diff --git a/Flight_control_Comprehensive/emuStart_try.sh b/Flight_control_Comprehensive/emuStart_try.sh deleted file mode 100644 index 2e04819..0000000 --- a/Flight_control_Comprehensive/emuStart_try.sh +++ /dev/null @@ -1,100 +0,0 @@ -#!/bin/bash - -launch_file=$1 -docker_ssh=$2 - -GAZEBO_IP=`ifconfig $3 |grep "inet "| cut -f 2 -d ":"|cut -f 1 -d " "` - -group_count=0 - -file=envfile -if [ -f $file ] -then - `rm -rf $file` -fi -`touch $file` - -group="ns=" -port="htonsnumber" -x="name=\"x\"" -y="name=\"y\"" -x_diff="name=\"X_DIFF\"" -y_diff="name=\"Y_DIFF\"" - -while read line -do - if [[ $line =~ $group ]] - then - let group_count=$group_count+1 - temp=${line#*\"} - echo "GAZEBO_IP:$GAZEBO_IP" >> $file - echo "NAMESPACE:${temp%\"*}" >> $file - fi - - if [[ $line =~ $port ]] - then - temp=${line%\"*} - echo "SOCKET_PORT:${temp##*\"}" >> $file - fi - - if [[ $line =~ $x ]] - then - temp=${line%\"*} - echo "START_X:${temp##*\"}" >> $file - fi - - if [[ $line =~ $y ]] - then - temp=${line%\"*} - echo "START_Y:${temp##*\"}" >> $file - fi - - if [[ $line =~ $x_diff ]] - then - temp=${line%\"*} - echo "X_DIFF:${temp##*\"}" >> $file - fi - - if [[ $line =~ $y_diff ]] - then - temp=${line%\"*} - echo "Y_DIFF:${temp##*\"}" >> $file - fi - -done < $launch_file - -i=0 -index=0 -while read line -do - case $(($i%7)) in - 0) gazebo_ip[$index]=$line;; - 1) namespace[$index]=$line;; - 2) socket_port[$index]=$line;; - 3) x_diff[$index]=$line;; - 4) y_diff[$index]=$line;; - 5) start_x[$index]=$line;; - 6) start_y[$index]=$line;let index++;; - esac - let i++ -done < $file - -#`rm $file` - -for((i=0;i/dev/null 2>&1; sudo docker rm ${namespace[$i]#*:} >/dev/null 2>&1; sudo docker create --name ${namespace[$i]#*:} -e NAMESPACE=${namespace[$i]#*:} -e GAZEBO_IP=${gazebo_ip[$i]#*:} -e SOCKET_PORT=${socket_port[$i]#*:} -e START_X=${start_x[$i]#*:} -e START_Y=${start_y[$i]#*:} -e X_DIFF=${x_diff[$i]#*:} -e Y_DIFF=${y_diff[$i]#*:} $4 >/dev/null 2>&1; sudo docker start ${namespace[$i]#*:} >/dev/null 2>&1"` -# `sshpass -p '123123' ssh $2 "sudo docker rm ${namespace[$i]#*:} >/dev/null 2>&1"` -# `sshpass -p '123123' ssh $2 "sudo docker create --name ${namespace[$i]#*:} -e NAMESPACE=${namespace[$i]#*:} -e GAZEBO_IP=${gazebo_ip[$i]#*:} -e SOCKET_PORT=${socket_port[$i]#*:} -e START_X=${start_x[$i]#*:} -e START_Y=${start_y[$i]#*:} -e X_DIFF=${x_diff[$i]#*:} -e Y_DIFF=${y_diff[$i]#*:} $4 >/dev/null 2>&1"` -# `sshpass -p '123123' ssh $2 "sudo docker start ${namespace[$i]#*:} >/dev/null 2>&1"` - docker_ip[$i]=`sshpass -p '123456' ssh $2 "sudo docker inspect -f '{{range .NetworkSettings.Networks}}{{.IPAddress}}{{end}}' ${namespace[$i]#*:}"` - - export ${namespace[$i]#*:}_ip=${docker_ip[$i]} - echo "${namespace[$i]#*:} Done!!" -done -echo "All Done!!" - -#source /home/zhangshuai/catkin_ws/devel/setup.bash -source /home/airc1-02/Flight_control_Comprehensive/devel/setup.bash - -`roslaunch hector_quadrotor_gazebo ${launch_file##*/}` diff --git a/Flight_control_Comprehensive/emuStart_try_distri.sh b/Flight_control_Comprehensive/emuStart_try_distri.sh deleted file mode 100644 index 3ba2770..0000000 --- a/Flight_control_Comprehensive/emuStart_try_distri.sh +++ /dev/null @@ -1,98 +0,0 @@ -#!/bin/bash - -launch_file=$1 -docker_ssh=$2 - -GAZEBO_IP=`ifconfig $3 |grep "inet "| cut -f 2 -d ":"|cut -f 1 -d " "` - -group_count=0 - -file=envfile -if [ -f $file ] -then - `rm -rf $file` -fi -`touch $file` - -group="ns=" -port="htonsnumber" -x="name=\"x\"" -y="name=\"y\"" -x_diff="name=\"X_DIFF\"" -y_diff="name=\"Y_DIFF\"" - -while read line -do - if [[ $line =~ $group ]] - then - let group_count=$group_count+1 - temp=${line#*\"} - echo "GAZEBO_IP:$GAZEBO_IP" >> $file - echo "NAMESPACE:${temp%\"*}" >> $file - fi - - if [[ $line =~ $port ]] - then - temp=${line%\"*} - echo "SOCKET_PORT:${temp##*\"}" >> $file - fi - - if [[ $line =~ $x ]] - then - temp=${line%\"*} - echo "START_X:${temp##*\"}" >> $file - fi - - if [[ $line =~ $y ]] - then - temp=${line%\"*} - echo "START_Y:${temp##*\"}" >> $file - fi - - if [[ $line =~ $x_diff ]] - then - temp=${line%\"*} - echo "X_DIFF:${temp##*\"}" >> $file - fi - - if [[ $line =~ $y_diff ]] - then - temp=${line%\"*} - echo "Y_DIFF:${temp##*\"}" >> $file - fi - -done < $launch_file - -i=0 -index=0 -while read line -do - case $(($i%7)) in - 0) gazebo_ip[$index]=$line;; - 1) namespace[$index]=$line;; - 2) socket_port[$index]=$line;; - 3) x_diff[$index]=$line;; - 4) y_diff[$index]=$line;; - 5) start_x[$index]=$line;; - 6) start_y[$index]=$line;let index++;; - esac - let i++ -done < $file - -#`rm $file` - -for((i=0;i/dev/null 2>&1; sudo docker rm ${namespace[$i]#*:} >/dev/null 2>&1; sudo docker create --name ${namespace[$i]#*:} -e NAMESPACE=${namespace[$i]#*:} -e GAZEBO_IP=${gazebo_ip[$i]#*:} -e SOCKET_PORT=${socket_port[$i]#*:} -e START_X=${start_x[$i]#*:} -e START_Y=${start_y[$i]#*:} -e X_DIFF=${x_diff[$i]#*:} -e Y_DIFF=${y_diff[$i]#*:} $4 >/dev/null 2>&1; sudo docker start ${namespace[$i]#*:} >/dev/null 2>&1"` -# `sshpass -p '123123' ssh $2 "sudo docker rm ${namespace[$i]#*:} >/dev/null 2>&1"` -# `sshpass -p '123123' ssh $2 "sudo docker create --name ${namespace[$i]#*:} -e NAMESPACE=${namespace[$i]#*:} -e GAZEBO_IP=${gazebo_ip[$i]#*:} -e SOCKET_PORT=${socket_port[$i]#*:} -e START_X=${start_x[$i]#*:} -e START_Y=${start_y[$i]#*:} -e X_DIFF=${x_diff[$i]#*:} -e Y_DIFF=${y_diff[$i]#*:} $4 >/dev/null 2>&1"` -# `sshpass -p '123123' ssh $2 "sudo docker start ${namespace[$i]#*:} >/dev/null 2>&1"` - docker_ip[$i]=`sshpass -p 'zhangmuhan' ssh $2 "sudo docker inspect -f '{{range .NetworkSettings.Networks}}{{.IPAddress}}{{end}}' ${namespace[$i]#*:}"` - - export ${namespace[$i]#*:}_ip=${docker_ip[$i]} -done - -#source /home/zhangshuai/catkin_ws/devel/setup.bash -source /home/ai01/Flight_control_Comprehensive/devel/setup.bash - -`roslaunch hector_quadrotor_gazebo ${launch_file##*/}` diff --git a/Flight_control_Comprehensive/emuStart_try_docker.sh b/Flight_control_Comprehensive/emuStart_try_docker.sh deleted file mode 100644 index 146530b..0000000 --- a/Flight_control_Comprehensive/emuStart_try_docker.sh +++ /dev/null @@ -1,102 +0,0 @@ -#!/bin/bash - -launch_file=$1 -docker_ssh=$2 - -GAZEBO_IP=`ifconfig $3 |grep "inet "| cut -f 2 -d ":"|cut -f 1 -d " "` - -group_count=0 - -file=envfile -if [ -f $file ] -then - `rm -rf $file` -fi -`touch $file` - -group="ns=" -port="htonsnumber" -x="name=\"x\"" -y="name=\"y\"" -x_diff="name=\"X_DIFF\"" -y_diff="name=\"Y_DIFF\"" - -while read line -do - if [[ $line =~ $group ]] - then - let group_count=$group_count+1 - temp=${line#*\"} - echo "GAZEBO_IP:$GAZEBO_IP" >> $file - echo "NAMESPACE:${temp%\"*}" >> $file - fi - - if [[ $line =~ $port ]] - then - temp=${line%\"*} - echo "SOCKET_PORT:${temp##*\"}" >> $file - fi - - if [[ $line =~ $x ]] - then - temp=${line%\"*} - echo "START_X:${temp##*\"}" >> $file - fi - - if [[ $line =~ $y ]] - then - temp=${line%\"*} - echo "START_Y:${temp##*\"}" >> $file - fi - - if [[ $line =~ $x_diff ]] - then - temp=${line%\"*} - echo "X_DIFF:${temp##*\"}" >> $file - fi - - if [[ $line =~ $y_diff ]] - then - temp=${line%\"*} - echo "Y_DIFF:${temp##*\"}" >> $file - fi - -done < $launch_file - -i=0 -index=0 -while read line -do - case $(($i%7)) in - 0) gazebo_ip[$index]=$line;; - 1) namespace[$index]=$line;; - 2) socket_port[$index]=$line;; - 3) x_diff[$index]=$line;; - 4) y_diff[$index]=$line;; - 5) start_x[$index]=$line;; - 6) start_y[$index]=$line;let index++;; - esac - let i++ -done < $file - -#`rm $file` - -for((i=0;i/dev/null 2>&1; sudo docker rm ${namespace[$i]#*:} >/dev/null 2>&1; sudo docker create --name ${namespace[$i]#*:} -e NAMESPACE=${namespace[$i]#*:} -e GAZEBO_IP=${gazebo_ip[$i]#*:} -e SOCKET_PORT=${socket_port[$i]#*:} -e START_X=${start_x[$i]#*:} -e START_Y=${start_y[$i]#*:} -e X_DIFF=${x_diff[$i]#*:} -e Y_DIFF=${y_diff[$i]#*:} $4 >/dev/null 2>&1; sudo docker start ${namespace[$i]#*:} >/dev/null 2>&1"` -# `sshpass -p '123123' ssh $2 "sudo docker rm ${namespace[$i]#*:} >/dev/null 2>&1"` -# `sshpass -p '123123' ssh $2 "sudo docker create --name ${namespace[$i]#*:} -e NAMESPACE=${namespace[$i]#*:} -e GAZEBO_IP=${gazebo_ip[$i]#*:} -e SOCKET_PORT=${socket_port[$i]#*:} -e START_X=${start_x[$i]#*:} -e START_Y=${start_y[$i]#*:} -e X_DIFF=${x_diff[$i]#*:} -e Y_DIFF=${y_diff[$i]#*:} $4 >/dev/null 2>&1"` -# `sshpass -p '123123' ssh $2 "sudo docker start ${namespace[$i]#*:} >/dev/null 2>&1"` - docker_ip[$i]=`sshpass -p '123456' ssh $2 "sudo docker inspect -f '{{range .NetworkSettings.Networks}}{{.IPAddress}}{{end}}' ${namespace[$i]#*:}"` - - export ${namespace[$i]#*:}_ip=${docker_ip[$i]} - echo "${namespace[$i]#*:} Done!!" -done -echo "All Done!!" - -#source /home/zhangshuai/catkin_ws/devel/setup.bash -#source /home/ai01/Flight_control/devel/setup.bash - -#`roslaunch hector_quadrotor_gazebo ${launch_file##*/}` - -#`roslaunch hector_quadrotor_gazebo /home/ai01/Flight_control/src/hector_quadrotor/hector_quadrotor_gazebo/launch/udp_sim_10plane_gazebo_new_split.launch` diff --git a/Flight_control_Comprehensive/emuStart_try_docker_kill.sh b/Flight_control_Comprehensive/emuStart_try_docker_kill.sh deleted file mode 100644 index feda74e..0000000 --- a/Flight_control_Comprehensive/emuStart_try_docker_kill.sh +++ /dev/null @@ -1,93 +0,0 @@ -#!/bin/bash - -launch_file=$1 -docker_ssh=$2 - -GAZEBO_IP=`ifconfig $3 |grep "inet "| cut -f 2 -d ":"|cut -f 1 -d " "` - -group_count=0 - -file=envfile -if [ -f $file ] -then - `rm -rf $file` -fi -`touch $file` - -group="ns=" -port="htonsnumber" -x="name=\"x\"" -y="name=\"y\"" -x_diff="name=\"X_DIFF\"" -y_diff="name=\"Y_DIFF\"" - -while read line -do - if [[ $line =~ $group ]] - then - let group_count=$group_count+1 - temp=${line#*\"} - echo "GAZEBO_IP:$GAZEBO_IP" >> $file - echo "NAMESPACE:${temp%\"*}" >> $file - fi - - if [[ $line =~ $port ]] - then - temp=${line%\"*} - echo "SOCKET_PORT:${temp##*\"}" >> $file - fi - - if [[ $line =~ $x ]] - then - temp=${line%\"*} - echo "START_X:${temp##*\"}" >> $file - fi - - if [[ $line =~ $y ]] - then - temp=${line%\"*} - echo "START_Y:${temp##*\"}" >> $file - fi - - if [[ $line =~ $x_diff ]] - then - temp=${line%\"*} - echo "X_DIFF:${temp##*\"}" >> $file - fi - - if [[ $line =~ $y_diff ]] - then - temp=${line%\"*} - echo "Y_DIFF:${temp##*\"}" >> $file - fi - -done < $launch_file - -i=0 -index=0 -while read line -do - case $(($i%7)) in - 0) gazebo_ip[$index]=$line;; - 1) namespace[$index]=$line;; - 2) socket_port[$index]=$line;; - 3) x_diff[$index]=$line;; - 4) y_diff[$index]=$line;; - 5) start_x[$index]=$line;; - 6) start_y[$index]=$line;let index++;; - esac - let i++ -done < $file - -#`rm $file` - -for((i=0;i/dev/null 2>&1; sudo docker rm ${namespace[$i]#*:} >/dev/null 2>&1"` -# `sshpass -p '123123' ssh $2 "sudo docker rm ${namespace[$i]#*:} >/dev/null 2>&1"` -# `sshpass -p '123123' ssh $2 "sudo docker create --name ${namespace[$i]#*:} -e NAMESPACE=${namespace[$i]#*:} -e GAZEBO_IP=${gazebo_ip[$i]#*:} -e SOCKET_PORT=${socket_port[$i]#*:} -e START_X=${start_x[$i]#*:} -e START_Y=${start_y[$i]#*:} -e X_DIFF=${x_diff[$i]#*:} -e Y_DIFF=${y_diff[$i]#*:} $4 >/dev/null 2>&1"` -# `sshpass -p '123123' ssh $2 "sudo docker start ${namespace[$i]#*:} >/dev/null 2>&1"` -echo "${namespace[$i]#*:} Done!!" -done -echo "All Done!!" - diff --git a/Flight_control_Comprehensive/emuStart_try_docker_zhangshuai.sh b/Flight_control_Comprehensive/emuStart_try_docker_zhangshuai.sh deleted file mode 100644 index 566910d..0000000 --- a/Flight_control_Comprehensive/emuStart_try_docker_zhangshuai.sh +++ /dev/null @@ -1,102 +0,0 @@ -#!/bin/bash - -launch_file=$1 -docker_ssh=$2 - -GAZEBO_IP=`ifconfig $3 |grep "inet "| cut -f 2 -d ":"|cut -f 1 -d " "` - -group_count=0 - -file=envfile -if [ -f $file ] -then - `rm -rf $file` -fi -`touch $file` - -group="ns=" -port="htonsnumber" -x="name=\"x\"" -y="name=\"y\"" -x_diff="name=\"X_DIFF\"" -y_diff="name=\"Y_DIFF\"" - -while read line -do - if [[ $line =~ $group ]] - then - let group_count=$group_count+1 - temp=${line#*\"} - echo "GAZEBO_IP:$GAZEBO_IP" >> $file - echo "NAMESPACE:${temp%\"*}" >> $file - fi - - if [[ $line =~ $port ]] - then - temp=${line%\"*} - echo "SOCKET_PORT:${temp##*\"}" >> $file - fi - - if [[ $line =~ $x ]] - then - temp=${line%\"*} - echo "START_X:${temp##*\"}" >> $file - fi - - if [[ $line =~ $y ]] - then - temp=${line%\"*} - echo "START_Y:${temp##*\"}" >> $file - fi - - if [[ $line =~ $x_diff ]] - then - temp=${line%\"*} - echo "X_DIFF:${temp##*\"}" >> $file - fi - - if [[ $line =~ $y_diff ]] - then - temp=${line%\"*} - echo "Y_DIFF:${temp##*\"}" >> $file - fi - -done < $launch_file - -i=0 -index=0 -while read line -do - case $(($i%7)) in - 0) gazebo_ip[$index]=$line;; - 1) namespace[$index]=$line;; - 2) socket_port[$index]=$line;; - 3) x_diff[$index]=$line;; - 4) y_diff[$index]=$line;; - 5) start_x[$index]=$line;; - 6) start_y[$index]=$line;let index++;; - esac - let i++ -done < $file - -#`rm $file` - -for((i=0;i/dev/null 2>&1; sudo docker rm ${namespace[$i]#*:} >/dev/null 2>&1; sudo docker create --name ${namespace[$i]#*:} -e NAMESPACE=${namespace[$i]#*:} -e GAZEBO_IP=${gazebo_ip[$i]#*:} -e SOCKET_PORT=${socket_port[$i]#*:} -e START_X=${start_x[$i]#*:} -e START_Y=${start_y[$i]#*:} -e X_DIFF=${x_diff[$i]#*:} -e Y_DIFF=${y_diff[$i]#*:} $4 >/dev/null 2>&1; sudo docker start ${namespace[$i]#*:} >/dev/null 2>&1"` -# `sshpass -p '123123' ssh $2 "sudo docker rm ${namespace[$i]#*:} >/dev/null 2>&1"` -# `sshpass -p '123123' ssh $2 "sudo docker create --name ${namespace[$i]#*:} -e NAMESPACE=${namespace[$i]#*:} -e GAZEBO_IP=${gazebo_ip[$i]#*:} -e SOCKET_PORT=${socket_port[$i]#*:} -e START_X=${start_x[$i]#*:} -e START_Y=${start_y[$i]#*:} -e X_DIFF=${x_diff[$i]#*:} -e Y_DIFF=${y_diff[$i]#*:} $4 >/dev/null 2>&1"` -# `sshpass -p '123123' ssh $2 "sudo docker start ${namespace[$i]#*:} >/dev/null 2>&1"` - docker_ip[$i]=`sshpass -p '123456' ssh $2 "sudo docker inspect -f '{{range .NetworkSettings.Networks}}{{.IPAddress}}{{end}}' ${namespace[$i]#*:}"` - - export ${namespace[$i]#*:}_ip=${docker_ip[$i]} - echo "${namespace[$i]#*:} Done!!" -done -echo "All Done!!" - -#source /home/zhangshuai/catkin_ws/devel/setup.bash -#source /home/ai01/Flight_control/devel/setup.bash - -#`roslaunch hector_quadrotor_gazebo ${launch_file##*/}` - -#`roslaunch hector_quadrotor_gazebo /home/ai01/Flight_control/src/hector_quadrotor/hector_quadrotor_gazebo/launch/udp_sim_10plane_gazebo_new_split.launch` diff --git a/Flight_control_Comprehensive/emuStart_try_docker_zhangshuai_kill.sh b/Flight_control_Comprehensive/emuStart_try_docker_zhangshuai_kill.sh deleted file mode 100644 index b9be32f..0000000 --- a/Flight_control_Comprehensive/emuStart_try_docker_zhangshuai_kill.sh +++ /dev/null @@ -1,93 +0,0 @@ -#!/bin/bash - -launch_file=$1 -docker_ssh=$2 - -GAZEBO_IP=`ifconfig $3 |grep "inet "| cut -f 2 -d ":"|cut -f 1 -d " "` - -group_count=0 - -file=envfile -if [ -f $file ] -then - `rm -rf $file` -fi -`touch $file` - -group="ns=" -port="htonsnumber" -x="name=\"x\"" -y="name=\"y\"" -x_diff="name=\"X_DIFF\"" -y_diff="name=\"Y_DIFF\"" - -while read line -do - if [[ $line =~ $group ]] - then - let group_count=$group_count+1 - temp=${line#*\"} - echo "GAZEBO_IP:$GAZEBO_IP" >> $file - echo "NAMESPACE:${temp%\"*}" >> $file - fi - - if [[ $line =~ $port ]] - then - temp=${line%\"*} - echo "SOCKET_PORT:${temp##*\"}" >> $file - fi - - if [[ $line =~ $x ]] - then - temp=${line%\"*} - echo "START_X:${temp##*\"}" >> $file - fi - - if [[ $line =~ $y ]] - then - temp=${line%\"*} - echo "START_Y:${temp##*\"}" >> $file - fi - - if [[ $line =~ $x_diff ]] - then - temp=${line%\"*} - echo "X_DIFF:${temp##*\"}" >> $file - fi - - if [[ $line =~ $y_diff ]] - then - temp=${line%\"*} - echo "Y_DIFF:${temp##*\"}" >> $file - fi - -done < $launch_file - -i=0 -index=0 -while read line -do - case $(($i%7)) in - 0) gazebo_ip[$index]=$line;; - 1) namespace[$index]=$line;; - 2) socket_port[$index]=$line;; - 3) x_diff[$index]=$line;; - 4) y_diff[$index]=$line;; - 5) start_x[$index]=$line;; - 6) start_y[$index]=$line;let index++;; - esac - let i++ -done < $file - -#`rm $file` - -for((i=0;i/dev/null 2>&1; sudo docker rm ${namespace[$i]#*:} >/dev/null 2>&1"` -# `sshpass -p '123123' ssh $2 "sudo docker rm ${namespace[$i]#*:} >/dev/null 2>&1"` -# `sshpass -p '123123' ssh $2 "sudo docker create --name ${namespace[$i]#*:} -e NAMESPACE=${namespace[$i]#*:} -e GAZEBO_IP=${gazebo_ip[$i]#*:} -e SOCKET_PORT=${socket_port[$i]#*:} -e START_X=${start_x[$i]#*:} -e START_Y=${start_y[$i]#*:} -e X_DIFF=${x_diff[$i]#*:} -e Y_DIFF=${y_diff[$i]#*:} $4 >/dev/null 2>&1"` -# `sshpass -p '123123' ssh $2 "sudo docker start ${namespace[$i]#*:} >/dev/null 2>&1"` -echo "${namespace[$i]#*:} Done!!" -done -echo "All Done!!" - diff --git a/Flight_control_Comprehensive/src/.vscode/c_cpp_properties.json b/Flight_control_Comprehensive/src/.vscode/c_cpp_properties.json deleted file mode 100644 index f8920a0..0000000 --- a/Flight_control_Comprehensive/src/.vscode/c_cpp_properties.json +++ /dev/null @@ -1,31 +0,0 @@ -{ - "configurations": [ - { - "browse": { - "databaseFilename": "", - "limitSymbolsToIncludedHeaders": true - }, - "includePath": [ - "/home/zhangshuai/Flight_control/devel/include", - "/opt/ros/kinetic/include", - "/home/zhangshuai/Flight_control/src/hector_quadrotor/hector_quadrotor_controller/include", - "/home/zhangshuai/Flight_control/src/hector_quadrotor/hector_quadrotor_controller_gazebo/include", - "/home/zhangshuai/Flight_control/src/hector_quadrotor/hector_quadrotor_gazebo_plugins/include", - "/home/zhangshuai/Flight_control/src/hector_quadrotor/hector_quadrotor_model/include", - "/home/zhangshuai/Flight_control/src/hector_quadrotor/hector_quadrotor_pose_estimation/include", - "/home/zhangshuai/Flight_control/src/hector_quadrotor/hector_uav_msgs/include", - "/home/zhangshuai/Flight_control/src/rosflight_ws/rosflight/rosflight/include", - "/home/zhangshuai/Flight_control/src/rosflight_ws/rosflight/rosflight_firmware/include", - "/home/zhangshuai/Flight_control/src/rosflight_ws/rosflight_plugins/include", - "/home/zhangshuai/Flight_control/src/rosflight_ws/rosflight/rosflight_sim/include", - "/home/zhangshuai/Flight_control/src/rosflight_ws/rosflight/rosflight_utils/include", - "/home/zhangshuai/Flight_control/src/rosflight_ws/rosplane/rosplane/include", - "/home/zhangshuai/Flight_control/src/rosflight_ws/rosplane/rosplane_sim/include", - "/usr/include" - ], - "name": "Linux", - "intelliSenseMode": "gcc-x64" - } - ], - "version": 4 -} \ No newline at end of file diff --git a/Flight_control_Comprehensive/src/.vscode/settings.json b/Flight_control_Comprehensive/src/.vscode/settings.json deleted file mode 100644 index a5890d7..0000000 --- a/Flight_control_Comprehensive/src/.vscode/settings.json +++ /dev/null @@ -1,37 +0,0 @@ -{ - "python.autoComplete.extraPaths": [ - "/home/zhangshuai/Flight_control/devel/lib/python2.7/dist-packages", - "/opt/ros/kinetic/lib/python2.7/dist-packages" - ], - "files.associations": { - "*.ipp": "cpp", - "cctype": "cpp", - "clocale": "cpp", - "cmath": "cpp", - "csignal": "cpp", - "cstdarg": "cpp", - "cstddef": "cpp", - "cstdio": "cpp", - "cstdlib": "cpp", - "cstring": "cpp", - "ctime": "cpp", - "cwchar": "cpp", - "cwctype": "cpp", - "atomic": "cpp", - "strstream": "cpp", - "*.tcc": "cpp", - "chrono": "cpp", - "codecvt": "cpp", - "condition_variable": "cpp", - "cstdint": "cpp", - "future": "cpp", - "initializer_list": "cpp", - "iosfwd": "cpp", - "mutex": "cpp", - "ratio": "cpp", - "system_error": "cpp", - "thread": "cpp", - "cinttypes": "cpp", - "typeindex": "cpp" - } -} \ No newline at end of file diff --git a/Flight_control_Comprehensive/src/CMakeLists.txt b/Flight_control_Comprehensive/src/CMakeLists.txt deleted file mode 120000 index 581e61d..0000000 --- a/Flight_control_Comprehensive/src/CMakeLists.txt +++ /dev/null @@ -1 +0,0 @@ -/opt/ros/kinetic/share/catkin/cmake/toplevel.cmake \ No newline at end of file diff --git a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_description/CMakeLists.txt b/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_description/CMakeLists.txt deleted file mode 100644 index da6521f..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_description/CMakeLists.txt +++ /dev/null @@ -1,47 +0,0 @@ -################################################################################ -# CMake -################################################################################ -cmake_minimum_required(VERSION 2.8.3) -project(enemy_suv_description) - -################################################################################ -# Packages -################################################################################ -find_package(catkin REQUIRED COMPONENTS - urdf - xacro -) - -################################################################################ -# Declare ROS messages, services and actions -################################################################################ - -################################################################################ -# Declare ROS dynamic reconfigure parameters -################################################################################ - -################################################################################ -# Catkin specific configuration -################################################################################ -catkin_package( - CATKIN_DEPENDS urdf xacro -) - -################################################################################ -# Build -################################################################################ -include_directories( - ${catkin_INCLUDE_DIRS} -) - -################################################################################ -# Install -################################################################################ -install(DIRECTORY meshes materials urdf launch - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -) - -################################################################################ -# Test -################################################################################ - diff --git a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_description/launch/spawn_enemy_suv.launch b/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_description/launch/spawn_enemy_suv.launch deleted file mode 100644 index e8cb626..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_description/launch/spawn_enemy_suv.launch +++ /dev/null @@ -1,41 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_description/launch/xacro_gazebo_display_enemy_suv.launch b/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_description/launch/xacro_gazebo_display_enemy_suv.launch deleted file mode 100644 index 0a2e8d8..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_description/launch/xacro_gazebo_display_enemy_suv.launch +++ /dev/null @@ -1,40 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_description/materials/textures/suv.png b/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_description/materials/textures/suv.png deleted file mode 100644 index c5bb1cb..0000000 Binary files a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_description/materials/textures/suv.png and /dev/null differ diff --git a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_description/materials/textures/wheels_01.png b/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_description/materials/textures/wheels_01.png deleted file mode 100644 index 278b4c8..0000000 Binary files a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_description/materials/textures/wheels_01.png and /dev/null differ diff --git a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_description/meshes/suv.mtl b/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_description/meshes/suv.mtl deleted file mode 100644 index 4f57f8e..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_description/meshes/suv.mtl +++ /dev/null @@ -1,30 +0,0 @@ -# 3ds Max Wavefront OBJ Exporter v0.97b - (c)2007 guruware -# File Created: 02.10.2016 09:23:07 - -newmtl SUV_Body - Ns 10.0000 - Ni 1.5000 - d 1.0000 - Tr 0.0000 - Tf 1.0000 1.0000 1.0000 - illum 2 - Ka 0.5882 0.5882 0.5882 - Kd 0.5882 0.5882 0.5882 - Ks 0.0000 0.0000 0.0000 - Ke 0.0000 0.0000 0.0000 - map_Ka suv.png - map_Kd suv.png - -newmtl SUV_Wheels - Ns 10.0000 - Ni 1.5000 - d 1.0000 - Tr 0.0000 - Tf 1.0000 1.0000 1.0000 - illum 2 - Ka 0.5882 0.5882 0.5882 - Kd 0.5882 0.5882 0.5882 - Ks 0.0000 0.0000 0.0000 - Ke 0.0000 0.0000 0.0000 - map_Ka wheels_01.png - map_Kd wheels_01.png diff --git a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_description/meshes/suv.obj b/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_description/meshes/suv.obj deleted file mode 100644 index 0d6a765..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_description/meshes/suv.obj +++ /dev/null @@ -1,4971 +0,0 @@ -# 3ds Max Wavefront OBJ Exporter v0.97b - (c)2007 guruware -# File Created: 02.10.2016 09:23:07 - -mtllib suv.mtl - -# -# object SUV -# - -v -0.5647 -38.4480 26.0847 -v -0.5647 -38.8466 16.4593 -v 16.4686 -37.8340 16.4593 -v 16.4686 -37.4353 26.0847 -v 15.5807 -35.1803 35.4801 -v 16.4051 -34.2848 35.4639 -v 16.4049 -20.1960 35.4661 -v -0.5647 -20.1960 35.8027 -v -0.5647 -36.1929 35.8003 -v -0.5647 41.1921 21.9091 -v 8.7877 41.1921 21.9091 -v 8.7877 41.8707 17.5788 -v 9.1861 41.8707 17.5788 -v -0.5647 41.8707 17.5788 -v 17.2932 -10.4931 11.1012 -v 17.2932 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a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_description/package.xml b/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_description/package.xml deleted file mode 100644 index 538d09f..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_description/package.xml +++ /dev/null @@ -1,14 +0,0 @@ - - - enemy_suv_description - 0.2.1 - - 3D models of the enemy_suv for simulation and visualization - - Johannes Meyer - Apache 2.0 - catkin - urdf - xacro - launch - diff --git a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_description/urdf/enemy_suv.gazebo.xacro b/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_description/urdf/enemy_suv.gazebo.xacro deleted file mode 100644 index ac01db1..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_description/urdf/enemy_suv.gazebo.xacro +++ /dev/null @@ -1,138 +0,0 @@ - - - - - - - - cmd_vel - odom - odom - base_link - false - true - false - 100 - wheel_left_joint - wheel_right_joint - 2.160 - 0.66 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b/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_description/worlds/kunming.world deleted file mode 100644 index 56ed8e3..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_description/worlds/kunming.world +++ /dev/null @@ -1,71 +0,0 @@ - - - - - - model://sun - - - - model://kunming - 0 0 0 0 0 0 - - - 0.68 0.68 0.68 1.0 - - - - 0 - - - - - - - - - 1000 - 0.001 - 1.0 - - - - - diff --git a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_description/worlds/kunming/km.jpg b/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_description/worlds/kunming/km.jpg deleted file mode 100644 index 3ae9c15..0000000 Binary files a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_description/worlds/kunming/km.jpg and /dev/null differ diff --git a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_description/worlds/kunming/kunming.material b/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_description/worlds/kunming/kunming.material deleted file mode 100644 index 4cd181b..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_description/worlds/kunming/kunming.material +++ /dev/null @@ -1,20 +0,0 @@ -material kunming/Image -{ - technique - { - pass - { - ambient .8 .8 .8 1.000000 - diffuse .5 .5 .5 1.000000 - specular 1 1 1 5.00000 - emissive 0.01 0.01 0.01 1.000000 - - texture_unit - { - texture km.jpg - filtering trilinear - scale 1 1 - } - } - } -} diff --git a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_description/worlds/kunming/kunming.world b/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_description/worlds/kunming/kunming.world deleted file mode 100644 index f1f5e8a..