>
|
||||
<stay wp="GOAL"/>
|
||||
<exception cond="block_time > 1" deroute="START"/>
|
||||
</block>
|
||||
<block key="l" name="Land here" strip_button="Land Here" strip_icon="land-right.png">
|
||||
<call fun="NavSetWaypointHere(WP_TD)"/>
|
||||
</block>
|
||||
<block name="Land">
|
||||
<go wp="TD"/>
|
||||
</block>
|
||||
<block name="Flare">
|
||||
<exception cond="NavDetectGround()" deroute="Holding point"/>
|
||||
<exception cond="!nav_is_in_flight()" deroute="Landed"/>
|
||||
<call fun="NavStartDetectGround()"/>
|
||||
<stay climb="nav_descend_vspeed" vmode="climb" wp="TD"/>
|
||||
</block>
|
||||
<block name="Landed">
|
||||
<call fun="NavKillThrottle()"/>
|
||||
<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
|
||||
</block>
|
||||
</blocks>
|
||||
</flight_plan>
|
||||
@@ -27,6 +27,15 @@
|
||||
<corner name="FA1"/>
|
||||
</sector>
|
||||
</sectors>
|
||||
|
||||
<exceptions>
|
||||
<!-- Check inside small flight area, then goto Center(Standby) -->
|
||||
<exception cond="Or(! InsideFlight_Area(GetPosX(), GetPosY()), GetPosAlt() > GetAltRef() + 50) && !(nav_block == BLOCK_Init) && !(nav_block == BLOCK_Geo_init) && !(nav_block == BLOCK_Landed)" deroute="Standby"/>
|
||||
<!-- Check if battery is empty, then Land Here -->
|
||||
<exception cond="electrical.bat_low && !(nav_block == BLOCK_Land) && !(nav_block == BLOCK_Flare) && !(nav_block == BLOCK_Landed)" deroute="Land_Here"/>
|
||||
<!-- Check if time is up(10 seconds range), then Land Here -->
|
||||
<exception cond="10 > time_until_end && !(nav_block == BLOCK_Land) && !(nav_block == BLOCK_Flare) && !(nav_block == BLOCK_Landed)" deroute="Land_Here"/>
|
||||
</exceptions>
|
||||
<blocks>
|
||||
<block name="Wait GPS">
|
||||
<call fun="NavKillThrottle()"/>
|
||||
|
||||
@@ -0,0 +1,21 @@
|
||||
<!DOCTYPE module SYSTEM "module.dtd">
|
||||
|
||||
<module name="orange_avoider">
|
||||
<doc>
|
||||
<description>
|
||||
Avoid all objects that are orange!
|
||||
This example module shows how you can use the camera stream and colorfilter to detect orange objects.
|
||||
By adding this module to your flightplan and flying in the cyberzoo with the flightplan TUDELFT/tudelft_course2016_avoid_orange_cyberzoo.xml you will avoid every obstacle that is orange.
|
||||
</description>
|
||||
</doc>
|
||||
<depends>cv_colorfilter.xml</depends>
|
||||
<header>
|
||||
<file name="orange_avoider.h"/>
|
||||
</header>
|
||||
<init fun="orange_avoider_init()"/>
|
||||
<periodic fun="orange_avoider_periodic()" freq="4"/>
|
||||
<makefile>
|
||||
<file name="orange_avoider.c"/>
|
||||
</makefile>
|
||||
</module>
|
||||
|
||||
@@ -0,0 +1,88 @@
|
||||
/*
|
||||
* Copyright (C) Roland Meertens
|
||||
*
|
||||
* This file is part of paparazzi
|
||||
*
|
||||
*/
|
||||
/**
|
||||
* @file "modules/orange_avoider/orange_avoider.c"
|
||||
* @author Roland Meertens
|
||||
* Example on how to use the colours detected to avoid orange pole in the cyberzoo
|
||||
*/
|
||||
|
||||
#include "modules/orange_avoider/orange_avoider.h"
|
||||
#include "modules/computer_vision/colorfilter.h"
|
||||
#include "firmwares/rotorcraft/navigation.h"
|
||||
#include "state.h"
|
||||
#include <time.h>
|
||||
#include <stdlib.h>
|
||||
|
||||
uint8_t safeToGoForwards = FALSE;
|
||||
int tresholdColorCount = 200;
|
||||
int32_t incrementForAvoidance;
|
||||
|
||||
void orange_avoider_init()
|
||||
{
|
||||
// Initialise the variables of the colorfilter to accept orange
|
||||
color_lum_min = 0;
|
||||
color_lum_max = 131;
|
||||
color_cb_min = 93;
|
||||
color_cb_max = 255;
|
||||
color_cr_min = 134;
|
||||
color_cr_max = 255;
|
||||
// Initialise random values
|
||||
srand(time(NULL));
|
||||
chooseRandomIncrementAvoidance();
|
||||
}
|
||||
void orange_avoider_periodic()
|
||||
{
|
||||
// Check the amount of orange. If this is above a threshold
|
||||
// you want to turn a certain amount of degrees
|
||||
safeToGoForwards = color_count < tresholdColorCount;
|
||||
printf("Checking if this funciton is called %d treshold: %d now: %d \n", color_count, tresholdColorCount,
|
||||
safeToGoForwards);
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* Increases the NAV heading. Assumes heading is an INT32_ANGLE. It is bound in this function.
