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exp.py
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import logging
import time
import cflib.crtp
from cflib.crazyflie import Crazyflie
from cflib.crazyflie.syncCrazyflie import SyncCrazyflie
from cflib.utils import uri_helper
from cflib.crazyflie.log import LogConfig
# from cflib.crazyflie.syncLogger import SyncLogger
# from cflib.positioning.motion_commander import MotionCommander
from math import pi,sin,cos
# Custom lib for quaternion algebra
from quaternion import *
# Only output errors from the logging framework
logging.basicConfig(level=logging.ERROR)
formatter = logging.Formatter('%(message)s') # logging.Formatter('%(asctime)s - %(levelname)s | %(message)s')
console_handler = logging.FileHandler('console.log')
console_handler.setFormatter(formatter)
console_logger = logging.getLogger('console')
console_logger.setLevel(logging.INFO)
console_logger.addHandler(console_handler)
state_handler = logging.FileHandler('states.log')
state_handler.setFormatter(formatter)
state_logger = logging.getLogger('state')
state_logger.setLevel(logging.INFO)
state_logger.addHandler(state_handler)
G = 9.81
m = 0.03
K_HAT = PureQuaternion([0,0,1])
class Experiment():
def __init__(self, crazyflie_id: int, channel : int = 100, dt : float = 0.01, Tmax : int = 180, p0 : list = [0.0,0.0,0.0], v0: list = [0.0,0.0,0.0]):
# Initialize the low-level drivers
cflib.crtp.init_drivers()
# URI to the Crazyflie to connect to
self._uri = uri_helper.uri_from_env(
default='radio://0/%d/2M/E7E7E7E7%02d' % (channel, crazyflie_id)
)
# Experiment constants
self._dt = dt
self._Tmax = Tmax
# Init variables for in-the-loop simulation part
self.__p = PureQuaternion(p0)
self.__v = PureQuaternion(v0)
self.__prev_t = None
self.__prev_F = None
def run(self):
with SyncCrazyflie(self._uri, cf=Crazyflie(rw_cache='./cache')) as self.scf:
print("Connected to crazyflie. Starting experiment...")
# log console
self.scf.cf.console.receivedChar.add_callback(self._log_console)
# Add logger with callback
lg_stab = LogConfig(name='Stabilizer', period_in_ms=int(self._dt*1000))
lg_stab.add_variable('stateEstimate.qw', 'float')
lg_stab.add_variable('stateEstimate.qx', 'float')
lg_stab.add_variable('stateEstimate.qy', 'float')
lg_stab.add_variable('stateEstimate.qz', 'float')
# lg_stab.add_variable('sensfusion6.qw', 'float')
# lg_stab.add_variable('sensfusion6.qx', 'float')
# lg_stab.add_variable('sensfusion6.qy', 'float')
# lg_stab.add_variable('sensfusion6.qz', 'float')
self.scf.cf.log.add_config(lg_stab)
# # Test propperlers
# self._test_proppelers()
print('Flying...')
try:
# Set parameters
self._set_params()
lg_stab.data_received_cb.add_callback(self._callback)
lg_stab.start()
# Lock until experiment is finished
time.sleep(self._Tmax)
finally:
self.scf.cf.commander.send_stop_setpoint()
self.scf.cf.commander.send_notify_setpoint_stop()
print('Done')
lg_stab.stop()
print("Finished experiment. Disconnecting...")
def _test_proppelers(self):
# Test properllers
print('Testing properlers...')
