-
Notifications
You must be signed in to change notification settings - Fork 1
/
quad_sim.py
162 lines (152 loc) · 7.91 KB
/
quad_sim.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
import quadcopter,gui,controller
import signal
import sys
import argparse
# Constants
TIME_SCALING = 1.0 # Any positive number(Smaller is faster). 1.0->Real Time, 0.0->Run as fast as possible
QUAD_DYNAMICS_UPDATE = 0.002 # seconds
CONTROLLER_DYNAMICS_UPDATE = 0.005 # seconds
run = True
def Single_Point2Point():
# Set goals to go to
GOALS = [(1,1,2),(1,-1,4),(-1,-1,2),(-1,1,4)]
YAWS = [0,3.14,-1.54,1.54]
# Define the quadcopters
QUADCOPTER={'q1':{'position':[1,0,4],'orientation':[0,0,0],'L':0.3,'r':0.1,'prop_size':[10,4.5],'weight':1.2}}
# Controller parameters
CONTROLLER_PARAMETERS = {'Motor_limits':[4000,9000],
'Tilt_limits':[-10,10],
'Yaw_Control_Limits':[-900,900],
'Z_XY_offset':500,
'Linear_PID':{'P':[300,300,7000],'I':[0.04,0.04,4.5],'D':[450,450,5000]},
'Linear_To_Angular_Scaler':[1,1,0],
'Yaw_Rate_Scaler':0.18,
'Angular_PID':{'P':[22000,22000,1500],'I':[0,0,1.2],'D':[12000,12000,0]},
}
# Catch Ctrl+C to stop threads
signal.signal(signal.SIGINT, signal_handler)
# Make objects for quadcopter, gui and controller
quad = quadcopter.Quadcopter(QUADCOPTER)
gui_object = gui.GUI(quads=QUADCOPTER)
ctrl = controller.Controller_PID_Point2Point(quad.get_state,quad.get_time,quad.set_motor_speeds,params=CONTROLLER_PARAMETERS,quad_identifier='q1')
# Start the threads
quad.start_thread(dt=QUAD_DYNAMICS_UPDATE,time_scaling=TIME_SCALING)
ctrl.start_thread(update_rate=CONTROLLER_DYNAMICS_UPDATE,time_scaling=TIME_SCALING)
# Update the GUI while switching between destination poitions
while(run==True):
for goal,y in zip(GOALS,YAWS):
ctrl.update_target(goal)
ctrl.update_yaw_target(y)
for i in range(300):
gui_object.quads['q1']['position'] = quad.get_position('q1')
gui_object.quads['q1']['orientation'] = quad.get_orientation('q1')
gui_object.update()
quad.stop_thread()
ctrl.stop_thread()
def Multi_Point2Point():
# Set goals to go to
GOALS_1 = [(-1,-1,4),(1,1,2)]
GOALS_2 = [(1,-1,2),(-1,1,4)]
# Define the quadcopters
QUADCOPTERS={'q1':{'position':[1,0,4],'orientation':[0,0,0],'L':0.3,'r':0.1,'prop_size':[10,4.5],'weight':1.2},
'q2':{'position':[-1,0,4],'orientation':[0,0,0],'L':0.15,'r':0.05,'prop_size':[6,4.5],'weight':0.7}}
# Controller parameters
CONTROLLER_1_PARAMETERS = {'Motor_limits':[4000,9000],
'Tilt_limits':[-10,10],
'Yaw_Control_Limits':[-900,900],
'Z_XY_offset':500,
'Linear_PID':{'P':[300,300,7000],'I':[0.04,0.04,4.5],'D':[450,450,5000]},
'Linear_To_Angular_Scaler':[1,1,0],
'Yaw_Rate_Scaler':0.18,
'Angular_PID':{'P':[22000,22000,1500],'I':[0,0,1.2],'D':[12000,12000,0]},
}
CONTROLLER_2_PARAMETERS = {'Motor_limits':[4000,9000],
'Tilt_limits':[-10,10],
'Yaw_Control_Limits':[-900,900],
'Z_XY_offset':500,
'Linear_PID':{'P':[300,300,7000],'I':[0.04,0.04,4.5],'D':[450,450,5000]},
'Linear_To_Angular_Scaler':[1,1,0],
'Yaw_Rate_Scaler':0.18,
'Angular_PID':{'P':[22000,22000,1500],'I':[0,0,1.2],'D':[12000,12000,0]},
}
# Catch Ctrl+C to stop threads
signal.signal(signal.SIGINT, signal_handler)
# Make objects for quadcopter, gui and controllers
gui_object = gui.GUI(quads=QUADCOPTERS)
quad = quadcopter.Quadcopter(quads=QUADCOPTERS)
ctrl1 = controller.Controller_PID_Point2Point(quad.get_state,quad.get_time,quad.set_motor_speeds,params=CONTROLLER_1_PARAMETERS,quad_identifier='q1')