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_description/worlds/kunming/kunming.world +++ /dev/null @@ -1,84 +0,0 @@ - - - - - - model://sun - - - - - - 0.68 0.68 0.68 1.0 - - - - 0 - - - - - - true - - - - - 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22536 1 40 154 1 370444.650382543157320 90151.573536386393243 0.000000000000000 1975.338378906250000 2327.113525390625000 20073 19966 19881 19802 19762 19758 19753 19764 19805 19857 19894 19927 19947 19974 19995 20050 20104 20118 20117 20120 20127 20138 20150 20144 20133 20132 20120 20117 20111 20110 20097 20042 20010 19998 19997 20004 20017 20017 20016 20021 20019 20026 20019 20007 20028 20074 20112 20130 20100 20057 20044 20064 20097 20113 20121 20154 20197 20206 20200 20181 20160 20161 20151 20134 20185 20246 20280 20310 20321 20305 20332 20393 20428 20432 20440 20478 20551 20636 20732 20848 20987 21128 21296 21445 21491 21452 21373 21287 21231 21202 21221 21255 21326 21467 21688 21898 22025 22158 22391 22576 22685 22715 22658 22537 22528 22717 22888 22997 23136 23271 23220 23069 22955 22870 22844 22858 22698 22542 22493 22501 22526 22466 22404 22438 22446 22326 22233 22244 22349 22509 22587 22582 22601 22690 22775 22823 22806 22694 22545 22537 22718 22807 22703 22475 22255 22080 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22473 22677 22768 22693 22462 22217 22007 21964 22187 22493 22751 22894 22798 22543 22271 1 42 154 1 370450.650382543157320 90151.573536386393243 0.000000000000000 1977.409790039062500 2300.642578125000000 20273 20168 20122 20040 19890 19781 19774 19792 19820 19865 19919 19976 20021 20063 20122 20187 20231 20244 20247 20232 20205 20200 20236 20262 20246 20217 20206 20191 20203 20189 20156 20145 20124 20093 20082 20085 20076 20080 20076 20079 20081 20082 20091 20081 20077 20093 20133 20150 20154 20168 20164 20177 20223 20247 20254 20264 20291 20305 20322 20346 20360 20398 20405 20367 20335 20359 20436 20477 20467 20413 20405 20437 20460 20487 20528 20554 20557 20590 20666 20773 20923 21103 21283 21357 21312 21239 21171 21105 21077 21093 21156 21239 21362 21546 21751 21968 22191 22385 22534 22535 22463 22437 22395 22332 22435 22638 22749 22740 22842 22975 23006 22881 22725 22676 22681 22603 22433 22319 22341 22486 22484 22321 22201 22161 22126 22018 22000 22176 22364 22477 22505 22476 22515 22643 22690 22614 22507 22434 22346 22419 22625 22750 22694 22455 22187 21953 21827 21913 22205 22535 22756 22720 22533 22292 1 43 154 1 370453.650382543157320 90151.573536386393243 0.000000000000000 1980.036010742187500 2291.229003906250000 20408 20348 20279 20152 19987 19852 19800 19802 19811 19856 19940 20012 20046 20071 20126 20187 20249 20293 20304 20279 20244 20225 20237 20260 20265 20242 20233 20230 20233 20214 20185 20175 20151 20129 20130 20135 20127 20120 20109 20115 20112 20101 20097 20087 20096 20120 20157 20180 20210 20251 20262 20261 20287 20315 20322 20327 20348 20371 20368 20376 20420 20475 20492 20469 20423 20404 20452 20507 20525 20482 20460 20465 20476 20510 20558 20582 20582 20600 20656 20761 20920 21111 21283 21338 21302 21216 21132 21078 21047 21056 21119 21205 21322 21487 21672 21862 22081 22309 22482 22474 22354 22297 22270 22282 22458 22611 22651 22606 22679 22842 22912 22799 22649 22571 22515 22415 22312 22216 22242 22417 22450 22372 22220 22060 21940 21866 21918 22128 22296 22349 22321 22301 22398 22573 22668 22629 22470 22310 22260 22391 22583 22709 22668 22460 22198 21949 21772 21735 21951 22271 22552 22685 22638 22459 1 44 154 1 370456.650382543157320 90151.573536386393243 0.000000000000000 1979.298828125000000 2280.622070312500000 20586 20514 20418 20289 20161 20011 19858 19793 19806 19854 19950 20026 20039 20051 20106 20165 20229 20296 20323 20308 20274 20243 20232 20232 20239 20239 20241 20242 20229 20222 20211 20199 20185 20174 20178 20192 20193 20183 20163 20155 20140 20122 20124 20124 20128 20160 20196 20221 20255 20308 20337 20330 20345 20377 20389 20391 20403 20417 20403 20387 20412 20445 20464 20462 20451 20459 20500 20538 20552 20536 20516 20499 20504 20537 20586 20612 20611 20607 20645 20743 20888 21075 21246 21289 21269 21202 21128 21091 21048 21029 21076 21172 21329 21528 21713 21878 22068 22263 22408 22396 22243 22132 22134 22220 22386 22510 22527 22497 22609 22760 22806 22702 22570 22475 22329 22195 22152 22127 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22626 22522 22439 22244 22061 22008 22074 22226 22271 22193 22127 21992 21867 21727 21685 21852 22047 22135 22072 21994 22069 22294 22493 22625 22655 22509 22236 22099 22238 22405 22481 22465 22388 22263 22030 21794 21605 21628 21855 22151 22461 22605 22519 1 46 154 1 370462.650382543157320 90151.573536386393243 0.000000000000000 1978.876831054687500 2264.809326171875000 20999 20888 20678 20473 20321 20086 19852 19789 19808 19841 19899 19957 19989 20034 20087 20129 20179 20246 20302 20323 20287 20249 20238 20235 20204 20190 20190 20186 20184 20186 20204 20235 20254 20252 20237 20240 20245 20244 20231 20227 20233 20233 20227 20225 20222 20234 20248 20275 20310 20365 20408 20425 20442 20465 20475 20474 20476 20477 20463 20450 20459 20482 20495 20520 20554 20565 20582 20608 20599 20584 20562 20550 20565 20593 20628 20642 20640 20643 20659 20713 20804 20896 20963 20999 21030 21023 20978 20957 20969 20998 21045 21096 21184 21384 21653 21872 21994 22128 22218 22134 21989 21998 22114 22255 22370 22450 22424 22385 22498 22614 22648 22575 22469 22402 22242 22064 21985 22045 22196 22184 22058 21930 21799 21712 21618 21590 21765 21965 22022 21915 21846 22017 22269 22447 22540 22548 22441 22198 22052 22172 22323 22382 22340 22274 22219 22044 21824 21604 21552 21718 21935 22156 22313 22336 1 47 154 1 370465.650382543157320 90151.573536386393243 0.000000000000000 1979.983398437500000 2270.005615234375000 20876 20834 20665 20402 20155 19936 19812 19800 19818 19841 19869 19913 19959 20016 20073 20119 20168 20227 20282 20286 20250 20220 20221 20230 20198 20179 20178 20184 20195 20195 20215 20262 20271 20268 20260 20242 20250 20267 20265 20255 20249 20240 20238 20236 20246 20262 20273 20290 20320 20364 20407 20443 20472 20482 20478 20483 20498 20513 20496 20477 20487 20519 20540 20558 20570 20571 20591 20602 20581 20563 20556 20568 20593 20605 20627 20643 20639 20635 20654 20711 20780 20836 20883 20926 20947 20930 20889 20893 20957 21056 21147 21198 21216 21322 21570 21791 21916 22059 22115 22024 21948 22090 22229 22337 22475 22527 22460 22417 22568 22691 22700 22609 22472 22344 22235 22077 21942 21957 22100 22080 21944 21779 21658 21580 21508 21508 21698 21893 21926 21782 21741 21952 22197 22337 22394 22415 22366 22172 22007 22086 22225 22275 22229 22154 22120 22022 21838 21611 21506 21614 21755 21842 21960 22067 1 48 154 1 370468.650382543157320 90151.573536386393243 0.000000000000000 1980.707153320312500 2274.049804687500000 20573 20586 20521 20295 20006 19839 19807 19825 19843 19843 19852 19898 19945 19993 20048 20102 20150 20200 20226 20216 20210 20195 20191 20202 20186 20167 20176 20191 20211 20217 20230 20266 20270 20271 20286 20267 20266 20274 20278 20270 20256 20236 20225 20228 20248 20269 20294 20317 20348 20371 20392 20433 20475 20487 20488 20494 20501 20535 20519 20478 20486 20516 20538 20568 20588 20580 20578 20575 20552 20532 20533 20568 20598 20597 20601 20624 20634 20642 20676 20730 20755 20782 20822 20856 20855 20825 20808 20855 20967 21105 21227 21301 21296 21308 21477 21692 21845 21962 21964 21906 21975 22229 22377 22441 22539 22554 22451 22410 22592 22730 22740 22682 22537 22341 22213 22081 21899 21864 21973 21949 21840 21683 21568 21477 21408 21438 21642 21834 21835 21675 21685 21894 22081 22177 22211 22268 22283 22157 21985 21958 22036 22108 22121 22045 21954 21883 21748 21558 21426 21461 21565 21617 21690 21783 1 49 154 1 370471.650382543157320 90151.573536386393243 0.000000000000000 1983.870483398437500 2269.479003906250000 20309 20333 20301 20136 19924 19839 19859 19905 19931 19903 19869 19895 19945 19989 20011 20044 20093 20138 20143 20149 20161 20177 20190 20201 20196 20181 20198 20221 20228 20225 20228 20255 20274 20276 20303 20300 20285 20274 20275 20267 20259 20239 20232 20245 20268 20292 20305 20335 20374 20390 20395 20418 20454 20484 20510 20521 20513 20545 20552 20502 20487 20491 20508 20547 20574 20574 20578 20579 20553 20527 20522 20539 20558 20569 20584 20612 20611 20626 20675 20721 20706 20716 20755 20781 20772 20735 20732 20817 20981 21158 21291 21370 21378 21351 21431 21617 21743 21797 21782 21827 22023 22254 22365 22426 22511 22496 22374 22334 22536 22684 22695 22653 22517 22333 22214 22110 21909 21810 21838 21800 21706 21615 21552 21488 21393 21383 21556 21722 21694 21565 21644 21852 22003 22046 22051 22121 22202 22198 22064 21909 21838 21857 21882 21832 21723 21646 21563 21468 21395 21365 21387 21419 21485 21555 1 50 154 1 370474.650382543157320 90151.573536386393243 0.000000000000000 1988.934204101562500 2255.167724609375000 20126 20111 20048 19956 19889 19914 19993 20065 20088 20032 19925 19897 19941 20000 20031 20041 20058 20074 20082 20112 20138 20174 20203 20200 20201 20208 20229 20245 20241 20245 20246 20256 20282 20291 20311 20312 20296 20275 20252 20228 20228 20225 20239 20256 20280 20304 20304 20330 20381 20419 20424 20432 20453 20485 20530 20557 20554 20566 20574 20531 20490 20484 20495 20513 20530 20551 20575 20589 20578 20553 20544 20540 20544 20552 20573 20595 20590 20605 20647 20661 20630 20659 20701 20728 20731 20714 20718 20791 20941 21128 21279 21373 21438 21428 21462 21606 21661 21661 21708 21850 22015 22149 22228 22330 22437 22417 22291 22237 22397 22541 22552 22502 22376 22276 22216 22136 21939 21765 21711 21680 21588 21556 21548 21548 21440 21355 21443 21573 21534 21489 21675 21903 21997 21949 21930 22024 22156 22233 22159 21979 21825 21747 21699 21659 21622 21599 21606 21611 21561 21455 21368 21295 21320 21370 1 51 154 1 370477.650382543157320 90151.573536386393243 0.000000000000000 1987.280517578125000 2231.888671875000000 19978 19939 19894 19873 19903 19992 20105 20214 20255 20199 20047 19938 19934 20015 20080 20090 20089 20081 20064 20090 20135 20183 20210 20196 20186 20212 20234 20245 20254 20266 20267 20264 20282 20305 20323 20325 20300 20265 20234 20208 20219 20237 20258 20267 20287 20308 20309 20344 20394 20426 20419 20423 20455 20487 20521 20558 20581 20596 20592 20556 20509 20498 20492 20490 20509 20522 20550 20583 20593 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20512 1 110 154 1 370654.650382543157320 90151.573536386393243 0.000000000000000 2008.024536132812500 2396.721435546875000 21570 21907 22116 21951 21631 21393 21475 21714 21784 21776 21854 22021 22309 22613 22839 23058 23318 23585 23830 23967 23830 23485 23159 22863 22606 22399 22275 22179 22053 21880 21767 21882 22007 22015 22051 22063 22050 22036 22029 21988 21911 21861 21834 21778 21743 21758 21763 21765 21778 21773 21759 21763 21731 21690 21726 21743 21688 21673 21635 21555 21580 21650 21653 21615 21588 21590 21571 21557 21559 21563 21560 21538 21476 21365 21284 21252 21241 21251 21227 21117 21021 21047 21059 21041 21000 20932 20851 20764 20674 20623 20621 20652 20685 20713 20771 20833 20832 20796 20724 20652 20545 20436 20344 20277 20244 20257 20312 20399 20500 20563 20565 20531 20458 20420 20496 20568 20555 20488 20402 20341 20331 20336 20352 20396 20419 20350 20276 20294 20337 20293 20171 20106 20160 20276 20382 20432 20417 20398 20383 20353 20327 20296 20196 20084 20080 20118 20178 20241 20277 20306 20325 20364 20416 20432 1 111 154 1 370657.650382543157320 90151.573536386393243 0.000000000000000 2007.253784179687500 2398.676513671875000 21613 21996 22314 22208 21858 21545 21426 21482 21579 21663 21742 21876 22139 22387 22611 22863 23168 23510 23833 23987 23798 23452 23105 22850 22656 22393 22162 22038 21938 21846 21821 21961 22101 22146 22164 22155 22106 22062 22051 22012 21966 21947 21941 21909 21893 21904 21929 21939 21908 21856 21821 21803 21759 21733 21762 21741 21676 21696 21734 21713 21716 21731 21740 21724 21670 21633 21596 21592 21601 21572 21539 21515 21502 21437 21343 21283 21278 21305 21248 21105 20993 21004 21039 21042 21016 20964 20884 20799 20711 20630 20596 20628 20657 20670 20703 20766 20784 20778 20742 20680 20592 20477 20357 20295 20265 20248 20269 20348 20463 20536 20517 20464 20408 20395 20472 20532 20539 20496 20420 20350 20327 20312 20302 20325 20349 20301 20250 20269 20273 20198 20118 20123 20203 20334 20442 20498 20468 20399 20344 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20189 20174 20229 20231 20155 20168 20253 20317 20394 20459 20468 20428 20365 20304 20299 20308 20283 20185 20098 20146 20257 20335 20419 20472 20432 20364 20344 20359 20350 1 114 154 1 370666.650382543157320 90151.573536386393243 0.000000000000000 2011.328857421875000 2375.482666015625000 21888 22247 22478 22382 22082 21751 21630 21740 21694 21576 21737 22001 22219 22443 22672 22919 23196 23484 23725 23755 23523 23205 22909 22657 22421 22279 22267 22308 22289 22128 21989 22150 22410 22500 22460 22393 22335 22290 22248 22209 22186 22202 22223 22222 22241 22273 22292 22296 22259 22194 22101 21996 21922 21958 22014 21961 21884 21804 21732 21748 21774 21714 21743 21843 21834 21725 21702 21695 21603 21504 21452 21468 21516 21540 21504 21457 21365 21292 21251 21221 21156 21046 20983 20970 20993 21026 21003 20956 20880 20796 20731 20669 20621 20594 20571 20561 20584 20608 20598 20548 20496 20499 20488 20444 20415 20376 20316 20263 20257 20287 20279 20247 20252 20293 20311 20320 20369 20450 20517 20510 20428 20332 20259 20197 20166 20133 20113 20142 20158 20171 20265 20346 20384 20426 20461 20439 20382 20327 20281 20274 20302 20301 20223 20119 20162 20287 20349 20383 20387 20320 20283 20297 20318 20310 1 115 154 1 370669.650382543157320 90151.573536386393243 0.000000000000000 2007.214477539062500 2356.854980468750000 22145 22505 22593 22356 22018 21732 21757 21953 21881 21654 21657 21892 22163 22419 22665 22930 23173 23391 23539 23569 23447 23144 22824 22603 22439 22422 22530 22602 22530 22294 22067 22152 22452 22599 22586 22547 22510 22470 22390 22306 22260 22268 22307 22334 22351 22374 22381 22359 22304 22224 22125 22035 21975 22025 22059 21981 21897 21823 21764 21789 21835 21801 21823 21891 21858 21754 21737 21708 21616 21558 21523 21508 21509 21506 21490 21496 21446 21380 21380 21370 21286 21115 20981 20953 21005 21054 21037 21008 20954 20866 20784 20720 20655 20611 20574 20549 20549 20573 20582 20559 20543 20548 20531 20477 20431 20397 20341 20290 20256 20246 20225 20201 20205 20245 20258 20273 20333 20415 20503 20549 20514 20422 20308 20220 20179 20120 20072 20085 20140 20229 20349 20421 20439 20446 20438 20390 20332 20288 20245 20239 20278 20293 20212 20114 20172 20286 20302 20278 20261 20227 20251 20309 20331 20301 1 116 154 1 370672.650382543157320 90151.573536386393243 0.000000000000000 2008.003906250000000 2339.032470703125000 22428 22754 22688 22315 21985 21802 21888 22168 22131 21848 21701 21787 22042 22318 22520 22748 23022 23241 23339 23390 23364 23072 22781 22609 22524 22639 22807 22838 22719 22447 22154 22137 22430 22662 22738 22756 22730 22655 22533 22423 22355 22344 22374 22423 22453 22470 22463 22422 22350 22252 22157 22075 22037 22091 22091 22000 21933 21890 21847 21851 21885 21897 21924 21943 21863 21791 21786 21750 21683 21644 21594 21558 21551 21516 21477 21494 21483 21444 21469 21456 21334 21136 20995 20972 21022 21043 21024 21014 20981 20895 20805 20765 20711 20650 20602 20571 20556 20544 20543 20542 20561 20572 20546 20490 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20546 20517 20528 20558 20572 20546 20504 20477 20480 20471 20417 20360 20342 20335 20321 20297 20259 20222 20226 20279 20330 20406 20474 20497 20488 20438 20375 20292 20190 20106 20111 20196 20287 20372 20427 20419 20383 20366 20344 20286 20221 20193 20205 20232 20194 20096 20094 20208 20295 20276 20244 20264 20312 20383 20430 20391 20293 1 118 154 1 370678.650382543157320 90151.573536386393243 0.000000000000000 2005.870483398437500 2346.361816406250000 23101 23166 22901 22562 22239 22006 22054 22433 22584 22440 22308 22117 21896 21912 22130 22521 22863 22974 23011 23232 23464 23435 23247 23023 22948 23060 23165 23113 22948 22679 22362 22164 22392 22771 23038 23131 23074 22958 22840 22729 22610 22530 22515 22558 22606 22627 22598 22530 22442 22311 22182 22144 22185 22233 22182 22093 22014 21959 21919 21904 21916 21941 21988 21932 21877 21905 21904 21821 21682 21572 21531 21552 21591 21554 21510 21490 21455 21379 21350 21363 21320 21213 21150 21155 21119 21044 21004 20994 20974 20910 20834 20807 20788 20757 20701 20648 20612 20578 20543 20534 20562 20578 20563 20553 20524 20522 20529 20473 20416 20424 20430 20405 20363 20293 20228 20222 20289 20325 20361 20423 20471 20506 20502 20452 20361 20236 20121 20106 20165 20232 20298 20331 20329 20325 20336 20345 20302 20229 20182 20167 20123 20079 20059 20121 20234 20283 20250 20254 20310 20370 20428 20432 20350 20252 1 119 154 1 370681.650382543157320 90151.573536386393243 0.000000000000000 2001.313476562500000 2367.874023437500000 23440 23363 23005 22656 22326 22099 22110 22447 22713 22700 22546 22357 22131 22032 22068 22359 22681 22800 22905 23205 23552 23679 23523 23297 23232 23273 23310 23236 23090 22853 22497 22208 22389 22789 23098 23212 23168 23081 22992 22881 22732 22623 22603 22642 22694 22712 22666 22576 22441 22291 22214 22233 22278 22284 22233 22140 22049 21968 21910 21929 21981 21981 21968 21926 21931 21943 21926 21850 21719 21603 21538 21563 21606 21583 21549 21515 21475 21394 21327 21320 21329 21301 21264 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22078 22048 21983 21890 21818 21750 21732 21797 21787 21671 21529 21449 21460 21489 21472 21437 21364 21292 21291 21295 21239 21129 21053 21031 21047 21119 21178 21102 20975 20908 20866 20813 20770 20735 20686 20611 20562 20570 20594 20637 20682 20702 20734 20742 20687 20607 20515 20434 20388 20375 20356 20300 20224 20200 20285 20378 20453 20492 20442 20352 20337 20378 20360 20315 20247 20169 20095 20057 20118 20204 20231 20226 20217 20216 20183 20094 19994 19964 20029 20094 20149 20205 20213 20184 20246 20321 20349 20338 20273 20194 20140 20108 1 123 154 1 370693.650382543157320 90151.573536386393243 0.000000000000000 1999.575927734375000 2381.764648437500000 23714 23818 23733 23474 23025 22709 22643 22648 22699 22882 23074 23175 23143 22942 22565 22279 22296 22363 22463 22658 22891 23088 23229 23368 23413 23456 23520 23370 23052 22730 22438 22302 22442 22718 22939 23095 23176 23165 23108 23082 23107 23163 23164 23057 22870 22706 22622 22620 22664 22681 22682 22649 22570 22434 22288 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22924 23179 23447 23602 23573 23489 23367 23243 23127 22995 22865 22815 22863 22904 22898 22832 22725 22620 22512 22414 22343 22320 22307 22254 22197 22183 22171 22119 22045 21972 21876 21771 21707 21717 21784 21847 21828 21709 21567 21513 21525 21519 21493 21407 21280 21235 21259 21308 21334 21302 21183 21103 21069 21081 21084 21018 20948 20941 20947 20907 20847 20775 20709 20669 20647 20630 20602 20599 20599 20598 20596 20574 20552 20525 20480 20400 20317 20289 20313 20313 20304 20323 20367 20375 20319 20244 20164 20111 20130 20172 20179 20124 20047 20074 20147 20192 20146 20080 20052 20067 20059 20036 20026 20023 20021 19971 19982 20059 20094 20106 20187 20235 20220 20200 20196 20191 20159 20115 20048 20015 1 127 154 1 370705.650382543157320 90151.573536386393243 0.000000000000000 1994.265991210937500 2409.618896484375000 22571 22511 22592 22884 23106 23227 23392 23664 23951 24096 24068 23905 23640 23398 23398 23513 23608 23667 23766 23929 23945 23725 23541 23647 23646 23472 23413 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19945 19881 19843 19871 19868 19855 19882 19906 1 134 154 1 370726.650382543157320 90151.573536386393243 0.000000000000000 1985.906494140625000 2459.107421875000000 23599 23576 23201 22796 22631 22543 22393 22446 22643 22900 23244 23583 23813 23852 23856 23899 23983 24103 24207 24290 24410 24535 24591 24480 24235 24027 23870 23788 23629 23344 23282 23610 23794 23561 23216 23115 23363 23725 24118 24448 24568 24337 23911 23653 23697 23901 23957 23775 23581 23457 23326 23100 22797 22622 22689 22777 22731 22607 22525 22507 22460 22379 22307 22265 22249 22191 22108 22077 22069 22039 21969 21888 21795 21698 21631 21579 21543 21564 21605 21601 21540 21506 21476 21404 21348 21302 21260 21226 21215 21189 21138 21076 21013 20923 20848 20799 20761 20727 20690 20663 20640 20623 20593 20572 20548 20520 20496 20493 20493 20497 20515 20504 20469 20467 20493 20512 20512 20476 20452 20460 20451 20454 20465 20418 20363 20366 20363 20331 20278 20226 20202 20243 20305 20344 20383 20442 20482 20491 20482 20475 20424 20254 20057 19980 19973 19919 19886 19861 19875 19930 19942 19898 19863 19859 1 135 154 1 370729.650382543157320 90151.573536386393243 0.000000000000000 1982.610595703125000 2458.882324218750000 23742 23692 23306 23056 22977 22742 22429 22412 22618 23001 23360 23667 23819 23783 23742 23717 23799 23954 24097 24197 24272 24379 24447 24446 24399 24345 24277 24139 23825 23546 23591 23894 23984 23685 23320 23220 23426 23730 24117 24469 24589 24314 23915 23793 23919 24079 24078 23834 23646 23526 23379 23122 22801 22707 22885 22964 22848 22699 22612 22576 22521 22417 22332 22279 22255 22224 22179 22174 22171 22096 21973 21853 21751 21687 21644 21617 21615 21639 21651 21603 21538 21510 21468 21399 21356 21319 21294 21256 21225 21188 21140 21099 21050 20965 20876 20823 20798 20769 20734 20698 20673 20652 20618 20584 20556 20535 20523 20535 20532 20513 20523 20530 20509 20472 20455 20460 20469 20458 20451 20456 20463 20489 20502 20465 20415 20401 20377 20342 20305 20270 20237 20240 20280 20308 20337 20379 20436 20467 20446 20421 20383 20240 20040 19923 19909 19912 19949 19954 19968 20010 20017 19947 19859 19826 1 136 154 1 370732.650382543157320 90151.573536386393243 0.000000000000000 1989.933715820312500 2460.115478515625000 23817 23804 23555 23386 23167 22766 22517 22515 22673 23092 23426 23647 23697 23640 23595 23542 23610 23815 24031 24108 24147 24240 24307 24372 24433 24472 24476 24337 24048 23881 23967 24183 24100 23707 23409 23446 23644 23850 24144 24498 24601 24312 24024 24038 24147 24221 24124 23883 23711 23619 23493 23220 22862 22817 23071 23131 22969 22830 22729 22665 22589 22467 22362 22300 22285 22266 22233 22252 22265 22161 21991 21847 21757 21707 21673 21661 21676 21665 21631 21587 21553 21519 21467 21407 21375 21347 21326 21281 21220 21167 21130 21107 21071 21006 20921 20873 20842 20795 20758 20730 20695 20661 20632 20594 20566 20547 20553 20570 20555 20527 20535 20551 20558 20523 20470 20442 20437 20433 20435 20440 20454 20481 20488 20473 20450 20445 20415 20374 20335 20305 20268 20256 20276 20273 20280 20319 20386 20430 20424 20397 20361 20249 20086 19968 19935 19969 20045 20058 20053 20068 20065 20005 19929 19899 1 137 154 1 370735.650382543157320 90151.573536386393243 0.000000000000000 2003.897216796875000 2464.773681640625000 23835 23899 23745 23481 23110 22747 22669 22630 22621 22968 23261 23422 23435 23405 23362 23322 23443 23727 23920 23917 23975 24070 24152 24250 24348 24402 24427 24386 24277 24250 24349 24438 24204 23798 23617 23790 24015 24193 24332 24557 24648 24416 24274 24334 24334 24277 24060 23855 23753 23716 23614 23331 22940 22911 23205 23241 23083 22955 22826 22730 22639 22524 22420 22361 22346 22333 22306 22321 22342 22227 22015 21856 21769 21728 21716 21722 21732 21701 21649 21600 21564 21528 21486 21431 21399 21367 21340 21285 21198 21136 21101 21077 21045 21000 20949 20904 20858 20809 20779 20755 20718 20672 20638 20606 20583 20561 20576 20600 20588 20564 20566 20582 20603 20575 20504 20458 20436 20432 20431 20426 20444 20462 20465 20459 20462 20469 20447 20409 20367 20327 20280 20260 20256 20236 20238 20281 20353 20376 20370 20360 20324 20251 20168 20106 20069 20081 20128 20125 20101 20092 20086 20062 20043 20039 1 138 154 1 370738.650382543157320 90151.573536386393243 0.000000000000000 2010.377685546875000 2476.423095703125000 23824 23877 23684 23296 22962 22855 22948 22784 22558 22692 22861 23033 23126 23131 23085 23133 23415 23683 23711 23677 23770 23888 23999 24138 24256 24290 24279 24257 24250 24370 24578 24659 24398 24041 23944 24171 24419 24565 24591 24687 24764 24616 24559 24549 24416 24192 23906 23731 23722 23766 23677 23347 22962 22998 23294 23308 23181 23061 22929 22808 22700 22591 22490 22413 22365 22360 22373 22373 22357 22237 22036 21902 21829 21788 21772 21788 21788 21746 21680 21615 21576 21536 21490 21441 21394 21347 21316 21275 21212 21156 21102 21056 21025 20984 20926 20881 20851 20827 20798 20762 20735 20696 20649 20613 20589 20570 20579 20610 20610 20587 20596 20615 20621 20602 20558 20514 20479 20471 20447 20434 20436 20434 20442 20442 20443 20439 20429 20416 20395 20350 20284 20238 20219 20208 20228 20285 20341 20335 20339 20361 20337 20290 20257 20233 20205 20189 20163 20139 20125 20110 20111 20104 20105 20104 1 139 154 1 370741.650382543157320 90151.573536386393243 0.000000000000000 2013.096557617187500 2493.104492187500000 23858 23827 23591 23176 22939 23085 23284 23097 22818 22748 22665 22710 22858 22885 22906 23124 23417 23524 23441 23446 23562 23707 23876 24066 24166 24144 24097 24126 24237 24362 24519 24672 24596 24393 24320 24519 24765 24862 24831 24861 24931 24857 24755 24612 24444 24175 23863 23635 23589 23668 23603 23255 22949 23057 23309 23324 23264 23187 23068 22907 22777 22668 22563 22465 22384 22376 22420 22427 22391 22266 22078 21971 21905 21856 21833 21833 21799 21750 21690 21633 21592 21539 21485 21441 21396 21337 21295 21249 21203 21165 21121 21071 21039 20992 20926 20881 20860 20845 20813 20781 20772 20735 20671 20624 20587 20572 20583 20615 20630 20619 20625 20636 20625 20621 20619 20572 20528 20511 20485 20478 20471 20441 20416 20409 20403 20407 20420 20423 20402 20352 20273 20205 20178 20185 20216 20282 20323 20304 20305 20350 20365 20354 20344 20323 20288 20237 20173 20169 20161 20134 20135 20139 20142 20131 1 140 154 1 370744.650382543157320 90151.573536386393243 0.000000000000000 2014.673828125000000 2504.863525390625000 23837 23712 23486 23129 23026 23353 23609 23516 23314 23122 22806 22597 22636 22723 22805 22999 23206 23240 23188 23251 23400 23592 23793 23979 24024 23962 23974 24155 24365 24428 24478 24582 24624 24645 24703 24862 25016 25049 24954 24910 24943 24887 24701 24501 24409 24245 23954 23637 23433 23407 23346 23100 22969 23140 23323 23364 23372 23352 23249 23053 22884 22773 22668 22560 22465 22434 22470 22475 22433 22304 22135 22034 21963 21916 21892 21870 21812 21767 21704 21636 21582 21525 21472 21437 21402 21358 21315 21254 21189 21143 21109 21076 21051 21010 20955 20908 20882 20866 20841 20830 20824 20770 20696 20650 20594 20569 20587 20625 20661 20666 20652 20649 20656 20666 20675 20640 20597 20565 20546 20539 20532 20485 20427 20396 20384 20397 20423 20422 20382 20332 20257 20179 20147 20157 20184 20241 20272 20258 20263 20314 20358 20376 20383 20364 20304 20239 20199 20212 20199 20161 20151 20164 20181 20175 1 141 154 1 370747.650382543157320 90151.573536386393243 0.000000000000000 2015.446411132812500 2518.481445312500000 23717 23529 23313 23141 23266 23648 23928 23947 23770 23463 22980 22648 22693 22892 22931 22917 22986 22998 23001 23116 23308 23487 23650 23775 23808 23835 24026 24331 24547 24584 24633 24706 24694 24780 24941 25103 25185 25121 24940 24788 24705 24634 24447 24279 24271 24231 24024 23683 23334 23155 23077 23026 23118 23323 23440 23471 23509 23518 23411 23207 23022 22915 22828 22704 22585 22532 22534 22515 22447 22321 22167 22065 21995 21946 21915 21875 21818 21769 21696 21618 21571 21531 21484 21439 21399 21382 21353 21290 21215 21158 21115 21077 21040 21002 20968 20931 20909 20897 20900 20909 20877 20793 20710 20661 20604 20579 20609 20646 20673 20680 20659 20657 20692 20720 20714 20700 20683 20640 20617 20612 20600 20548 20474 20414 20381 20382 20399 20401 20365 20322 20264 20200 20171 20154 20157 20203 20234 20223 20228 20282 20323 20345 20361 20364 20311 20253 20249 20267 20239 20197 20182 20206 20220 20211 1 142 154 1 370750.650382543157320 90151.573536386393243 0.000000000000000 2014.553100585937500 2524.984863281250000 23573 23373 23224 23279 23557 23906 24110 24107 23933 23533 22975 22706 22931 23281 23327 23178 23133 23051 22998 23071 23220 23364 23478 23568 23661 23858 24211 24561 24742 24755 24804 24913 24871 24960 25058 25153 25250 25207 25018 24754 24499 24311 24139 24018 24022 24035 23883 23599 23249 23038 23026 23154 23367 23512 23554 23560 23592 23593 23483 23298 23156 23079 22995 22838 22704 22647 22620 22565 22448 22308 22172 22075 22008 21943 21894 21857 21801 21741 21680 21617 21580 21553 21504 21447 21396 21380 21360 21310 21244 21189 21141 21096 21053 21013 20987 20955 20925 20914 20933 20956 20900 20805 20723 20661 20612 20601 20640 20675 20686 20684 20673 20687 20742 20780 20755 20748 20753 20710 20671 20667 20644 20591 20532 20468 20410 20391 20383 20381 20355 20322 20289 20237 20187 20146 20146 20207 20241 20223 20216 20251 20276 20305 20333 20336 20303 20267 20278 20300 20263 20227 20224 20252 20247 20222 1 143 154 1 370753.650382543157320 90151.573536386393243 0.000000000000000 2013.241088867187500 2534.653564453125000 23552 23375 23344 23506 23761 24020 24084 23955 23733 23290 22826 22798 23202 23616 23724 23614 23530 23360 23250 23317 23376 23500 23617 23657 23691 23951 24340 24677 24864 24880 24917 25067 25061 25179 25242 25253 25313 25347 25177 24884 24568 24227 23935 23769 23707 23700 23586 23412 23194 23059 23135 23378 23605 23666 23630 23610 23619 23588 23489 23358 23255 23178 23076 22909 22780 22735 22692 22589 22414 22257 22150 22072 22018 21958 21907 21869 21806 21733 21676 21624 21584 21565 21523 21460 21397 21358 21317 21278 21234 21191 21143 21097 21057 21034 21012 20978 20937 20912 20928 20947 20890 20805 20740 20675 20623 20617 20664 20699 20697 20693 20707 20744 20796 20826 20795 20785 20795 20752 20688 20696 20694 20645 20596 20532 20457 20415 20387 20372 20342 20316 20297 20259 20191 20132 20141 20206 20232 20223 20226 20235 20243 20273 20309 20320 20302 20281 20291 20306 20278 20250 20233 20249 20237 20213 1 144 154 1 370756.650382543157320 90151.573536386393243 0.000000000000000 2013.596435546875000 2543.705810546875000 23556 23490 23568 23731 23935 24078 23971 23692 23421 23064 22804 22884 23242 23638 23889 23990 23940 23792 23795 23931 23956 23985 24023 23908 23843 24124 24451 24738 24969 25024 25045 25222 25236 25334 25415 25418 25437 25437 25190 24894 24649 24321 23960 23683 23503 23441 23420 23358 23277 23222 23278 23546 23762 23780 23707 23666 23625 23551 23467 23376 23295 23214 23116 22958 22834 22777 22669 22484 22304 22212 22161 22125 22088 22031 21969 21899 21807 21730 21671 21627 21610 21598 21541 21454 21381 21328 21289 21254 21214 21170 21125 21082 21048 21020 20992 20969 20935 20907 20909 20907 20864 20803 20753 20680 20613 20617 20669 20702 20685 20693 20738 20781 20815 20843 20838 20831 20838 20783 20692 20694 20728 20704 20649 20578 20492 20437 20398 20368 20332 20307 20283 20253 20210 20182 20201 20238 20244 20250 20262 20255 20241 20249 20264 20283 20294 20278 20279 20270 20249 20224 20188 20182 20162 20136 1 145 154 1 370759.650382543157320 90151.573536386393243 0.000000000000000 2005.030639648437500 2556.463867187500000 23661 23670 23793 23948 24062 24071 23865 23530 23312 23112 22951 22940 23068 23426 23799 24057 24137 24164 24300 24457 24512 24510 24338 24031 24003 24353 24668 24907 25113 25169 25203 25421 25479 25534 25565 25549 25515 25346 24990 24666 24469 24250 23951 23646 23477 23495 23557 23547 23524 23491 23424 23642 23854 23847 23759 23713 23635 23532 23439 23361 23283 23167 23035 22912 22800 22688 22538 22408 22338 22293 22262 22227 22175 22105 22020 21917 21819 21760 21715 21665 21642 21609 21532 21436 21353 21295 21254 21223 21192 21160 21116 21075 21039 20998 20968 20952 20933 20912 20896 20878 20836 20787 20737 20668 20610 20608 20649 20675 20667 20702 20755 20788 20821 20853 20861 20863 20874 20820 20719 20697 20740 20742 20691 20618 20537 20465 20418 20380 20343 20306 20269 20249 20231 20228 20244 20265 20271 20282 20280 20266 20248 20239 20217 20218 20242 20227 20220 20196 20162 20146 20124 20106 20077 20050 1 146 154 1 370762.650382543157320 90151.573536386393243 0.000000000000000 2003.365600585937500 2570.556884765625000 23850 23848 23924 24056 24116 24044 23845 23587 23428 23286 23190 23125 23010 23190 23561 23854 24014 24189 24476 24757 24926 24868 24480 24137 24221 24538 24859 25138 25316 25341 25371 25584 25684 25706 25677 25610 25449 25115 24766 24452 24247 24049 23806 23641 23628 23728 23865 23848 23807 23756 23555 23665 23875 23848 23749 23697 23608 23486 23390 23322 23206 22992 22802 22731 22648 22548 22494 22502 22497 22442 22381 22323 22253 22169 22059 21935 21852 21803 21763 21701 21638 21579 21515 21447 21381 21329 21273 21222 21179 21146 21111 21075 21042 20994 20966 20944 20926 20920 20911 20884 20833 20775 20717 20666 20624 20608 20625 20644 20658 20707 20769 20799 20833 20855 20856 20875 20886 20851 20760 20711 20719 20745 20739 20686 20616 20534 20462 20403 20358 20314 20274 20250 20233 20226 20236 20258 20270 20272 20260 20248 20235 20217 20184 20169 20170 20148 20142 20128 20111 20098 20081 20073 20057 20034 1 147 154 1 370765.650382543157320 90151.573536386393243 0.000000000000000 2009.304321289062500 2578.800048828125000 24052 24028 24019 24082 24109 24042 23876 23676 23507 23386 23443 23449 23209 23119 23316 23558 23743 24026 24406 24800 25098 25033 24638 24468 24599 24752 24960 25250 25468 25542 25536 25683 25788 25737 25666 25624 25424 25048 24769 24581 24355 24037 23780 23773 23853 23928 24114 24143 24046 23920 23650 23698 23886 23850 23732 23647 23533 23402 23324 23251 23082 22856 22781 22751 22681 22639 22645 22672 22661 22588 22488 22392 22305 22210 22086 21957 21894 21861 21822 21753 21633 21535 21509 21486 21460 21425 21351 21268 21205 21161 21111 21060 21035 20999 20972 20947 20916 20913 20919 20908 20858 20781 20716 20671 20627 20597 20602 20632 20668 20729 20797 20819 20838 20852 20847 20869 20896 20882 20811 20747 20718 20715 20730 20715 20665 20589 20505 20427 20363 20315 20287 20262 20256 20257 20275 20292 20280 20259 20239 20219 20196 20185 20172 20160 20146 20122 20118 20123 20119 20107 20095 20093 20099 20095 1 148 154 1 370768.650382543157320 90151.573536386393243 0.000000000000000 2012.522094726562500 2583.371582031250000 24058 24035 24015 24036 24024 23936 23804 23619 23475 23453 23618 23693 23500 23209 23131 23288 23543 23863 24230 24664 25047 25134 24952 24890 24929 24981 25151 25403 25597 25667 25652 25767 25834 25701 25584 25612 25506 25208 24989 24813 24485 24098 23899 23988 24084 24130 24285 24395 24258 24015 23779 23848 23971 23926 23784 23671 23527 23367 23249 23132 22976 22912 23029 23050 22979 22907 22858 22824 22777 22689 22568 22451 22350 22239 22112 21999 21944 21914 21874 21805 21659 21531 21511 21516 21529 21513 21430 21332 21283 21244 21163 21073 21032 21001 20971 20945 20919 20916 20913 20901 20850 20773 20710 20667 20624 20583 20586 20639 20678 20723 20781 20810 20816 20829 20839 20856 20881 20892 20867 20803 20752 20697 20693 20723 20698 20618 20536 20454 20377 20316 20291 20285 20283 20282 20311 20320 20281 20240 20218 20193 20163 20159 20178 20172 20148 20125 20145 20194 20203 20186 20162 20140 20141 20163 1 149 154 1 370771.650382543157320 90151.573536386393243 0.000000000000000 2012.597167968750000 2584.535156250000000 23894 23882 23886 23913 23895 23780 23706 23583 23512 23601 23815 23905 23800 23467 23191 23289 23664 23996 24289 24627 24971 25229 25302 25253 25205 25272 25471 25634 25698 25665 25722 25845 25788 25567 25423 25503 25544 25394 25217 24929 24522 24198 24129 24273 24382 24410 24499 24614 24398 24080 23978 24126 24180 24100 23920 23750 23584 23404 23212 23023 22975 23135 23336 23380 23300 23183 23069 22966 22877 22770 22624 22484 22357 22232 22117 22034 21967 21912 21870 21801 21673 21562 21520 21530 21565 21552 21480 21411 21388 21347 21252 21139 21067 21004 20960 20937 20926 20930 20917 20883 20826 20766 20716 20671 20621 20586 20594 20655 20691 20701 20730 20771 20781 20799 20825 20833 20865 20909 20908 20855 20801 20736 20716 20740 20710 20619 20530 20457 20392 20332 20303 20303 20302 20302 20321 20328 20283 20227 20212 20208 20183 20173 20189 20174 20141 20126 20179 20262 20302 20291 20249 20192 20183 20224 1 150 154 1 370774.650382543157320 90151.573536386393243 0.000000000000000 2014.599975585937500 2588.528808593750000 23667 23679 23743 23857 23911 23799 23721 23634 23609 23776 24031 24103 23960 23599 23272 23400 23897 24308 24591 24856 25117 25420 25625 25590 25537 25647 25808 25819 25680 25616 25790 25885 25709 25410 25233 25292 25407 25417 25336 24973 24560 24359 24441 24624 24740 24736 24763 24787 24502 24214 24211 24356 24357 24209 23994 23792 23624 23455 23244 23039 23117 23405 23587 23607 23514 23400 23247 23083 22938 22796 22623 22469 22336 22228 22144 22068 21973 21899 21846 21783 21679 21570 21525 21543 21593 21593 21550 21522 21513 21458 21347 21224 21118 21015 20961 20933 20922 20926 20906 20866 20810 20764 20724 20678 20632 20608 20605 20641 20690 20713 20720 20746 20761 20790 20829 20833 20867 20921 20933 20899 20869 20818 20775 20747 20698 20623 20544 20478 20430 20372 20334 20335 20331 20319 20324 20327 20293 20250 20257 20267 20244 20227 20218 20183 20152 20146 20196 20280 20337 20349 20308 20231 20227 20264 1 151 154 1 370777.650382543157320 90151.573536386393243 0.000000000000000 2017.958496093750000 2598.848388671875000 23479 23502 23607 23819 23969 23908 23765 23669 23729 23940 24178 24204 23939 23534 23333 23604 24103 24488 24753 25006 25272 25558 25781 25861 25913 25988 25976 25819 25600 25595 25824 25873 25654 25317 25073 25036 25195 25336 25313 24936 24588 24515 24712 24945 25057 25005 24968 24893 24638 24429 24377 24377 24310 24121 23884 23704 23584 23463 23281 23133 23291 23578 23746 23749 23628 23516 23343 23137 22947 22774 22613 22482 22381 22288 22198 22101 21994 21909 21830 21762 21683 21592 21554 21572 21625 21665 21671 21667 21649 21568 21431 21296 21167 21058 21003 20959 20932 20926 20911 20873 20811 20745 20696 20666 20647 20639 20631 20644 20686 20724 20741 20758 20767 20797 20845 20857 20865 20896 20927 20938 20931 20897 20833 20762 20701 20641 20576 20535 20503 20443 20390 20370 20352 20336 20323 20309 20290 20274 20307 20326 20306 20295 20279 20229 20189 20180 20210 20280 20338 20370 20346 20270 20263 20300 1 152 154 1 370780.650382543157320 90151.573536386393243 0.000000000000000 2021.556884765625000 2615.150390625000000 23386 23406 23540 23755 23933 23946 23822 23701 23810 24051 24252 24209 23833 23432 23381 23727 24116 24424 24692 24948 25211 25483 25701 25887 26080 26152 25974 25663 25489 25609 25781 25766 25569 25236 24902 24763 24973 25240 25252 24931 24692 24680 24848 25099 25201 25107 25000 24823 24578 24399 24290 24206 24122 23954 23698 23539 23455 23381 23270 23273 23486 23665 23796 23790 23642 23516 23321 23094 22910 22772 22671 22573 22474 22365 22251 22147 22041 21936 21839 21759 21680 21616 21603 21628 21698 21785 21819 21817 21787 21669 21499 21355 21219 21112 21054 20994 20961 20945 20928 20884 20816 20739 20686 20665 20660 20674 20676 20677 20690 20723 20766 20801 20827 20851 20877 20888 20876 20864 20891 20944 20958 20923 20865 20801 20744 20697 20663 20635 20595 20534 20468 20413 20379 20363 20352 20318 20283 20283 20335 20362 20354 20347 20339 20296 20249 20216 20227 20291 20345 20390 20386 20337 20332 20353 1 153 154 1 370783.650382543157320 90151.573536386393243 0.000000000000000 2023.514526367187500 2619.091796875000000 23354 23374 23528 23685 23831 23944 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24166 23992 23844 23721 23594 23467 23348 23231 23102 22971 22855 22730 22627 22533 22425 22294 22172 22087 22033 22033 22063 22068 21989 21816 21633 21508 21455 21418 21349 21317 21326 21338 21310 21216 21099 21021 20970 20952 20979 21018 21019 21017 21052 21081 21046 20970 20916 20910 20892 20855 20820 20821 20850 20875 20889 20911 20940 20973 21044 21114 21134 21079 20984 20943 20943 20894 20811 20735 20663 20636 20647 20641 20620 20593 20561 20544 20532 20525 20529 20470 20380 20360 20423 20451 20437 \ No newline at end of file diff --git a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_description/worlds/kunming_airport.world b/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_description/worlds/kunming_airport.world deleted file mode 100644 index e8b7f89..