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# 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)