-
Notifications
You must be signed in to change notification settings - Fork 17.2k
/
sitl_calibration.py
450 lines (370 loc) · 13.9 KB
/
sitl_calibration.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
# Copyright (C) 2015-2016 Intel Corporation. All rights reserved.
#
# This file is free software: you can redistribute it and/or modify it
# under the terms of the GNU General Public License as published by the
# Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# This file is distributed in the hope that it will be useful, but
# WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
# See the GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License along
# with this program. If not, see <http://www.gnu.org/licenses/>.
'''calibration simulation command handling'''
from __future__ import division, print_function
import math
from pymavlink import quaternion
import random
import time
from MAVProxy.modules.lib import mp_module
class CalController(object):
def __init__(self, mpstate):
self.mpstate = mpstate
self.active = False
self.reset()
def reset(self):
self.desired_quaternion = None
self.general_state = 'idle'
self.attitude_callback = None
self.desired_quaternion_close_count = 0
def start(self):
self.active = True
def stop(self):
self.reset()
self.mpstate.functions.process_stdin('servo set 5 1000')
self.active = False
def normalize_attitude_angle(self, angle):
if angle < 0:
angle = 2 * math.pi + angle % (-2 * math.pi)
angle %= 2 * math.pi
if angle > math.pi:
return angle % -math.pi
return angle
def set_attitute(self, roll, pitch, yaw, callback=None):
roll = self.normalize_attitude_angle(roll)
pitch = self.normalize_attitude_angle(pitch)
yaw = self.normalize_attitude_angle(yaw)
self.desired_quaternion = quaternion.Quaternion((roll, pitch, yaw))
self.desired_quaternion.normalize()
scale = 500.0 / math.pi
roll_pwm = 1500 + int(roll * scale)
pitch_pwm = 1500 + int(pitch * scale)
yaw_pwm = 1500 + int(yaw * scale)
self.mpstate.functions.process_stdin('servo set 5 1150')
self.mpstate.functions.process_stdin('servo set 6 %d' % roll_pwm)
self.mpstate.functions.process_stdin('servo set 7 %d' % pitch_pwm)
self.mpstate.functions.process_stdin('servo set 8 %d' % yaw_pwm)
self.general_state = 'attitude'
self.desired_quaternion_close_count = 0
if callback:
self.attitude_callback = callback
def angvel(self, x, y, z, theta):
m = max(abs(x), abs(y), abs(z))
if not m:
x_pwm = y_pwm = z_pwm = 1500
else:
x_pwm = 1500 + round((x / m) * 500)
y_pwm = 1500 + round((y / m) * 500)
z_pwm = 1500 + round((z / m) * 500)
max_theta = 2 * math.pi
if theta < 0:
theta = 0
elif theta > max_theta:
theta = max_theta
theta_pwm = 1300 + round((theta / max_theta) * 700)
self.mpstate.functions.process_stdin('servo set 5 %d' % theta_pwm)
self.mpstate.functions.process_stdin('servo set 6 %d' % x_pwm)
self.mpstate.functions.process_stdin('servo set 7 %d' % y_pwm)
self.mpstate.functions.process_stdin('servo set 8 %d' % z_pwm)
self.general_state = 'angvel'
def autonomous_magcal(self):
self.mpstate.functions.process_stdin('servo set 5 1250')
def handle_simstate(self, m):
if self.general_state == 'attitude':
q = quaternion.Quaternion((m.roll, m.pitch, m.yaw))
q.normalize()
d1 = abs(self.desired_quaternion.q - q.q)
d2 = abs(self.desired_quaternion.q + q.q)
if (d1 <= 1e-2).all() or (d2 <= 1e-2).all():
self.desired_quaternion_close_count += 1
else:
self.desired_quaternion_close_count = 0
if self.desired_quaternion_close_count == 5:
self.general_state = 'idle'
if callable(self.attitude_callback):
self.attitude_callback()
self.attitude_callback = None
def mavlink_packet(self, m):
if not self.active:
return