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_description/worlds/kunming_airport.world +++ /dev/null @@ -1,78 +0,0 @@ - - - - - - model://sun - - - - model://kunming_airport - 0 0 0 0 0 0 - - - - model://suv - 602.050000 -729.260000 0 0 0 0.9 - - - - - 0.68 0.68 0.68 1.0 - - - - 0 - - - - - - - - - 1000 - 0.001 - 1.0 - - - - - diff --git a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_msgs/CMakeLists.txt b/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_msgs/CMakeLists.txt deleted file mode 100644 index e76267b..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_msgs/CMakeLists.txt +++ /dev/null @@ -1,30 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(enemy_suv_msgs) - -find_package(catkin REQUIRED COMPONENTS - std_msgs - message_generation -) - -add_message_files( - FILES - Controller_Commands.msg - Current_Path.msg - Goal_Info.msg - Controller_Internals.msg - State.msg - State29.msg - Up_Data_New.msg - Down_Data_New.msg - Formation_Type.msg - Waypoint.msg -) - -generate_messages( - DEPENDENCIES - std_msgs -) - -catkin_package( - CATKIN_DEPENDS std_msgs -) diff --git a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_msgs/msg/Controller_Commands.msg b/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_msgs/msg/Controller_Commands.msg deleted file mode 100644 index 2dbe3d8..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_msgs/msg/Controller_Commands.msg +++ /dev/null @@ -1,11 +0,0 @@ -# Controller commands output from the path follower, input to autopilot controller - -# @warning Va_c, h_c and chi_c have always to be valid, the aux array is optional -float32 Va_c # Commanded airspeed (m/s) -float32 h_c # Commanded altitude (m) -float32 chi_c # Commanded course (rad) -float32 phi_ff # feed forward command for orbits (rad) -float32[4] aux # Optional auxiliary commands -bool aux_valid # Auxiliary commands valid -bool takeoff -bool landing diff --git a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_msgs/msg/Controller_Internals.msg b/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_msgs/msg/Controller_Internals.msg deleted file mode 100644 index 620facd..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_msgs/msg/Controller_Internals.msg +++ /dev/null @@ -1,13 +0,0 @@ -# Controller internals (inner loops, states) output from the autopilot controller, for now just for debuging and ploting - -# @warning theta_c, phi_c and alt_zone have always to be valid, the aux array is optional -float32 theta_c # Commanded pitch (rad) -float32 phi_c # Commanded roll (rad) -uint8 alt_zone # Zone in the altitude state machine -float32[4] aux # Optional auxiliary commands -bool aux_valid # Auxiliary commands valid - -uint8 ZONE_TAKE_OFF = 0 -uint8 ZONE_CLIMB = 1 -uint8 ZONE_DESEND = 2 -uint8 ZONE_ALTITUDE_HOLD = 3 diff --git a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_msgs/msg/Current_Path.msg b/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_msgs/msg/Current_Path.msg deleted file mode 100644 index 612d862..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_msgs/msg/Current_Path.msg +++ /dev/null @@ -1,23 +0,0 @@ -# Current path output from the path manager, input to path follower - -# @warning Va_d have always to be valid, -# r and q need to be valid if path_type == LINE_PATH -# c, rho, and, lambda need to be valid if path_type == ORBIT_PATH -uint8 path_type # Indicates strait line or orbital path -float32 Va_d # Desired airspeed (m/s) -float32[3] r # Vector to origin of straight line path (m) -float32[3] q # Unit vector, desired direction of travel for line path -float32[3] c # Center of orbital path (m) -float32 rho # Radius of orbital path (m) -float32 h_c # desire altitude (m) add by kobe -int8 lambda # Direction of orbital path (clockwise is 1, counterclockwise is -1) - -uint8 ORBIT_PATH = 0 -uint8 LINE_PATH = 1 -uint8 STAR_PATH = 2 #add by kobe - -int8 CLOCKWISE = 1 -int8 COUNT_CLOCKWISE = -1 - -bool landing -bool takeoff diff --git a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_msgs/msg/Down_Data_New.msg b/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_msgs/msg/Down_Data_New.msg deleted file mode 100644 index 693434f..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_msgs/msg/Down_Data_New.msg +++ /dev/null @@ -1,5 +0,0 @@ -int32 status_word -float32 longitude -float32 latitude -float32 altitude -float32 plane_speed #desired speed diff --git a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_msgs/msg/Formation_Type.msg b/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_msgs/msg/Formation_Type.msg deleted file mode 100644 index f82ebe0..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_msgs/msg/Formation_Type.msg +++ /dev/null @@ -1,7 +0,0 @@ -# Vehicle state 'x_hat' output from the estimator or from simulator - -Header header - -# Original States -# @warning roll, pitch and yaw have always to be valid, the quaternion is optional -float32 formation_type # Airspeed (m/s) diff --git a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_msgs/msg/Goal_Info.msg b/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_msgs/msg/Goal_Info.msg deleted file mode 100644 index 778325b..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_msgs/msg/Goal_Info.msg +++ /dev/null @@ -1,8 +0,0 @@ -# Current path goal output from the path manager, add by kobe - -float32 v_d # Desired airspeed (m/s) -float32[2] xy # x-y-coordinate (m) -float32[2] ll # latitude-longtitude -int32 action # expected action move -float32 altitude # desire altitude (m) - diff --git a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_msgs/msg/State.msg b/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_msgs/msg/State.msg deleted file mode 100644 index 1a035a2..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_msgs/msg/State.msg +++ /dev/null @@ -1,37 +0,0 @@ -# Vehicle state 'x_hat' output from the estimator or from simulator - -Header header - -# Original States -# @warning roll, pitch and yaw have always to be valid, the quaternion is optional -float32[3] position # north, east, down (m) -float32 Va # Airspeed (m/s) -float32 alpha # Angle of attack (rad) -float32 beta # Slide slip angle (rad) -float32 phi # Roll angle (rad) -float32 theta # Pitch angle (rad) -float32 psi # Yaw angle (rad) -float32 chi # Course angle (rad) -float32 p # Body frame rollrate (rad/s) -float32 q # Body frame pitchrate (rad/s) -float32 r # Body frame yawrate (rad/s) -float32 Vg # Groundspeed (m/s) -float32 wn # Windspeed north component (m/s) -float32 we # Windspeed east component (m/s) - -# add by kobe -float32 Wd # latitude -90--90 -float32 Jd # longtitude -180--180 -float32 Vn # v-north speed or x -float32 Ve # v-east or y -float32 Vd # v-down or z - - -# Additional States for convenience -float32[4] quat # Quaternion (wxyz, NED) -bool quat_valid # Quaternion valid -float32 chi_deg # Wrapped course angle (deg) -float32 psi_deg # Wrapped yaw angle (deg) -float32 initial_lat # Initial/origin latitude (lat. deg) -float32 initial_lon # Initial/origin longitude (lon. deg) -float32 initial_alt # Initial/origin altitude (m) diff --git a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_msgs/msg/State29.msg b/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_msgs/msg/State29.msg deleted file mode 100644 index d446ad4..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_msgs/msg/State29.msg +++ /dev/null @@ -1,13 +0,0 @@ -# Vehicle state 'x_hat' output from the estimator or from simulator - -Header header - -# Original States -# @warning roll, pitch and yaw have always to be valid, the quaternion is optional -float32[3] position_gps # latitude (lat. deg), longitude (lon. deg), altitude (m) -float32[3] attitude_angle # Roll angle (rad), Pitch angle (rad), Yaw angle (rad) -float32[3] velocity # V_north (m/s), V_east (m/s), V_ground (m/s) -float32[3] angular_velocity # Body frame rollrate (rad/s), Body frame pitchrate (rad/s), Body frame yawrate (rad/s) -float32[3] acceleration # Body frame x (m/s^2), Body frame y (m/s^2), Body frame z (m/s^2) -float32 electric_quantity # Quantity of electric charge -int8 state_word # Control Status Word diff --git a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_msgs/msg/Up_Data_New.msg b/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_msgs/msg/Up_Data_New.msg deleted file mode 100644 index a0d4e49..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_msgs/msg/Up_Data_New.msg +++ /dev/null @@ -1,16 +0,0 @@ -int32 status_word -float32 longitude -float32 latitude -float32 altitude # (m) -float32 roll_angle #(rad) -float32 pitch_angle -float32 yaw_angle -float32 angular_rate_x #Body frame rollrate (rad/s) -float32 angular_rate_y #Body frame pitchrate (rad/s) -float32 angular_rate_z #Body frame yawrate (rad/s) -float32 north_direction_speed #(m/s) -float32 east_direction_speed -float32 ground_direction_speed -float32 acceleration_x #(m/s^2) -float32 acceleration_y -float32 acceleration_z diff --git a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_msgs/msg/Waypoint (复件).msg b/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_msgs/msg/Waypoint (复件).msg deleted file mode 100644 index 531183a..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_msgs/msg/Waypoint (复件).msg +++ /dev/null @@ -1,15 +0,0 @@ -# New waypoint, input to path manager - -# @warning w and Va_d always have to be valid; the chi_d is optional. -float32[3] w # Waypoint in local NED (m) - -# add by kobe -float32 lat # latitude -float32 lon # longtitude - -float32 chi_d # Desired course at this waypoint (rad) -bool chi_valid # Desired course valid (dubin or fillet paths) -float32 Va_d # Desired airspeed (m/s) -bool set_current # Sets this waypoint to be executed now! Starts a new list -bool clear_wp_list # Removes all waypoints and returns to origin. The rest of - # this message will be ignored diff --git a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_msgs/msg/Waypoint.msg b/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_msgs/msg/Waypoint.msg deleted file mode 100644 index 839277d..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_msgs/msg/Waypoint.msg +++ /dev/null @@ -1,17 +0,0 @@ -# New waypoint, input to path manager - -# @warning w and Va_d always have to be valid; the chi_d is optional. -float32[3] w # Waypoint in local NED (m) - -# add by kobe -float32 lat # latitude -float32 lon # longtitude - -float32 chi_d # Desired course at this waypoint (rad) -bool chi_valid # Desired course valid (dubin or fillet paths) -float32 Va_d # Desired airspeed (m/s) -bool set_current # Sets this waypoint to be executed now! Starts a new list -bool clear_wp_list # Removes all waypoints and returns to origin. The rest of - # this message will be ignored -bool landing -bool takeoff diff --git a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_msgs/package.xml b/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_msgs/package.xml deleted file mode 100644 index c2f3b3d..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_msgs/package.xml +++ /dev/null @@ -1,25 +0,0 @@ - - - enemy_suv_msgs - 0.0.0 - Message definitions for the ROSplane package - - Gary Ellingson - - Gary Ellingson - - BSD - - catkin - - message_generation - std_msgs - geometry_msgs - std_msgs - geometry_msgs - - - - - - diff --git a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_teleop/CHANGELOG.rst b/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_teleop/CHANGELOG.rst deleted file mode 100644 index 404258e..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_teleop/CHANGELOG.rst +++ /dev/null @@ -1,29 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package hector_quadrotor_teleop -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -0.3.5 (2015-03-28) ------------------- - -0.3.4 (2015-02-22) ------------------- -* Add optional parameter to set the joystick device -* Contributors: whoenig - -0.3.3 (2014-09-01) ------------------- -* added run dependency to joy package (joystick drivers) -* Contributors: Johannes Meyer - -0.3.2 (2014-03-30) ------------------- - -0.3.1 (2013-12-26) ------------------- -* added slow button (btn 6 on Logitech Gamepad) -* Contributors: Johannes Meyer - -0.3.0 (2013-09-11) ------------------- -* Catkinized stack hector_quadrotor and integrated hector_quadrotor_demo package from former hector_quadrotor_apps stack -* decreased z_velocity_max to 2.0 m/s in logitech_gamepad.launch diff --git a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_teleop/CMakeLists.txt b/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_teleop/CMakeLists.txt deleted file mode 100644 index 7c567ca..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_teleop/CMakeLists.txt +++ /dev/null @@ -1,89 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(enemy_suv_teleop) - -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages -find_package(catkin REQUIRED COMPONENTS roscpp sensor_msgs geometry_msgs hector_uav_msgs) -include_directories(include ${catkin_INCLUDE_DIRS}) - -## System dependencies are found with CMake's conventions -# find_package(Boost REQUIRED COMPONENTS system) - -## Uncomment this if the package has a setup.py. This macro ensures -## modules and global scripts declared therein get installed -## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html -# catkin_python_setup() - - -################################### -## catkin specific configuration ## -################################### -## The catkin_package macro generates cmake config files for your package -## Declare things to be passed to dependent projects -## INCLUDE_DIRS: uncomment this if you package contains header files -## LIBRARIES: libraries you create in this project that dependent projects also need -## CATKIN_DEPENDS: catkin_packages dependent projects also need -## DEPENDS: system dependencies of this project that dependent projects also need -catkin_package( - INCLUDE_DIRS - LIBRARIES - CATKIN_DEPENDS roscpp sensor_msgs geometry_msgs hector_uav_msgs - DEPENDS -) - -########### -## Build ## -########### - -## Declare a cpp library -# add_library(@{name} -# src/${PROJECT_NAME}/@name.cpp -# ) - -## Declare a cpp executable -add_executable(enemy_suv_teleop src/quadrotor_teleop.cpp) -target_link_libraries(enemy_suv_teleop ${catkin_LIBRARIES}) - -## Add cmake target dependencies of the executable/library -## as an example, message headers may need to be generated before nodes -add_dependencies(enemy_suv_teleop ${catkin_EXPORTED_TARGETS}) - -############# -## Install ## -############# - -# all install targets should use catkin DESTINATION variables -# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html - -## Mark executable scripts (Python etc.) for installation -## in contrast to setup.py, you can choose the destination -# install(PROGRAMS -# scripts/my_python_script -# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark executables and/or libraries for installation -install(TARGETS enemy_suv_teleop - ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -) - -## Mark cpp header files for installation -# install(DIRECTORY include/${PROJECT_NAME}/ -# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -# FILES_MATCHING PATTERN "*.h" -# PATTERN ".svn" EXCLUDE -# ) - -## Mark other files for installation (e.g. launch and bag files, etc.) -# install(FILES -# # myfile1 -# # myfile2 -# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -# ) - -install(DIRECTORY launch - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -) diff --git a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_teleop/launch/logitech_gamepad.launch b/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_teleop/launch/logitech_gamepad.launch deleted file mode 100644 index 83884da..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_teleop/launch/logitech_gamepad.launch +++ /dev/null @@ -1,25 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_teleop/launch/xbox_controller.launch b/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_teleop/launch/xbox_controller.launch deleted file mode 100644 index c6e9348..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_teleop/launch/xbox_controller.launch +++ /dev/null @@ -1,19 +0,0 @@ - - - - - - - - - - - - - - - - - - - diff --git a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_teleop/package.xml b/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_teleop/package.xml deleted file mode 100644 index 4d89caf..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_teleop/package.xml +++ /dev/null @@ -1,33 +0,0 @@ - - enemy_suv_teleop - 0.3.5 - hector_quadrotor_teleop enables quadrotor flying with a joystick by - processing joy/Joy messages and translating them to geometry_msgs/Twist. - Johannes Meyer - - BSD - - http://ros.org/wiki/hector_quadrotor_teleop - https://github.com/tu-darmstadt-ros-pkg/hector_quadrotor/issues - - Johannes Meyer - - - catkin - - - roscpp - sensor_msgs - geometry_msgs - hector_uav_msgs - - - roscpp - sensor_msgs - geometry_msgs - hector_uav_msgs - joy - - - - diff --git a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_teleop/src/quadrotor_teleop.cpp b/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_teleop/src/quadrotor_teleop.cpp deleted file mode 100644 index 7d6e02e..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_teleop/src/quadrotor_teleop.cpp +++ /dev/null @@ -1,215 +0,0 @@ -//================================================================================================= -// Copyright (c) 2012, Johannes Meyer, TU Darmstadt -// All rights reserved. - -// Redistribution and use in source and binary forms, with or without -// modification, are permitted provided that the following conditions are met: -// * Redistributions of source code must retain the above copyright -// notice, this list of conditions and the following disclaimer. -// * Redistributions in binary form must reproduce the above copyright -// notice, this list of conditions and the following disclaimer in the -// documentation and/or other materials provided with the distribution. -// * Neither the name of the Flight Systems and Automatic Control group, -// TU Darmstadt, nor the names of its contributors may be used to -// endorse or promote products derived from this software without -// specific prior written permission. - -// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND -// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED -// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY -// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES -// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND -// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -//================================================================================================= - - -#include -#include -#include -#include -#include -#include - -namespace hector_quadrotor -{ - -class Teleop -{ -private: - ros::NodeHandle node_handle_; - ros::Subscriber joy_subscriber_; - - ros::Publisher velocity_publisher_, attitude_publisher_, yawrate_publisher_, thrust_publisher_; - geometry_msgs::Twist velocity_; - hector_uav_msgs::AttitudeCommand attitude_; - hector_uav_msgs::ThrustCommand thrust_; - hector_uav_msgs::YawrateCommand yawrate_; - - struct Axis - { - int axis; - double max; - }; - - struct Button - { - int button; - }; - - struct - { - Axis x; - Axis y; - Axis z; - Axis yaw; - } axes_; - - struct - { - Button slow; - } buttons_; - - double slow_factor_; - -public: - Teleop() - { - ros::NodeHandle params("~"); - - params.param("x_axis", axes_.x.axis, 4); - params.param("y_axis", axes_.y.axis, 3); - params.param("z_axis", axes_.z.axis, 2); - params.param("yaw_axis", axes_.yaw.axis, 1); - - params.param("yaw_velocity_max", axes_.yaw.max, 90.0 * M_PI / 180.0); - params.param("slow_button", buttons_.slow.button, 1); - params.param("slow_factor", slow_factor_, 0.2); - - std::string control_mode_str; - params.param("control_mode", control_mode_str, "twist"); - - if (control_mode_str == "twist") - { - params.param("x_velocity_max", axes_.x.max, 2.0); - params.param("y_velocity_max", axes_.y.max, 2.0); - params.param("z_velocity_max", axes_.z.max, 2.0); - - joy_subscriber_ = node_handle_.subscribe("joy", 1, boost::bind(&Teleop::joyTwistCallback, this, _1)); - velocity_publisher_ = node_handle_.advertise("cmd_vel", 10); - } - else if (control_mode_str == "attitude") - { - params.param("x_roll_max", axes_.x.max, 0.35); - params.param("y_pitch_max", axes_.y.max, 0.35); - params.param("z_thrust_max", axes_.z.max, 25.0); - joy_subscriber_ = node_handle_.subscribe("joy", 1, boost::bind(&Teleop::joyAttitudeCallback, this, _1)); - attitude_publisher_ = node_handle_.advertise("command/attitude", 10); - yawrate_publisher_ = node_handle_.advertise("command/yawrate", 10); - thrust_publisher_ = node_handle_.advertise("command/thrust", 10); - } - - } - - ~Teleop() - { - stop(); - } - - void joyTwistCallback(const sensor_msgs::JoyConstPtr &joy) - { - velocity_.linear.x = getAxis(joy, axes_.x); - velocity_.linear.y = getAxis(joy, axes_.y); - velocity_.linear.z = getAxis(joy, axes_.z); - velocity_.angular.z = getAxis(joy, axes_.yaw); - if (getButton(joy, buttons_.slow.button)) - { - velocity_.linear.x *= slow_factor_; - velocity_.linear.y *= slow_factor_; - velocity_.linear.z *= slow_factor_; - velocity_.angular.z *= slow_factor_; - } - velocity_publisher_.publish(velocity_); - } - - void joyAttitudeCallback(const sensor_msgs::JoyConstPtr &joy) - { - attitude_.roll = getAxis(joy, axes_.x); - attitude_.pitch = getAxis(joy, axes_.y); - attitude_publisher_.publish(attitude_); - - thrust_.thrust = getAxis(joy, axes_.z); - thrust_publisher_.publish(thrust_); - - yawrate_.turnrate = getAxis(joy, axes_.yaw); - if (getButton(joy, buttons_.slow.button)) - { - yawrate_.turnrate *= slow_factor_; - } - yawrate_publisher_.publish(yawrate_); - } - - sensor_msgs::Joy::_axes_type::value_type getAxis(const sensor_msgs::JoyConstPtr &joy, Axis axis) - { - if (axis.axis == 0) - {return 0;} - sensor_msgs::Joy::_axes_type::value_type sign = 1.0; - if (axis.axis < 0) - { - sign = -1.0; - axis.axis = -axis.axis; - } - if ((size_t) axis.axis > joy->axes.size()) - {return 0;} - return sign * joy->axes[axis.axis - 1] * axis.max; - } - - sensor_msgs::Joy::_buttons_type::value_type getButton(const sensor_msgs::JoyConstPtr &joy, int button) - { - if (button <= 0) - {return 0;} - if ((size_t) button > joy->buttons.size()) - {return 0;} - return joy->buttons[button - 1]; - } - - void stop() - { - if(velocity_publisher_.getNumSubscribers() > 0) - { - velocity_ = geometry_msgs::Twist(); - velocity_publisher_.publish(velocity_); - } - if(attitude_publisher_.getNumSubscribers() > 0) - { - attitude_ = hector_uav_msgs::AttitudeCommand(); - attitude_publisher_.publish(attitude_); - } - if(thrust_publisher_.getNumSubscribers() > 0) - { - thrust_ = hector_uav_msgs::ThrustCommand(); - thrust_publisher_.publish(thrust_); - } - if(yawrate_publisher_.getNumSubscribers() > 0) - { - yawrate_ = hector_uav_msgs::YawrateCommand(); - yawrate_publisher_.publish(yawrate_); - } - - } -}; - -} // namespace hector_quadrotor - -int main(int argc, char **argv) -{ - ros::init(argc, argv, "quadrotor_teleop"); - - hector_quadrotor::Teleop teleop; - ros::spin(); - - return 0; -} diff --git a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_teleop_key/CMakeLists.txt b/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_teleop_key/CMakeLists.txt deleted file mode 100644 index 39cdf18..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_teleop_key/CMakeLists.txt +++ /dev/null @@ -1,89 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(enemy_suv_teleop_key) - -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages -find_package(catkin REQUIRED COMPONENTS roscpp geometry_msgs) -include_directories(include ${catkin_INCLUDE_DIRS}) - -## System dependencies are found with CMake's conventions -# find_package(Boost REQUIRED COMPONENTS system) - -## Uncomment this if the package has a setup.py. This macro ensures -## modules and global scripts declared therein get installed -## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html -# catkin_python_setup() - - -################################### -## catkin specific configuration ## -################################### -## The catkin_package macro generates cmake config files for your package -## Declare things to be passed to dependent projects -## INCLUDE_DIRS: uncomment this if you package contains header files -## LIBRARIES: libraries you create in this project that dependent projects also need -## CATKIN_DEPENDS: catkin_packages dependent projects also need -## DEPENDS: system dependencies of this project that dependent projects also need -catkin_package( - INCLUDE_DIRS - LIBRARIES - CATKIN_DEPENDS roscpp geometry_msgs - DEPENDS -) - -########### -## Build ## -########### - -## Declare a cpp library -# add_library(@{name} -# src/${PROJECT_NAME}/@name.cpp -# ) - -## Declare a cpp executable -add_executable(enemy_suv_teleop_key src/enemy_suv_teleop_key.cpp) -target_link_libraries(enemy_suv_teleop_key ${catkin_LIBRARIES}) - -## Add cmake target dependencies of the executable/library -## as an example, message headers may need to be generated before nodes -add_dependencies(enemy_suv_teleop_key ${catkin_EXPORTED_TARGETS}) - -############# -## Install ## -############# - -# all install targets should use catkin DESTINATION variables -# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html - -## Mark executable scripts (Python etc.) for installation -## in contrast to setup.py, you can choose the destination -# install(PROGRAMS -# scripts/my_python_script -# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark executables and/or libraries for installation -install(TARGETS enemy_suv_teleop_key - ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -) - -## Mark cpp header files for installation -# install(DIRECTORY include/${PROJECT_NAME}/ -# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -# FILES_MATCHING PATTERN "*.h" -# PATTERN ".svn" EXCLUDE -# ) - -## Mark other files for installation (e.g. launch and bag files, etc.) -# install(FILES -# # myfile1 -# # myfile2 -# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -# ) - -install(DIRECTORY launch - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -) diff --git a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_teleop_key/launch/key.launch b/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_teleop_key/launch/key.launch deleted file mode 100644 index d36d9d5..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_teleop_key/launch/key.launch +++ /dev/null @@ -1,12 +0,0 @@ - - - - - - - - - - - diff --git a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_teleop_key/launch/key1.launch b/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_teleop_key/launch/key1.launch deleted file mode 100644 index aedd747..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_teleop_key/launch/key1.launch +++ /dev/null @@ -1,7 +0,0 @@ - - - - - - - diff --git a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_teleop_key/launch/key_0.launch b/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_teleop_key/launch/key_0.launch deleted file mode 100644 index b663c5e..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_teleop_key/launch/key_0.launch +++ /dev/null @@ -1,12 +0,0 @@ - - - - - - - - - - - diff --git a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_teleop_key/launch/key_2.launch b/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_teleop_key/launch/key_2.launch deleted file mode 100644 index fbdcd24..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_teleop_key/launch/key_2.launch +++ /dev/null @@ -1,12 +0,0 @@ - - - - - - - - - - - diff --git a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_teleop_key/launch/key_3.launch b/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_teleop_key/launch/key_3.launch deleted file mode 100644 index 53ae927..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_teleop_key/launch/key_3.launch +++ /dev/null @@ -1,12 +0,0 @@ - - - - - - - - - - - diff --git a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_teleop_key/launch/key_4.launch b/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_teleop_key/launch/key_4.launch deleted file mode 100644 index 4637f2f..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_teleop_key/launch/key_4.launch +++ /dev/null @@ -1,12 +0,0 @@ - - - - - - - - - - - diff --git a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_teleop_key/launch/key_5.launch b/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_teleop_key/launch/key_5.launch deleted file mode 100644 index f6948a0..