self.scf.cf.param.set_value('health.startPropTest', 0)
self.scf.cf.param.set_value('health.startPropTest', 1)
time.sleep(8)
self.scf.cf.param.set_value('health.startPropTest', 0)
print('Done testing properlers')
def _set_params(self):
print("Setting parameters")
self.scf.cf.param.set_value('stabilizer.estimator', 3)
self.scf.cf.param.set_value('stabilizer.controller', 5)
# time.sleep(1)
self.scf.cf.param.set_value('ctrlAtt.robust_controller', 1.0)
self.scf.cf.param.set_value('ctrlAtt.att_thrust', 4.0)
self.scf.cf.param.set_value('ctrlAtt.saturate_xi3_hat', 0.0001)
self.scf.cf.param.set_value('ctrlAtt.saturate_xi4_hat', 0.0001)
self.scf.cf.param.set_value('ctrlAtt.xi_r', 0.0005)
self.scf.cf.param.set_value('ctrlAtt.k_varphi_e', 2.5)
self.scf.cf.param.set_value('ctrlAtt.epsilon_o', 2e-3)
self.scf.cf.param.set_value('ctrlAtt.k_e_w', 0.001)
self.scf.cf.param.set_value('ctrlAtt.k_e_o', 0.001)
self.scf.cf.param.set_value('ctrlAtt.rho_3', 2.5e-5)
self.scf.cf.param.set_value('ctrlAtt.rho_4', 2.5e-5)
time.sleep(2)
print("Done")
def _callback(self, timestamp: int, data: dict, logconf: LogConfig):
self._t = timestamp/1000.0
data['time'] = timestamp
if self.__prev_t is None:
self.__prev_t = self._t
dt = self._t - self.__prev_t
self.__prev_t = self._t
data['dt'] = dt
o = Quaternion([data['stateEstimate.qw'],data['stateEstimate.qx'],data['stateEstimate.qy'],data['stateEstimate.qz']])
od,u_T = self._controller(o, self._t, dt)
self._in_the_loop_integrate(o,u_T,self._t, dt)
data['target_qx'] = od.imag[0]
data['target_qy'] = od.imag[1]
data['target_qz'] = od.imag[2]
data['target_qw'] = od.real
data['px'] = self.__p.imag[0]
data['py'] = self.__p.imag[1]
data['pz'] = self.__p.imag[2]
data['vx'] = self.__v.imag[0]
data['vy'] = self.__v.imag[1]
data['vz'] = self.__v.imag[2]
data['u_T'] = u_T
state_logger.info(f'{data}')
self.scf.cf.commander.send_velocity_world_setpoint(-data['target_qx'],data['target_qy'],data['target_qz'],data['target_qw'])
def _controller(self, o: Quaternion, t: float, dt: float):
goal = PureQuaternion([-1,2,5])
z_p = self.__p - goal
F = -2*(z_p)
if F.norm > 2:
F = (2/F.norm)*F
if self.__prev_F is None:
self.__prev_F = F
try:
dFdt = (F - self.__prev_F)/dt
except:
dFdt = PureQuaternion([0,0,0])
self.__prev_F = F
z_v = self.__v - F
f_L = -2*z_p - 2*z_v
f = m*(dFdt + G*K_HAT + f_L)
f = PureQuaternion(f.imag)
# f = PureQuaternion([0.0,0.0,1.0])
n_z = (1/f.norm)*K_HAT.cross(f)
if n_z.norm == 0:
n_z = K_HAT
elif (n_z.norm - 1)**2 > 0.01**2:
n_z = (1/n_z.norm)*n_z
phi_z = np.arccos(K_HAT.dot(f)/f.norm)
o_z = ((phi_z/2)*n_z).exp(always_quaternion=True)
o_d = o_z
k_B = o*K_HAT*o.conj(); k_B = PureQuaternion(k_B.imag)
u_T = k_B.dot(f)
o_d = Quaternion([1.0, 0.0, 0.0, 0.0])
angle = t/5 #% (2*pi) - pi
# o_d = Quaternion([cos(angle/2), sin(angle/2), 0, 0])*Quaternion([cos(angle/2), 0, sin(angle/2), 0])
# u_T = 0
o_d = Quaternion([cos(pi/8), sin(pi/8)*cos(t/8), sin(pi/8)*sin(t/8), 0.0])
return o_d,u_T
def _in_the_loop_integrate(self, o: Quaternion, u_T: float, t: float, dt: float):
o_data = o.data
o_fixed = Quaternion([
-o_data[0], #w
-o_data[1], #x
o_data[2], #y
o_data[3] #z
])
self.__p = self.__p + (dt/2)*self.__v
k_B = o_fixed*K_HAT*o_fixed.conj(); k_B = PureQuaternion(k_B.imag)
self.__v = self.__v + (dt/2)*(-G*K_HAT + (u_T/m)*k_B )
def _log_console(self, text):
console_logger.info(text)
if __name__ == '__main__':
exp = Experiment(4)
exp.run()