if m.get_type() == 'SIMSTATE':
self.handle_simstate(m)
class AccelcalController(CalController):
state_data = {
'level': dict(
name='Level',
attitude=(0, 0, 0),
),
'LEFT': dict(
name='Left side',
attitude=(-math.pi / 2, 0, 0),
),
'RIGHT': dict(
name='Right side',
attitude=(math.pi / 2, 0, 0),
),
'DOWN': dict(
name='Nose down',
attitude=(0, -math.pi / 2, 0),
),
'UP': dict(
name='Nose up',
attitude=(0, math.pi / 2, 0),
),
'BACK': dict(
name='Back',
attitude=(math.pi, 0, 0),
),
}
def __init__(self, mpstate):
super(AccelcalController, self).__init__(mpstate)
self.state = None
def reset(self):
super(AccelcalController, self).reset()
def start(self):
super(AccelcalController, self).start()
if self.state:
self.set_side_state(self.state)
def side_from_msg(self, m):
text = str(m.text)
if text.startswith('Place '):
for side in self.state_data:
if side in text:
return side
return None
def report_from_msg(self, m):
'''Return true if successful, false if failed, None if unknown'''
text = str(m.text)
if 'Calibration successful' in text:
return True
elif 'Calibration FAILED' in text:
return False
return None
def set_side_state(self, side):
self.state = side
if not self.active:
return
data = self.state_data[side]
def callback():
self.mpstate.console.set_status(
name='sitl_accelcal',
text='sitl_accelcal: %s ready - Waiting for user input' % data['name'],
row=4,
fg='blue',
)
self.mpstate.console.writeln('sitl_accelcal: attitude detected, please press any key..')
self.mpstate.console.writeln('sitl_accelcal: sending attitude, please wait..')
roll, pitch, yaw = data['attitude']
self.set_attitute(roll, pitch, yaw, callback=callback)
self.mpstate.console.set_status(
name='sitl_accelcal',
text='sitl_accelcal: %s - Waiting for attitude' % data['name'],
row=4,
fg='orange',
)
def mavlink_packet(self, m):
super(AccelcalController, self).mavlink_packet(m)
if m.get_type() != 'STATUSTEXT':
return
side = self.side_from_msg(m)
if side:
self.set_side_state(side)
else:
success = self.report_from_msg(m)
if success is None:
return
self.state = None
if success:
self.mpstate.console.set_status(
name='sitl_accelcal',
text='sitl_accelcal: Calibration successful',
row=4,
fg='blue',
)
else:
self.mpstate.console.set_status(
name='sitl_accelcal',
text='sitl_accelcal: Calibration failed',
row=4,
fg='red',
)
class MagcalController(CalController):
yaw_increment = math.radians(45)
yaw_noise_range = math.radians(5)
rotation_angspeed = math.pi / 4
'''rotation angular speed in rad/s'''
rotation_angspeed_noise = math.radians(2)
rotation_axes = (
(1, 0, 0),
(0, 1, 0),
(1, 1, 0),
)
full_turn_time = 2 * math.pi / rotation_angspeed
max_full_turns = 3
'''maximum number of full turns to be performed for each initial attitude'''
def reset(self):
super(MagcalController, self).reset()
self.yaw = 0
self.rotation_start_time = 0
self.last_progress = {}
self.rotation_axis_idx = 0
def start(self):
super(MagcalController, self).start()
self.set_attitute(0, 0, 0, callback=self.next_rot_att_callback)
def next_rot_att_callback(self):
x, y, z = self.rotation_axes[self.rotation_axis_idx]
angspeed = self.rotation_angspeed
angspeed += random.uniform(-1, 1) * self.rotation_angspeed_noise
self.angvel(x, y, z, angspeed)
self.rotation_start_time = time.time()
def next_rotation(self):
self.rotation_axis_idx += 1
self.rotation_axis_idx %= len(self.rotation_axes)
if self.rotation_axis_idx == 0:
yaw_inc = self.yaw_increment
yaw_inc += random.uniform(-1, 1) * self.yaw_noise_range
self.yaw = (self.yaw + yaw_inc) % (2 * math.pi)
self.rotation_start_time = 0
self.last_progress = {}
self.set_attitute(0, 0, self.yaw, callback=self.next_rot_att_callback)