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_teleop_key/launch/key_5.launch +++ /dev/null @@ -1,12 +0,0 @@ - - - - - - - - - - - diff --git a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_teleop_key/package.xml b/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_teleop_key/package.xml deleted file mode 100644 index 3ce853e..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_teleop_key/package.xml +++ /dev/null @@ -1,27 +0,0 @@ - - enemy_suv_teleop_key - 0.3.5 - hector_quadrotor_teleop enables quadrotor flying with key translating them to geometry_msgs/Twist. - Johannes Meyer - - BSD - - http://ros.org/wiki/hector_quadrotor_teleop - https://github.com/tu-darmstadt-ros-pkg/hector_quadrotor/issues - - Johannes Meyer - - - catkin - - - roscpp - geometry_msgs - - - roscpp - geometry_msgs - - - - diff --git a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_teleop_key/src/enemy_suv_teleop_key.cpp b/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_teleop_key/src/enemy_suv_teleop_key.cpp deleted file mode 100644 index 7a36bd2..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_teleop_key/src/enemy_suv_teleop_key.cpp +++ /dev/null @@ -1,382 +0,0 @@ -//================================================================================================= -// Copyright (c) 2012, Johannes Meyer, TU Darmstadt -// All rights reserved. - -// Redistribution and use in source and binary forms, with or without -// modification, are permitted provided that the following conditions are met: -// * Redistributions of source code must retain the above copyright -// notice, this list of conditions and the following disclaimer. -// * Redistributions in binary form must reproduce the above copyright -// notice, this list of conditions and the following disclaimer in the -// documentation and/or other materials provided with the distribution. -// * Neither the name of the Flight Systems and Automatic Control group, -// TU Darmstadt, nor the names of its contributors may be used to -// endorse or promote products derived from this software without -// specific prior written permission. - -// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND -// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED -// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY -// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES -// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND -// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -//================================================================================================= - -#include -// #include -#include -// #include -// #include -// #include -#include -#include -#include - -#define KEYCODE_W 0x77 -#define KEYCODE_A 0x61 -#define KEYCODE_S 0x73 -#define KEYCODE_D 0x64 - -#define KEYCODE_R 0x43 -#define KEYCODE_L 0x44 -#define KEYCODE_F 0x41 -#define KEYCODE_B 0x42 -#define KEYCODE_Q 0x71 - -int kfd = 0; -struct termios cooked, raw; - -void quit(int sig) -{ - (void)sig; - tcsetattr(kfd, TCSANOW, &cooked); - ros::shutdown(); - exit(0); -} - -namespace hector_quadrotor -{ - -class Teleop -{ -private: - ros::NodeHandle node_handle_; - // ros::Subscriber joy_subscriber_; - - ros::Publisher velocity_publisher_; //, attitude_publisher_, yawrate_publisher_, thrust_publisher_; - geometry_msgs::Twist velocity_; - // hector_uav_msgs::AttitudeCommand attitude_; - // hector_uav_msgs::ThrustCommand thrust_; - // hector_uav_msgs::YawrateCommand yawrate_; - - struct Axis - { - int axis; - double max; - }; - - // struct Button - // { - // int button; - // }; - - struct - { - Axis x; - Axis y; - Axis z; - Axis yaw; - } axes_; - - // struct - // { - // Button slow; - // } buttons_; - - // double slow_factor_; - -public: - Teleop() - { - ros::NodeHandle params("~"); - - // double cmd_vel_robot; - // ros::param::get("~cmd_vel_robot",cmd_vel_robot); - - params.param("x_axis", axes_.x.axis, 4); - params.param("y_axis", axes_.y.axis, 3); - params.param("z_axis", axes_.z.axis, 2); - params.param("yaw_axis", axes_.yaw.axis, 1); - - params.param("yaw_velocity_max", axes_.yaw.max, 0.0); // 90.0 * M_PI / 180.0 - // params.param("slow_button", buttons_.slow.button, 1); - // params.param("slow_factor", slow_factor_, 0.2); - - std::string control_mode_str; - params.param("control_mode", control_mode_str, "twist"); - - if (control_mode_str == "twist") - { - params.param("x_velocity_max", axes_.x.max, 0.0); //2.0 - params.param("y_velocity_max", axes_.y.max, 0.0); //2.0 - params.param("z_velocity_max", axes_.z.max, 0.0); //2.0 - - // joy_subscriber_ = node_handle_.subscribe("joy", 1, boost::bind(&Teleop::joyTwistCallback, this, _1)); - velocity_publisher_ = node_handle_.advertise("cmd_vel", 1); - } - else if (control_mode_str == "attitude") - { - params.param("x_roll_max", axes_.x.max, 0.35); - params.param("y_pitch_max", axes_.y.max, 0.35); - params.param("z_thrust_max", axes_.z.max, 25.0); - // joy_subscriber_ = node_handle_.subscribe("joy", 1, boost::bind(&Teleop::joyAttitudeCallback, this, _1)); - // attitude_publisher_ = node_handle_.advertise("command/attitude", 10); - // yawrate_publisher_ = node_handle_.advertise("command/yawrate", 10); - // thrust_publisher_ = node_handle_.advertise("command/thrust", 10); - } - } - - ~Teleop() - { - stop(); - } - - void keyLoop() - { - char c; - bool dirty = false; - - // get the console in raw mode - tcgetattr(kfd, &cooked); - memcpy(&raw, &cooked, sizeof(struct termios)); - raw.c_lflag &= ~(ICANON | ECHO); - // Setting a new line, then end of file - raw.c_cc[VEOL] = 1; - raw.c_cc[VEOF] = 2; - tcsetattr(kfd, TCSANOW, &raw); - - puts("Reading from keyboard"); - puts("---------------------------"); - puts("Use arrow keys and w a s d to move the quadrotor."); - - for (;;) - { - // get the next event from the keyboard - if (read(kfd, &c, 1) < 0) - { - perror("read():"); - exit(-1); - } - - // linear_ = angular_ = 0; - ROS_DEBUG("value: 0x%02X\n", c); - - switch (c) - { - case KEYCODE_W: - ROS_DEBUG("UP"); - axes_.x.max = 0.0; - axes_.y.max = 0.0; - axes_.z.max = 2.0; - axes_.yaw.max = 0.0; - dirty = true; - break; - case KEYCODE_S: - ROS_DEBUG("DOWN"); - axes_.x.max = 0.0; - axes_.y.max = 0.0; - axes_.z.max = -2.0; - axes_.yaw.max = 0.0; - dirty = true; - break; - case KEYCODE_A: - ROS_DEBUG("TURN_LEFT"); - axes_.x.max = 0.0; - axes_.y.max = 0.0; - axes_.z.max = 0.0; - axes_.yaw.max = 90.0 * M_PI / 180.0; - dirty = true; - break; - case KEYCODE_D: - ROS_DEBUG("TURN_RIGHT"); - axes_.x.max = 0.0; - axes_.y.max = 0.0; - axes_.z.max = 0.0; - axes_.yaw.max = -90.0 * M_PI / 180.0; - dirty = true; - break; - case KEYCODE_L: - ROS_DEBUG("LEFT"); - axes_.x.max = 20.0; - axes_.y.max = 0.0; - axes_.z.max = 0.0; - axes_.yaw.max = 1.0;//90.0 * M_PI / 180.0; - dirty = true; - break; - case KEYCODE_R: - ROS_DEBUG("RIGHT"); - axes_.x.max = 20.0; - axes_.y.max = 0.0; - axes_.z.max = 0.0; - axes_.yaw.max = -1.0;//-90.0 * M_PI / 180.0; - dirty = true; - break; - case KEYCODE_F: - ROS_DEBUG("FORWARD"); - axes_.x.max = 20.0; - axes_.y.max = 0.0; - axes_.z.max = 0.0; - axes_.yaw.max = 0.0; - dirty = true; - break; - case KEYCODE_B: - ROS_DEBUG("BACKWARD"); - axes_.x.max = -20.0; - axes_.y.max = 0.0; - axes_.z.max = 0.0; - axes_.yaw.max = 0.0; - dirty = true; - break; - case KEYCODE_Q: - ROS_DEBUG("STOP"); - axes_.x.max = 0.0; - axes_.y.max = 0.0; - axes_.z.max = 0.0; - axes_.yaw.max = 0.0; - dirty = true; - break; - default: - // max_tv = walk_vel_; - // max_rv = yaw_rate_; - axes_.z.max = 0.0; - axes_.yaw.max = 0.0; - axes_.x.max = 0.0; - axes_.y.max = 0.0; - dirty = false; - } - - // geometry_msgs::Twist twist; - velocity_.linear.x = axes_.x.max; - // velocity_.linear.y = axes_.y.max; - // velocity_.linear.z = axes_.z.max; - velocity_.angular.z = axes_.yaw.max; - // twist.angular.z = a_scale_ * angular_; - // twist.linear.x = l_scale_ * linear_; - if (dirty == true) - { - velocity_publisher_.publish(velocity_); - dirty = false; - } - } - - return; - } - - // void joyTwistCallback(const sensor_msgs::JoyConstPtr &joy) - // { - // velocity_.linear.x = getAxis(joy, axes_.x); - // velocity_.linear.y = getAxis(joy, axes_.y); - // velocity_.linear.z = getAxis(joy, axes_.z); - // velocity_.angular.z = getAxis(joy, axes_.yaw); - // if (getButton(joy, buttons_.slow.button)) - // { - // velocity_.linear.x *= slow_factor_; - // velocity_.linear.y *= slow_factor_; - // velocity_.linear.z *= slow_factor_; - // velocity_.angular.z *= slow_factor_; - // } - // velocity_publisher_.publish(velocity_); - // } - - // void joyAttitudeCallback(const sensor_msgs::JoyConstPtr &joy) - // { - // attitude_.roll = getAxis(joy, axes_.x); - // attitude_.pitch = getAxis(joy, axes_.y); - // attitude_publisher_.publish(attitude_); - - // thrust_.thrust = getAxis(joy, axes_.z); - // thrust_publisher_.publish(thrust_); - - // yawrate_.turnrate = getAxis(joy, axes_.yaw); - // if (getButton(joy, buttons_.slow.button)) - // { - // yawrate_.turnrate *= slow_factor_; - // } - // yawrate_publisher_.publish(yawrate_); - // } - - // sensor_msgs::Joy::_axes_type::value_type getAxis(const sensor_msgs::JoyConstPtr &joy, Axis axis) - // { - // if (axis.axis == 0) - // { - // return 0; - // } - // sensor_msgs::Joy::_axes_type::value_type sign = 1.0; - // if (axis.axis < 0) - // { - // sign = -1.0; - // axis.axis = -axis.axis; - // } - // if ((size_t)axis.axis > joy->axes.size()) - // { - // return 0; - // } - // return sign * joy->axes[axis.axis - 1] * axis.max; - // } - - // sensor_msgs::Joy::_buttons_type::value_type getButton(const sensor_msgs::JoyConstPtr &joy, int button) - // { - // if (button <= 0) - // { - // return 0; - // } - // if ((size_t)button > joy->buttons.size()) - // { - // return 0; - // } - // return joy->buttons[button - 1]; - // } - - void stop() - { - if (velocity_publisher_.getNumSubscribers() > 0) - { - velocity_ = geometry_msgs::Twist(); - velocity_publisher_.publish(velocity_); - } - // if (attitude_publisher_.getNumSubscribers() > 0) - // { - // attitude_ = hector_uav_msgs::AttitudeCommand(); - // attitude_publisher_.publish(attitude_); - // } - // if (thrust_publisher_.getNumSubscribers() > 0) - // { - // thrust_ = hector_uav_msgs::ThrustCommand(); - // thrust_publisher_.publish(thrust_); - // } - // if (yawrate_publisher_.getNumSubscribers() > 0) - // { - // yawrate_ = hector_uav_msgs::YawrateCommand(); - // yawrate_publisher_.publish(yawrate_); - // } - } -}; - -} // namespace hector_quadrotor - -int main(int argc, char **argv) -{ - ros::init(argc, argv, "quadrotor_teleop_key"); - - hector_quadrotor::Teleop teleop; - // ros::spin(); - signal(SIGINT, quit); - - teleop.keyLoop(); - - return 0; -} diff --git a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_teleop_key/src/quadrotor_teleop_key_modify.cpp b/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_teleop_key/src/quadrotor_teleop_key_modify.cpp deleted file mode 100644 index ac4ca8d..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/enemy_suv_teleop_key/src/quadrotor_teleop_key_modify.cpp +++ /dev/null @@ -1,417 +0,0 @@ -//================================================================================================= -// Copyright (c) 2012, Johannes Meyer, TU Darmstadt -// All rights reserved. - -// Redistribution and use in source and binary forms, with or without -// modification, are permitted provided that the following conditions are met: -// * Redistributions of source code must retain the above copyright -// notice, this list of conditions and the following disclaimer. -// * Redistributions in binary form must reproduce the above copyright -// notice, this list of conditions and the following disclaimer in the -// documentation and/or other materials provided with the distribution. -// * Neither the name of the Flight Systems and Automatic Control group, -// TU Darmstadt, nor the names of its contributors may be used to -// endorse or promote products derived from this software without -// specific prior written permission. - -// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND -// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED -// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY -// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES -// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND -// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -//================================================================================================= - -#include -// #include -#include -// #include -// #include -// #include -#include -#include -#include -#include -#include - -#define KEYCODE_W 0x77 -#define KEYCODE_A 0x61 -#define KEYCODE_S 0x73 -#define KEYCODE_D 0x64 - -#define KEYCODE_R 0x43 -#define KEYCODE_L 0x44 -#define KEYCODE_F 0x41 -#define KEYCODE_B 0x42 -#define KEYCODE_Q 0x71 - -int kfd = 0; -struct termios cooked, raw; - -void quit(int sig) -{ - (void)sig; - tcsetattr(kfd, TCSANOW, &cooked); - ros::shutdown(); - exit(0); -} - -namespace hector_quadrotor -{ - -class Teleop -{ -private: - ros::NodeHandle node_handle_; - // ros::Subscriber joy_subscriber_; - - ros::Publisher velocity_publisher_; //, attitude_publisher_, yawrate_publisher_, thrust_publisher_; - geometry_msgs::Twist velocity_; - // hector_uav_msgs::AttitudeCommand attitude_; - // hector_uav_msgs::ThrustCommand thrust_; - // hector_uav_msgs::YawrateCommand yawrate_; - - struct Axis - { - int axis; - double max; - }; - - // struct Button - // { - // int button; - // }; - - struct - { - Axis x; - Axis y; - Axis z; - Axis yaw; - } axes_; - - // struct - // { - // Button slow; - // } buttons_; - - // double slow_factor_; - -public: - Teleop() - { - ros::NodeHandle params("~"); - - params.param("x_axis", axes_.x.axis, 4); - params.param("y_axis", axes_.y.axis, 3); - params.param("z_axis", axes_.z.axis, 2); - params.param("yaw_axis", axes_.yaw.axis, 1); - - params.param("yaw_velocity_max", axes_.yaw.max, 0.0); // 90.0 * M_PI / 180.0 - // params.param("slow_button", buttons_.slow.button, 1); - // params.param("slow_factor", slow_factor_, 0.2); - - std::string control_mode_str; - params.param("control_mode", control_mode_str, "twist"); - - if (control_mode_str == "twist") - { - params.param("x_velocity_max", axes_.x.max, 0.0); //2.0 - params.param("y_velocity_max", axes_.y.max, 0.0); //2.0 - params.param("z_velocity_max", axes_.z.max, 0.0); //2.0 - - // joy_subscriber_ = node_handle_.subscribe("joy", 1, boost::bind(&Teleop::joyTwistCallback, this, _1)); - velocity_publisher_ = node_handle_.advertise("cmd_vel", 1); - } - else if (control_mode_str == "attitude") - { - params.param("x_roll_max", axes_.x.max, 0.35); - params.param("y_pitch_max", axes_.y.max, 0.35); - params.param("z_thrust_max", axes_.z.max, 25.0); - // joy_subscriber_ = node_handle_.subscribe("joy", 1, boost::bind(&Teleop::joyAttitudeCallback, this, _1)); - // attitude_publisher_ = node_handle_.advertise("command/attitude", 10); - // yawrate_publisher_ = node_handle_.advertise("command/yawrate", 10); - // thrust_publisher_ = node_handle_.advertise("command/thrust", 10); - } - } - - ~Teleop() - { - stop(); - } - - void keyLoop() - { - char c; - bool dirty = false; - - // get the console in raw mode - tcgetattr(kfd, &cooked); - memcpy(&raw, &cooked, sizeof(struct termios)); - raw.c_lflag &= ~(ICANON | ECHO); - // Setting a new line, then end of file - raw.c_cc[VEOL] = 1; - raw.c_cc[VEOF] = 2; - tcsetattr(kfd, TCSANOW, &raw); - - puts("Reading from keyboard"); - puts("---------------------------"); - puts("Use arrow keys and w a s d to move the quadrotor."); - - struct pollfd ufd; - ufd.fd = kfd; - ufd.events = POLLIN; - - for (;;) - { - boost::this_thread::interruption_point(); - - // get the next event from the keyboard - int num; - - if ((num = poll(&ufd, 1, 250)) < 0) - { - perror("poll():"); - return; - } - else if (num > 0) - { - if (read(kfd, &c, 1) < 0) - { - perror("read():"); - return; - } - } - else - { - if (dirty == true) - { - stopRobot(); - dirty = false; - } - - continue; - } - - for (;;) - { - // get the next event from the keyboard - if (read(kfd, &c, 1) < 0) - { - perror("read():"); - exit(-1); - } - - // linear_ = angular_ = 0; - ROS_DEBUG("value: 0x%02X\n", c); - - switch (c) - { - case KEYCODE_W: - ROS_DEBUG("UP"); - axes_.x.max = 0.0; - axes_.y.max = 0.0; - axes_.z.max = 2.0; - axes_.yaw.max = 0.0; - dirty = true; - break; - case KEYCODE_S: - ROS_DEBUG("DOWN"); - axes_.x.max = 0.0; - axes_.y.max = 0.0; - axes_.z.max = -2.0; - axes_.yaw.max = 0.0; - dirty = true; - break; - case KEYCODE_A: - ROS_DEBUG("TURN_LEFT"); - axes_.x.max = 0.0; - axes_.y.max = 0.0; - axes_.z.max = 0.0; - axes_.yaw.max = 90.0 * M_PI / 180.0; - dirty = true; - break; - case KEYCODE_D: - ROS_DEBUG("TURN_RIGHT"); - axes_.x.max = 0.0; - axes_.y.max = 0.0; - axes_.z.max = 0.0; - axes_.yaw.max = -90.0 * M_PI / 180.0; - dirty = true; - break; - case KEYCODE_L: - ROS_DEBUG("LEFT"); - axes_.x.max = 2.0; - axes_.y.max = 0.0; - axes_.z.max = 0.0; - axes_.yaw.max = 0.0; - dirty = true; - break; - case KEYCODE_R: - ROS_DEBUG("RIGHT"); - axes_.x.max = -2.0; - axes_.y.max = 0.0; - axes_.z.max = 0.0; - axes_.yaw.max = 0.0; - dirty = true; - break; - case KEYCODE_F: - ROS_DEBUG("FORWARD"); - axes_.x.max = 0.0; - axes_.y.max = 2.0; - axes_.z.max = 0.0; - axes_.yaw.max = 0.0; - dirty = true; - break; - case KEYCODE_B: - ROS_DEBUG("BACKWARD"); - axes_.x.max = 0.0; - axes_.y.max = -2.0; - axes_.z.max = 0.0; - axes_.yaw.max = 0.0; - dirty = true; - break; - case KEYCODE_Q: - ROS_DEBUG("BACKWARD"); - axes_.x.max = 0.0; - axes_.y.max = 0.0; - axes_.z.max = 0.0; - axes_.yaw.max = 0.0; - dirty = true; - break; - default: - // max_tv = walk_vel_; - // max_rv = yaw_rate_; - axes_.z.max = 0.0; - axes_.yaw.max = 0.0; - axes_.x.max = 0.0; - axes_.y.max = 0.0; - dirty = false; - } - - // geometry_msgs::Twist twist; - velocity_.linear.x = axes_.x.max; - velocity_.linear.y = axes_.y.max; - velocity_.linear.z = axes_.z.max; - velocity_.angular.z = axes_.yaw.max; - // twist.angular.z = a_scale_ * angular_; - // twist.linear.x = l_scale_ * linear_; - if (dirty == true) - { - velocity_publisher_.publish(velocity_); - dirty = false; - } - } - - return; - } - - // void joyTwistCallback(const sensor_msgs::JoyConstPtr &joy) - // { - // velocity_.linear.x = getAxis(joy, axes_.x); - // velocity_.linear.y = getAxis(joy, axes_.y); - // velocity_.linear.z = getAxis(joy, axes_.z); - // velocity_.angular.z = getAxis(joy, axes_.yaw); - // if (getButton(joy, buttons_.slow.button)) - // { - // velocity_.linear.x *= slow_factor_; - // velocity_.linear.y *= slow_factor_; - // velocity_.linear.z *= slow_factor_; - // velocity_.angular.z *= slow_factor_; - // } - // velocity_publisher_.publish(velocity_); - // } - - // void joyAttitudeCallback(const sensor_msgs::JoyConstPtr &joy) - // { - // attitude_.roll = getAxis(joy, axes_.x); - // attitude_.pitch = getAxis(joy, axes_.y); - // attitude_publisher_.publish(attitude_); - - // thrust_.thrust = getAxis(joy, axes_.z); - // thrust_publisher_.publish(thrust_); - - // yawrate_.turnrate = getAxis(joy, axes_.yaw); - // if (getButton(joy, buttons_.slow.button)) - // { - // yawrate_.turnrate *= slow_factor_; - // } - // yawrate_publisher_.publish(yawrate_); - // } - - // sensor_msgs::Joy::_axes_type::value_type getAxis(const sensor_msgs::JoyConstPtr &joy, Axis axis) - // { - // if (axis.axis == 0) - // { - // return 0; - // } - // sensor_msgs::Joy::_axes_type::value_type sign = 1.0; - // if (axis.axis < 0) - // { - // sign = -1.0; - // axis.axis = -axis.axis; - // } - // if ((size_t)axis.axis > joy->axes.size()) - // { - // return 0; - // } - // return sign * joy->axes[axis.axis - 1] * axis.max; - // } - - // sensor_msgs::Joy::_buttons_type::value_type getButton(const sensor_msgs::JoyConstPtr &joy, int button) - // { - // if (button <= 0) - // { - // return 0; - // } - // if ((size_t)button > joy->buttons.size()) - // { - // return 0; - // } - // return joy->buttons[button - 1]; - // } - - void stop() - { - if (velocity_publisher_.getNumSubscribers() > 0) - { - velocity_ = geometry_msgs::Twist(); - velocity_publisher_.publish(velocity_); - } - // if (attitude_publisher_.getNumSubscribers() > 0) - // { - // attitude_ = hector_uav_msgs::AttitudeCommand(); - // attitude_publisher_.publish(attitude_); - // } - // if (thrust_publisher_.getNumSubscribers() > 0) - // { - // thrust_ = hector_uav_msgs::ThrustCommand(); - // thrust_publisher_.publish(thrust_); - // } - // if (yawrate_publisher_.getNumSubscribers() > 0) - // { - // yawrate_ = hector_uav_msgs::YawrateCommand(); - // yawrate_publisher_.publish(yawrate_); - // } - } - }; - -} // namespace hector_quadrotor - -int -main(int argc, char **argv) -{ - ros::init(argc, argv, "quadrotor_teleop_key"); - - hector_quadrotor::Teleop teleop; - // ros::spin(); - signal(SIGINT, quit); - - teleop.keyLoop(); - - return 0; -} diff --git a/Flight_control_Comprehensive/src/enemy_suv/suv_move/CMakeLists.txt b/Flight_control_Comprehensive/src/enemy_suv/suv_move/CMakeLists.txt deleted file mode 100644 index f3b4225..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/suv_move/CMakeLists.txt +++ /dev/null @@ -1,123 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(suv_move) - -set(CMAKE_CXX_STANDARD 11) -if (NOT CMAKE_BUILD_TYPE) - # Options: Debug, Release, MinSizeRel, RelWithDebInfo - message(STATUS "No build type selected, default to Release") - set(CMAKE_BUILD_TYPE "Release") -endif() - -set(CMAKE_CXX_FLAGS "-fopenmp") - -find_package(catkin REQUIRED COMPONENTS - roscpp - rospy - rosflight_msgs - rosplane_msgs - dynamic_reconfigure - sensor_msgs - tf -) -find_package(Eigen3 REQUIRED) - -################################################ -## Declare ROS dynamic reconfigure parameters ## -################################################ - -## To declare and build dynamic reconfigure parameters within this -## package, follow these steps: -## * In the file package.xml: -## * add a build_depend and a run_depend tag for "dynamic_reconfigure" -## * In this file (CMakeLists.txt): -## * add "dynamic_reconfigure" to -## find_package(catkin REQUIRED COMPONENTS ...) -## * uncomment the "generate_dynamic_reconfigure_options" section below -## and list every .cfg file to be processed - -# Generate dynamic reconfigure parameters in the 'cfg' folder -#generate_dynamic_reconfigure_options( -# cfg/Follower.cfg -# cfg/Controller.cfg -#) - -catkin_package( - INCLUDE_DIRS include -# LIBRARIES - CATKIN_DEPENDS roscpp rospy rosflight_msgs rosplane_msgs -# DEPENDS system_lib -) - -include_directories(include ${catkin_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS}) - -## Declare a C++ executable -#add_executable(rosplane_controller -# src/controller_base.cpp -# src/controller_example.cpp) -#add_dependencies(rosplane_controller ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_gencfg) -#target_link_libraries(rosplane_controller ${catkin_LIBRARIES}) - -#add_executable(rosplane_controller99 -# src/controller_base99.cpp -# src/controller_example99.cpp) -#add_dependencies(rosplane_controller99 ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_gencfg) -#target_link_libraries(rosplane_controller99 ${catkin_LIBRARIES}) - -add_executable(suv_pseudo_controller - # src/controller_base.cpp - # src/controller_example.cpp) - src/pseudo_controller_base.cpp - src/pseudo_controller_example.cpp) -add_dependencies(suv_pseudo_controller ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_gencfg) -target_link_libraries(suv_pseudo_controller ${catkin_LIBRARIES}) - -## Declare a C++ executable -#add_executable(rosplane_estimator -# src/estimator_base.cpp -# src/estimator_example.cpp) -#add_dependencies(rosplane_estimator ${catkin_EXPORTED_TARGETS}) -#target_link_libraries(rosplane_estimator ${catkin_LIBRARIES}) - -## Declare a C++ executable -add_executable(suv_estimator_statesub - src/estimator_base_statesub.cpp - ) -add_dependencies(suv_estimator_statesub ${catkin_EXPORTED_TARGETS}) -target_link_libraries(suv_estimator_statesub ${catkin_LIBRARIES}) - -## Declare a C++ executable -#add_executable(rosplane_estimator_updata_statesub -# src/estimator_base_updata_statesub.cpp -# ) -#add_dependencies(rosplane_estimator_updata_statesub ${catkin_EXPORTED_TARGETS}) -#target_link_libraries(rosplane_estimator_updata_statesub ${catkin_LIBRARIES}) - -## Declare a C++ executable -add_executable(suv_estimator_99pub - src/estimator_base_99pub.cpp - ) -add_dependencies(suv_estimator_99pub ${catkin_EXPORTED_TARGETS}) -target_link_libraries(suv_estimator_99pub ${catkin_LIBRARIES}) - -## Declare a C++ executable -add_executable(suv_path_follower - src/path_follower_example.cpp - src/path_follower_base.cpp) -add_dependencies(suv_path_follower ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_gencfg) -target_link_libraries(suv_path_follower ${catkin_LIBRARIES}) - - -## Declare a C++ executable -add_executable(suv_path_manager - src/path_manager_base.cpp - src/path_manager_example.cpp) -add_dependencies(suv_path_manager ${catkin_EXPORTED_TARGETS}) -target_link_libraries(suv_path_manager ${catkin_LIBRARIES}) - - -## Declare a C++ executable -add_executable(suv_path_planner - src/path_planner.cpp) -add_dependencies(suv_path_planner ${catkin_EXPORTED_TARGETS}) -target_link_libraries(suv_path_planner ${catkin_LIBRARIES}) - diff --git a/Flight_control_Comprehensive/src/enemy_suv/suv_move/cfg/Controller.cfg b/Flight_control_Comprehensive/src/enemy_suv/suv_move/cfg/Controller.cfg deleted file mode 100755 index 4ac9d5e..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/suv_move/cfg/Controller.cfg +++ /dev/null @@ -1,58 +0,0 @@ -#!/usr/bin/env python -PACKAGE = "rosplane" - -from dynamic_reconfigure.parameter_generator_catkin import * - -gen = ParameterGenerator() - -# trim -trim = gen.add_group("Trim") -trim.add("TRIM_E", double_t, 0, "Elevator trim", 0, -1, 1) -trim.add("TRIM_A", double_t, 0, "Aileron trim", 0, -1, 1) -trim.add("TRIM_R", double_t, 0, "Rudder trim", 0, -1, 1) -trim.add("TRIM_T", double_t, 0, "Throttle trim", 0.6, 0, 1) - -# course hold -course = gen.add_group("Course") -course.add("COURSE_KP", double_t, 0, "Course proportional gain", 0.7329, 0, 2) -course.add("COURSE_KD", double_t, 0, "Course derivative gain", 0, -1, 0) -course.add("COURSE_KI", double_t, 0, "Course integral gain", 0.0, 0, 0.2) - -# roll hold -roll = gen.add_group("Roll") -roll.add("ROLL_KP", double_t, 0, "Roll proportional gain", 1.17, 0, 3) -roll.add("ROLL_KD", double_t, 0, "Roll derivative gain", -0.13, -1, 0) -roll.add("ROLL_KI", double_t, 0, "Roll integral gain", 0, 0, 0.2) - -# pitch hold -pitch = gen.add_group("Pitch") -pitch.add("PITCH_KP", double_t, 0, "Pitch proportional gain", 1.0, 0, 3) -pitch.add("PITCH_KD", double_t, 0, "Pitch derivative gain", -0.17, -0.4, 0) -pitch.add("PITCH_KI", double_t, 0, "Pitch integral gain", 0, 0, 0.2) -pitch.add("PITCH_FF", double_t, 0, "Pitch feed forward value", 0, -1, 1) - -# airspeed with pitch hold -as_pitch = gen.add_group("Airspeed with Pitch") -as_pitch.add("AS_PITCH_KP", double_t, 0, "Airspeed with pitch proportional gain", -0.0713, 0, 0.2) -as_pitch.add("AS_PITCH_KD", double_t, 0, "Airspeed with pitch derivative gain", -0.0635, -0.2, 0) -as_pitch.add("AS_PITCH_KI", double_t, 0, "Airspeed with pitch integral gain", 0, 0, 0.2) - -# airspeed with throttle hold -as_thr = gen.add_group("Airspeed with Throttle") -as_thr.add("AS_THR_KP", double_t, 0, "Airspeed with throttle proportional gain", 3.2, 0, 10) -as_thr.add("AS_THR_KD", double_t, 0, "Airspeed with throttle derivative gain", 0, -5, 0) -as_thr.add("AS_THR_KI", double_t, 0, "Airspeed with throttle integral gain", 1.0, 0, 10) - -# altitude hold -alt = gen.add_group("Altitude") -alt.add("ALT_KP", double_t, 0, "Altitude proportional gain", 0.045, 0, 0.1) -alt.add("ALT_KD", double_t, 0, "Altitude derivative gain", 0, -0.05, 0) -alt.add("ALT_KI", double_t, 0, "Altitude integral gain", 0.01, 0, 0.05) - -# side-slip hold -sideslip = gen.add_group("Side Slip") -sideslip.add("BETA_KP", double_t, 0, "Side slip proportional gain", -0.1164, 0, 0.3) -sideslip.add("BETA_KD", double_t, 0, "Side slip derivative gain", 0, -0.15, 0) -sideslip.add("BETA_KI", double_t, 0, "Side slip integral gain", -0.0037111, 0, 0.05) - -exit(gen.generate(PACKAGE, "rosplane", "Controller")) diff --git a/Flight_control_Comprehensive/src/enemy_suv/suv_move/cfg/Follower.cfg b/Flight_control_Comprehensive/src/enemy_suv/suv_move/cfg/Follower.cfg deleted file mode 100755 index fb68338..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/suv_move/cfg/Follower.cfg +++ /dev/null @@ -1,17 +0,0 @@ -#!/usr/bin/env python -PACKAGE = "rosplane" - -from dynamic_reconfigure.parameter_generator_catkin import * - -gen = ParameterGenerator() - -# Chi Infinity -gen.add("CHI_INFTY", double_t, 0, "Chi Infinity", 1.0472, 0 , 1.5708) - -# K Path -gen.add("K_PATH", double_t, 0, "K Path", 0.025, 0, 1) - -# K Orbit -gen.add("K_ORBIT", double_t, 0, "K Orbit", 4.0, 0, 15) - -exit(gen.generate(PACKAGE, "rosplane", "Follower")) diff --git a/Flight_control_Comprehensive/src/enemy_suv/suv_move/include/controller_base.h b/Flight_control_Comprehensive/src/enemy_suv/suv_move/include/controller_base.h deleted file mode 100644 index ac851e7..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/suv_move/include/controller_base.h +++ /dev/null @@ -1,145 +0,0 @@ -/** - * @file controller_base.h - * - * Base class definition for autopilot controller in chapter 6 of UAVbook, see http://uavbook.byu.edu/doku.php - * - * @author Gary Ellingson - */ - -#ifndef CONTROLLER_BASE_H -#define CONTROLLER_BASE_H - -#include -#include -#include -#include -#include - -#include -#include - -namespace rosplane -{ - -enum class alt_zones -{ - TAKE_OFF, - CLIMB, - DESCEND, - ALTITUDE_HOLD -}; - -class controller_base -{ -public: - controller_base(); - float spin(); - -protected: - - struct input_s - { - float Ts; /** time step */ - float h; /** altitude */ - float va; /** airspeed */ - float phi; /** roll angle */ - float psi; // - float theta; /** pitch angle */ - float chi; /** course angle */ - float p; /** body frame roll rate */ - float q; /** body frame pitch rate */ - float r; /** body frame yaw rate */ - float Va_c; /** commanded airspeed (m/s) */ - float h_c; /** commanded altitude (m) */ - float chi_c; /** commanded course (rad) */ - float phi_ff; /** feed forward term for orbits (rad) */ - }; - - struct output_s - { - float theta_c; //俯仰角--即平行于机身轴线并指向飞行器前方的向量与地面的夹角 - float phi_c; //滚转角--机体坐标系OZb轴与通过机体OXb轴的铅垂面间的夹角，机体向右滚为正，反之为负 - float delta_a; //副翼偏移量-转弯用-副翼跳变造成油门和升降舵数值的波动 - float delta_e; //升降舵偏移量-拉高降低 - float delta_r; //方向舵偏移量-保持稳定，消除测滑 - float delta_t; //油门偏移量 - alt_zones current_zone; - }; - - struct params_s - { - double alt_hz; /**< altitude hold zone */ - double alt_toz; /**< altitude takeoff zone */ - double tau; - double c_kp; - double c_kd; - double c_ki; - double r_kp; - double r_kd; - double r_ki; - double p_kp; - double p_kd; - double p_ki; - double p_ff; - double a_p_kp; - double a_p_kd; - double a_p_ki; - double a_t_kp; - double a_t_kd; - double a_t_ki; - double a_kp; - double a_kd; - double a_ki; - double b_kp; - double b_kd; - double b_ki; - double trim_e; - double trim_a; - double trim_r; - double trim_t; - double max_e; - double max_a; - double max_r; - double max_t; - double pwm_rad_e; - double pwm_rad_a; - double pwm_rad_r; - }; - - virtual void control(const struct params_s ¶ms, const struct input_s &input, struct output_s &output) = 0; - -private: - ros::NodeHandle nh_; - ros::NodeHandle nh_private_; - ros::Subscriber vehicle_state_sub_; - ros::Subscriber controller_commands_sub_; - ros::Publisher actuators_pub_; - ros::Publisher internals_pub_; - ros::Timer act_pub_timer_; - - struct params_s params_; /**< params */ - enemy_suv_msgs::Controller_Commands controller_commands_; - enemy_suv_msgs::State vehicle_state_; - - void vehicle_state_callback(const enemy_suv_msgs::StateConstPtr &msg); - void controller_commands_callback(const enemy_suv_msgs::Controller_CommandsConstPtr &msg); - bool command_recieved_; - - dynamic_reconfigure::Server server_; - dynamic_reconfigure::Server::CallbackType func_; - - void reconfigure_callback(rosplane::ControllerConfig &config, uint32_t level); - - /** - * Convert from deflection angle to pwm - */ - void convert_to_pwm(struct output_s &output); - - /** - * Publish the outputs - */ - void actuator_controls_publish(const ros::TimerEvent &); -}; -} //end namespace - -#endif // CONTROLLER_BASE_H diff --git a/Flight_control_Comprehensive/src/enemy_suv/suv_move/include/controller_base99.h b/Flight_control_Comprehensive/src/enemy_suv/suv_move/include/controller_base99.h deleted file mode 100644 index 8efab32..