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+follow me function that uses the stereocam
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@rmeertens
rmeertens committed Dec 10, 2015
1 parent 715589f commit 791c10e
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242 changes: 242 additions & 0 deletions conf/airframes/TUDELFT/tudelft_selfie.xml
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">

<airframe name="ardrone2_oa_avoid">

<firmware name="rotorcraft">
<target name="ap" board="ardrone2">
<configure name="USE_BARO_BOARD" value="TRUE"/>
</target>

<define name="FAILSAFE_DESCENT_SPEED" value="0.5"/>
<define name="USE_SONAR" value="TRUE"/>
<define name="NO_GPS_NEEDED_FOR_NAV" value="TRUE"/>
<configure name="USE_MAGNETOMETER" value="TRUE"/>

<!-- Subsystem section -->
<subsystem name="telemetry" type="transparent_udp"/>
<subsystem name="radio_control" type="datalink"/>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="ardrone2"/>
<subsystem name="imu" type="ardrone2"/>
<subsystem name="gps" type="datalink"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="ins" type="extended"/>
</firmware>

<modules main_freq="512">
<load name="bat_voltage_ardrone2.xml"/>
<load name="stereocam.xml">
<configure name="STEREO_UART" value="UART1"/>
<configure name="STEREO_BAUD" value="B115200"/>
</load>
<load name="stereocam_follow_me.xml"/>
</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="3000"/>
</commands>

<servos driver="Default">
<servo name="TOP_LEFT" no="0" min="0" neutral="1" max="500"/>
<servo name="TOP_RIGHT" no="1" min="0" neutral="1" max="500"/>
<servo name="BOTTOM_RIGHT" no="2" min="0" neutral="1" max="500"/>
<servo name="BOTTOM_LEFT" no="3" min="0" neutral="1" max="500"/>
</servos>

<section name="MIXING" prefix="MOTOR_MIXING_">
<define name="TRIM_ROLL" value="0"/>
<define name="TRIM_PITCH" value="0"/>
<define name="TRIM_YAW" value="0"/>

<!-- 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="IMU" prefix="IMU_">
<!-- Accelero -->
<define name="ACCEL_X_NEUTRAL" value="2048"/>
<define name="ACCEL_Y_NEUTRAL" value="2048"/>
<define name="ACCEL_Z_NEUTRAL" value="2048"/>

<!-- Magneto calibration -->
<define name="MAG_X_NEUTRAL" value="0"/>
<define name="MAG_Y_NEUTRAL" value="0"/>
<define name="MAG_Z_NEUTRAL" value="-180"/>
<define name="MAG_X_SENS" value="16." integer="16"/>
<define name="MAG_Y_SENS" value="16." integer="16"/>
<define name="MAG_Z_SENS" value="16." 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="-2.3" unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="1.7" 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_">
<!-- 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_">
</section>

<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<!-- setpoints -->
<define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<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="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
<!-- control effectiveness -->
<define name="G1_P" value="0.028551973"/>
<define name="G1_Q" value="0.023775417"/>
<define name="G1_R" value="0.00173069"/>
<define name="G2_R" value="0.086460732"/>

<!-- reference acceleration for attitude control -->
<define name="REF_ERR_P" value="380.0"/>
<define name="REF_ERR_Q" value="380.0"/>
<define name="REF_ERR_R" value="70.0"/>
<define name="REF_RATE_P" value="21.6"/>
<define name="REF_RATE_Q" value="21.6"/>
<define name="REF_RATE_R" value="11.0"/>

<!-- second order filter parameters -->
<define name="FILT_OMEGA" value="20.0"/>
<define name="FILT_ZETA" value="0.55"/>
<define name="FILT_OMEGA_R" value="20.0"/>
<define name="FILT_ZETA_R" value="0.55"/>

<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.06"/>
<define name="ACT_DYN_Q" value="0.06"/>
<define name="ACT_DYN_R" value="0.06"/>

<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
<define name="ADAPTIVE_MU" value="0.0001"/>
</section>
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="45" unit="deg"/>
<define name="SP_MAX_THETA" value="45" unit="deg"/>
<define name="SP_MAX_R" value="180" unit="deg/s"/>
<define name="DEADBAND_A" value="0"/>
<define name="DEADBAND_E" value="0"/>
<define name="DEADBAND_R" value="250"/>

<!-- reference -->
<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.)"/>

<!-- feedback -->
<define name="PHI_PGAIN" value="850"/>
<define name="PHI_DGAIN" value="425"/>
<define name="PHI_IGAIN" value="0"/>

<define name="THETA_PGAIN" value="850"/>
<define name="THETA_DGAIN" value="425"/>
<define name="THETA_IGAIN" value="0"/>

<define name="PSI_PGAIN" value="1000"/>
<define name="PSI_DGAIN" value="700"/>
<define name="PSI_IGAIN" value="0"/>