|
||||
*/
|
||||
uint8_t increase_nav_heading(int32_t *heading, int32_t increment)
|
||||
{
|
||||
*heading = *heading + increment;
|
||||
// Check if your turn made it go out of bounds...
|
||||
INT32_ANGLE_NORMALIZE(*heading); // HEADING HAS INT32_ANGLE_FRAC....
|
||||
return FALSE;
|
||||
}
|
||||
uint8_t moveWaypointForwards(uint8_t waypoint, float distanceMeters)
|
||||
{
|
||||
struct EnuCoor_i new_coor;
|
||||
struct EnuCoor_i *pos = stateGetPositionEnu_i(); // Get your current position
|
||||
|
||||
// Calculate the sine and cosine of the heading the drone is keeping
|
||||
float sin_heading = sinf(ANGLE_FLOAT_OF_BFP(nav_heading));
|
||||
float cos_heading = cosf(ANGLE_FLOAT_OF_BFP(nav_heading));
|
||||
|
||||
// Now determine where to place the waypoint you want to go to
|
||||
new_coor.x = pos->x + POS_BFP_OF_REAL(sin_heading * (distanceMeters));
|
||||
new_coor.y = pos->y + POS_BFP_OF_REAL(cos_heading * (distanceMeters));
|
||||
new_coor.z = pos->z; // Keep the height the same
|
||||
|
||||
// Set the waypoint to the calculated position
|
||||
waypoint_set_xy_i(waypoint, new_coor.x, new_coor.y);
|
||||
|
||||
return FALSE;
|
||||
}
|
||||
|
||||
uint8_t chooseRandomIncrementAvoidance()
|
||||
{
|
||||
|
||||
int r = rand() % 2;
|
||||
if (r == 0) {
|
||||
incrementForAvoidance = 350;
|
||||
} else {
|
||||
incrementForAvoidance = -350;
|
||||
}
|
||||
return FALSE;
|
||||
}
|
||||
|
||||
@@ -0,0 +1,26 @@
|
||||
/*
|
||||
* Copyright (C) Roland Meertens
|
||||
*
|
||||
* This file is part of paparazzi
|
||||
*
|
||||
*/
|
||||
/**
|
||||
* @file "modules/orange_avoider/orange_avoider.h"
|
||||
* @author Roland Meertens
|
||||
* Example on how to use the colours detected to avoid orange pole in the cyberzoo
|
||||
*/
|
||||
|
||||
#ifndef ORANGE_AVOIDER_H
|
||||
#define ORANGE_AVOIDER_H
|
||||
#include <inttypes.h>
|
||||
|
||||
extern uint8_t safeToGoForwards;
|
||||
extern int32_t incrementForAvoidance;
|
||||
extern void orange_avoider_init(void);
|
||||
extern void orange_avoider_periodic(void);
|
||||
extern uint8_t moveWaypointForwards(uint8_t waypoint, float distanceMeters);
|
||||
extern uint8_t increase_nav_heading(int32_t *heading, int32_t increment);
|
||||
extern uint8_t chooseRandomIncrementAvoidance(void);
|
||||
|
||||
#endif
|
||||
|
||||
Reference in New Issue
Block a user