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/suv_move/include/controller_base99.h +++ /dev/null @@ -1,145 +0,0 @@ -/** - * @file controller_base99.h - * - * Base class definition for autopilot controller in chapter 6 of UAVbook, see http://uavbook.byu.edu/doku.php - * - * @author Gary Ellingson - */ - -#ifndef CONTROLLER_BASE99_H -#define CONTROLLER_BASE99_H - -#include -#include -#include -#include -#include - -#include -#include - -namespace rosplane -{ - -enum class alt_zones -{ - TAKE_OFF, - CLIMB, - DESCEND, - ALTITUDE_HOLD -}; - -class controller_base99 -{ -public: - controller_base99(); - float spin(); - -protected: - - struct input_s - { - float Ts; /** time step */ - float h; /** altitude */ - float va; /** airspeed */ - float phi; /** roll angle */ - float psi; // - float theta; /** pitch angle */ - float chi; /** course angle */ - float p; /** body frame roll rate */ - float q; /** body frame pitch rate */ - float r; /** body frame yaw rate */ - float Va_c; /** commanded airspeed (m/s) */ - float h_c; /** commanded altitude (m) */ - float chi_c; /** commanded course (rad) */ - float phi_ff; /** feed forward term for orbits (rad) */ - }; - - struct output_s - { - float theta_c; //俯仰角--即平行于机身轴线并指向飞行器前方的向量与地面的夹角 - float phi_c; //滚转角--机体坐标系OZb轴与通过机体OXb轴的铅垂面间的夹角，机体向右滚为正，反之为负 - float delta_a; //副翼偏移量-转弯用-副翼跳变造成油门和升降舵数值的波动 - float delta_e; //升降舵偏移量-拉高降低 - float delta_r; //方向舵偏移量-保持稳定，消除测滑 - float delta_t; //油门偏移量 - alt_zones current_zone; - }; - - struct params_s - { - double alt_hz; /**< altitude hold zone */ - double alt_toz; /**< altitude takeoff zone */ - double tau; - double c_kp; - double c_kd; - double c_ki; - double r_kp; - double r_kd; - double r_ki; - double p_kp; - double p_kd; - double p_ki; - double p_ff; - double a_p_kp; - double a_p_kd; - double a_p_ki; - double a_t_kp; - double a_t_kd; - double a_t_ki; - double a_kp; - double a_kd; - double a_ki; - double b_kp; - double b_kd; - double b_ki; - double trim_e; - double trim_a; - double trim_r; - double trim_t; - double max_e; - double max_a; - double max_r; - double max_t; - double pwm_rad_e; - double pwm_rad_a; - double pwm_rad_r; - }; - - virtual void control(const struct params_s ¶ms, const struct input_s &input, struct output_s &output) = 0; - -private: - ros::NodeHandle nh_; - ros::NodeHandle nh_private_; - ros::Subscriber vehicle_state_sub_; - ros::Subscriber controller_commands_sub_; - ros::Publisher actuators_pub_; - ros::Publisher internals_pub_; - ros::Timer act_pub_timer_; - - struct params_s params_; /**< params */ - enemy_suv_msgs::Controller_Commands controller_commands_; - enemy_suv_msgs::State vehicle_state_; - - void vehicle_state_callback(const enemy_suv_msgs::StateConstPtr &msg); - void controller_commands_callback(const enemy_suv_msgs::Controller_CommandsConstPtr &msg); - bool command_recieved_; - - dynamic_reconfigure::Server server_; - dynamic_reconfigure::Server::CallbackType func_; - - void reconfigure_callback(rosplane::ControllerConfig &config, uint32_t level); - - /** - * Convert from deflection angle to pwm - */ - void convert_to_pwm(struct output_s &output); - - /** - * Publish the outputs - */ - void actuator_controls_publish(const ros::TimerEvent &); -}; -} //end namespace - -#endif // CONTROLLER_BASE99_H diff --git a/Flight_control_Comprehensive/src/enemy_suv/suv_move/include/controller_example.h b/Flight_control_Comprehensive/src/enemy_suv/suv_move/include/controller_example.h deleted file mode 100644 index 4022a33..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/suv_move/include/controller_example.h +++ /dev/null @@ -1,53 +0,0 @@ -#ifndef CONTROLLER_EXAMPLE_H -#define CONTROLLER_EXAMPLE_H - -#include "controller_base.h" - -namespace rosplane -{ - -class controller_example : public controller_base -{ -public: - controller_example(); -private: - virtual void control(const struct params_s ¶ms, const struct input_s &input, struct output_s &output); - alt_zones current_zone; - - float course_hold(float chi_c, float chi, float phi_ff, float r, const struct params_s ¶ms, float Ts); - float c_error_; - float c_integrator_; - - float roll_hold(float phi_c, float phi, float p, const struct params_s ¶ms, float Ts); - float r_error_; - float r_integrator; - - float pitch_hold(float theta_c, float theta, float q, const struct params_s ¶ms, float Ts); - float p_error_; - float p_integrator_; - - float airspeed_with_pitch_hold(float Va_c, float Va, const struct params_s ¶ms, float Ts); - float ap_error_; - float ap_integrator_; - float ap_differentiator_; - - float airspeed_with_throttle_hold(float Va_c, float Va, const struct params_s ¶ms, float Ts); - float at_error_; - float at_integrator_; - float at_differentiator_; - - float altitiude_hold(float h_c, float h, const struct params_s ¶ms, float Ts); - float a_error_; - float a_integrator_; - float a_differentiator_; - -// float cooridinated_turn_hold(float v, const struct params_s ¶ms, float Ts); -// float ct_error_; -// float ct_integrator_; -// float ct_differentiator_; - - float sat(float value, float up_limit, float low_limit); -}; -} //end namespace - -#endif // CONTROLLER_EXAMPLE_H diff --git a/Flight_control_Comprehensive/src/enemy_suv/suv_move/include/controller_example99.h b/Flight_control_Comprehensive/src/enemy_suv/suv_move/include/controller_example99.h deleted file mode 100644 index ed2afe0..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/suv_move/include/controller_example99.h +++ /dev/null @@ -1,56 +0,0 @@ -#ifndef CONTROLLER_EXAMPLE99_H -#define CONTROLLER_EXAMPLE99_H - -#include "controller_base99.h" - -namespace rosplane -{ - -class controller_example99 : public controller_base99 -{ -public: - controller_example99(); -private: - virtual void control(const struct params_s ¶ms, const struct input_s &input, struct output_s &output); - alt_zones current_zone; - - float course_hold(float chi_c, float chi, float phi_ff, float r, const struct params_s ¶ms, float Ts); - float c_error_; - float c_integrator_; - - float roll_hold(float phi_c, float phi, float p, const struct params_s ¶ms, float Ts); - float r_error_; - float r_integrator; - - float pitch_hold(float theta_c, float theta, float q, const struct params_s ¶ms, float Ts); - float p_error_; - float p_integrator_; - - float airspeed_with_pitch_hold(float Va_c, float Va, const struct params_s ¶ms, float Ts); - float ap_error_; - float ap_integrator_; - float ap_differentiator_; - - float decend_airspeed_with_pitch_hold(float h_c, float h, const struct params_s ¶ms, float Ts); - float decend_airspeed_oil(float h_c, float h, const params_s ¶ms, float Ts); - - float airspeed_with_throttle_hold(float Va_c, float Va, const struct params_s ¶ms, float Ts); - float at_error_; - float at_integrator_; - float at_differentiator_; - - float altitiude_hold(float h_c, float h, const struct params_s ¶ms, float Ts); - float a_error_; - float a_integrator_; - float a_differentiator_; - -// float cooridinated_turn_hold(float v, const struct params_s ¶ms, float Ts); -// float ct_error_; -// float ct_integrator_; -// float ct_differentiator_; - - float sat(float value, float up_limit, float low_limit); -}; -} //end namespace - -#endif // CONTROLLER_EXAMPLE99_H diff --git a/Flight_control_Comprehensive/src/enemy_suv/suv_move/include/estimator_base.h b/Flight_control_Comprehensive/src/enemy_suv/suv_move/include/estimator_base.h deleted file mode 100644 index 75ffc88..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/suv_move/include/estimator_base.h +++ /dev/null @@ -1,131 +0,0 @@ -/** - * @file estimator_base.h - * - * Base class definition for autopilot estimator in chapter 8 of UAVbook, see http://uavbook.byu.edu/doku.php - * - * @author Gary Ellingson - */ - -#ifndef ESTIMATOR_BASE_H -#define ESTIMATOR_BASE_H - -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#define EARTH_RADIUS 6378145.0f - -namespace rosplane -{ - - -class estimator_base -{ -public: - estimator_base(); - -protected: - - struct input_s - { - float gyro_x; - float gyro_y; - float gyro_z; - float accel_x; - float accel_y; - float accel_z; - float static_pres; - float diff_pres; - bool gps_new; - float gps_n; - float gps_e; - float gps_h; - float gps_Vg; - float gps_course; - bool status_armed; - bool armed_init; - }; - - struct output_s - { - float pn; - float pe; - float h; - float Va; - float alpha; - float beta; - float phi; - float theta; - float psi; - float chi; - float p; - float q; - float r; - float Vg; - float wn; - float we; - }; - - struct params_s - { - double gravity; - double rho; - double sigma_accel; - double sigma_n_gps; - double sigma_e_gps; - double sigma_Vg_gps; - double sigma_course_gps; - double Ts; - }; - - virtual void estimate(const struct params_s ¶ms, const struct input_s &input, struct output_s &output) = 0; - -private: - ros::NodeHandle nh_; - ros::NodeHandle nh_private_; - ros::Publisher vehicle_state_pub_; - ros::Subscriber gps_sub_; - ros::Subscriber imu_sub_; - ros::Subscriber baro_sub_; - ros::Subscriber airspeed_sub_; - ros::Subscriber status_sub_; - - void update(const ros::TimerEvent &); - void gpsCallback(const rosflight_msgs::GPS &msg); - void imuCallback(const sensor_msgs::Imu &msg); - void baroAltCallback(const rosflight_msgs::Barometer &msg); - void airspeedCallback(const rosflight_msgs::Airspeed &msg); - void statusCallback(const rosflight_msgs::Status &msg); - - double update_rate_; - ros::Timer update_timer_; - std::string gps_topic_; - std::string imu_topic_; - std::string baro_topic_; - std::string airspeed_topic_; - std::string status_topic_; - - bool gps_new_; - bool gps_init_; - double init_lat_; /**< Initial latitude in degrees */ - double init_lon_; /**< Initial longitude in degrees */ - float init_alt_; /**< Initial altitude in meters above MSL */ - bool armed_first_time_; /**< Arm before starting estimation */ - bool baro_init_; /**< Initial barometric pressure */ - float init_static_; /**< Initial static pressure (mbar) */ - int baro_count_; /**< Used to grab the first set of baro measurements */ - std::vector init_static_vector_; /**< Used to grab the first set of baro measurements */ - - struct params_s params_; - struct input_s input_; -}; - -} //end namespace - -#endif // ESTIMATOR_BASE_H diff --git a/Flight_control_Comprehensive/src/enemy_suv/suv_move/include/estimator_base_99pub.h b/Flight_control_Comprehensive/src/enemy_suv/suv_move/include/estimator_base_99pub.h deleted file mode 100644 index 3956c5e..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/suv_move/include/estimator_base_99pub.h +++ /dev/null @@ -1,45 +0,0 @@ - -// modified by kobe and zhangshuai - -#ifndef ESTIMATOR_BASE_PUB_H -#define ESTIMATOR_BASE_PUB_H - -#include -#include -#include -#include -#include - -#define EARTH_RADIUS 6378145.0f - -namespace rosplane -{ -class estimator_base_99pub -{ -public: - estimator_base_99pub(); - -protected: - -private: - ros::NodeHandle nh_; - ros::NodeHandle nh_private_; - ros::Publisher vehicle_state99_pub_; - ros::Subscriber true_state_sub_; - - void update(const ros::TimerEvent &); - void truestateCallback(const enemy_suv_msgs::StateConstPtr &msg); - - double update_rate_; - ros::Timer update_timer_; - - std::string truth_topic_; - - bool state_init_; - enemy_suv_msgs::State true_state_; - -}; - -} //end namespace - -#endif // diff --git a/Flight_control_Comprehensive/src/enemy_suv/suv_move/include/estimator_base_statesub.h b/Flight_control_Comprehensive/src/enemy_suv/suv_move/include/estimator_base_statesub.h deleted file mode 100644 index 092c70a..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/suv_move/include/estimator_base_statesub.h +++ /dev/null @@ -1,46 +0,0 @@ -// modified by kobe and zhangshuai - -#ifndef ESTIMATOR_BASE_SUB_H -#define ESTIMATOR_BASE_SUB_H - -#include -#include -#include //采用新的消息头文件 - -#include -#include - -#define EARTH_RADIUS 6378145.0f - -namespace rosplane -{ -class estimator_base_statesub -{ -public: - estimator_base_statesub(); - -protected: - -private: - ros::NodeHandle nh_; - ros::NodeHandle nh_private_; - ros::Publisher vehicle_state_pub_; - ros::Subscriber state29_sub_; - void update(const ros::TimerEvent &); - void state99Callback(const enemy_suv_msgs::State29ConstPtr &msg); - - double update_rate_; - ros::Timer update_timer_; - std::string state29_topic_; - - double init_lat_; /**< Initial latitude in degrees */ - double init_lon_; /**< Initial longitude in degrees */ - float init_alt_; /**< Initial altitude in meters above MSL */ - - bool state_init_; - enemy_suv_msgs::State29 state29_; -}; - -} //end namespace - -#endif // diff --git a/Flight_control_Comprehensive/src/enemy_suv/suv_move/include/estimator_base_updata_statesub.h b/Flight_control_Comprehensive/src/enemy_suv/suv_move/include/estimator_base_updata_statesub.h deleted file mode 100644 index 48cb160..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/suv_move/include/estimator_base_updata_statesub.h +++ /dev/null @@ -1,46 +0,0 @@ -// modified by kobe - -#ifndef ESTIMATOR_BASE_UPDATA_SUB_H -#define ESTIMATOR_BASE_UPDATA_SUB_H - -#include -#include -#include - -#include -#include - -#define EARTH_RADIUS 6378145.0f - -namespace rosplane -{ -class estimator_base_updata_statesub -{ -public: - estimator_base_updata_statesub(); - -protected: - -private: - ros::NodeHandle nh_; - ros::NodeHandle nh_private_; - ros::Publisher vehicle_state_pub_; - ros::Subscriber state29_sub_; - void update(const ros::TimerEvent &); - void state99Callback(const enemy_suv_msgs::Up_Data_NewConstPtr &msg); - - double update_rate_; - ros::Timer update_timer_; - std::string state29_topic_; - - double init_lat_; /**< Initial latitude in degrees */ - double init_lon_; /**< Initial longitude in degrees */ - float init_alt_; /**< Initial altitude in meters above MSL */ - - bool state_init_; - enemy_suv_msgs::Up_Data_New state29_; -}; - -} //end namespace - -#endif // diff --git a/Flight_control_Comprehensive/src/enemy_suv/suv_move/include/estimator_example.h b/Flight_control_Comprehensive/src/enemy_suv/suv_move/include/estimator_example.h deleted file mode 100644 index 1df030a..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/suv_move/include/estimator_example.h +++ /dev/null @@ -1,73 +0,0 @@ -#ifndef ESTIMATOR_EXAMPLE_H -#define ESTIMATOR_EXAMPLE_H - -#include "estimator_base.h" - -#include -#include - -namespace rosplane -{ - -class estimator_example : public estimator_base -{ -public: - estimator_example(); - -private: - virtual void estimate(const params_s ¶ms, const input_s &input, output_s &output); - -// float gps_n_old_; -// float gps_e_old_; -// float gps_Vg_old_; -// float gps_course_old_; - - double lpf_a_; - float alpha_; - float alpha1_; - int N_; - - float lpf_gyro_x_; - float lpf_gyro_y_; - float lpf_gyro_z_; - float lpf_static_; - float lpf_diff_; - float lpf_accel_x_; - float lpf_accel_y_; - float lpf_accel_z_; - - float phat_; - float qhat_; - float rhat_; - float Vwhat_; - float phihat_; - float thetahat_; - float psihat_; - Eigen::Vector2f xhat_a_; // 2 - Eigen::Matrix2f P_a_; // 2x2 - - Eigen::VectorXf xhat_p_; // 7 - Eigen::MatrixXf P_p_; // 7x7 - - Eigen::Matrix2f Q_a_; // 2x2 - float R_accel_; - Eigen::Vector2f f_a_; // 2 - Eigen::Matrix2f A_a_; // 2x2 - float h_a_; - Eigen::Vector2f C_a_; // 2 - Eigen::Vector2f L_a_; // 2 - - Eigen::MatrixXf Q_p_; // 7x7 - Eigen::MatrixXf R_p_; // 6x6 - Eigen::VectorXf f_p_; // 7 - Eigen::MatrixXf A_p_; // 7x7 - float h_p_; - Eigen::VectorXf C_p_; // 7 - Eigen::VectorXf L_p_; // 7 - - void check_xhat_a(); - -}; -} //end namespace - -#endif // ESTIMATOR_EXAMPLE_H diff --git a/Flight_control_Comprehensive/src/enemy_suv/suv_move/include/path_follower_base.h b/Flight_control_Comprehensive/src/enemy_suv/suv_move/include/path_follower_base.h deleted file mode 100644 index 0dcd8d0..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/suv_move/include/path_follower_base.h +++ /dev/null @@ -1,103 +0,0 @@ -//* @author AIRC-DA group,questions contack kobe. - -#ifndef PATH_FOLLOWER_BASE_H -#define PATH_FOLLOWER_BASE_H - -#include -#include -#include -#include -#include -#include -#include -#define EARTH_RADIUS 6378145.0f -namespace rosplane -{ - -enum class path_type -{ - Orbit, - Line, - Star //add by kobe -}; - -class path_follower_base -{ -public: - path_follower_base(); - float spin(); - -protected: - - struct input_s - { - enum path_type p_type; - float Va_d; - float r_path[3]; - float q_path[3]; - float c_orbit[3]; - float rho_orbit; - int lam_orbit; - float pn; /** position north */ - float pe; /** position east */ - float h; /** altitude */ - float Va; /** airspeed */ - float chi; /** course angle */ - float h_c_path; /** goal attitude */ - float Va_c_path; /** goal attitude */ - bool landing; - bool takeoff; - }; - - struct output_s - { - double Va_c; /** commanded airspeed (m/s) */ - double h_c; /** commanded altitude (m) */ - double chi_c; /** commanded course (rad) */ - double phi_ff; /** feed forward term for orbits (rad) */ - }; - - struct params_s - { - double chi_infty; - double k_path; - double k_orbit; - }; - - virtual void follow(const struct params_s ¶ms, const struct input_s &input, struct output_s &output) = 0; - -private: - ros::NodeHandle nh_; - ros::NodeHandle nh_private_; - ros::Subscriber vehicle_state_sub_; - ros::Subscriber bebop1_state_sub_; - ros::Subscriber current_path_sub_; - - ros::Publisher controller_commands_pub_; - - double update_rate_ = 100.0; - ros::Timer update_timer_; - - enemy_suv_msgs::Controller_Commands controller_commands_; - struct params_s params_; /**< params */ - struct input_s input_; - - void vehicle_state_callback(const enemy_suv_msgs::StateConstPtr &msg); - bool state_init_; - - void bebop1_state_callback(const nav_msgs::Odometry::ConstPtr &msg); - float Quaternion_to_Euler(float,float,float,float); - - void current_path_callback(const enemy_suv_msgs::Current_PathConstPtr &msg); - bool current_path_init_; - - dynamic_reconfigure::Server server_; - dynamic_reconfigure::Server::CallbackType func_; - void reconfigure_callback(rosplane::FollowerConfig &config, uint32_t level); - - void update(const ros::TimerEvent &); -}; - -} // end namespace - -#endif // PATH_FOLLOWER_BASE_H diff --git a/Flight_control_Comprehensive/src/enemy_suv/suv_move/include/path_follower_example.h b/Flight_control_Comprehensive/src/enemy_suv/suv_move/include/path_follower_example.h deleted file mode 100644 index 1df47ae..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/suv_move/include/path_follower_example.h +++ /dev/null @@ -1,18 +0,0 @@ -#ifndef PATH_FOLLOWER_EXAMPLE_H -#define PATH_FOLLOWER_EXAMPLE_H - -#include "path_follower_base.h" - -namespace rosplane -{ - -class path_follower_example : public path_follower_base -{ -public: - path_follower_example(); -private: - virtual void follow(const struct params_s ¶ms, const struct input_s &input, struct output_s &output); -}; - -} //end namespace -#endif // PATH_FOLLOWER_EXAMPLE_H diff --git a/Flight_control_Comprehensive/src/enemy_suv/suv_move/include/path_manager_base.h b/Flight_control_Comprehensive/src/enemy_suv/suv_move/include/path_manager_base.h deleted file mode 100644 index 51289fd..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/suv_move/include/path_manager_base.h +++ /dev/null @@ -1,122 +0,0 @@ -//* @author AIRC-DA group,questions contack kobe. - -#ifndef PATH_MANAGER_BASE_H -#define PATH_MANAGER_BASE_H - -#include -#include -#include -#include -#include -// #include -#include -#include -#include -#include -#include -#include -#include -// #include -#include -#define EARTH_RADIUS 6378145.0f -namespace rosplane -{ -class path_manager_base -{ -public: - path_manager_base(); - -protected: - //modified by kobe - - struct waypoint_s - { - float w[3]; - float lat; - float lon; - float chi_d; - bool chi_valid; - float Va_d; - bool landing; - bool takeoff; - }; - - std::vector waypoints_; - - waypoint_s waypoint_start_; - waypoint_s waypoint_end_; - bool waypoint_received_; - - int num_waypoints_; - int idx_a_; /** index to the waypoint that was most recently achieved */ - - float min_distance_; - double min_distance_titude; - bool show; //add by kobe - bool show2; - struct input_s - { - float pn; /** position north */ - float pe; /** position east */ - float lat; //latitude - float lon; //lontitude - float h; /** altitude */ - float chi; /** course angle */ - float va; //add by kobe - }; - - struct output_s - { - float Va_c; - int flag; /** Inicates strait line or orbital path (1 is line, 0 is orbit, 2 is star) modified by kobe*/ - float Va_d; /** Desired airspeed (m/s) */ - float r[3]; /** Vector to origin of straight line path (m) */ - float q[3]; /** Unit vector, desired direction of travel for line path */ - float c[3]; /** Center of orbital path (m) */ - float gxy[2]; /** x-y-coordinate (m) */ - float gll[2]; /** latitude-longtitude */ - float rho; /** Radius of orbital path (m) */ - float h_c; - bool landing; - bool takeoff; - int8_t lambda; /** Direction of orbital path (cw is 1, ccw is -1) */ -}; - - struct params_s - { - double R_min; - }; - - virtual void manage(const struct params_s ¶ms, const struct input_s &input, struct output_s &output) = 0; - -private: - - ros::NodeHandle nh_; - ros::NodeHandle nh_private_; - ros::Subscriber vehicle_state_sub_; /**< vehicle state subscription */ - ros::Subscriber bebop1_state_sub_; - - ros::Subscriber new_waypoint_sub_; /**< new waypoint subscription */ - ros::Publisher current_path_pub_; /**< controller commands publication */ - ros::Publisher goal_info_pub_; /**< goal info publication */ - ros::Publisher down_data_pub_; - ros::Subscriber waypoint_received_sub_; - struct params_s params_; - - enemy_suv_msgs::State vehicle_state_; /**< vehicle state */ - nav_msgs::Odometry bebop1_state_; - - double update_rate_; - ros::Timer update_timer_; - - void vehicle_state_callback(const enemy_suv_msgs::StateConstPtr &msg); - void bebop1_state_callback(const nav_msgs::Odometry::ConstPtr &msg); - float Quaternion_to_Euler(float,float,float,float); - - bool state_init_; - void new_waypoint_callback(const enemy_suv_msgs::Waypoint &msg); - void current_path_publish(const ros::TimerEvent &); - void waypoint_received_callback(const enemy_suv_msgs::Waypoint &msg); -}; -} //end namespace -#endif // PATH_MANAGER_BASE_H diff --git a/Flight_control_Comprehensive/src/enemy_suv/suv_move/include/path_manager_example.h b/Flight_control_Comprehensive/src/enemy_suv/suv_move/include/path_manager_example.h deleted file mode 100644 index 90dc1af..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/suv_move/include/path_manager_example.h +++ /dev/null @@ -1,78 +0,0 @@ -#ifndef PATH_MANAGER_EXAMPLE_H -#define PATH_MANAGER_EXAMPLE_H - -#include "path_manager_base.h" -#include -//#include - - -#define M_PI_F 3.14159265358979323846f -#define M_PI_2_F 1.57079632679489661923f -namespace rosplane -{ -enum class fillet_state -{ - STRAIGHT, - ORBIT -}; - -enum class dubin_state -{ - FIRST, - BEFORE_H1, - BEFORE_H1_WRONG_SIDE, - STRAIGHT, - BEFORE_H3, - BEFORE_H3_WRONG_SIDE -}; - -class path_manager_example : public path_manager_base -{ -public: - path_manager_example(); -private: - virtual void manage(const struct params_s ¶ms, const struct input_s &input, struct output_s &output); - - void manage_line(const struct params_s ¶ms, const struct input_s &input, struct output_s &output); - void manage_star(const struct params_s ¶ms, const struct input_s &input, struct output_s &output);//add by kobe - void manage_fillet(const struct params_s ¶ms, const struct input_s &input, struct output_s &output); - fillet_state fil_state_; - void manage_dubins(const struct params_s ¶ms, const struct input_s &input, struct output_s &output); - dubin_state dub_state_; - double earth_distance(double, double, double, double); - - bool judge_condition1; - bool judge_condition2; - bool judge_condition3; - bool judge_condition4; - bool judge_condition5; - struct dubinspath_s - { - - Eigen::Vector3f ps; /** the start position */ - float chis; /** the start course angle */ - Eigen::Vector3f pe; /** the end position */ - float chie; /** the end course angle */ - float R; /** turn radius */ - float L; /** length of the path */ - Eigen::Vector3f cs; /** center of the start circle */ - int lams; /** direction of the start circle */ - Eigen::Vector3f ce; /** center of the endcircle */ - int lame; /** direction of the end circle */ - Eigen::Vector3f w1; /** vector defining half plane H1 */ - Eigen::Vector3f q1; /** unit vector along striaght line path */ - Eigen::Vector3f w2; /** vector defining half plane H2 */ - Eigen::Vector3f w3; /** vector defining half plane H3 */ - Eigen::Vector3f q3; /** unit vector defining direction of half plane H3 */ - }; - - - - struct dubinspath_s dubinspath_; - void dubinsParameters(const struct waypoint_s start_node, const struct waypoint_s end_node, float R); - - Eigen::Matrix3f rotz(float theta); - float mo(float in); -}; -} //end namespace -#endif // PATH_MANAGER_EXAMPLE_H diff --git a/Flight_control_Comprehensive/src/enemy_suv/suv_move/include/pseudo_controller_base.h b/Flight_control_Comprehensive/src/enemy_suv/suv_move/include/pseudo_controller_base.h deleted file mode 100644 index 5e9959f..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/suv_move/include/pseudo_controller_base.h +++ /dev/null @@ -1,137 +0,0 @@ -/** - * - * Refer autopilot controller in chapter 6 of UAVbook, see http://uavbook.byu.edu/doku.php - *pseudo fix-wing 四旋翼模拟固定翼飞行，订阅当前实际及命令的速度、高度和角度，发布向前，向上下速度和角度 - * @author AIRC-DA group,questions contack kobe. - */ - -#ifndef PSEUDO_CONTROLLER_BASE_H -#define PSEUDO_CONTROLLER_BASE_H - -#include -#include -#include -#include -#include -#include - -#include -#include -#include - -namespace rosplane -{ - -enum class alt_zones -{ - PREPARE, - TAKE_OFF, - CLIMB, - DESCEND, - ALTITUDE_HOLD, - LANDING -}; - -class pseudo_controller_base -{ -public: - pseudo_controller_base(); - float spin(); - -protected: - - struct input_s - { - float Ts; /** time step */ - float va; /** airspeed */ - float h; /** altitude */ - float chi; /** course angle */ - float Va_c; /** commanded airspeed (m/s) */ - float h_c; /** commanded altitude (m) */ - float chi_c; /** commanded course (north)(-pi to pi,clockwise:-) */ - bool takeoff; - bool landing; - }; - - struct output_s - { - //float theta_c; //俯仰角--即平行于机身轴线并指向飞行器前方的向量与地面的夹角 - //float phi_c; //滚转角--机体坐标系OZb轴与通过机体OXb轴的铅垂面间的夹角，机体向右滚为正，反之为负 - //float delta_a; //副翼偏移量-转弯用-副翼跳变造成油门和升降舵数值的波动 - //float delta_e; //升降舵偏移量-拉高降低 - //float delta_r; //方向舵偏移量-保持稳定，消除测滑 - //float delta_t; //油门偏移量 - float forward_trans; //前进力度 - float up_down_trans; //向上、向下力度,上正下负 - float left_right_trans; //向左右力度,左正右负 - float roll_trans; //左右滚转，x轴,逆时针为正，顺时针为负，[-pi/2,pi/2] - float rotate_trans; //z旋转,逆时针为正，顺时针为负，[-pi/2,pi/2] - float rotate_value; - alt_zones current_zone; - }; - - struct params_s - { - double alt_hz; /**< altitude hold zone */ - double alt_toz; /**< altitude takeoff zone */ - double tau; - double c_kp; - //double c_kd; - double c_ki; - - double a_p_kp; - double a_p_kd; - double a_p_ki; - - double a_t_ki; - double a_t_kp; - double a_t_kd; - - double a_kp; - double a_kd; - double a_ki; - - double trim_t; - //double max_a;y - double max_t; - }; - bool reached; - virtual void control(const struct params_s ¶ms, const struct input_s &input, struct output_s &output) = 0; - -private: - ros::NodeHandle nh_; - ros::NodeHandle nh_private_; - ros::Subscriber vehicle_state_sub_; - ros::Subscriber bebop1_state_sub_; - - ros::Subscriber controller_commands_sub_; - ros::Publisher pesudors_pub_;//actuators - ros::Publisher internals_pub_; - ros::Timer act_pub_timer_; - - struct params_s params_; /**< params */ - enemy_suv_msgs::Controller_Commands controller_commands_; - enemy_suv_msgs::State vehicle_state_; - nav_msgs::Odometry bebop1_state_; - - void vehicle_state_callback(const enemy_suv_msgs::StateConstPtr &msg); - void bebop1_state_callback(const nav_msgs::Odometry::ConstPtr &msg); - float Quaternion_to_Euler(float,float,float,float); - - void controller_commands_callback(const enemy_suv_msgs::Controller_CommandsConstPtr &msg); - bool command_recieved_; - - dynamic_reconfigure::Server server_; - dynamic_reconfigure::Server::CallbackType func_; - - void reconfigure_callback(rosplane::ControllerConfig &config, uint32_t level); - - /*Convert from deflection angle to pwm*/ - //void convert_to_pwm(struct output_s &output); - - /* Publish the outputs */ - void actuator_controls_publish(const ros::TimerEvent &); -}; -} //end namespace - -#endif // PSEUDO_CONTROLLER_BASE_H diff --git a/Flight_control_Comprehensive/src/enemy_suv/suv_move/include/pseudo_controller_example.h b/Flight_control_Comprehensive/src/enemy_suv/suv_move/include/pseudo_controller_example.h deleted file mode 100644 index 1bd751e..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/suv_move/include/pseudo_controller_example.h +++ /dev/null @@ -1,66 +0,0 @@ -#ifndef PSEUDO_CONTROLLER_EXAMPLE_H -#define PSEUDO_CONTROLLER_EXAMPLE_H - -#include "pseudo_controller_base.h" - -namespace rosplane -{ - -class pseudo_controller_example : public pseudo_controller_base -{ -public: - pseudo_controller_example(); -private: - virtual void control(const struct params_s ¶ms, const struct input_s &input, struct output_s &output); - alt_zones current_zone; - - float pseudo_course_hold(float chi,float chi_c, const params_s ¶ms, float Ts); - //float course_hold(float chi_c, float chi, float phi_ff, float r, const struct params_s ¶ms, float Ts); - float c_error_; - float c_integrator_; - - - float r_error_; - float r_integrator_; - - - //float roll_hold(float phi_c, float phi, float p, const struct params_s ¶ms, float Ts); - //float r_error_; - //float r_integrator_; - - //float pitch_hold(float theta_c, float theta, float q, const struct params_s ¶ms, float Ts); - //float p_error_; - //float p_integrator_; - - - float pseudo_course(float chi, float chi_c); - float pseudo_left_right(float chi, float chi_c, float forward_trans); - - //float airspeed_with_pitch_hold(float Va_c, float Va, const struct params_s ¶ms, float Ts); - float pseudo_pitch_hold(float h_c, float h, const struct params_s ¶ms, float Ts); - float ap_error_; - float ap_integrator_; - float ap_differentiator_; - - //float airspeed_with_throttle_hold(float Va_c, float Va, const struct params_s ¶ms, float Ts); - float pseudo_throttle_hold(float Va_c, float Va, const params_s ¶ms, float Ts); - float at_error_; - float at_integrator_; - float at_differentiator_; - - //float altitiude_hold(float h_c, float h, const struct params_s ¶ms, float Ts); - float pseudo_altitiude_hold(float h_c, float h, const params_s ¶ms, float Ts); - float a_error_; - float a_integrator_; - float a_differentiator_; - -// float cooridinated_turn_hold(float v, const struct params_s ¶ms, float Ts); -// float ct_error_; -// float ct_integrator_; -// float ct_differentiator_; - - float sat(float value, float up_limit, float low_limit); -}; -} //end namespace - -#endif // PSEUDO_CONTROLLER_EXAMPLE_H diff --git a/Flight_control_Comprehensive/src/enemy_suv/suv_move/package.xml b/Flight_control_Comprehensive/src/enemy_suv/suv_move/package.xml deleted file mode 100644 index 8387ad5..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/suv_move/package.xml +++ /dev/null @@ -1,33 +0,0 @@ - - - suv_move - 0.0.0 - The suv_move package - - Gary Ellingson - - Gary Ellingson - - BSD - - catkin - cmake_modules - dynamic_reconfigure - rosflight_msgs - rosplane_msgs - roscpp - rospy - sensor_msgs - geometry_msgs - dynamic_reconfigure - rosflight_msgs - rosplane_msgs - roscpp - rospy - sensor_msgs - geometry_msgs - - - - - diff --git a/Flight_control_Comprehensive/src/enemy_suv/suv_move/param/aerosonde.yaml b/Flight_control_Comprehensive/src/enemy_suv/suv_move/param/aerosonde.yaml deleted file mode 100644 index 7339e54..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/suv_move/param/aerosonde.yaml +++ /dev/null @@ -1,33 +0,0 @@ -TRIM_E: 0 -TRIM_A: 0 -TRIM_R: 0 -TRIM_T: 0.6 - -COURSE_KP: 0.7329 -COURSE_KD: 0 -COURSE_KI: 0.07 - -ROLL_KP: 1.17 -ROLL_KD: -0.13 -ROLL_KI: 0 - -PITCH_KP: 0.1 -PITCH_KD: -0.017 -PITCH_KI: 0 -PITCH_FF: 0 - -AS_PITCH_KP: -0.0713 -AS_PITCH_KD: -0.0635 -AS_PITCH_KI: 0 - -AS_THR_KP: 3.2 -AS_THR_KD: 0 -AS_THR_KI: 1.0 - -ALT_KP: 0.045 -ALT_KD: 0 -ALT_KI: 0.01 - -BETA_KP: -0.1164 -BETA_KD: 0 -BETA_KI: -0.0037111 diff --git a/Flight_control_Comprehensive/src/enemy_suv/suv_move/param/bixler.yaml b/Flight_control_Comprehensive/src/enemy_suv/suv_move/param/bixler.yaml deleted file mode 100644 index b1ab278..