<!-- feedforward -->
<define name="PHI_DDGAIN" value="0"/>
<define name="THETA_DDGAIN" value="0"/>
<define name="PSI_DDGAIN" value="100"/>
</section>

<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="HOVER_KP" value="583"/>
<define name="HOVER_KD" value="82"/>
<define name="HOVER_KI" value="13"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.645"/>
<define name="ADAPT_THROTTLE_ENABLED" value="false"/>
</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="363"/>
<define name="DGAIN" value="237"/>
<define name="IGAIN" value="30"/>
<define name="VGAIN" value="0"/>
<define name="AGAIN" value="0"/>
</section>

<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;nw_motor&quot;, &quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;}"/>
<define name="JSBSIM_MODEL" value="&quot;simple_ardrone2&quot;"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_ardrone2.h&quot;"/>
</section>

<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_HOVER_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
<define name="ARRIVED_AT_WAYPOINT" value="0.15"/>
<define name="AUTOPILOT_IN_FLIGHT_MIN_THRUST" value="1500"/>
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
</section>

<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="9.9" unit="V"/>
<define name="LOW_BAT_LEVEL" value="10.1" unit="V"/>
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
</section>
</airframe>
32 changes: 32 additions & 0 deletions conf/flight_plans/TUDELFT/rotorcraft_selfie.xml
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<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">

<flight_plan alt="2" ground_alt="0" lat0="43 33 50.83" lon0="1 28 52.61" max_dist_from_home="150" name="Rotorcraft Basic (Enac)" security_height="2">
<header>
#include "autopilot.h"
</header>
<waypoints>
<waypoint name="HOME" x="0.0" y="0.0"/>
<waypoint name="CLIMB" x="0.0" y="5.0"/>
<waypoint name="STDBY" x="-2.0" y="-5.0"/>
<waypoint name="p1" x="3.6" y="-13.9"/>
<waypoint name="p2" x="27.5" y="-48.2"/>
<waypoint name="p3" x="16.7" y="-19.6"/>
<waypoint name="p4" x="13.7" y="-40.7"/>
<waypoint name="CAM" x="-20" y="-50" height="2."/>
<waypoint name="TD" x="5.6" y="-10.9"/>
</waypoints>
<blocks>
<block name="Wait GPS">
<call fun="NavKillThrottle()"/>
<while cond="!GpsFixValid()"/>
</block>
<block name="Geo init">
<while cond="LessThan(NavBlockTime(), 10)"/>
<call fun="NavSetGroundReferenceHere()"/>

</block>
<block name="avoid">
<attitude pitch="(ref_pitch)" roll="(ref_roll)" alt="2.5" vmode="alt" until="FALSE"/>
</block>
</blocks>
</flight_plan>
4 changes: 2 additions & 2 deletions conf/flight_plans/rotorcraft_optitrack_stereoavoid.xml
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Expand Up @@ -48,7 +48,7 @@
<attitude pitch="0" roll="0" throttle="0" until="stage_time > 1" vmode="throttle"/>
</block>
<block name="Takeoff">
<exception cond="stateGetPositionEnu_f()->z > 1.5" deroute="Standby"/>
<exception cond="stateGetPositionEnu_f()->z > 0.5" deroute="Standby"/>
<call fun="NavSetWaypointHere(WP_CLIMB)"/>
<stay climb="nav_climb_vspeed" vmode="climb" wp="CLIMB"/>
</block>
Expand All @@ -63,7 +63,7 @@
<exception cond="electrical.bat_low" deroute="land here"/>
<call fun="nav_set_heading_towards_waypoint(WP_GOAL)"/>
<call fun="NavSetWaypointHere(WP_route_START)"/>
<stay until="stage_time > 4" wp="route_START"/>
<stay until="stage_time > 3" wp="route_START"/>
</block>
<block name="route_to_GOAL">
<exception cond="GpsIsLost()" deroute="attitude_land"/>
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16 changes: 16 additions & 0 deletions conf/modules/follow_me.xml
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<!DOCTYPE module SYSTEM "module.dtd">

<module name="stereocam_follow_me" dir="stereocam">
<doc>
<description>follows based on stereo</description>
</doc>
<header>
<file name="follow_me.h"/>
</header>
<init fun="follow_me_init()"/>
<periodic fun="follow_me_periodic()" freq="512"/>
<makefile>
<file name="follow_me.c"/>
</makefile>
</module>

16 changes: 16 additions & 0 deletions conf/modules/stereocam_follow_me.xml
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<!DOCTYPE module SYSTEM "module.dtd">

<module name="stereocam_follow_me" dir="stereocam">
<doc>
<description>follows based on stereo</description>
</doc>
<header>
<file name="stereocam_follow_me/follow_me.h"/>
</header>
<init fun="follow_me_init()"/>
<periodic fun="follow_me_periodic()" freq="512"/>
<makefile>
<file name="stereocam_follow_me/follow_me.c" />
</makefile>
</module>

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