/
autonomous_sequence_high_level_compressed.py
192 lines (151 loc) · 5.99 KB
/
autonomous_sequence_high_level_compressed.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
# -*- coding: utf-8 -*-
#
# || ____ _ __
# +------+ / __ )(_) /_______________ _____ ___
# | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
# +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
# || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
#
# Copyright (C) 2018 Bitcraze AB
#
# This program 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 2
# of the License, or (at your option) any later version.
#
# This program 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 <https://www.gnu.org/licenses/>.
"""
Simple example that connects to one crazyflie (check the address at the top
and update it to your crazyflie address) and uses the high level commander
to send setpoints and trajectory to fly a figure 8.
This example is intended to work with any positioning system (including LPS).
It aims at documenting how to set the Crazyflie in position control mode
and how to send setpoints using the high level commander.
"""
import sys
import time
import cflib.crtp
from cflib.crazyflie import Crazyflie
from cflib.crazyflie.high_level_commander import HighLevelCommander
from cflib.crazyflie.log import LogConfig
from cflib.crazyflie.mem import CompressedSegment
from cflib.crazyflie.mem import CompressedStart
from cflib.crazyflie.mem import MemoryElement
from cflib.crazyflie.syncCrazyflie import SyncCrazyflie
from cflib.crazyflie.syncLogger import SyncLogger
from cflib.utils import uri_helper
# URI to the Crazyflie to connect to
uri = uri_helper.uri_from_env(default='radio://0/80/2M/E7E7E7E7E7')
# The trajectory to fly
a = 0.9
b = 0.5
c = 0.5
trajectory = [
CompressedStart(0.0, 0.0, 0.0, 0.0),
CompressedSegment(2.0, [0.0, 1.0, 1.0], [0.0, a, 0.0], [], []),
CompressedSegment(2.0, [1.0, b, 0.0], [-a, -c, 0.0], [], []),
CompressedSegment(2.0, [-b, -1.0, -1.0], [c, a, 0.0], [], []),
CompressedSegment(2.0, [-1.0, 0.0, 0.0], [-a, 0.0, 0.0], [], []),
]
class Uploader:
def __init__(self):
self._is_done = False
self._sucess = True
def upload(self, trajectory_mem):
print('Uploading data')
trajectory_mem.write_data(self._upload_done,
write_failed_cb=self._upload_failed)
while not self._is_done:
time.sleep(0.2)
return self._sucess
def _upload_done(self, mem, addr):
print('Data uploaded')
self._is_done = True
self._sucess = True
def _upload_failed(self, mem, addr):
print('Data upload failed')
self._is_done = True
self._sucess = False
def wait_for_position_estimator(scf):
print('Waiting for estimator to find position...')
log_config = LogConfig(name='Kalman Variance', period_in_ms=500)
log_config.add_variable('kalman.varPX', 'float')
log_config.add_variable('kalman.varPY', 'float')
log_config.add_variable('kalman.varPZ', 'float')
var_y_history = [1000] * 10
var_x_history = [1000] * 10
var_z_history = [1000] * 10
threshold = 0.001
with SyncLogger(scf, log_config) as logger:
for log_entry in logger:
data = log_entry[1]
var_x_history.append(data['kalman.varPX'])
var_x_history.pop(0)
var_y_history.append(data['kalman.varPY'])
var_y_history.pop(0)
var_z_history.append(data['kalman.varPZ'])
var_z_history.pop(0)
min_x = min(var_x_history)
max_x = max(var_x_history)
min_y = min(var_y_history)
max_y = max(var_y_history)
min_z = min(var_z_history)
max_z = max(var_z_history)
# print("{} {} {}".
# format(max_x - min_x, max_y - min_y, max_z - min_z))
if (max_x - min_x) < threshold and (
max_y - min_y) < threshold and (
max_z - min_z) < threshold:
break
def reset_estimator(cf):
cf.param.set_value('kalman.resetEstimation', '1')
time.sleep(0.1)
cf.param.set_value('kalman.resetEstimation', '0')
wait_for_position_estimator(cf)
def activate_high_level_commander(cf):
cf.param.set_value('commander.enHighLevel', '1')
def activate_mellinger_controller(cf):
cf.param.set_value('stabilizer.controller', '2')
def upload_trajectory(cf, trajectory_id, trajectory):
trajectory_mem = cf.mem.get_mems(MemoryElement.TYPE_TRAJ)[0]
trajectory_mem.trajectory = trajectory
upload_result = Uploader().upload(trajectory_mem)
if not upload_result:
print('Upload failed, aborting!')
sys.exit(1)
cf.high_level_commander.define_trajectory(
trajectory_id,
0,
len(trajectory),
type=HighLevelCommander.TRAJECTORY_TYPE_POLY4D_COMPRESSED)
total_duration = 0
# Skip the start element
for segment in trajectory[1:]:
total_duration += segment.duration
return total_duration
def run_sequence(cf, trajectory_id, duration):
commander = cf.high_level_commander
commander.takeoff(1.0, 2.0)
time.sleep(3.0)
relative = True
commander.start_trajectory(trajectory_id, 1.0, relative)
time.sleep(duration)
commander.land(0.0, 2.0)
time.sleep(2)
commander.stop()
if __name__ == '__main__':
cflib.crtp.init_drivers()
with SyncCrazyflie(uri, cf=Crazyflie(rw_cache='./cache')) as scf:
cf = scf.cf
trajectory_id = 1
activate_high_level_commander(cf)
# activate_mellinger_controller(cf)
duration = upload_trajectory(cf, trajectory_id, trajectory)
print('The sequence is {:.1f} seconds long'.format(duration))
reset_estimator(cf)
run_sequence(cf, trajectory_id, duration)