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/suv_move/param/bixler.yaml +++ /dev/null @@ -1,41 +0,0 @@ -TRIM_E: 0 -TRIM_A: 0 -TRIM_R: 0 -TRIM_T: 0.6 - -COURSE_KP: 0.7329 -COURSE_KD: 0 -COURSE_KI: 0.0 - -ROLL_KP: 1.2855 -ROLL_KD: -0.1 -ROLL_KI: 0 - -PITCH_KP: 1.0 -PITCH_KD: -0.17 -PITCH_KI: 0 -PITCH_FF: 0 - -AS_PITCH_KP: -0.0713 -AS_PITCH_KD: -0.0635 -AS_PITCH_KI: 0 - - -AS_THR_KP: 3.2 -AS_THR_KD: 0 -AS_THR_KI: 1.0 - - -ALT_KP: 0.045 -ALT_KD: 0 -ALT_KI: 0.01 - - -BETA_KP: -0.1164 -BETA_KD: 0 -BETA_KI: -0.0037111 - - -CHI_INFTY: 1.0472 -K_PATH: 0.025 -K_ORBIT: 2.00 diff --git a/Flight_control_Comprehensive/src/enemy_suv/suv_move/src/controller_base.cpp b/Flight_control_Comprehensive/src/enemy_suv/suv_move/src/controller_base.cpp deleted file mode 100644 index 45d5eed..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/suv_move/src/controller_base.cpp +++ /dev/null @@ -1,203 +0,0 @@ -#include "controller_base.h" -#include "controller_example.h" - -namespace rosplane -{ - -controller_base::controller_base(): - nh_(ros::NodeHandle()), - nh_private_(ros::NodeHandle()) -{ - vehicle_state_sub_ = nh_.subscribe("state", 10, &controller_base::vehicle_state_callback, this); - controller_commands_sub_ = nh_.subscribe("controller_commands", 10, &controller_base::controller_commands_callback, - this); - - memset(&vehicle_state_, 0, sizeof(vehicle_state_)); - memset(&controller_commands_, 0, sizeof(controller_commands_)); - - nh_private_.param("TRIM_E", params_.trim_e, 0.0); - nh_private_.param("TRIM_A", params_.trim_a, 0.0); - nh_private_.param("TRIM_R", params_.trim_r, 0.0); - nh_private_.param("TRIM_T", params_.trim_t, 0.6); - nh_private_.param("PWM_RAD_E", params_.pwm_rad_e, 1.0); - nh_private_.param("PWM_RAD_A", params_.pwm_rad_a, 1.0); - nh_private_.param("PWM_RAD_R", params_.pwm_rad_r, 1.0); - nh_private_.param("ALT_TOZ", params_.alt_toz, 20.0); /**< altitude takeoff zone */ - nh_private_.param("ALT_HZ", params_.alt_hz, 10.0); /**< altitude hold zone */ - nh_private_.param("TAU", params_.tau, 5.0); - nh_private_.param("COURSE_KP", params_.c_kp, 0.7329); - nh_private_.param("COURSE_KD", params_.c_kd, 0.0); - nh_private_.param("COURSE_KI", params_.c_ki, 0.0); - nh_private_.param("ROLL_KP", params_.r_kp, 1.2855); - nh_private_.param("ROLL_KD", params_.r_kd, -0.325); - nh_private_.param("ROLL_KI", params_.r_ki, 0.0);//0.10f); - nh_private_.param("PITCH_KP", params_.p_kp, 1.0); - nh_private_.param("PITCH_KD", params_.p_kd, -0.17); - nh_private_.param("PITCH_KI", params_.p_ki, 0.0); - nh_private_.param("PITCH_FF", params_.p_ff, 0.0); - nh_private_.param("AS_PITCH_KP", params_.a_p_kp, -0.0713); - nh_private_.param("AS_PITCH_KD", params_.a_p_kd, -0.0635); - nh_private_.param("AS_PITCH_KI", params_.a_p_ki, 0.0); - nh_private_.param("AS_THR_KP", params_.a_t_kp, 3.2); - nh_private_.param("AS_THR_KD", params_.a_t_kd, 0.0); - nh_private_.param("AS_THR_KI", params_.a_t_ki, 0.0); - nh_private_.param("ALT_KP", params_.a_kp, 0.045); - nh_private_.param("ALT_KD", params_.a_kd, 0.0); - nh_private_.param("ALT_KI", params_.a_ki, 0.01); - nh_private_.param("BETA_KP", params_.b_kp, -0.1164); - nh_private_.param("BETA_KD", params_.b_kd, 0.0); - nh_private_.param("BETA_KI", params_.b_ki, -0.0037111); - nh_private_.param("MAX_E", params_.max_e, 0.610); - nh_private_.param("MAX_A", params_.max_a, 0.523); - nh_private_.param("MAX_R", params_.max_r, 0.523); - nh_private_.param("MAX_T", params_.max_t, 1.0); - - func_ = boost::bind(&controller_base::reconfigure_callback, this, _1, _2); - server_.setCallback(func_); - - actuators_pub_ = nh_.advertise("command", 10); - internals_pub_ = nh_.advertise("controller_inners", 10); - act_pub_timer_ = nh_.createTimer(ros::Duration(1.0/100.0), &controller_base::actuator_controls_publish, this); - - command_recieved_ = false; -} - -void controller_base::vehicle_state_callback(const enemy_suv_msgs::StateConstPtr &msg) -{ - vehicle_state_ = *msg; -} - -void controller_base::controller_commands_callback(const enemy_suv_msgs::Controller_CommandsConstPtr &msg) -{ - command_recieved_ = true; - controller_commands_ = *msg; -} - -void controller_base::reconfigure_callback(rosplane::ControllerConfig &config, uint32_t level) -{ - params_.trim_e = config.TRIM_E; - params_.trim_a = config.TRIM_A; - params_.trim_r = config.TRIM_R; - params_.trim_t = config.TRIM_T; - - params_.c_kp = config.COURSE_KP; - params_.c_kd = config.COURSE_KD; - params_.c_ki = config.COURSE_KI; - - params_.r_kp = config.ROLL_KP; - params_.r_kd = config.ROLL_KD; - params_.r_ki = config.ROLL_KI; - - params_.p_kp = config.PITCH_KP; - params_.p_kd = config.PITCH_KD; - params_.p_ki = config.PITCH_KI; - params_.p_ff = config.PITCH_FF; - - params_.a_p_kp = config.AS_PITCH_KP; - params_.a_p_kd = config.AS_PITCH_KD; - params_.a_p_ki = config.AS_PITCH_KI; - - params_.a_t_kp = config.AS_THR_KP; - params_.a_t_kd = config.AS_THR_KD; - params_.a_t_ki = config.AS_THR_KI; - - params_.a_kp = config.ALT_KP; - params_.a_kd = config.ALT_KD; - params_.a_ki = config.ALT_KI; - - params_.b_kp = config.BETA_KP; - params_.b_kd = config.BETA_KD; - params_.b_ki = config.BETA_KI; -} - -void controller_base::convert_to_pwm(controller_base::output_s &output) -{ - output.delta_e = output.delta_e*params_.pwm_rad_e; - output.delta_a = output.delta_a*params_.pwm_rad_a; - output.delta_r = output.delta_r*params_.pwm_rad_r; -} - -void controller_base::actuator_controls_publish(const ros::TimerEvent &) -{ - struct input_s input; - input.h = -vehicle_state_.position[2]; - input.va = vehicle_state_.Va; - input.phi = vehicle_state_.phi; - input.theta = vehicle_state_.theta; - input.chi = vehicle_state_.chi; - input.psi = vehicle_state_.psi; - input.p = vehicle_state_.p; - input.q = vehicle_state_.q; - input.r = vehicle_state_.r; - input.Va_c = controller_commands_.Va_c; - input.h_c = controller_commands_.h_c; - input.chi_c = controller_commands_.chi_c; - input.phi_ff = controller_commands_.phi_ff; - input.Ts = 0.01f; - - struct output_s output; - //ROS_INFO("%g",input.va); - //std::cout<<"command_recieved_"< 0) - { - enemy_suv_msgs::Controller_Internals inners; - inners.phi_c = output.phi_c; - inners.theta_c = output.theta_c; - switch (output.current_zone) - { - case alt_zones::TAKE_OFF: - inners.alt_zone = inners.ZONE_TAKE_OFF; - break; - case alt_zones::CLIMB: - inners.alt_zone = inners.ZONE_CLIMB; - break; - case alt_zones::DESCEND: - inners.alt_zone = inners.ZONE_DESEND; - break; - case alt_zones::ALTITUDE_HOLD: - inners.alt_zone = inners.ZONE_ALTITUDE_HOLD; - break; - default: - break; - } - inners.aux_valid = false; - internals_pub_.publish(inners); - } - } -} - -} //end namespace - -int main(int argc, char **argv) -{ - ros::init(argc, argv, "rosplane_controller"); - rosplane::controller_base *cont = new rosplane::controller_example(); - - ros::spin(); - - return 0; -} diff --git a/Flight_control_Comprehensive/src/enemy_suv/suv_move/src/controller_base99.cpp b/Flight_control_Comprehensive/src/enemy_suv/suv_move/src/controller_base99.cpp deleted file mode 100644 index 66f8fd0..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/suv_move/src/controller_base99.cpp +++ /dev/null @@ -1,203 +0,0 @@ -#include "controller_base99.h" -#include "controller_example99.h" - -namespace rosplane -{ - -controller_base99::controller_base99(): - nh_(ros::NodeHandle()), - nh_private_(ros::NodeHandle()) -{ - vehicle_state_sub_ = nh_.subscribe("state", 10, &controller_base99::vehicle_state_callback, this); - controller_commands_sub_ = nh_.subscribe("controller_commands", 10, &controller_base99::controller_commands_callback, - this); - - memset(&vehicle_state_, 0, sizeof(vehicle_state_)); - memset(&controller_commands_, 0, sizeof(controller_commands_)); - - nh_private_.param("TRIM_E", params_.trim_e, 0.0); - nh_private_.param("TRIM_A", params_.trim_a, 0.0); - nh_private_.param("TRIM_R", params_.trim_r, 0.0); - nh_private_.param("TRIM_T", params_.trim_t, 0.6); - nh_private_.param("PWM_RAD_E", params_.pwm_rad_e, 1.0); - nh_private_.param("PWM_RAD_A", params_.pwm_rad_a, 1.0); - nh_private_.param("PWM_RAD_R", params_.pwm_rad_r, 1.0); - nh_private_.param("ALT_TOZ", params_.alt_toz, 20.0); /**< altitude takeoff zone */ - nh_private_.param("ALT_HZ", params_.alt_hz, 10.0); /**< altitude hold zone */ - nh_private_.param("TAU", params_.tau, 5.0); - nh_private_.param("COURSE_KP", params_.c_kp, 0.7329); - nh_private_.param("COURSE_KD", params_.c_kd, 0.0); - nh_private_.param("COURSE_KI", params_.c_ki, 0.0); - nh_private_.param("ROLL_KP", params_.r_kp, 1.2855); - nh_private_.param("ROLL_KD", params_.r_kd, -0.325); - nh_private_.param("ROLL_KI", params_.r_ki, 0.0);//0.10f); - nh_private_.param("PITCH_KP", params_.p_kp, 1.0); - nh_private_.param("PITCH_KD", params_.p_kd, -0.17); - nh_private_.param("PITCH_KI", params_.p_ki, 0.0); - nh_private_.param("PITCH_FF", params_.p_ff, 0.0); - nh_private_.param("AS_PITCH_KP", params_.a_p_kp, -0.0713); - nh_private_.param("AS_PITCH_KD", params_.a_p_kd, -0.0635); - nh_private_.param("AS_PITCH_KI", params_.a_p_ki, 0.0); - nh_private_.param("AS_THR_KP", params_.a_t_kp, 3.2); - nh_private_.param("AS_THR_KD", params_.a_t_kd, 0.0); - nh_private_.param("AS_THR_KI", params_.a_t_ki, 0.0); - nh_private_.param("ALT_KP", params_.a_kp, 0.045); - nh_private_.param("ALT_KD", params_.a_kd, 0.0); - nh_private_.param("ALT_KI", params_.a_ki, 0.01); - nh_private_.param("BETA_KP", params_.b_kp, -0.1164); - nh_private_.param("BETA_KD", params_.b_kd, 0.0); - nh_private_.param("BETA_KI", params_.b_ki, -0.0037111); - nh_private_.param("MAX_E", params_.max_e, 0.610); - nh_private_.param("MAX_A", params_.max_a, 0.523); - nh_private_.param("MAX_R", params_.max_r, 0.523); - nh_private_.param("MAX_T", params_.max_t, 1.0); - - func_ = boost::bind(&controller_base99::reconfigure_callback, this, _1, _2); - server_.setCallback(func_); - - actuators_pub_ = nh_.advertise("command", 10); - internals_pub_ = nh_.advertise("controller_inners", 10); - act_pub_timer_ = nh_.createTimer(ros::Duration(1.0/100.0), &controller_base99::actuator_controls_publish, this); - - command_recieved_ = false; -} - -void controller_base99::vehicle_state_callback(const enemy_suv_msgs::StateConstPtr &msg) -{ - vehicle_state_ = *msg; -} - -void controller_base99::controller_commands_callback(const enemy_suv_msgs::Controller_CommandsConstPtr &msg) -{ - command_recieved_ = true; - controller_commands_ = *msg; -} - -void controller_base99::reconfigure_callback(rosplane::ControllerConfig &config, uint32_t level) -{ - params_.trim_e = config.TRIM_E; - params_.trim_a = config.TRIM_A; - params_.trim_r = config.TRIM_R; - params_.trim_t = config.TRIM_T; - - params_.c_kp = config.COURSE_KP; - params_.c_kd = config.COURSE_KD; - params_.c_ki = config.COURSE_KI; - - params_.r_kp = config.ROLL_KP; - params_.r_kd = config.ROLL_KD; - params_.r_ki = config.ROLL_KI; - - params_.p_kp = config.PITCH_KP; - params_.p_kd = config.PITCH_KD; - params_.p_ki = config.PITCH_KI; - params_.p_ff = config.PITCH_FF; - - params_.a_p_kp = config.AS_PITCH_KP; - params_.a_p_kd = config.AS_PITCH_KD; - params_.a_p_ki = config.AS_PITCH_KI; - - params_.a_t_kp = config.AS_THR_KP; - params_.a_t_kd = config.AS_THR_KD; - params_.a_t_ki = config.AS_THR_KI; - - params_.a_kp = config.ALT_KP; - params_.a_kd = config.ALT_KD; - params_.a_ki = config.ALT_KI; - - params_.b_kp = config.BETA_KP; - params_.b_kd = config.BETA_KD; - params_.b_ki = config.BETA_KI; -} - -void controller_base99::convert_to_pwm(controller_base99::output_s &output) -{ - output.delta_e = output.delta_e*params_.pwm_rad_e; - output.delta_a = output.delta_a*params_.pwm_rad_a; - output.delta_r = output.delta_r*params_.pwm_rad_r; -} - -void controller_base99::actuator_controls_publish(const ros::TimerEvent &) -{ - struct input_s input; - input.h = -vehicle_state_.position[2];//>0 - input.va = vehicle_state_.Va; - input.phi = vehicle_state_.phi; - input.theta = vehicle_state_.theta; - input.chi = vehicle_state_.chi; - input.psi = vehicle_state_.psi; - input.p = vehicle_state_.p; - input.q = vehicle_state_.q; - input.r = vehicle_state_.r; - input.Va_c = controller_commands_.Va_c; - input.h_c = controller_commands_.h_c; - input.chi_c = controller_commands_.chi_c; - input.phi_ff = controller_commands_.phi_ff; - input.Ts = 0.01f; - - struct output_s output; - //ROS_INFO("%g",input.va); - //std::cout<<"command_recieved_"< 0) - { - enemy_suv_msgs::Controller_Internals inners; - inners.phi_c = output.phi_c; - inners.theta_c = output.theta_c; - switch (output.current_zone) - { - case alt_zones::TAKE_OFF: - inners.alt_zone = inners.ZONE_TAKE_OFF; - break; - case alt_zones::CLIMB: - inners.alt_zone = inners.ZONE_CLIMB; - break; - case alt_zones::DESCEND: - inners.alt_zone = inners.ZONE_DESEND; - break; - case alt_zones::ALTITUDE_HOLD: - inners.alt_zone = inners.ZONE_ALTITUDE_HOLD; - break; - default: - break; - } - inners.aux_valid = false; - internals_pub_.publish(inners); - } - } -} - -} //end namespace - -int main(int argc, char **argv) -{ - ros::init(argc, argv, "rosplane_controller99"); - rosplane::controller_base99 *cont = new rosplane::controller_example99(); - - ros::spin(); - - return 0; -} diff --git a/Flight_control_Comprehensive/src/enemy_suv/suv_move/src/controller_example.cpp b/Flight_control_Comprehensive/src/enemy_suv/suv_move/src/controller_example.cpp deleted file mode 100644 index 09008a5..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/suv_move/src/controller_example.cpp +++ /dev/null @@ -1,265 +0,0 @@ -#include "controller_example.h" - -namespace rosplane -{ - -controller_example::controller_example() : controller_base() -{ - current_zone = alt_zones::TAKE_OFF; - - c_error_ = 0; - c_integrator_ = 0; - r_error_ = 0; - r_integrator = 0; - p_error_ = 0; - p_integrator_ = 0; - -} - -void controller_example::control(const params_s ¶ms, const input_s &input, output_s &output) -{ - output.delta_r = 0; //cooridinated_turn_hold(input.beta, params, input.Ts) - output.phi_c = course_hold(input.chi_c, input.chi, input.phi_ff, input.r, params, input.Ts); - output.delta_a = roll_hold(output.phi_c, input.phi, input.p, params, input.Ts); - switch (current_zone) - { - case alt_zones::TAKE_OFF: - output.phi_c = 0; - output.delta_a = roll_hold(0.0, input.phi, input.p, params, input.Ts); - output.delta_t = params.max_t; - output.theta_c = 15.0*3.14/180.0; - if (input.h >= params.alt_toz) - { - ROS_WARN("climb"); - current_zone = alt_zones::CLIMB; - ap_error_ = 0; - ap_integrator_ = 0; - ap_differentiator_ = 0; - } - break; - case alt_zones::CLIMB: - output.delta_t = params.max_t; - - //modified by kobe - if (input.Va_c < input.va) - { - output.theta_c = airspeed_with_pitch_hold(input.Va_c, input.va, params, input.Ts); - } - else - { - output.theta_c = altitiude_hold(input.h_c, input.h, params, input.Ts); - } - // - - if (input.h >= input.h_c - params.alt_hz) - { - ROS_WARN("hold"); - current_zone = alt_zones::ALTITUDE_HOLD; - at_error_ = 0; - at_integrator_ = 0; - at_differentiator_ = 0; - a_error_ = 0; - a_integrator_ = 0; - a_differentiator_ = 0; - } - else if (input.h <= params.alt_toz) - { - ROS_WARN("takeoff"); - current_zone = alt_zones::TAKE_OFF; - } - break; - case alt_zones::DESCEND: - output.delta_t = 0; - output.theta_c = airspeed_with_pitch_hold(input.Va_c, input.va, params, input.Ts); - if (input.h <= input.h_c + params.alt_hz) - { - ROS_WARN("hold"); - current_zone = alt_zones::ALTITUDE_HOLD; - at_error_ = 0; - at_integrator_ = 0; - at_differentiator_ = 0; - a_error_ = 0; - a_integrator_ = 0; - a_differentiator_ = 0; - } - break; - case alt_zones::ALTITUDE_HOLD: - output.delta_t = airspeed_with_throttle_hold(input.Va_c, input.va, params, input.Ts); - output.theta_c = altitiude_hold(input.h_c, input.h, params, input.Ts); - if (input.h >= input.h_c + params.alt_hz) - { - ROS_WARN("desend"); - current_zone = alt_zones::DESCEND; - ap_error_ = 0; - ap_integrator_ = 0; - ap_differentiator_ = 0; - } - else if (input.h <= input.h_c - params.alt_hz) - { - ROS_WARN("climb"); - current_zone = alt_zones::CLIMB; - ap_error_ = 0; - ap_integrator_ = 0; - ap_differentiator_ = 0; - } - break; - default: - break; - } - - output.current_zone = current_zone; - output.delta_e = pitch_hold(output.theta_c, input.theta, input.q, params, input.Ts); -} - -float controller_example::course_hold(float chi_c, float chi, float phi_ff, float r, const params_s ¶ms, float Ts) -{ - float error = chi_c - chi; - - c_integrator_ = c_integrator_ + (Ts/2.0)*(error + c_error_); - - float up = params.c_kp*error; - float ui = params.c_ki*c_integrator_; - float ud = params.c_kd*r; - - float phi_c = sat(up + ui + ud + phi_ff, 40.0*3.14/180.0, -40.0*3.14/180.0); - if (fabs(params.c_ki) >= 0.00001) - { - float phi_c_unsat = up + ui + ud + phi_ff; - c_integrator_ = c_integrator_ + (Ts/params.c_ki)*(phi_c - phi_c_unsat); - } - - c_error_ = error; - return phi_c; -} - -float controller_example::roll_hold(float phi_c, float phi, float p, const params_s ¶ms, float Ts) -{ - float error = phi_c - phi; - - r_integrator = r_integrator + (Ts/2.0)*(error + r_error_); - - float up = params.r_kp*error; - float ui = params.r_ki*r_integrator; - float ud = params.r_kd*p; - - float delta_a = sat(up + ui + ud, params.max_a, -params.max_a); - if (fabs(params.r_ki) >= 0.00001) - { - float delta_a_unsat = up + ui + ud; - r_integrator = r_integrator + (Ts/params.r_ki)*(delta_a - delta_a_unsat); - } - - r_error_ = error; - return delta_a; -} - -float controller_example::pitch_hold(float theta_c, float theta, float q, const params_s ¶ms, float Ts) -{ - float error = theta_c - theta; - - p_integrator_ = p_integrator_ + (Ts/2.0)*(error + p_error_); - - float up = params.p_kp*error; - float ui = params.p_ki*p_integrator_; - float ud = params.p_kd*q; - - float delta_e = sat(params.trim_e/params.pwm_rad_e + up + ui + ud, params.max_e, -params.max_e); - if (fabs(params.p_ki) >= 0.00001) - { - float delta_e_unsat = params.trim_e/params.pwm_rad_e + up + ui + ud; - p_integrator_ = p_integrator_ + (Ts/params.p_ki)*(delta_e - delta_e_unsat); - } - - p_error_ = error; - return delta_e; -} - -float controller_example::airspeed_with_pitch_hold(float Va_c, float Va, const params_s ¶ms, float Ts) -{ - float error = Va_c - Va; - - ap_integrator_ = ap_integrator_ + (Ts/2.0)*(error + ap_error_); - ap_differentiator_ = (2.0*params.tau - Ts)/(2.0*params.tau + Ts)*ap_differentiator_ + (2.0 / - (2.0*params.tau + Ts))*(error - ap_error_); - - float up = params.a_p_kp*error; - float ui = params.a_p_ki*ap_integrator_; - float ud = params.a_p_kd*ap_differentiator_; - - float theta_c = sat(up + ui + ud, 20.0*3.14/180.0, -25.0*3.14/180.0); - if (fabs(params.a_p_ki) >= 0.00001) - { - float theta_c_unsat = up + ui + ud; - ap_integrator_ = ap_integrator_ + (Ts/params.a_p_ki)*(theta_c - theta_c_unsat); - } - - ap_error_ = error; - return theta_c; -} - -float controller_example::airspeed_with_throttle_hold(float Va_c, float Va, const params_s ¶ms, float Ts) -{ - float error = Va_c - Va; - - at_integrator_ = at_integrator_ + (Ts/2.0)*(error + at_error_); - at_differentiator_ = (2.0*params.tau - Ts)/(2.0*params.tau + Ts)*at_differentiator_ + (2.0 / - (2.0*params.tau + Ts))*(error - at_error_); - - float up = params.a_t_kp*error; - float ui = params.a_t_ki*at_integrator_; - float ud = params.a_t_kd*at_differentiator_; - - float delta_t = sat(params.trim_t + up + ui + ud, params.max_t, 0); - if (fabs(params.a_t_ki) >= 0.00001) - { - float delta_t_unsat = params.trim_t + up + ui + ud; - at_integrator_ = at_integrator_ + (Ts/params.a_t_ki)*(delta_t - delta_t_unsat); - } - - at_error_ = error; - return delta_t; -} - -float controller_example::altitiude_hold(float h_c, float h, const params_s ¶ms, float Ts) -{ - float error = h_c - h; - - a_integrator_ = a_integrator_ + (Ts/2.0)*(error + a_error_); - a_differentiator_ = (2.0*params.tau - Ts)/(2.0*params.tau + Ts)*a_differentiator_ + (2.0 / - (2.0*params.tau + Ts))*(error - a_error_); - - float up = params.a_kp*error; - float ui = params.a_ki*a_integrator_; - float ud = params.a_kd*a_differentiator_; - - float theta_c = sat(up + ui + ud, 35.0*3.14/180.0, -35.0*3.14/180.0); - if (fabs(params.a_ki) >= 0.00001) - { - float theta_c_unsat = up + ui + ud; - a_integrator_ = a_integrator_ + (Ts/params.a_ki)*(theta_c - theta_c_unsat); - } - - at_error_ = error; - return theta_c; -} - -//float controller_example::cooridinated_turn_hold(float v, const params_s ¶ms, float Ts) -//{ -// //todo finish this if you want... -// return 0; -//} - -float controller_example::sat(float value, float up_limit, float low_limit) -{ - float rVal; - if (value > up_limit) - rVal = up_limit; - else if (value < low_limit) - rVal = low_limit; - else - rVal = value; - - return rVal; -} - -} //end namespace diff --git a/Flight_control_Comprehensive/src/enemy_suv/suv_move/src/controller_example99.cpp b/Flight_control_Comprehensive/src/enemy_suv/suv_move/src/controller_example99.cpp deleted file mode 100644 index 95474a1..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/suv_move/src/controller_example99.cpp +++ /dev/null @@ -1,293 +0,0 @@ -#include "controller_example99.h" - -namespace rosplane -{ - -controller_example99::controller_example99() : controller_base99() -{ - current_zone = alt_zones::TAKE_OFF; - - c_error_ = 0; - c_integrator_ = 0; - r_error_ = 0; - r_integrator = 0; - p_error_ = 0; - p_integrator_ = 0; - -} - -void controller_example99::control(const params_s ¶ms, const input_s &input, output_s &output) -{ - output.delta_r = 0; //cooridinated_turn_hold(input.beta, params, input.Ts) - output.phi_c = course_hold(input.chi_c, input.chi, input.phi_ff, input.r, params, input.Ts); - output.delta_a = roll_hold(output.phi_c, input.phi, input.p, params, input.Ts); - switch (current_zone) - { - case alt_zones::TAKE_OFF: - output.phi_c = 0; - output.delta_a = roll_hold(0.0, input.phi, input.p, params, input.Ts); - output.delta_t = params.max_t;//modified by kobe - output.theta_c = 1.0*3.14/180.0; - //output.theta_c = 15.0*3.14/180.0; - //ROS_WARN("TAKE_OFF"); - if (input.h >= params.alt_toz) - { - ROS_WARN("climb"); - current_zone = alt_zones::CLIMB; - ap_error_ = 0; - ap_integrator_ = 0; - ap_differentiator_ = 0; - } - break; - case alt_zones::CLIMB: - output.delta_t = params.max_t; - - //modified by kobe - if (input.Va_c < input.va) - { - output.theta_c = airspeed_with_pitch_hold(input.Va_c, input.va, params, input.Ts);//original - } - else - { - output.theta_c = altitiude_hold(input.h_c, input.h, params, input.Ts); - } - // - - if (input.h >= input.h_c - params.alt_hz) - { - ROS_WARN("hold"); - current_zone = alt_zones::ALTITUDE_HOLD; - at_error_ = 0; - at_integrator_ = 0; - at_differentiator_ = 0; - a_error_ = 0; - a_integrator_ = 0; - a_differentiator_ = 0; - } - else if (input.h <= params.alt_toz) - { - //ROS_WARN("takeoff"); - current_zone = alt_zones::TAKE_OFF; - } - break; - case alt_zones::DESCEND: - output.delta_t = decend_airspeed_oil(input.h_c, input.h, params, input.Ts); - //output.theta_c =airspeed_with_pitch_hold(input.Va_c, input.va, params, input.Ts); - output.theta_c =decend_airspeed_with_pitch_hold(input.h_c, input.h, params, input.Ts); - //ROS_INFO("Look here %f %f",output.theta_c,pitch_hold(output.theta_c, input.theta, input.q, params, input.Ts)); - if (input.h <= input.h_c + params.alt_hz) - { - ROS_WARN("hold"); - current_zone = alt_zones::ALTITUDE_HOLD; - at_error_ = 0; - at_integrator_ = 0; - at_differentiator_ = 0; - a_error_ = 0; - a_integrator_ = 0; - a_differentiator_ = 0; - } - break; - case alt_zones::ALTITUDE_HOLD: - output.delta_t = airspeed_with_throttle_hold(input.Va_c, input.va, params, input.Ts); - output.theta_c = altitiude_hold(input.h_c, input.h, params, input.Ts); - //ROS_INFO("Look here %f %f %f",output.delta_t,output.theta_c,input.Va_c); - if (input.h >= input.h_c + 200)//add by kobe - //if (input.h >= input.h_c + params.alt_hz)//original - { - ROS_WARN("desend"); - current_zone = alt_zones::DESCEND; - ap_error_ = 0; - ap_integrator_ = 0; - ap_differentiator_ = 0; - } - else if (input.h <= input.h_c - 200) - //else if (input.h <= input.h_c - params.alt_hz) - { - ROS_WARN("climb"); - current_zone = alt_zones::CLIMB; - ap_error_ = 0; - ap_integrator_ = 0; - ap_differentiator_ = 0; - } - break; - default: - break; - } - - output.current_zone = current_zone; - output.delta_e = pitch_hold(output.theta_c, input.theta, input.q, params, input.Ts); - -} - -float controller_example99::course_hold(float chi_c, float chi, float phi_ff, float r, const params_s ¶ms, float Ts) -{ - float error = chi_c - chi; - - c_integrator_ = c_integrator_ + (Ts/2.0)*(error + c_error_); - - float up = params.c_kp*error; - float ui = params.c_ki*c_integrator_; - float ud = params.c_kd*r; - - float phi_c = sat(up + ui + ud + phi_ff, 40.0*3.14/180.0, -40.0*3.14/180.0); //add by kobe - //float phi_c = sat(up + ui + ud + phi_ff, 40.0*3.14/180.0, -40.0*3.14/180.0); - if (fabs(params.c_ki) >= 0.00001) - { - float phi_c_unsat = up + ui + ud + phi_ff; - c_integrator_ = c_integrator_ + (Ts/params.c_ki)*(phi_c - phi_c_unsat); - } - - c_error_ = error; - return phi_c; -} - -float controller_example99::roll_hold(float phi_c, float phi, float p, const params_s ¶ms, float Ts) -{ - float error = phi_c - phi; - - r_integrator = r_integrator + (Ts/2.0)*(error + r_error_); - - float up = params.r_kp*error; - float ui = params.r_ki*r_integrator; - float ud = params.r_kd*p; - - float delta_a = sat(up + ui + ud,params.max_a, -params.max_a);//add by kobe,0.1,-0.1 - //float delta_a = sat(up + ui + ud, params.max_a, -params.max_a); - - if (fabs(params.r_ki) >= 0.00001) - { - float delta_a_unsat = up + ui + ud; - r_integrator = r_integrator + (Ts/params.r_ki)*(delta_a - delta_a_unsat); - } - - r_error_ = error; - return delta_a; -} - -float controller_example99::pitch_hold(float theta_c, float theta, float q, const params_s ¶ms, float Ts) -{ - float error = theta_c - theta; - - p_integrator_ = p_integrator_ + (Ts/2.0)*(error + p_error_); - - float up = params.p_kp*error; - float ui = params.p_ki*p_integrator_; - float ud = params.p_kd*q; - - float delta_e = sat(params.trim_e/params.pwm_rad_e + up + ui + ud, 0.1, -0.1);// add by kobe - //float delta_e = sat(params.trim_e/params.pwm_rad_e + up + ui + ud, params.max_e, -params.max_e); - if (fabs(params.p_ki) >= 0.00001) - { - float delta_e_unsat = params.trim_e/params.pwm_rad_e + up + ui + ud; - p_integrator_ = p_integrator_ + (Ts/params.p_ki)*(delta_e - delta_e_unsat); - } - - p_error_ = error; - return delta_e; -} - -float controller_example99::airspeed_with_pitch_hold(float Va_c, float Va, const params_s ¶ms, float Ts) -{ - float error = Va_c - Va; - - ap_integrator_ = ap_integrator_ + (Ts/2.0)*(error + ap_error_); - ap_differentiator_ = (2.0*params.tau - Ts)/(2.0*params.tau + Ts)*ap_differentiator_ + (2.0 / - (2.0*params.tau + Ts))*(error - ap_error_); - - float up = params.a_p_kp*error; - float ui = params.a_p_ki*ap_integrator_; - float ud = params.a_p_kd*ap_differentiator_; - - float theta_c = sat(up + ui + ud, 2.0*3.14/180.0, -2.0*3.14/180.0);//add by kobe - //float theta_c = sat(up + ui + ud, 20.0*3.14/180.0, -25.0*3.14/180.0); - if (fabs(params.a_p_ki) >= 0.00001) - { - float theta_c_unsat = up + ui + ud; - ap_integrator_ = ap_integrator_ + (Ts/params.a_p_ki)*(theta_c - theta_c_unsat); - } - - ap_error_ = error; - return theta_c; -} - -float controller_example99::decend_airspeed_with_pitch_hold(float h_c, float h, const params_s ¶ms, float Ts) -{ - float error = 0.01*(h_c - h); - float theta_c = sat(error, 0, -90.0*3.14/180.0); - return theta_c; -} - -float controller_example99::decend_airspeed_oil(float h_c, float h, const params_s ¶ms, float Ts) -{ - float error = pow(2,(h_c - h)/50); - float theta_t = sat(error, 1, 0); - return theta_t; -} - -float controller_example99::airspeed_with_throttle_hold(float Va_c, float Va, const params_s ¶ms, float Ts) -{ - float error = Va_c - Va; - - at_integrator_ = at_integrator_ + (Ts/2.0)*(error + at_error_); - at_differentiator_ = (2.0*params.tau - Ts)/(2.0*params.tau + Ts)*at_differentiator_ + (2.0 / - (2.0*params.tau + Ts))*(error - at_error_); - - float up = params.a_t_kp*error; - float ui = params.a_t_ki*at_integrator_; - float ud = params.a_t_kd*at_differentiator_; - - float delta_t = sat(params.trim_t + up + ui + ud, params.max_t, 0); - if (fabs(params.a_t_ki) >= 0.00001) - { - float delta_t_unsat = params.trim_t + up + ui + ud; - at_integrator_ = at_integrator_ + (Ts/params.a_t_ki)*(delta_t - delta_t_unsat); - } - - at_error_ = error; - return delta_t; -} - -float controller_example99::altitiude_hold(float h_c, float h, const params_s ¶ms, float Ts) -{ - float error = h_c - h; - - a_integrator_ = a_integrator_ + (Ts/2.0)*(error + a_error_); - a_differentiator_ = (2.0*params.tau - Ts)/(2.0*params.tau + Ts)*a_differentiator_ + (2.0 / - (2.0*params.tau + Ts))*(error - a_error_); - - float up = params.a_kp*error; - float ui = params.a_ki*a_integrator_; - float ud = params.a_kd*a_differentiator_; - - float theta_c = sat(up + ui + ud, 5.0*3.14/180.0, -5.0*3.14/180.0);//add by kobe - //float theta_c = sat(up + ui + ud, 35.0*3.14/180.0, -35.0*3.14/180.0); - if (fabs(params.a_ki) >= 0.00001) - { - float theta_c_unsat = up + ui + ud; - a_integrator_ = a_integrator_ + (Ts/params.a_ki)*(theta_c - theta_c_unsat); - } - - at_error_ = error; - return theta_c; -} - -//float controller_example99::cooridinated_turn_hold(float v, const params_s ¶ms, float Ts) -//{ -// //todo finish this if you want... -// return 0; -//} - -float controller_example99::sat(float value, float up_limit, float low_limit) -{ - float rVal; - if (value > up_limit) - rVal = up_limit; - else if (value < low_limit) - rVal = low_limit; - else - rVal = value; - - return rVal; -} - -} //end namespace diff --git a/Flight_control_Comprehensive/src/enemy_suv/suv_move/src/estimator_base.cpp b/Flight_control_Comprehensive/src/enemy_suv/suv_move/src/estimator_base.cpp deleted file mode 100644 index b3aa795..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/suv_move/src/estimator_base.cpp +++ /dev/null @@ -1,228 +0,0 @@ -#include "estimator_base.h" -#include "estimator_example.h" - -namespace rosplane -{ - -estimator_base::estimator_base(): - nh_(ros::NodeHandle()), - nh_private_(ros::NodeHandle("~")) -{ - nh_private_.param("gps_topic", gps_topic_, "gps"); - nh_private_.param("imu_topic", imu_topic_, "imu/data"); - nh_private_.param("baro_topic", baro_topic_, "baro"); - nh_private_.param("airspeed_topic", airspeed_topic_, "airspeed"); - nh_private_.param("status_topic", status_topic_, "status"); - nh_private_.param("update_rate", update_rate_, 100.0); - params_.Ts = 1.0f/update_rate_; - params_.gravity = 9.8; - nh_private_.param("rho", params_.rho, 1.225); - nh_private_.param("sigma_accel", params_.sigma_accel, 0.0245); - nh_private_.param("sigma_n_gps", params_.sigma_n_gps, 0.21); - nh_private_.param("sigma_e_gps", params_.sigma_e_gps, 0.21); - nh_private_.param("sigma_Vg_gps", params_.sigma_Vg_gps, 0.0500); - nh_private_.param("sigma_couse_gps", params_.sigma_course_gps, 0.0045); - - gps_sub_ = nh_.subscribe(gps_topic_, 10, &estimator_base::gpsCallback, this); - imu_sub_ = nh_.subscribe(imu_topic_, 10, &estimator_base::imuCallback, this); - baro_sub_ = nh_.subscribe(baro_topic_, 10, &estimator_base::baroAltCallback, this); - airspeed_sub_ = nh_.subscribe(airspeed_topic_, 10, &estimator_base::airspeedCallback, this); - status_sub_ = nh_.subscribe(status_topic_, 1, &estimator_base::statusCallback, this); - update_timer_ = nh_.createTimer(ros::Duration(1.0/update_rate_), &estimator_base::update, this); - vehicle_state_pub_ = nh_.advertise("state", 10); - init_static_ = 0; - baro_count_ = 0; - armed_first_time_ = false; -} - -void estimator_base::update(const ros::TimerEvent &) -{ - struct output_s output; - - if (armed_first_time_) - { - estimate(params_, input_, output); - } - else - { - output.pn = output.pe = output.h = 0; - output.phi = output.theta = output.psi = 0; - output.alpha = output.beta = output.chi = 0; - output.p = output.q = output.r = 0; - output.Va = 0; - } - - input_.gps_new = false; - - enemy_suv_msgs::State msg; - msg.header.stamp = ros::Time::now(); - msg.header.frame_id = 1; // Denotes global frame - - msg.position[0] = output.pn; - msg.position[1] = output.pe; - msg.position[2] = -output.h; - if (gps_init_) - { - msg.initial_lat = init_lat_; - msg.initial_lon = init_lon_; - msg.initial_alt = init_alt_; - } - msg.Va = output.Va; - msg.alpha = output.alpha; - msg.beta = output.beta; - msg.phi = output.phi; - msg.theta = output.theta; - msg.psi = output.psi; - msg.chi = output.chi; - msg.p = output.p; - msg.q = output.q; - msg.r = output.r; - msg.Vg = output.Vg; - msg.wn = output.wn; - msg.we = output.we; - msg.quat_valid = false; - - msg.psi_deg = fmod(output.psi, 2*M_PI)*180/M_PI; //-360 to 360 - msg.psi_deg += (msg.psi_deg < -180 ? 