ctrl2 = controller.Controller_PID_Point2Point(quad.get_state,quad.get_time,quad.set_motor_speeds,params=CONTROLLER_2_PARAMETERS,quad_identifier='q2')
# Start the threads
quad.start_thread(dt=QUAD_DYNAMICS_UPDATE,time_scaling=TIME_SCALING)
ctrl1.start_thread(update_rate=CONTROLLER_DYNAMICS_UPDATE,time_scaling=TIME_SCALING)
ctrl2.start_thread(update_rate=CONTROLLER_DYNAMICS_UPDATE,time_scaling=TIME_SCALING)
# Update the GUI while switching between destination poitions
while(run==True):
for goal1,goal2 in zip(GOALS_1,GOALS_2):
ctrl1.update_target(goal1)
ctrl2.update_target(goal2)
for i in range(150):
for key in QUADCOPTERS:
gui_object.quads[key]['position'] = quad.get_position(key)
gui_object.quads[key]['orientation'] = quad.get_orientation(key)
gui_object.update()
quad.stop_thread()
ctrl1.stop_thread()
ctrl2.stop_thread()
def Single_Velocity():
# Set goals to go to
GOALS = [(0.5,0,2),(0,0.5,2),(-0.5,0,2),(0,-0.5,2)]
# Define the quadcopters
QUADCOPTER={'q1':{'position':[0,0,0],'orientation':[0,0,0],'L':0.3,'r':0.1,'prop_size':[10,4.5],'weight':1.2}}
# Controller parameters
CONTROLLER_PARAMETERS = {'Motor_limits':[4000,9000],
'Tilt_limits':[-10,10],
'Yaw_Control_Limits':[-900,900],
'Z_XY_offset':500,
'Linear_PID':{'P':[2000,2000,7000],'I':[0.25,0.25,4.5],'D':[50,50,5000]},
'Linear_To_Angular_Scaler':[1,1,0],
'Yaw_Rate_Scaler':0.18,
'Angular_PID':{'P':[22000,22000,1500],'I':[0,0,1.2],'D':[12000,12000,0]},
}
# Catch Ctrl+C to stop threads
signal.signal(signal.SIGINT, signal_handler)
# Make objects for quadcopter, gui and controller
quad = quadcopter.Quadcopter(QUADCOPTER)
gui_object = gui.GUI(quads=QUADCOPTER)
ctrl = controller.Controller_PID_Velocity(quad.get_state,quad.get_time,quad.set_motor_speeds,params=CONTROLLER_PARAMETERS,quad_identifier='q1')
# Start the threads
quad.start_thread(dt=QUAD_DYNAMICS_UPDATE,time_scaling=TIME_SCALING)
ctrl.start_thread(update_rate=CONTROLLER_DYNAMICS_UPDATE,time_scaling=TIME_SCALING)
# Update the GUI while switching between destination poitions
while(run==True):
for goal in GOALS:
ctrl.update_target(goal)
for i in range(150):
gui_object.quads['q1']['position'] = quad.get_position('q1')
gui_object.quads['q1']['orientation'] = quad.get_orientation('q1')
gui_object.update()
quad.stop_thread()
ctrl.stop_thread()
def parse_args():
parser = argparse.ArgumentParser(description="Quadcopter Simulator")
parser.add_argument("--sim", help='single_p2p, multi_p2p or single_velocity', default='single_p2p')
parser.add_argument("--time_scale", type=float, default=-1.0, help='Time scaling factor. 0.0:fastest,1.0:realtime,>1:slow, ex: --time_scale 0.1')
parser.add_argument("--quad_update_time", type=float, default=0.0, help='delta time for quadcopter dynamics update(seconds), ex: --quad_update_time 0.002')
parser.add_argument("--controller_update_time", type=float, default=0.0, help='delta time for controller update(seconds), ex: --controller_update_time 0.005')
return parser.parse_args()
def signal_handler(signal, frame):
global run
run = False
print('Stopping')
sys.exit(0)
if __name__ == "__main__":
args = parse_args()
if args.time_scale>=0: TIME_SCALING = args.time_scale
if args.quad_update_time>0: QUAD_DYNAMICS_UPDATE = args.quad_update_time
if args.controller_update_time>0: CONTROLLER_DYNAMICS_UPDATE = args.controller_update_time
if args.sim == 'single_p2p':
Single_Point2Point()
elif args.sim == 'multi_p2p':
Multi_Point2Point()
elif args.sim == 'single_velocity':
Single_Velocity()