def mavlink_packet(self, m):
super(MagcalController, self).mavlink_packet(m)
if not self.active:
return
if m.get_type() == 'MAG_CAL_REPORT':
# NOTE: This may be not the ideal way to handle it
if m.compass_id in self.last_progress:
del self.last_progress[m.compass_id]
if not self.last_progress:
self.stop()
return
if m.get_type() != 'MAG_CAL_PROGRESS':
return
if not self.rotation_start_time:
return
t = time.time()
m.time = t
if m.compass_id not in self.last_progress:
self.last_progress[m.compass_id] = m
m.stuck = False
return
last = self.last_progress[m.compass_id]
dt = t - self.rotation_start_time
if dt > self.max_full_turns * self.full_turn_time:
self.next_rotation()
return
if m.completion_pct == last.completion_pct:
if m.time - last.time > self.full_turn_time / 2:
last.stuck = True
else:
self.last_progress[m.compass_id] = m
m.stuck = False
for p in self.last_progress.values():
if not p.stuck:
break
else:
self.next_rotation()
class SitlCalibrationModule(mp_module.MPModule):
def __init__(self, mpstate):
super(SitlCalibrationModule, self).__init__(mpstate, "sitl_calibration")
self.add_command(
'sitl_attitude',
self.cmd_sitl_attitude,
'set the vehicle at the inclination given by ROLL, PITCH and YAW' +
' in degrees',
)
self.add_command(
'sitl_angvel',
self.cmd_angvel,
'apply angular velocity on the vehicle with a rotation axis and a '+
'magnitude in degrees/s',
)
self.add_command(
'sitl_accelcal',
self.cmd_sitl_accelcal,
'actuate on the simulator vehicle for accelerometer calibration',
)
self.add_command(
'sitl_magcal',
self.cmd_sitl_magcal,
'actuate on the simulator vehicle for magnetometer calibration',
)
self.add_command(
'sitl_autonomous_magcal',
self.cmd_sitl_autonomous_magcal,
'let the simulating program do the rotations for magnetometer ' +
'calibration - basically, continuous rotations over six ' +
'calibration poses',
)
self.add_command(
'sitl_stop',
self.cmd_sitl_stop,
'stop the current calibration control',
)
self.controllers = dict(
generic_controller=CalController(mpstate),
accelcal_controller=AccelcalController(mpstate),
magcal_controller=MagcalController(mpstate),
)
self.current_controller = None
def set_controller(self, controller):
if self.current_controller:
self.current_controller.stop()
controller = self.controllers.get(controller, None)
if controller:
controller.start()
self.current_controller = controller
def cmd_sitl_attitude(self, args):
if len(args) != 3:
print('Usage: sitl_attitude <ROLL> <PITCH> <YAW>')
return
try:
roll, pitch, yaw = args
roll = math.radians(float(roll))
pitch = math.radians(float(pitch))
yaw = math.radians(float(yaw))
except ValueError:
print('Invalid arguments')
self.set_controller('generic_controller')
self.current_controller.set_attitute(roll, pitch, yaw)
def cmd_angvel(self, args):
if len(args) != 4:
print('Usage: sitl_angvel <AXIS_X> <AXIS_Y> <AXIS_Z> <THETA>')
return
try:
x, y, z, theta = args
x = float(x)
y = float(y)
z = float(z)
theta = math.radians(float(theta))
except ValueError:
print('Invalid arguments')
self.set_controller('generic_controller')
self.current_controller.angvel(x, y, z, theta)
def cmd_sitl_stop(self, args):
self.set_controller('generic_controller')
def cmd_sitl_accelcal(self, args):
self.set_controller('accelcal_controller')
def cmd_sitl_magcal(self, args):
self.set_controller('magcal_controller')
def cmd_sitl_autonomous_magcal(self, args):
self.set_controller('generic_controller')
self.current_controller.autonomous_magcal()
def mavlink_packet(self, m):
for c in self.controllers.values():
c.mavlink_packet(m)
def init(mpstate):
'''initialise module'''
return SitlCalibrationModule(mpstate)