360 : 0); - msg.psi_deg -= (msg.psi_deg > 180 ? 360 : 0); - msg.chi_deg = fmod(output.chi, 2*M_PI)*180/M_PI; //-360 to 360 - msg.chi_deg += (msg.chi_deg < -180 ? 360 : 0); - msg.chi_deg -= (msg.chi_deg > 180 ? 360 : 0); - - vehicle_state_pub_.publish(msg); -} - -void estimator_base::gpsCallback(const rosflight_msgs::GPS &msg) -{ - if (msg.fix != true || msg.NumSat < 4 || !std::isfinite(msg.latitude)) - { - input_.gps_new = false; - return; - } - if (!gps_init_) - { - gps_init_ = true; - init_alt_ = msg.altitude; - init_lat_ = msg.latitude; - init_lon_ = msg.longitude; - } - else - { - input_.gps_n = EARTH_RADIUS*(msg.latitude - init_lat_)*M_PI/180.0; - input_.gps_e = EARTH_RADIUS*cos(init_lat_*M_PI/180.0)*(msg.longitude - init_lon_)*M_PI/180.0; - input_.gps_h = msg.altitude - init_alt_; - input_.gps_Vg = msg.speed; - if (msg.speed > 0.3) - input_.gps_course = msg.ground_course; - input_.gps_new = true; - //ROS_INFO("%g %g %g",input_.gps_n,input_.gps_e,input_.gps_h); - } -} - -void estimator_base::imuCallback(const sensor_msgs::Imu &msg) -{ - input_.accel_x = msg.linear_acceleration.x; - input_.accel_y = msg.linear_acceleration.y; - input_.accel_z = msg.linear_acceleration.z; - - input_.gyro_x = msg.angular_velocity.x; - input_.gyro_y = msg.angular_velocity.y; - input_.gyro_z = msg.angular_velocity.z; -} - -void estimator_base::baroAltCallback(const rosflight_msgs::Barometer &msg) -{ - - if (armed_first_time_ && !baro_init_) - { - if (baro_count_ < 100) - { - init_static_ += msg.pressure; - init_static_vector_.push_back(msg.pressure); - input_.static_pres = 0; - baro_count_ += 1; - } - else - { - init_static_ = std::accumulate(init_static_vector_.begin(), init_static_vector_.end(), - 0.0)/init_static_vector_.size(); - baro_init_ = true; - - //Check that it got a good calibration. - std::sort(init_static_vector_.begin(), init_static_vector_.end()); - float q1 = (init_static_vector_[24] + init_static_vector_[25])/2.0; - float q3 = (init_static_vector_[74] + init_static_vector_[75])/2.0; - float IQR = q3 - q1; - float upper_bound = q3 + 2.0*IQR; - float lower_bound = q1 - 2.0*IQR; - for (int i = 0; i < 100; i++) - { - if (init_static_vector_[i] > upper_bound) - { - baro_init_ = false; - baro_count_ = 0; - init_static_vector_.clear(); - ROS_WARN("Bad baro calibration. Recalibrating"); - break; - } - else if (init_static_vector_[i] < lower_bound) - { - baro_init_ = false; - baro_count_ = 0; - init_static_vector_.clear(); - ROS_WARN("Bad baro calibration. Recalibrating"); - break; - } - } - } - } - else - { - float static_pres_old = input_.static_pres; - input_.static_pres = -msg.pressure + init_static_; - - float gate_gain = 1.35*params_.rho*params_.gravity; - if (input_.static_pres < static_pres_old - gate_gain) - { - input_.static_pres = static_pres_old - gate_gain; - } - else if (input_.static_pres > static_pres_old + gate_gain) - { - input_.static_pres = static_pres_old + gate_gain; - } - } -} - -void estimator_base::airspeedCallback(const rosflight_msgs::Airspeed &msg) -{ - float diff_pres_old = input_.diff_pres; - input_.diff_pres = msg.differential_pressure; - - float gate_gain = pow(3, 2)*params_.rho/2.0; - if (input_.diff_pres < diff_pres_old - gate_gain) - { - input_.diff_pres = diff_pres_old - gate_gain; - } - else if (input_.diff_pres > diff_pres_old + gate_gain) - { - input_.diff_pres = diff_pres_old + gate_gain; - } -} - -void estimator_base::statusCallback(const rosflight_msgs::Status &msg) -{ - if (!armed_first_time_ && msg.armed) - armed_first_time_ = true; -} - -} //end namespace - -int main(int argc, char **argv) -{ - ros::init(argc, argv, "rosplane_estimator"); - rosplane::estimator_base *est = new rosplane::estimator_example(); - - ros::spin(); - - return 0; -} diff --git a/Flight_control_Comprehensive/src/enemy_suv/suv_move/src/estimator_base_99pub.cpp b/Flight_control_Comprehensive/src/enemy_suv/suv_move/src/estimator_base_99pub.cpp deleted file mode 100644 index b142113..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/suv_move/src/estimator_base_99pub.cpp +++ /dev/null @@ -1,76 +0,0 @@ -//* @author AIRC-DA group,questions contack kobe. - -#include "estimator_base_99pub.h" - -namespace rosplane -{ - -estimator_base_99pub::estimator_base_99pub(): - nh_(ros::NodeHandle()), - nh_private_(ros::NodeHandle("~")) -{ - - true_state_sub_ = nh_.subscribe("truth", 1, &estimator_base_99pub::truestateCallback, this); - nh_private_.param("update_rate", update_rate_, 100.0); - update_timer_ = nh_.createTimer(ros::Duration(1.0/update_rate_), &estimator_base_99pub::update, this); - vehicle_state99_pub_ = nh_.advertise("state29", 10); - state_init_ = false; -} - -void estimator_base_99pub::update(const ros::TimerEvent &) -{ - enemy_suv_msgs::State29 msg; - msg.header.stamp = ros::Time::now(); - msg.header.frame_id = 1; // Denotes global frame - if (state_init_) - { - msg.position_gps[0]=(true_state_.position[0]*180)/(EARTH_RADIUS*M_PI)+true_state_.initial_lat; - // pn = EARTH_RADIUS*(msg.latitude - init_lat_)*M_PI/180.0; - msg.position_gps[1]=(true_state_.position[1]*180)/(EARTH_RADIUS*cos(true_state_.initial_lat*M_PI/180.0)*M_PI)+true_state_.initial_lon; - // pe = EARTH_RADIUS*cos(init_lat_*M_PI/180.0)*(msg.longitude - init_lon_)*M_PI/180.0; - // input_.gps_h = msg.altitude - init_alt_; - msg.position_gps[2] =-true_state_.position[2]-true_state_.initial_alt; //>0 - msg.attitude_angle[0] = true_state_.phi; - msg.attitude_angle[1] = true_state_.theta; - msg.attitude_angle[2] = true_state_.psi; - msg.velocity[0] = true_state_.Vn; - msg.velocity[1] = true_state_.Ve; - msg.velocity[2] = true_state_.Vd; - msg.angular_velocity[0] = true_state_.p; - msg.angular_velocity[1] = true_state_.q; - msg.angular_velocity[2] = true_state_.r; - msg.acceleration[0] = -1; - msg.acceleration[1] = -1; - msg.acceleration[2] = -1; - msg.electric_quantity = -1; - msg.state_word = -1; - // ROS_INFO("GPS-position: %g %g %g",msg.position_gps[0],msg.position_gps[1],msg.position_gps[2]); - // ROS_INFO("xyz-position: %g %g %g",true_state_.position[0],true_state_.position[1],true_state_.position[2]); - } - else - { - // ROS_WARN("No plane truth data."); - } - - vehicle_state99_pub_.publish(msg); -} - - -void estimator_base_99pub::truestateCallback(const enemy_suv_msgs::StateConstPtr &msg) -{ - true_state_ = *msg; - state_init_ = true; -} - - -} //end namespace - -int main(int argc, char **argv) -{ - ros::init(argc, argv, "rosplane_estimator_29pub"); - rosplane::estimator_base_99pub *cont = new rosplane::estimator_base_99pub(); - - ros::spin(); - - return 0; -} diff --git a/Flight_control_Comprehensive/src/enemy_suv/suv_move/src/estimator_base_statesub.cpp b/Flight_control_Comprehensive/src/enemy_suv/suv_move/src/estimator_base_statesub.cpp deleted file mode 100644 index 56b69c0..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/suv_move/src/estimator_base_statesub.cpp +++ /dev/null @@ -1,75 +0,0 @@ -//* @author AIRC-DA group,questions contack kobe. - -#include "estimator_base_statesub.h" - -namespace rosplane -{ - -estimator_base_statesub::estimator_base_statesub() : nh_(ros::NodeHandle()), - nh_private_(ros::NodeHandle("~")) -{ - state29_sub_ = nh_.subscribe("state29", 10, &estimator_base_statesub::state99Callback, this); - nh_private_.param("update_rate", update_rate_, 100.0); - update_timer_ = nh_.createTimer(ros::Duration(1.0 / update_rate_), &estimator_base_statesub::update, this); - vehicle_state_pub_ = nh_.advertise("state", 10); - - state_init_ = false; - init_lat_=0; /**< Initial latitude in degrees */ - init_lon_=0; /**< Initial longitude in degrees */ - init_alt_=0; //>0 -} - -void estimator_base_statesub::update(const ros::TimerEvent &) -{ - - enemy_suv_msgs::State msg; - msg.header.stamp = ros::Time::now(); - msg.header.frame_id = 1; // Denotes global frame - if (state_init_) - { - msg.position[0] = EARTH_RADIUS*(state29_.position_gps[0] - init_lat_)*M_PI/180.0; - // pn = EARTH_RADIUS*(msg.latitude - init_lat_)*M_PI/180.0; - msg.position[1] = EARTH_RADIUS*cos(init_lat_*M_PI/180.0)*(state29_.position_gps[1] - init_lon_)*M_PI/180.0; - // pe = EARTH_RADIUS*cos(init_lat_*M_PI/180.0)*(msg.longitude - init_lon_)*M_PI/180.0; - msg.position[2] = -state29_.position_gps[2]- init_alt_; //<0 - //input_.gps_h = msg.altitude - init_alt_; - msg.Wd=state29_.position_gps[0]; - msg.Jd=state29_.position_gps[1]; - msg.Va=sqrt(pow(state29_.velocity[0], 2.0) + pow(state29_.velocity[1], 2.0) + pow(state29_.velocity[2], 2.0)); - msg.Vg=msg.Va; //true for rosflight - msg.phi=state29_.attitude_angle[0]; - msg.theta=state29_.attitude_angle[1]; - msg.psi=state29_.attitude_angle[2]; - //msg.chi=msg.psi;//watch here - msg.chi = atan2(msg.Va*sin(msg.psi), msg.Va*cos(msg.psi)); - msg.p=state29_.angular_velocity[0]; - msg.q=state29_.angular_velocity[1]; - msg.r=state29_.angular_velocity[2]; - - msg.initial_lat = init_lat_; - msg.initial_lon = init_lon_; - msg.initial_alt = init_alt_; - - } - else - { - // ROS_WARN("No State29 data."); - } - vehicle_state_pub_.publish(msg); -} - -void estimator_base_statesub::state99Callback(const enemy_suv_msgs::State29ConstPtr &msg) -{ - state29_ = *msg; - state_init_ = true; -} -} // namespace rosplane - -int main(int argc, char **argv) -{ - ros::init(argc, argv, "rosplane_estimator_statesub"); - rosplane::estimator_base_statesub *cont = new rosplane::estimator_base_statesub(); - ros::spin(); - - return 0; -} diff --git a/Flight_control_Comprehensive/src/enemy_suv/suv_move/src/estimator_base_updata_statesub.cpp b/Flight_control_Comprehensive/src/enemy_suv/suv_move/src/estimator_base_updata_statesub.cpp deleted file mode 100644 index 96c3f23..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/suv_move/src/estimator_base_updata_statesub.cpp +++ /dev/null @@ -1,76 +0,0 @@ -//* @author AIRC-DA group,questions contack kobe. - -#include "estimator_base_updata_statesub.h" - -namespace rosplane -{ - -estimator_base_updata_statesub::estimator_base_updata_statesub() : nh_(ros::NodeHandle()), - nh_private_(ros::NodeHandle("~")) -{ - state29_sub_ = nh_.subscribe("/serial_commu_up", 10, &estimator_base_updata_statesub::state99Callback, this); - nh_private_.param("update_rate", update_rate_, 100.0); - update_timer_ = nh_.createTimer(ros::Duration(1.0 / update_rate_), &estimator_base_updata_statesub::update, this); - vehicle_state_pub_ = nh_.advertise("state", 10); - - state_init_ = false; - init_lat_=0; /**< Initial latitude in degrees */ - init_lon_=0; /**< Initial longitude in degrees */ - init_alt_=0; //>0 -} - -void estimator_base_updata_statesub::update(const ros::TimerEvent &) -{ - - enemy_suv_msgs::State msg; - msg.header.stamp = ros::Time::now(); - msg.header.frame_id = 1; // Denotes global frame - if (state_init_) - { - msg.position[0] = EARTH_RADIUS*(state29_.latitude - init_lat_)*M_PI/180.0; - // pn = EARTH_RADIUS*(msg.latitude - init_lat_)*M_PI/180.0; - msg.position[1] = EARTH_RADIUS*cos(init_lat_*M_PI/180.0)*(state29_.longitude - init_lon_)*M_PI/180.0; - // pe = EARTH_RADIUS*cos(init_lat_*M_PI/180.0)*(msg.longitude - init_lon_)*M_PI/180.0; - msg.position[2] = -state29_.altitude- init_alt_; //<0 - //input_.gps_h = msg.altitude - init_alt_; - msg.Wd=state29_.latitude; - msg.Jd=state29_.longitude; - msg.Va=sqrt(pow(state29_.north_direction_speed, 2.0) + pow(state29_.east_direction_speed, 2.0) + pow(state29_.ground_direction_speed, 2.0)); - msg.Vg=msg.Va; //true for rosflight - msg.phi=state29_.roll_angle; - msg.theta=state29_.pitch_angle; - msg.psi=state29_.yaw_angle; - //msg.chi=msg.psi;//watch here - msg.chi = atan2(msg.Va*sin(msg.psi), msg.Va*cos(msg.psi)); - msg.p=state29_.angular_rate_x; - msg.q=state29_.angular_rate_y; - msg.r=state29_.angular_rate_z; - - msg.initial_lat = init_lat_; - msg.initial_lon = init_lon_; - msg.initial_alt = init_alt_; - // ROS_WARN("Recieved up-data data."); - //ROS_INFO("Hello--- %f %f %f %f",state29_.latitude,state29_.longitude,msg.Vg,state29_.altitude); - } - else - { - // ROS_WARN("No up-data data."); - } - vehicle_state_pub_.publish(msg); -} - -void estimator_base_updata_statesub::state99Callback(const enemy_suv_msgs::Up_Data_NewConstPtr &msg) -{ - state29_ = *msg; - state_init_ = true; -} -} // namespace rosplane - -int main(int argc, char **argv) -{ - ros::init(argc, argv, "rosplane_estimator_updata_statesub"); - rosplane::estimator_base_updata_statesub *cont = new rosplane::estimator_base_updata_statesub(); - ros::spin(); - - return 0; -} diff --git a/Flight_control_Comprehensive/src/enemy_suv/suv_move/src/estimator_example.cpp b/Flight_control_Comprehensive/src/enemy_suv/suv_move/src/estimator_example.cpp deleted file mode 100644 index 6f73312..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/suv_move/src/estimator_example.cpp +++ /dev/null @@ -1,416 +0,0 @@ -#include "estimator_base.h" -#include "estimator_example.h" - -namespace rosplane -{ - -float radians(float degrees) -{ - return M_PI*degrees/180.0; -} - -estimator_example::estimator_example() : - estimator_base(), - xhat_a_(Eigen::Vector2f::Zero()), - P_a_(Eigen::Matrix2f::Identity()), - Q_a_(Eigen::Matrix2f::Identity()), - xhat_p_(Eigen::VectorXf::Zero(7)), - P_p_(Eigen::MatrixXf::Identity(7, 7)), - Q_p_(Eigen::MatrixXf::Identity(7, 7)), - R_p_(Eigen::MatrixXf::Zero(7, 7)), - f_p_(7), - A_p_(7, 7), - C_p_(7), - L_p_(7) -{ - P_a_ *= powf(radians(5.0f), 2); - - Q_a_(0, 0) = 0.00000001; - Q_a_(1, 1) = 0.00000001; - - P_p_ = Eigen::MatrixXf::Identity(7, 7); - P_p_(0, 0) = .03; - P_p_(1, 1) = .03; - P_p_(2, 2) = .01; - P_p_(3, 3) = radians(5.0f); - P_p_(4, 4) = .04; - P_p_(5, 5) = .04; - P_p_(6, 6) = radians(5.0f); - - Q_p_ *= 0.0001f; - Q_p_(3, 3) = 0.000001f; - - phat_ = 0; - qhat_ = 0; - rhat_ = 0; - phihat_ = 0; - thetahat_ = 0; - psihat_ = 0; - Vwhat_ = 0; - - lpf_static_ = 0; - lpf_diff_ = 0; - - N_ = 10; - - alpha_ = 0.0f; -} - -void estimator_example::estimate(const params_s ¶ms, const input_s &input, output_s &output) -{ - if (alpha_ == 0.0f) //initailze stuff that comes from params - { - R_accel_ = powf(params.sigma_accel, 2); - - R_p_(0, 0) = powf(params.sigma_n_gps, 2); - R_p_(1, 1) = powf(params.sigma_e_gps, 2); - R_p_(2, 2) = powf(params.sigma_Vg_gps, 2); - R_p_(3, 3) = powf(params.sigma_course_gps, 2); - R_p_(4, 4) = 0.001; - R_p_(5, 5) = 0.001; - - float lpf_a = 50.0; - float lpf_a1 = 8.0; - alpha_ = exp(-lpf_a*params.Ts); - alpha1_ = exp(-lpf_a1*params.Ts); - } - - // low pass filter gyros to estimate angular rates - lpf_gyro_x_ = alpha_*lpf_gyro_x_ + (1 - alpha_)*input.gyro_x; - lpf_gyro_y_ = alpha_*lpf_gyro_y_ + (1 - alpha_)*input.gyro_y; - lpf_gyro_z_ = alpha_*lpf_gyro_z_ + (1 - alpha_)*input.gyro_z; - - float phat = lpf_gyro_x_; - float qhat = lpf_gyro_y_; - float rhat = lpf_gyro_z_; - - // low pass filter static pressure sensor and invert to esimate altitude - lpf_static_ = alpha1_*lpf_static_ + (1 - alpha1_)*input.static_pres; - float hhat = lpf_static_/params.rho/params.gravity; - - // low pass filter diff pressure sensor and invert to extimate Va - lpf_diff_ = alpha1_*lpf_diff_ + (1 - alpha1_)*input.diff_pres; - - // when the plane isn't moving or moving slowly, the noise in the sensor - // will cause the differential pressure to go negative. This will catch - // those cases. - if (lpf_diff_ <= 0) - lpf_diff_ = 0.000001; - - float Vahat = sqrt(2/params.rho*lpf_diff_); - - // low pass filter accelerometers - lpf_accel_x_ = alpha_*lpf_accel_x_ + (1 - alpha_)*input.accel_x; - lpf_accel_y_ = alpha_*lpf_accel_y_ + (1 - alpha_)*input.accel_y; - lpf_accel_z_ = alpha_*lpf_accel_z_ + (1 - alpha_)*input.accel_z; - - // implement continuous-discrete EKF to estimate roll and pitch angles - // prediction step - float cp; // cos(phi) - float sp; // sin(phi) - float tt; // tan(thata) - float ct; // cos(thata) - float st; // sin(theta) - for (int i = 0; i < N_; i++) - { - cp = cosf(xhat_a_(0)); // cos(phi) - sp = sinf(xhat_a_(0)); // sin(phi) - tt = tanf(xhat_a_(1)); // tan(thata) - ct = cosf(xhat_a_(1)); // cos(thata) - - f_a_(0) = phat + (qhat*sp + rhat*cp)*tt; - f_a_(1) = qhat*cp - rhat*sp; - - A_a_ = Eigen::Matrix2f::Zero(); - A_a_(0, 0) = (qhat*cp - rhat*sp)*tt; - A_a_(0, 1) = (qhat*sp + rhat*cp)/ct/ct; - A_a_(1, 0) = -qhat*sp - rhat*cp; - - xhat_a_ += f_a_*(params.Ts/N_); - P_a_ += (A_a_*P_a_ + P_a_*A_a_.transpose() + Q_a_)*(params.Ts/N_); - } - // measurement updates - cp = cosf(xhat_a_(0)); - sp = sinf(xhat_a_(0)); - ct = cosf(xhat_a_(1)); - st = sinf(xhat_a_(1)); - Eigen::Matrix2f I; - I = Eigen::Matrix2f::Identity(); - - // x-axis accelerometer - h_a_ = qhat*Vahat*st + params.gravity*st; - C_a_ = Eigen::Vector2f::Zero(); - C_a_(1) = qhat*Vahat*ct + params.gravity*ct; - L_a_ = (P_a_*C_a_)/(R_accel_ + C_a_.transpose()*P_a_*C_a_); - P_a_ = (I - L_a_*C_a_.transpose())*P_a_; - xhat_a_ += L_a_*((hhat < 15 ? lpf_accel_x_/3 : lpf_accel_x_) - h_a_); - - // y-axis accelerometer - h_a_ = rhat*Vahat*ct - phat*Vahat*st - params.gravity*ct*sp; - C_a_ = Eigen::Vector2f::Zero(); - C_a_(0) = -params.gravity*cp*ct; - C_a_(1) = -rhat*Vahat*st - phat*Vahat*ct + params.gravity*st*sp; - L_a_ = (P_a_*C_a_)/(R_accel_ + C_a_.transpose()*P_a_*C_a_); - P_a_ = (I - L_a_*C_a_.transpose())*P_a_; - xhat_a_ += L_a_*(lpf_accel_y_ - h_a_); - - // z-axis accelerometer - h_a_ = -qhat*Vahat*ct - params.gravity*ct*cp; - C_a_ = Eigen::Vector2f::Zero(); - C_a_(0) = params.gravity*sp*ct; - C_a_(1) = (qhat*Vahat + params.gravity*cp)*st; - L_a_ = (P_a_*C_a_)/(R_accel_ + C_a_.transpose()*P_a_*C_a_); - P_a_ = (I - L_a_*C_a_.transpose())*P_a_; - xhat_a_ += L_a_*(lpf_accel_z_ - h_a_); - - check_xhat_a(); - - float phihat = xhat_a_(0); - float thetahat = xhat_a_(1); - - // implement continous-discrete EKF to estimate pn, pe, chi, Vg - // prediction step - float psidot, tmp, Vgdot; - if (fabsf(xhat_p_(2)) < 0.01f) - { - xhat_p_(2) = 0.01; // prevent devide by zero - } - - for (int i = 0; i < N_; i++) - { - psidot = (qhat*sinf(phihat) + rhat*cosf(phihat))/cosf(thetahat); - tmp = -psidot*Vahat*(xhat_p_(4)*cosf(xhat_p_(6)) + xhat_p_(5)*sinf(xhat_p_(6)))/xhat_p_(2); - Vgdot = ((Vahat*cosf(xhat_p_(6)) + xhat_p_(4))*(-psidot*Vahat*sinf(xhat_p_(6))) + (Vahat*sinf(xhat_p_( - 6)) + xhat_p_(5))*(psidot*Vahat*cosf(xhat_p_(6))))/xhat_p_(2); - - f_p_ = Eigen::VectorXf::Zero(7); - f_p_(0) = xhat_p_(2)*cosf(xhat_p_(3)); - f_p_(1) = xhat_p_(2)*sinf(xhat_p_(3)); - f_p_(2) = Vgdot; - f_p_(3) = params.gravity/xhat_p_(2)*tanf(phihat)*cosf(xhat_p_(3) - xhat_p_(6)); - f_p_(6) = psidot; - - A_p_ = Eigen::MatrixXf::Zero(7, 7); - A_p_(0, 2) = cos(xhat_p_(3)); - A_p_(0, 3) = -xhat_p_(2)*sinf(xhat_p_(3)); - A_p_(1, 2) = sin(xhat_p_(3)); - A_p_(1, 3) = xhat_p_(2)*cosf(xhat_p_(3)); - A_p_(2, 2) = -Vgdot/xhat_p_(2); - A_p_(2, 4) = -psidot*Vahat*sinf(xhat_p_(6))/xhat_p_(2); - A_p_(2, 5) = psidot*Vahat*cosf(xhat_p_(6))/xhat_p_(2); - A_p_(2, 6) = tmp; - A_p_(3, 2) = -params.gravity/powf(xhat_p_(2), 2)*tanf(phihat)*cosf(xhat_p_(3) - xhat_p_(6)); - A_p_(3, 3) = -params.gravity/xhat_p_(2)*tanf(phihat)*sinf(xhat_p_(3) - xhat_p_(6)); - A_p_(3, 6) = params.gravity/xhat_p_(2)*tanf(phihat)*sinf(xhat_p_(3) - xhat_p_(6)); - - xhat_p_ += f_p_*(params.Ts/N_); - P_p_ += (A_p_*P_p_ + P_p_*A_p_.transpose() + Q_p_)*(params.Ts/N_); - } - -// while(xhat_p(3) > radians(180.0f)) xhat_p(3) = xhat_p(3) - radians(360.0f); -// while(xhat_p(3) < radians(-180.0f)) xhat_p(3) = xhat_p(3) + radians(360.0f); -// if(xhat_p(3) > radians(180.0f) || xhat_p(3) < radians(-180.0f)) -// { -// ROS_WARN("Course estimate not wrapped from -pi to pi"); -// xhat_p(3) = 0; -// } - - // measurement updates - if (input.gps_new) - { - Eigen::MatrixXf I_p(7, 7); - I_p = Eigen::MatrixXf::Identity(7, 7); - - // gps North position - h_p_ = xhat_p_(0); - C_p_ = Eigen::VectorXf::Zero(7); - C_p_(0) = 1; - L_p_ = (P_p_*C_p_)/(R_p_(0, 0) + (C_p_.transpose()*P_p_*C_p_)); - P_p_ = (I_p - L_p_*C_p_.transpose())*P_p_; - xhat_p_ = xhat_p_ + L_p_*(input.gps_n - h_p_); - - // gps East position - h_p_ = xhat_p_(1); - C_p_ = Eigen::VectorXf::Zero(7); - C_p_(1) = 1; - L_p_ = (P_p_*C_p_)/(R_p_(1, 1) + (C_p_.transpose()*P_p_*C_p_)); - P_p_ = (I_p - L_p_*C_p_.transpose())*P_p_; - xhat_p_ = xhat_p_ + L_p_*(input.gps_e - h_p_); - - // gps ground speed - h_p_ = xhat_p_(2); - C_p_ = Eigen::VectorXf::Zero(7); - C_p_(2) = 1; - L_p_ = (P_p_*C_p_)/(R_p_(2, 2) + (C_p_.transpose()*P_p_*C_p_)); - P_p_ = (I_p - L_p_*C_p_.transpose())*P_p_; - xhat_p_ = xhat_p_ + L_p_*(input.gps_Vg - h_p_); - - // gps course - //wrap course measurement - float gps_course = fmodf(input.gps_course, radians(360.0f)); - - while (gps_course - xhat_p_(3) > radians(180.0f)) gps_course = gps_course - radians(360.0f); - while (gps_course - xhat_p_(3) < radians(-180.0f)) gps_course = gps_course + radians(360.0f); - h_p_ = xhat_p_(3); - C_p_ = Eigen::VectorXf::Zero(7); - C_p_(3) = 1; - L_p_ = (P_p_*C_p_)/(R_p_(3, 3) + (C_p_.transpose()*P_p_*C_p_)); - P_p_ = (I_p - L_p_*C_p_.transpose())*P_p_; - xhat_p_ = xhat_p_ + L_p_*(gps_course - h_p_); - -// // pseudo measurement #1 y_1 = Va*cos(psi)+wn-Vg*cos(chi) -// h_p = Vahat*cosf(xhat_p(6)) + xhat_p(4) - xhat_p(2)*cosf(xhat_p(3)); // pseudo measurement -// C_p = Eigen::VectorXf::Zero(7); -// C_p(2) = -cos(xhat_p(3)); -// C_p(3) = xhat_p(2)*sinf(xhat_p(3)); -// C_p(4) = 1; -// C_p(6) = -Vahat*sinf(xhat_p(6)); -// L_p = (P_p*C_p)/(R_p(4,4) + (C_p.transpose()*P_p*C_p)); -// P_p = (I_p - L_p*C_p.transpose())*P_p; -// xhat_p = xhat_p + L_p*(0 - h_p); - -// // pseudo measurement #2 y_2 = Va*sin(psi) + we - Vg*sin(chi) -// h_p = Vahat*sinf(xhat_p(6))+xhat_p(5)-xhat_p(2)*sinf(xhat_p(3)); // pseudo measurement -// C_p = Eigen::VectorXf::Zero(7); -// C_p(2) = -sin(xhat_p(3)); -// C_p(3) = -xhat_p(2)*cosf(xhat_p(3)); -// C_p(5) = 1; -// C_p(6) = Vahat*cosf(xhat_p(6)); -// L_p = (P_p*C_p)/(R_p(5,5) + (C_p.transpose()*P_p*C_p)); -// P_p = (I_p - L_p*C_p.transpose())*P_p; -// xhat_p = xhat_p + L_p*(0 - h_p); - - if (xhat_p_(0) > 10000 || xhat_p_(0) < -10000) - { - ROS_WARN("gps n limit reached"); - xhat_p_(0) = input.gps_n; - } - if (xhat_p_(1) > 10000 || xhat_p_(1) < -10000) - { - ROS_WARN("gps e limit reached"); - xhat_p_(1) = input.gps_e; - } - } - - bool problem = false; - int prob_index; - for (int i = 0; i < 7; i++) - { - if (!std::isfinite(xhat_p_(i))) - { - if (!problem) - { - problem = true; - prob_index = i; - } - switch (i) - { - case 0: - xhat_p_(i) = input.gps_n; - break; - case 1: - xhat_p_(i) = input.gps_e; - break; - case 2: - xhat_p_(i) = input.gps_Vg; - break; - case 3: - xhat_p_(i) = input.gps_course; - break; - case 6: - xhat_p_(i) = input.gps_course; - break; - default: - xhat_p_(i) = 0; - } - P_p_ = Eigen::MatrixXf::Identity(7, 7); - P_p_(0, 0) = .03; - P_p_(1, 1) = .03; - P_p_(2, 2) = .01; - P_p_(3, 3) = radians(5.0f); - P_p_(4, 4) = .04; - P_p_(5, 5) = .04; - P_p_(6, 6) = radians(5.0f); - } - } - if (problem) - { - ROS_WARN("position estimator reinitialized due to non-finite state %d", prob_index); - } - if (xhat_p_(6) - xhat_p_(3) > radians(360.0f) || xhat_p_(6) - xhat_p_(3) < radians(-360.0f)) - { - //xhat_p(3) = fmodf(xhat_p(3),2*M_PI); - xhat_p_(6) = fmodf(xhat_p_(6), 2*M_PI); - } - - float pnhat = xhat_p_(0); - float pehat = xhat_p_(1); - float Vghat = xhat_p_(2); - float chihat = xhat_p_(3); - float wnhat = xhat_p_(4); - float wehat = xhat_p_(5); - float psihat = xhat_p_(6); - - output.pn = pnhat; - output.pe = pehat; - output.h = hhat; - output.Va = Vahat; - output.alpha = 0; - output.beta = 0; - output.phi = phihat; - output.theta = thetahat; - output.chi = chihat; - output.p = phat; - output.q = qhat; - output.r = rhat; - output.Vg = Vghat; - output.wn = wnhat; - output.we = wehat; - output.psi = psihat; -} - -void estimator_example::check_xhat_a() -{ - if (xhat_a_(0) > radians(85.0) || xhat_a_(0) < radians(-85.0) || !std::isfinite(xhat_a_(0))) - { - if (!std::isfinite(xhat_a_(0))) - { - xhat_a_(0) = 0; - P_a_ = Eigen::Matrix2f::Identity(); - P_a_ *= powf(radians(20.0f), 2); - ROS_WARN("attiude estimator reinitialized due to non-finite roll"); - } - else if (xhat_a_(0) > radians(85.0)) - { - xhat_a_(0) = radians(82.0); - //ROS_WARN("max roll angle"); - } - else if (xhat_a_(0) < radians(-85.0)) - { - xhat_a_(0) = radians(-82.0); - //ROS_WARN("min roll angle"); - } - } - if (xhat_a_(1) > radians(80.0) || xhat_a_(1) < radians(-80.0) || !std::isfinite(xhat_a_(1))) - { - if (!std::isfinite(xhat_a_(1))) - { - xhat_a_(1) = 0; - P_a_ = Eigen::Matrix2f::Identity(); - P_a_ *= powf(radians(20.0f), 2); - ROS_WARN("attiude estimator reinitialized due to non-finite pitch"); - } - else if (xhat_a_(1) > radians(80.0)) - { - xhat_a_(1) = radians(77.0); - ROS_WARN("max pitch angle"); - } - else if (xhat_a_(1) < radians(-80.0)) - { - xhat_a_(1) = radians(-77.0); - ROS_WARN("min pitch angle"); - } - } -} - -} //end namespace diff --git a/Flight_control_Comprehensive/src/enemy_suv/suv_move/src/path_follower_base.cpp b/Flight_control_Comprehensive/src/enemy_suv/suv_move/src/path_follower_base.cpp deleted file mode 100644 index 5b70722..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/suv_move/src/path_follower_base.cpp +++ /dev/null @@ -1,162 +0,0 @@ -#include "path_follower_base.h" -#include "path_follower_example.h" - -namespace rosplane -{ - -path_follower_base::path_follower_base() : nh_(ros::NodeHandle()), - nh_private_(ros::NodeHandle("~")) -{ - vehicle_state_sub_ = nh_.subscribe("state", 1, &path_follower_base::vehicle_state_callback, this); - bebop1_state_sub_ = nh_.subscribe("ground_truth/state", 1, &path_follower_base::bebop1_state_callback, this); - //bebop1_state_sub_ = nh_.subscribe("/test/odom", 1, &path_follower_base::bebop1_state_callback, this); - - current_path_sub_ = nh_.subscribe("current_path", 1, - &path_follower_base::current_path_callback, this); - - nh_private_.param("CHI_INFTY", params_.chi_infty, 1.0472); - nh_private_.param("K_PATH", params_.k_path, 0.025); - nh_private_.param("K_ORBIT", params_.k_orbit, 4.0); - - func_ = boost::bind(&path_follower_base::reconfigure_callback, this, _1, _2); - server_.setCallback(func_); - - update_timer_ = nh_.createTimer(ros::Duration(1.0 / update_rate_), &path_follower_base::update, this); - controller_commands_pub_ = nh_.advertise("controller_commands", 1); - - state_init_ = false; - current_path_init_ = false; -} - -void path_follower_base::update(const ros::TimerEvent &) -{ - - struct output_s output; - - if (state_init_ == true && current_path_init_ == true) - { - follow(params_, input_, output); - enemy_suv_msgs::Controller_Commands msg; - msg.chi_c = output.chi_c; - msg.landing=input_.landing; - msg.takeoff=input_.takeoff; - if (input_.Va_c_path == 0) - { - // ROS_INFO("Hello1"); - msg.Va_c = 0; - } - else - { - // ROS_INFO("Hello2"); - msg.Va_c = input_.Va_d; - } - - // ROS_INFO("what %f",msg.Va_c); - - msg.h_c = output.h_c; - msg.phi_ff = output.phi_ff; - controller_commands_pub_.publish(msg); - } -} - -void path_follower_base::vehicle_state_callback(const enemy_suv_msgs::StateConstPtr &msg) -{ - // input_.pn = msg->position[0]; /** position north */ - // input_.pe = msg->position[1]; /** position east */ - // input_.h = -msg->position[2]; /** altitude */ - // input_.chi = msg->chi; - // input_.Va = msg->Va; - - // state_init_ = true; -} -void path_follower_base::bebop1_state_callback(const nav_msgs::Odometry::ConstPtr &msg) -{ - // ROS_INFO("%g", msg->pose.pose.position.x); /** position north */ - input_.pn = msg->pose.pose.position.x; /** position north */ - input_.pe = msg->pose.pose.position.y; /** position east */ - input_.h = msg->pose.pose.position.z; /** altitude */ - input_.Va = sqrt(pow(msg->twist.twist.linear.x, 2) + pow(msg->twist.twist.linear.y, 2)); - input_.chi = path_follower_base::Quaternion_to_Euler(msg->pose.pose.orientation.x, msg->pose.pose.orientation.y, msg->pose.pose.orientation.z, msg->pose.pose.orientation.w); - // ROS_INFO("%g %g %g %g %g",input_.pn,input_.pe,input_.h,input_.Va,input_.chi); - state_init_ = true; -} - -float path_follower_base::Quaternion_to_Euler(float q0, float q1, float q2, float q3) -{ - float Radx; - float sum; - sum = sqrt(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3); - if (sum == 0) - { - sum = 0.0001; - } - q0 = q0 / sum; - q1 = q1 / sum; - q2 = q2 / sum; - q3 = q3 / sum; - if (fabs(q2) < fabs(q3)) - { - Radx = asin(2.0f * (q2 * q3 + q0 * q1)); - return Radx; - } - else - { - if (q2 * q3 > 0) - { - Radx = 3.14159 - asin(2.0f * (q2 * q3 + q0 * q1)); - return Radx; - } - else - { - Radx = -3.14159 - asin(2.0f * (q2 * q3 + q0 * q1)); - return Radx; - } - } - //Radx = asin(2.0f*(q2*q3 + q0*q1)); - //Rady = atan2(-2 * q1 * q3 + 2 * q0 * q2, q3*q3 - q2 * q2 - q1 * q1 + q0 * q0); - //Radz = atan2(2 * q1*q2 - 2 * q0*q3, q2*q2 - q3*q3 + q0*q0 - q1*q1); - //return Radx; -} -void path_follower_base::current_path_callback(const enemy_suv_msgs::Current_PathConstPtr &msg) -{ - if (msg->path_type == msg->LINE_PATH) - input_.p_type = path_type::Line; - else if (msg->path_type == msg->ORBIT_PATH) - input_.p_type = path_type::Orbit; - else if (msg->path_type == msg->STAR_PATH) // add by kobe - input_.p_type = path_type::Star; - - input_.Va_d = msg->Va_d; - // ROS_INFO("hello %f",input_.Va_d); - for (int i = 0; i < 3; i++) - { - input_.r_path[i] = msg->r[i]; - input_.q_path[i] = msg->q[i]; - input_.c_orbit[i] = msg->c[i]; - } - input_.rho_orbit = msg->rho; - input_.lam_orbit = msg->lambda; - input_.h_c_path = msg->h_c; //add by kobe - input_.Va_c_path = msg->Va_d; - input_.landing = msg->landing; - input_.takeoff = msg->takeoff; - current_path_init_ = true; -} - -void path_follower_base::reconfigure_callback(rosplane::FollowerConfig &config, uint32_t level) -{ - params_.chi_infty = config.CHI_INFTY; - params_.k_path = config.K_PATH; - params_.k_orbit = config.K_ORBIT; -} -} // namespace rosplane - -int main(int argc, char **argv) -{ - ros::init(argc, argv, "rosplane_path_follower"); - rosplane::path_follower_base *path = new rosplane::path_follower_example(); - - ros::spin(); - - return 0; -} diff --git a/Flight_control_Comprehensive/src/enemy_suv/suv_move/src/path_follower_example.cpp b/Flight_control_Comprehensive/src/enemy_suv/suv_move/src/path_follower_example.cpp deleted file mode 100644 index f4c09af..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/suv_move/src/path_follower_example.cpp +++ /dev/null @@ -1,81 +0,0 @@ -#include "path_follower_example.h" - - -namespace rosplane -{ - -path_follower_example::path_follower_example() -{ -} - -void path_follower_example::follow(const params_s ¶ms, const input_s &input, output_s &output) -{ - if (input.p_type == path_type::Line) // follow straight line path specified by r and q - { - // compute wrapped version of the path angle - float chi_q = atan2f(input.q_path[1], input.q_path[0]); - - // modified by kobe - float chi=input.chi; - while (chi < -M_PI) - chi += 2*M_PI; - while (chi > M_PI) - chi -= 2*M_PI; - - - while (chi_q - chi < -M_PI) - chi_q += 2*M_PI; - while (chi_q - chi > M_PI) - chi_q -= 2*M_PI; - - float path_error = -sinf(chi_q)*(input.pn - input.r_path[0]) + cosf(chi_q)*(input.pe - input.r_path[1]); - // heading command - output.chi_c = chi_q - params.chi_infty*2/M_PI*atanf(params.k_path*path_error); - //ROS_INFO("hello1: %g %g %g %g",chi_q,input.chi,chi,output.chi_c); - - // desired altitude - output.h_c = -input.h_c_path;//h_c_path is negative;h_c is positive. - //kobe modified end - - /* ////for truth not state - while (chi_q - input.chi < -M_PI) - chi_q += 2*M_PI; - while (chi_q - input.chi > M_PI) - chi_q -= 2*M_PI; - float path_error = -sinf(chi_q)*(input.pn - input.r_path[0]) + cosf(chi_q)*(input.pe - input.r_path[1]); - // heading command - output.chi_c = chi_q - params.chi_infty*2/M_PI*atanf(params.k_path*path_error); //desired altitude - float h_d = -input.r_path[2] - sqrtf(powf((input.r_path[0] - input.pn), 2) + powf((input.r_path[1] - input.pe), - 2))*(input.q_path[2])/sqrtf(powf(input.q_path[0], 2) + powf(input.q_path[1], 2)); - // commanded altitude is desired altitude - output.h_c = h_d;// -input.r_path[2] - x// important for hover// kobe denote - */ - output.phi_ff = 0.0; - } - else if(input.p_type == path_type::Orbit)// follow a orbit path specified by c_orbit, rho_orbit, and lam_orbit - { - float d = sqrtf(powf((input.pn - input.c_orbit[0]), 2) + powf((input.pe - input.c_orbit[1]), - 2)); // distance from orbit center - // compute wrapped version of angular position on orbit - float varphi = atan2f(input.pe - input.c_orbit[1], input.pn - input.c_orbit[0]); - while ((varphi - input.chi) < -M_PI) - varphi += 2*M_PI; - while ((varphi - input.chi) > M_PI) - varphi -= 2*M_PI; - //compute orbit error - float norm_orbit_error = (d - input.rho_orbit)/input.rho_orbit; - output.chi_c = varphi + input.lam_orbit*(M_PI/2 + atanf(params.k_orbit*norm_orbit_error)); - - // commanded altitude is the height of the orbit - float h_d = -input.c_orbit[2]; - output.h_c = h_d; - output.phi_ff = 0;//(norm_orbit_error < 0.5 ? input.lam_orbit*atanf(input.Va*input.Va/(9.8*input.rho_orbit)) : 0); - } - else if(input.p_type == path_type::Star)// towards to a point in any direction on platform,r is the center;add by kobe - { - - } - output.Va_c = input.Va_d; -} - -} //end namespace diff --git a/Flight_control_Comprehensive/src/enemy_suv/suv_move/src/path_manager_base.cpp b/Flight_control_Comprehensive/src/enemy_suv/suv_move/src/path_manager_base.cpp deleted file mode 100644 index cdc8544..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/suv_move/src/path_manager_base.cpp +++ /dev/null @@ -1,238 +0,0 @@ -#include "path_manager_base.h" -#include "path_manager_example.h" - -namespace rosplane -{ - -path_manager_base::path_manager_base() : nh_(ros::NodeHandle()), /** nh_ stuff added here */ - nh_private_(ros::NodeHandle("~")) -{ - nh_private_.param("R_min", params_.R_min, 25); //25 - nh_private_.param("update_rate", update_rate_, 10.0); - - vehicle_state_sub_ = nh_.subscribe("state", 10, &path_manager_base::vehicle_state_callback, this); - bebop1_state_sub_ = nh_.subscribe("ground_truth/state", 10, &path_manager_base::bebop1_state_callback, this); - //bebop1_state_sub_ = nh_.subscribe("/test/odom", 10, &path_manager_base::bebop1_state_callback, this); - - new_waypoint_sub_ = nh_.subscribe("waypoint_path", 10, &path_manager_base::new_waypoint_callback, this); - - current_path_pub_ = nh_.advertise("current_path", 10); - goal_info_pub_ = nh_.advertise("Goal_Info", 10); - down_data_pub_ = nh_.advertise("serial_commu_down", 10); - - waypoint_received_sub_ = nh_.subscribe("new_waypoint", 10, &path_manager_base::waypoint_received_callback, this); - - update_timer_ = nh_.createTimer(ros::Duration(1.0 / update_rate_), &path_manager_base::current_path_publish, this); - - num_waypoints_ = 0; - - state_init_ = false; - - waypoint_received_ = false; -} - -void path_manager_base::waypoint_received_callback(const enemy_suv_msgs::Waypoint &msg) -{ - float ell = sqrtf((waypoint_end_.w[0] - msg.w[0]) * (waypoint_end_.w[0] - msg.w[0]) + - (waypoint_end_.w[1] - msg.w[1]) * (waypoint_end_.w[1] - msg.w[1])); - if (ell < 2.0 * params_.R_min) - { - ROS_ERROR("The distance between nodes must be larger than 2R."); - return; - } - waypoint_start_ = waypoint_end_; - - waypoint_end_.w[0] = msg.w[0]; - waypoint_end_.w[1] = msg.w[1]; - waypoint_end_.w[2] = msg.w[2]; - waypoint_end_.chi_d = msg.chi_d; - waypoint_end_.chi_valid = msg.chi_valid; - waypoint_end_.Va_d = msg.Va_d; - - waypoint_received_ = true; -} - -void path_manager_base::vehicle_state_callback(const enemy_suv_msgs::StateConstPtr &msg) -{ - vehicle_state_ = *msg; - //state_init_ = true; -} - -void path_manager_base::bebop1_state_callback(const nav_msgs::Odometry::ConstPtr &msg) -{ - bebop1_state_ = *msg; - state_init_ = true; -} - -void path_manager_base::new_waypoint_callback(const enemy_suv_msgs::Waypoint &msg) -{ - if (msg.clear_wp_list == true) - { - waypoints_.clear(); - num_waypoints_ = 0; - idx_a_ = 0; - min_distance_ = 1000000000; //add by kobe, just need to be larger than the large-enter-ball's radius. - min_distance_titude = 10000000000; - //return; - } - if (msg.set_current || num_waypoints_ == 0)//mean to set the start point as the a goal-never use---kobe denote - { - waypoint_s currentwp; - currentwp.w[0] = bebop1_state_.pose.pose.position.x; - currentwp.w[1] = bebop1_state_.pose.pose.position.y; - currentwp.w[2] = (-bebop1_state_.pose.pose.position.z > -25 ? msg.w[2] : -bebop1_state_.pose.pose.position.z); - currentwp.chi_d= path_manager_base::Quaternion_to_Euler(bebop1_state_.pose.pose.orientation.x,bebop1_state_.pose.pose.orientation.y,bebop1_state_.pose.pose.orientation.z,bebop1_state_.pose.pose.orientation.w); - // currentwp.w[0] = vehicle_state_.position[0]; - // currentwp.w[1] = vehicle_state_.position[1]; - // currentwp.w[2] = (vehicle_state_.position[2] > -25 ? msg.w[2] : vehicle_state_.position[2]); - // currentwp.chi_d = vehicle_state_.chi; - // add by kobe - currentwp.lat = vehicle_state_.Wd; - currentwp.lon = vehicle_state_.Jd; - - currentwp.chi_valid = msg.chi_valid; - currentwp.Va_d = msg.Va_d; - currentwp.landing=msg.landing; - currentwp.takeoff=msg.takeoff; - waypoints_.clear(); - waypoints_.push_back(currentwp); - num_waypoints_ = 1; - idx_a_ = 0; - min_distance_ = 10000000000; //add by kobe, just need to be larger than the large-enter-ball's radius. - min_distance_titude = 10000000000; - show = 1; - show2=1; - } - waypoint_s nextwp; - nextwp.w[0] = msg.w[0]; - nextwp.w[1] = msg.w[1]; - nextwp.w[2] = msg.w[2]; - // add by kobe - nextwp.lat=msg.lat; - nextwp.lon=msg.lon; - - nextwp.chi_d = msg.chi_d; - nextwp.chi_valid = msg.chi_valid; - nextwp.Va_d = msg.Va_d; - nextwp.landing=msg.landing; - nextwp.takeoff=msg.takeoff; - waypoints_.push_back(nextwp); - num_waypoints_++; - // ROS_INFO("num_waypoints_: %d", num_waypoints_); -} - -void path_manager_base::current_path_publish(const ros::TimerEvent &) -{ - struct input_s input; - input.pn = bebop1_state_.pose.pose.position.x; /** position north */ - input.pe = bebop1_state_.pose.pose.position.y; /** position east */ - input.h = bebop1_state_.pose.pose.position.z; /** altitude */ - input.chi =path_manager_base::Quaternion_to_Euler(bebop1_state_.pose.pose.orientation.x,bebop1_state_.pose.pose.orientation.y,bebop1_state_.pose.pose.orientation.z,bebop1_state_.pose.pose.orientation.w); - input.va = sqrt(pow(bebop1_state_.twist.twist.linear.x,2)+pow(bebop1_state_.twist.twist.linear.y,2)); - // input.pn = vehicle_state_.position[0]; /** position north */ - // input.pe = vehicle_state_.position[1]; /** position east */ - // input.h = -vehicle_state_.position[2]; /** altitude */ - // input.chi = vehicle_state_.chi; - // input.va = vehicle_state_.Va; - - //add by kobe - input.lat=vehicle_state_.Wd; - input.lon=vehicle_state_.Jd; - - struct output_s output; - - if (state_init_ == true) - { - manage(params_, input, output); - } - - enemy_suv_msgs::Current_Path current_path; - - enemy_suv_msgs::Goal_Info goal_info; - enemy_suv_msgs::Down_Data_New down_data; - // modified by kobe - if (output.flag == 1) - current_path.path_type = current_path.LINE_PATH; - else if (output.flag == 0) - current_path.path_type = current_path.ORBIT_PATH; - else if (output.flag == 2) - current_path.path_type = current_path.STAR_PATH; - - for (int i = 0; i < 3; i++) - { - current_path.r[i] = output.r[i]; - current_path.q[i] = output.q[i]; - current_path.c[i] = output.c[i]; - } - current_path.rho = output.rho; - current_path.lambda = output.lambda; - current_path.h_c = output.h_c; - current_path.Va_d = output.Va_c; //new speed - current_path.takeoff=output.takeoff; - current_path.landing=output.landing; - current_path_pub_.publish(current_path); - - goal_info.altitude=-output.h_c; - goal_info.v_d=output.Va_d; - goal_info.action=1;//desired action move - for (int i = 0; i < 2; i++) - { - goal_info.xy[i] = output.gxy[i]; - goal_info.ll[i] = output.gll[i]; - } - goal_info_pub_.publish(goal_info); // add by kobe - - down_data.latitude = output.gll[0]; - down_data.longitude = output.gll[1]; - down_data.altitude = -output.h_c; - down_data.plane_speed= output.Va_d; - down_data.status_word= 1; - //ROS_INFO("Look here %f %f %f %f",down_data.latitude,down_data.longitude,down_data.altitude,output.Va_d); - down_data_pub_.publish(down_data); // add by kobe -} - -//add by kobe -float path_manager_base::Quaternion_to_Euler(float q0, float q1, float q2, float q3) -{ - float Radx; - float sum; - sum = sqrt(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3); - if (sum == 0) - { - sum = 0.0001; - } - q0 = q0 / sum; - q1 = q1 / sum; - q2 = q2 / sum; - q3 = q3 / sum; - if (fabs(q2) < fabs(q3)) - { - Radx = asin(2.0f * (q2 * q3 + q0 * q1)); - return Radx; - } - else - { - if (q2 * q3 > 0) - { - Radx = 3.14159 - asin(2.0f * (q2 * q3 + q0 * q1)); - return Radx; - } - else - { - Radx = -3.14159 - asin(2.0f * (q2 * q3 + q0 * q1)); - return Radx; - } - } -} - -} // namespace rosplane - -int main(int argc, char **argv) -{ - ros::init(argc, argv, "rosplane_path_manager"); - rosplane::path_manager_base *est = new rosplane::path_manager_example(); - - ros::spin(); - - return 0; -} diff --git a/Flight_control_Comprehensive/src/enemy_suv/suv_move/src/path_manager_example.cpp b/Flight_control_Comprehensive/src/enemy_suv/suv_move/src/path_manager_example.cpp deleted file mode 100644 index 1c95ee4..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/suv_move/src/path_manager_example.cpp +++ /dev/null @@ -1,717 +0,0 @@ -#include "path_manager_example.h" -#include "ros/ros.h" -#include - -namespace rosplane -{ - -path_manager_example::path_manager_example() : path_manager_base() -{ - fil_state_ = fillet_state::STRAIGHT; - // use this ! - dub_state_ = dubin_state::FIRST; -} -// done -void path_manager_example::manage(const params_s ¶ms, const input_s &input, output_s &output) -{ - - //ROS_INFO("num_waypoints_: %d",num_waypoints_); - if (num_waypoints_ < 2) - { - ROS_WARN_THROTTLE(4, "No waypoints received! Loitering about origin at 50m"); - output.flag = 0; //modified by kobe - output.Va_d = 12; - output.c[0] = 0.0f; - output.c[1] = 0.0f; - output.c[2] = -50.0f; - // Radius of orbital path (m) - output.rho = params.R_min; - // Direction of orbital path (clockwise is 1, counterclockwise is -1) - output.lambda = 1; - } - else - { - // do this, idx_a_ is initialized zero - if (waypoints_[idx_a_].chi_valid) - { - manage_dubins(params, input, output); - } - else - { - /** Switch the following for flying directly to waypoints, or filleting corners */ - // manage_line(params, input, output); - //manage_fillet(params, input, output); - manage_star(params, input, output); //add by kobe - } - } -} - -// add by kobe -void path_manager_example::manage_star(const params_s ¶ms, const input_s &input, output_s &output) -{ - Eigen::Vector3f w_start; - w_start << input.pn, input.pe, -input.h; //aircraft's position - - int idx_b; - int idx_c; - float the_distance_; - double the_distance_titude; //for latitude and longtitude - idx_b = idx_a_ + 1; - - if (idx_a_ < num_waypoints_ - 2) - { - idx_c = idx_b + 1; - } - else - { - idx_c = idx_b; - } - Eigen::Vector3f w_ip1(waypoints_[idx_c].w); - - Eigen::Vector3f w_im1(waypoints_[idx_a_].w); - Eigen::Vector3f w_i(waypoints_[idx_b].w); //the goal - - the_distance_ = sqrt(pow(w_start(0) - w_i(0), 2) + pow(w_start(1) - w_i(1), 2)); - the_distance_titude = earth_distance(input.lat, input.lon, waypoints_[idx_b].lat, waypoints_[idx_b].lon); - - output.flag = 1; //modified by kobe - output.Va_d = waypoints_[idx_b].Va_d; //modified by kobe - - //ROS_INFO("position: %g %g %g",w_start(0),w_start(1),w_start(2)); - //ROS_INFO("Current info are: %f %f %f %f", input.va, -input.h,w_start(0),w_start(1)); - - output.r[0] = w_start(0); - output.r[1] = w_start(1); - output.r[2] = w_start(2); - Eigen::Vector3f q_im1 = (w_i - w_start).normalized(); - output.q[0] = q_im1(0); - output.q[1] = q_im1(1); - output.q[2] = q_im1(2); - - output.gxy[0] = w_i(0); - output.gxy[1] = w_i(1); - output.gll[0] = waypoints_[idx_b].lat; - output.gll[1] = waypoints_[idx_b].lon; - output.h_c = w_i(2); //altitude of the goal - - if (idx_a_ == 0&&show2 == 1) - { - ROS_INFO("First goal info are: %f %f", w_i(0), w_i(1)); - ROS_INFO("Desired fly speed and height are: %f %f", output.Va_d, -w_i(2)); - show2=0; - } - //enter the slow-down area,recompute the speed - if (sqrt(pow(w_start(0) - w_i(0), 2) + pow(w_start(1) - w_i(1), 2)) < output.Va_d * 2 && idx_a_ == num_waypoints_ - 2) //enter the slowdown-ball and the goal is the last goal - { - output.Va_c = sqrt(pow(w_start(0) - w_i(0), 2) + pow(w_start(1) - w_i(1), 2))/2; - if (sqrt(pow(w_start(0) - w_i(0), 2) + pow(w_start(1) - w_i(1), 2)) < 0.5 ) - { - output.Va_c = 0; - } - // ROS_INFO("Now the speed is: %f",output.Va_c); - } - else - { - output.Va_c = output.Va_d; - } - output.landing=waypoints_[idx_b].landing; - output.takeoff=waypoints_[idx_b].takeoff; - /* //1.enter a tiny ball and switch goal - if (sqrt(pow(w_start(0) - w_i(0), 2) + pow(w_start(1) - w_i(1), 2)) < 5) //enter a tiny ball and switch goal - { - //ROS_INFO("00000o- %g %g %g", w_start(2), w_i(2), sqrt(pow(w_start(0) - w_i(0), 2) + pow(w_start(1) - w_i(1), 2))); - //ROS_INFO("last goal is: %f %f", w_i(0), w_i(1)); - //ROS_INFO("Va- %f/n", input.va); - if (idx_a_ == num_waypoints_ - 2) - { - idx_a_ = idx_a_; //do not update goal - //ROS_INFO("idx_a_- %f/n", idx_a_); - } - else - { - idx_a_++; - } - } - */ - /* - //2.enter a half-plane and switch,ahead 5 m from the goal point - Eigen::Vector3f w_i_plane; - w_i_plane=w_i; - w_i_plane(0)=w_i_plane(0)-5*( ( w_i(0)-w_im1(0) ) / ( 0.001+fabs(w_i(0)-w_im1(0)) ) ); - w_i_plane(1)=w_i_plane(1)-5*( ( w_i(1)-w_im1(1) ) / ( 0.001+fabs(w_i(1)-w_im1(1)) ) ); - if ((w_i_plane - w_start).normalized().dot((w_i_plane - w_im1).normalized())<0)//plane-method - { - if (idx_a_ == num_waypoints_ - 2) - idx_a_ = idx_a_;//do not update goal - else - idx_a_++; - } - */ - //3.Enter a large ball(large-enter-ball) first. Anyway, when the distance from the aircraft to goal become larger,switch to the next goal. - if (the_distance_ < min_distance_) - { - min_distance_ = the_distance_; - } - if (the_distance_titude < min_distance_titude) - { - min_distance_titude = the_distance_titude; - } - - // ROS_INFO("distance is : %.20f %f", earth_distance(input.lat, input.lon, waypoints_[idx_b].lat, waypoints_[idx_b].lon), sqrt(pow(w_start(0) - w_i(0), 2) + pow(w_start(1) - w_i(1), 2))); - - //ROS_INFO("000distance- %f %f", the_distance_, min_distance_); - //1.进入大圈且最小距离开始增大时;2.进入一个小圈时�?分别针对北东坐标和经纬度坐标 - judge_condition1 = (sqrt(pow(w_start(0) - w_i(0), 2) + pow(w_start(1) - w_i(1), 2)) < 3 && the_distance_ > min_distance_ + 1); - judge_condition2 = (earth_distance(input.lat, input.lon, waypoints_[idx_b].lat, waypoints_[idx_b].lon) < 3 && the_distance_titude > min_distance_titude + 1); - judge_condition3 = (sqrt(pow(w_start(0) - w_i(0), 2) + pow(w_start(1) - w_i(1), 2)) < 0.5); - judge_condition4 = (earth_distance(input.lat, input.lon, waypoints_[idx_b].lat, waypoints_[idx_b].lon) < 0.5); - // height judge - judge_condition5 = (sqrt(pow(w_start(2) - w_i(2), 2)) < 10); - - //notice here - judge_condition2=0; - judge_condition4=0; - - if ((judge_condition1 || judge_condition2 || judge_condition3 || judge_condition4) && judge_condition5) //switch - { - //ROS_INFO("distance- %f %f", the_distance_, min_distance_); - if (idx_a_ == num_waypoints_ - 2) - { - if (show == 1) - { - ROS_INFO("This goal is reached: %f %f", w_i(0), w_i(1)); - ROS_INFO("Current position are: %f %f", input.pn, input.pe); - ROS_INFO("No more goal, just hover and wait for the next goal."); - ROS_INFO("Desired speed and height are: %f %f", output.Va_d, -w_i(2)); - ROS_INFO("Current speed and height are: %f %f\n\n", input.va, input.h); - show = 0; - } - idx_a_ = idx_a_; //do not update goal - } - else - { - ROS_INFO("This goal is reached: %f %f", w_i(0), w_i(1)); - ROS_INFO("Current position are: %f %f", input.pn, input.pe); - ROS_INFO("Desired speed and height are: %f %f", output.Va_d, -w_i(2)); - ROS_INFO("Current speed and height are: %f %f", input.va, input.h); - ROS_INFO("New goal info are: %f %f\n\n", w_ip1(0), w_ip1(1)); - min_distance_ = sqrt(pow(w_i(0) - w_ip1(0), 2) + pow(w_i(1) - w_ip1(1), 2)); - idx_a_++; - } - } - // -} - -double path_manager_example::earth_distance(double latitude1, double longitude1, double latitude2, double longitude2) -{ - double Lat1 = latitude1 * M_PI_F / 180.00; // 纬度 - double Lat2 = latitude2 * M_PI_F / 180.00; - double a = Lat1 - Lat2; //两点纬度之差 - double b = longitude1 * M_PI_F / 180.00 - longitude2 * M_PI_F / 180.00; //经度之差 - double s = 2 * asin(sqrt(pow(sin(a / 2), 2) + cos(Lat1) * cos(Lat2) * pow(sin(b / 2), 2))); //计算两点距离的公�?/better when value is very samll - //double s2 = acos(cos(Lat1)*cos(Lat2)*cos(b)+sin(Lat1)*sin(Lat2));//计算两点距离的公�? - s = s * EARTH_RADIUS; //弧长乘地球半径（半径为米�? - //s2 = s2 * EARTH_RADIUS;//弧长乘地球半径（半径为米�? - return s; -} - -void path_manager_example::manage_line(const params_s ¶ms, const input_s &input, output_s &output) -{ - Eigen::Vector3f p; - p << input.pn, input.pe, -input.h; - - int idx_b; - int idx_c; - if (idx_a_ == num_waypoints_ - 1) - { - idx_b = 0; - idx_c = 1; - } - else if (idx_a_ == num_waypoints_ - 2) - { - idx_b = num_waypoints_ - 1; - idx_c = 0; - } - else - { - idx_b = idx_a_ + 1; - idx_c = idx_b + 1; - } - - Eigen::Vector3f w_im1(waypoints_[idx_a_].w); - Eigen::Vector3f w_i(waypoints_[idx_b].w); - Eigen::Vector3f w_ip1(waypoints_[idx_c].w); - - output.flag = true; - output.Va_d = waypoints_[idx_a_].Va_d; - output.r[0] = w_im1(0); - output.r[1] = w_im1(1); - output.r[2] = w_im1(2); - Eigen::Vector3f q_im1 = (w_i - w_im1).normalized(); - Eigen::Vector3f q_i = (w_ip1 - w_i).normalized(); - output.q[0] = q_im1(0); - output.q[1] = q_im1(1); - output.q[2] = q_im1(2); - - Eigen::Vector3f n_i = (q_im1 + q_i).normalized(); - if ((p - w_i).dot(n_i) > 0.0f) - { - if (idx_a_ == num_waypoints_ - 1) - idx_a_ = 0; - else - idx_a_++; - } -} -void path_manager_example::manage_fillet(const params_s ¶ms, const input_s &input, output_s &output) -{ - if (num_waypoints_ < 3) //since it fillets don't make sense between just two points - { - manage_line(params, input, output); - return; - } - - Eigen::Vector3f p; - p << input.pn, input.pe, -input.h; - - int idx_b; - int idx_c; - if (idx_a_ == num_waypoints_ - 1) - { - idx_b = 0; - idx_c = 1; - } - else if (idx_a_ == num_waypoints_ - 2) - { - idx_b = num_waypoints_ - 1; - idx_c = 0; - } - else - { - idx_b = idx_a_ + 1; - idx_c = idx_b + 1; - } - - Eigen::Vector3f w_im1(waypoints_[idx_a_].w); - Eigen::Vector3f w_i(waypoints_[idx_b].w); - Eigen::Vector3f w_ip1(waypoints_[idx_c].w); - - float R_min = params.R_min; - - output.Va_d = waypoints_[idx_a_].Va_d; - output.r[0] = w_im1(0); - output.r[1] = w_im1(1); - output.r[2] = w_im1(2); - Eigen::Vector3f q_im1 = (w_i - w_im1).normalized(); - Eigen::Vector3f q_i = (w_ip1 - w_i).normalized(); - float beta = acosf(-q_im1.dot(q_i)); - - Eigen::Vector3f z; - switch (fil_state_) - { - case fillet_state::STRAIGHT: - output.flag = 1; //modified by kobe - output.q[0] = q_im1(0); - output.q[1] = q_im1(1); - output.q[2] = q_im1(2); - output.c[0] = 1; - output.c[1] = 1; - output.c[2] = 1; - output.rho = 1; - output.lambda = 1; - z = w_i - q_im1 * (R_min / tanf(beta / 2.0)); - if ((p - z).dot(q_im1) > 0) - fil_state_ = fillet_state::ORBIT; - break; - case fillet_state::ORBIT: - output.flag = 0; //modified by kobe - output.q[0] = q_i(0); - output.q[1] = q_i(1); - output.q[2] = q_i(2); - Eigen::Vector3f c = w_i - (q_im1 - q_i).normalized() * (R_min / sinf(beta / 2.0)); - output.c[0] = c(0); - output.c[1] = c(1); - output.c[2] = c(2); - output.rho = R_min; - output.lambda = ((q_im1(0) * q_i(1) - q_im1(1) * q_i(0)) > 0 ? 1 : -1); - z = w_i + q_i * (R_min / tanf(beta / 2.0)); - if ((p - z).dot(q_i) > 0) - { - if (idx_a_ == num_waypoints_ - 1) - idx_a_ = 0; - else - idx_a_++; - fil_state_ = fillet_state::STRAIGHT; - } - break; - } -} - -void path_manager_example::manage_dubins(const params_s ¶ms, const input_s &input, output_s &output) -{ - Eigen::Vector3f p; - //ROS_INFO("input.pn: %f, input.pe: %f, -input.h: %f",input.pn, input.pe, -input.h); - p << input.pn, input.pe, -input.h; - - /* uint8 path_type # Indicates strait line or orbital path - float32 Va_d # Desired airspeed (m/s) - float32[3] r # Vector to origin of straight line path (m) - float32[3] q # Unit vector, desired direction of travel for line path - float32[3] c # Center of orbital path (m) - float32 rho # Radius of orbital path (m) - int8 lambda # Direction of orbital path (clockwise is 1, counterclockwise is -1) - - uint8 ORBIT_PATH = 0 - uint8 LINE_PATH = 1 - - int8 CLOCKWISE = 1 - int8 COUNT_CLOCKWISE = -1 */ - - output.Va_d = waypoints_[idx_a_].Va_d; - output.r[0] = 0; - output.r[1] = 0; - output.r[2] = 0; - output.q[0] = 0; - output.q[1] = 0; - output.q[2] = 0; - output.c[0] = 0; - output.c[1] = 0; - output.c[2] = 0; - //ROS_INFO("dub_state_: %d",dub_state_); - switch (dub_state_) - { - case dubin_state::FIRST: - // path planning - // Algorithm11 P211 - dubinsParameters(waypoints_[0], waypoints_[1], params.R_min); - - waypoint_start_ = waypoints_[0]; - waypoint_end_ = waypoints_[1]; - - output.flag = 0; //modified by kobe - output.c[0] = dubinspath_.cs(0); - output.c[1] = dubinspath_.cs(1); - output.c[2] = dubinspath_.cs(2); - output.rho = dubinspath_.R; - output.lambda = dubinspath_.lams; - // p: current pos - // w1: waypoint 1 - // q1: unit vector of H1 - if ((p - dubinspath_.w1).dot(dubinspath_.q1) >= 0) // start in H1 - { - dub_state_ = dubin_state::BEFORE_H1_WRONG_SIDE; - } - else - { - dub_state_ = dubin_state::BEFORE_H1; - } - break; - case dubin_state::BEFORE_H1: - //waypoint_received_ = false; - output.flag = 0; //modified by kobe - output.c[0] = dubinspath_.cs(0); - output.c[1] = dubinspath_.cs(1); - output.c[2] = dubinspath_.cs(2); - output.rho = dubinspath_.R; - output.lambda = dubinspath_.lams; - if ((p - dubinspath_.w1).dot(dubinspath_.q1) >= 0) // entering H1 - { - dub_state_ = dubin_state::STRAIGHT; - } - break; - case dubin_state::BEFORE_H1_WRONG_SIDE: - //waypoint_received_ = false; - output.flag = 0; //modified by kobe - output.c[0] = dubinspath_.cs(0); - output.c[1] = dubinspath_.cs(1); - output.c[2] = dubinspath_.cs(2); - output.rho = dubinspath_.R; - output.lambda = dubinspath_.lams; - if ((p - dubinspath_.w1).dot(dubinspath_.q1) < 0) // exit H1 - { - dub_state_ = dubin_state::BEFORE_H1; - } - break; - case dubin_state::STRAIGHT: - output.flag = 1; //modified by kobe - output.r[0] = dubinspath_.w1(0); - output.r[1] = dubinspath_.w1(1); - output.r[2] = dubinspath_.w1(2); - // output.r[0] = dubinspath_.z1(0); - // output.r[1] = dubinspath_.z1(1); - // output.r[2] = dubinspath_.z1(2); - output.q[0] = dubinspath_.q1(0); - output.q[1] = dubinspath_.q1(1); - output.q[2] = dubinspath_.q1(2); - output.rho = 1; - output.lambda = 1; - //ROS_INFO("pos: [%f,%f,%f],w2: [%f,%f,%f],q1: [%f,%f,%f]",p[0],p[1],p[2],dubinspath_.w2[0],dubinspath_.w2[1],dubinspath_.w2[2],dubinspath_.q1[0],dubinspath_.q1[1],dubinspath_.q1[2]); - //ROS_INFO("w3: [%f,%f,%f]",dubinspath_.w3[0],dubinspath_.w3[1],dubinspath_.w3[2]); - //ROS_INFO("w1: [%f,%f,%f]",dubinspath_.w1[0],dubinspath_.w1[1],dubinspath_.w1[2]); - - if (waypoint_received_) - { - //start new path - // plan new Dubin's path to next waypoint configuration - waypoint_start_.w[0] = p[0]; - waypoint_start_.w[1] = p[1]; - waypoint_start_.w[2] = p[2]; - waypoint_start_.chi_d = 0; - waypoint_start_.chi_valid = true; - waypoint_start_.Va_d = 12; - dubinsParameters(waypoint_start_, waypoint_end_, params.R_min); - waypoint_received_ = false; - - if ((p - dubinspath_.w1).dot(dubinspath_.q1) >= 0) // start in H1 - { - dub_state_ = dubin_state::BEFORE_H1_WRONG_SIDE; - } - else - { - dub_state_ = dubin_state::BEFORE_H1; - } - } - else - { - if ((p - dubinspath_.w2).dot(dubinspath_.q1) >= 0) // entering H2 - { - if ((p - dubinspath_.w3).dot(dubinspath_.q3) >= 0) // start in H3 - { - dub_state_ = dubin_state::BEFORE_H3_WRONG_SIDE; - } - else - { - dub_state_ = dubin_state::BEFORE_H3; - } - } - } - break; - case dubin_state::BEFORE_H3: - output.flag = 0; //modified by kobe - output.c[0] = dubinspath_.ce(0); - output.c[1] = dubinspath_.ce(1); - output.c[2] = dubinspath_.ce(2); - output.rho = dubinspath_.R; - output.lambda = dubinspath_.lame; - if ((p - dubinspath_.w3).dot(dubinspath_.q3) >= 0) // entering H3 - { - if (!waypoint_received_) - { - if ((p - dubinspath_.w1).dot(dubinspath_.q1) >= 0) // start in H1 - { - //dub_state_ = dubin_state::BEFORE_H1_WRONG_SIDE; - dub_state_ = dubin_state::BEFORE_H3_WRONG_SIDE; - } - else - { - //dub_state_ = dubin_state::BEFORE_H1; - dub_state_ = dubin_state::BEFORE_H3; - } - } - else - { - //start new path - // plan new Dubin's path to next waypoint configuration - dubinsParameters(waypoint_start_, waypoint_end_, params.R_min); - waypoint_received_ = false; - - if ((p - dubinspath_.w1).dot(dubinspath_.q1) >= 0) // start in H1 - { - dub_state_ = dubin_state::BEFORE_H1_WRONG_SIDE; - } - else - { - dub_state_ = dubin_state::BEFORE_H1; - } - } - } - break; - case dubin_state::BEFORE_H3_WRONG_SIDE: - output.flag = 0; //modified by kobe - output.c[0] = dubinspath_.ce(0); - output.c[1] = dubinspath_.ce(1); - output.c[2] = dubinspath_.ce(2); - output.rho = dubinspath_.R; - output.lambda = dubinspath_.lame; - /* - if ((p - dubinspath_.w3).dot(dubinspath_.q3) < 0) // exit H3 - { - if(!waypoint_received_) - //dub_state_ = dubin_state::BEFORE_H1; - dub_state_ = dubin_state::BEFORE_H3; - else - dub_state_ = dubin_state::BEFORE_H1; - } -*/ - if ((p - dubinspath_.w3).dot(dubinspath_.q3) < 0) // exit H3 - dub_state_ = dubin_state::BEFORE_H3; - else - dub_state_ = dubin_state::BEFORE_H3_WRONG_SIDE; - - break; - } -} - -Eigen::Matrix3f path_manager_example::rotz(float theta) -{ - Eigen::Matrix3f R; - R << cosf(theta), -sinf(theta), 0, - sinf(theta), cosf(theta), 0, - 0, 0, 1; - - return R; -} -// done -float path_manager_example::mo(float in) -{ - float val; - if (in > 0) - val = fmod(in, 2.0 * M_PI_F); - else - { - float n = floorf(in / 2.0 / M_PI_F); - val = in - n * 2.0 * M_PI_F; - } - return val; -} - -void path_manager_example::dubinsParameters(const waypoint_s start_node, const waypoint_s end_node, float R) -{ - float ell = sqrtf((start_node.w[0] - end_node.w[0]) * (start_node.w[0] - end_node.w[0]) + - (start_node.w[1] - end_node.w[1]) * (start_node.w[1] - end_node.w[1])); - if (ell < 2.0 * R) - { - ROS_ERROR("SHOULD NOT HAPPEN: The distance between nodes must be larger than 2R."); - } - else - { - dubinspath_.ps(0) = start_node.w[0]; - dubinspath_.ps(1) = start_node.w[1]; - dubinspath_.ps(2) = start_node.w[2]; - dubinspath_.chis = start_node.chi_d; - dubinspath_.pe(0) = end_node.w[0]; - dubinspath_.pe(1) = end_node.w[1]; - dubinspath_.pe(2) = end_node.w[2]; - dubinspath_.chie = end_node.chi_d; - - Eigen::Vector3f crs = dubinspath_.ps; - crs(0) += R * (cosf(M_PI_2_F) * cosf(dubinspath_.chis) - sinf(M_PI_2_F) * sinf(dubinspath_.chis)); - crs(1) += R * (sinf(M_PI_2_F) * cosf(dubinspath_.chis) + cosf(M_PI_2_F) * sinf(dubinspath_.chis)); - Eigen::Vector3f cls = dubinspath_.ps; - cls(0) += R * (cosf(-M_PI_2_F) * cosf(dubinspath_.chis) - sinf(-M_PI_2_F) * sinf(dubinspath_.chis)); - cls(1) += R * (sinf(-M_PI_2_F) * cosf(dubinspath_.chis) + cosf(-M_PI_2_F) * sinf(dubinspath_.chis)); - Eigen::Vector3f cre = dubinspath_.pe; - cre(0) += R * (cosf(M_PI_2_F) * cosf(dubinspath_.chie) - sinf(M_PI_2_F) * sinf(dubinspath_.chie)); - cre(1) += R * (sinf(M_PI_2_F) * cosf(dubinspath_.chie) + cosf(M_PI_2_F) * sinf(dubinspath_.chie)); - Eigen::Vector3f cle = dubinspath_.pe; - cle(0) += R * (cosf(-M_PI_2_F) * cosf(dubinspath_.chie) - sinf(-M_PI_2_F) * sinf(dubinspath_.chie)); - cle(1) += R * (sinf(-M_PI_2_F) * cosf(dubinspath_.chie) + cosf(-M_PI_2_F) * sinf(dubinspath_.chie)); - - float theta, theta2; - // compute L1 - theta = atan2f(cre(1) - crs(1), cre(0) - crs(0)); - float L1 = (crs - cre).norm() + R * mo(2.0 * M_PI_F + mo(theta - M_PI_2_F) - mo(dubinspath_.chis - M_PI_2_F)) + R * mo(2.0 * M_PI_F + mo(dubinspath_.chie - M_PI_2_F) - mo(theta - M_PI_2_F)); - - // compute L2 - ell = (cle - crs).norm(); - theta = atan2f(cle(1) - crs(1), cle(0) - crs(0)); - float L2; - if (2.0 * R > ell) - L2 = 9999.0f; - else - { - theta2 = theta - M_PI_2_F + asinf(2.0 * R / ell); - L2 = sqrtf(ell * ell - 4.0 * R * R) + R * mo(2.0 * M_PI_F + mo(theta2) - mo(dubinspath_.chis - M_PI_2_F)) + R * mo(2.0 * M_PI_F + mo(theta2 + M_PI_F) - mo(dubinspath_.chie + M_PI_2_F)); - } - - // compute L3 - ell = (cre - cls).norm(); - theta = atan2f(cre(1) - cls(1), cre(0) - cls(0)); - float L3; - if (2.0 * R > ell) - L3 = 9999.0f; - else - { - theta2 = acosf(2.0 * R / ell); - L3 = sqrtf(ell * ell - 4 * R * R) + R * mo(2.0 * M_PI_F + mo(dubinspath_.chis + M_PI_2_F) - mo(theta + theta2)) + R * mo(2.0 * M_PI_F + mo(dubinspath_.chie - M_PI_2_F) - mo(theta + theta2 - M_PI_F)); - } - - // compute L4 - theta = atan2f(cle(1) - cls(1), cle(0) - cls(0)); - float L4 = (cls - cle).norm() + R * mo(2.0 * M_PI_F + mo(dubinspath_.chis + M_PI_2_F) - mo(theta + M_PI_2_F)) + R * mo(2.0 * M_PI_F + mo(theta + M_PI_2_F) - mo(dubinspath_.chie + M_PI_2_F)); - - // L is the minimum distance - int idx = 1; - dubinspath_.L = L1; - if (L2 < dubinspath_.L) - { - dubinspath_.L = L2; - idx = 2; - } - if (L3 < dubinspath_.L) - { - dubinspath_.L = L3; - idx = 3; - } - if (L4 < dubinspath_.L) - { - dubinspath_.L = L4; - idx = 4; - } - - Eigen::Vector3f e1; - // e1.zero(); - e1(0) = 1; - e1(1) = 0; - e1(2) = 0; - switch (idx) - { - case 1: - dubinspath_.cs = crs; - dubinspath_.lams = 1; - dubinspath_.ce = cre; - dubinspath_.lame = 1; - dubinspath_.q1 = (cre - crs).normalized(); - dubinspath_.w1 = dubinspath_.cs + (rotz(-M_PI_2_F) * dubinspath_.q1) * R; - dubinspath_.w2 = dubinspath_.ce + (rotz(-M_PI_2_F) * dubinspath_.q1) * R; - break; - case 2: - dubinspath_.cs = crs; - dubinspath_.lams = 1; - dubinspath_.ce = cle; - dubinspath_.lame = -1; - ell = (cle - crs).norm(); - theta = atan2f(cle(1) - crs(1), cle(0) - crs(0)); - theta2 = theta - M_PI_2_F + asinf(2.0 * R / ell); - dubinspath_.q1 = rotz(theta2 + M_PI_2_F) * e1; - dubinspath_.w1 = dubinspath_.cs + (rotz(theta2) * e1) * R; - dubinspath_.w2 = dubinspath_.ce + (rotz(theta2 + M_PI_F) * e1) * R; - break; - case 3: - dubinspath_.cs = cls; - dubinspath_.lams = -1; - dubinspath_.ce = cre; - dubinspath_.lame = 1; - ell = (cre - cls).norm(); - theta = atan2f(cre(1) - cls(1), cre(0) - cls(0)); - theta2 = acosf(2.0 * R / ell); - dubinspath_.q1 = rotz(theta + theta2 - M_PI_2_F) * e1; - dubinspath_.w1 = dubinspath_.cs + (rotz(theta + theta2) * e1) * R; - dubinspath_.w2 = dubinspath_.ce + (rotz(theta + theta2 - M_PI_F) * e1) * R; - break; - case 4: - dubinspath_.cs = cls; - dubinspath_.lams = -1; - dubinspath_.ce = cle; - dubinspath_.lame = -1; - dubinspath_.q1 = (cle - cls).normalized(); - dubinspath_.w1 = dubinspath_.cs + (rotz(M_PI_2_F) * dubinspath_.q1) * R; - dubinspath_.w2 = dubinspath_.ce + (rotz(M_PI_2_F) * dubinspath_.q1) * R; - break; - } - dubinspath_.w3 = dubinspath_.pe; - dubinspath_.q3 = rotz(dubinspath_.chie) * e1; - dubinspath_.R = R; - } -} - -} // namespace rosplane diff --git a/Flight_control_Comprehensive/src/enemy_suv/suv_move/src/path_planner.cpp b/Flight_control_Comprehensive/src/enemy_suv/suv_move/src/path_planner.cpp deleted file mode 100644 index c1ebcab..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/suv_move/src/path_planner.cpp +++ /dev/null @@ -1,62 +0,0 @@ -#include -#include -#define EARTH_RADIUS 6378145.0f -#define num_waypoints 3 -float pn2latitude(float pn,float init_lat_) -{ - return (pn*180)/(EARTH_RADIUS*M_PI)+init_lat_; -} - -float pe2longtitude(float pe,float init_lat_,float init_lon_) -{ - return (pe*180)/(EARTH_RADIUS*cos(init_lat_*M_PI/180.0)*M_PI)+init_lon_; -} - -int main(int argc, char **argv) -{ - ros::init(argc, argv, "rosplane_simple_path_planner"); - - ros::NodeHandle nh_; - ros::Publisher waypointPublisher = nh_.advertise("waypoint_path", 10); - - float Va = 3; - int tmp; - tmp = 7; //notice here - float wps[tmp * num_waypoints] = - { - // pn,pe,altitude,-,va,lat,lon - 200, 100, 0, 0, 10, pn2latitude(200,0), pe2longtitude(100,0,0), - 300, 200, 0, 0, 10, pn2latitude(300,0), pe2longtitude(200,0,0), - 0, 200, 0, 0, 10, pn2latitude(0,0), pe2longtitude(200,0,0), - }; - - for (int i(0); i < num_waypoints; i++) - { - ros::Duration(0.5).sleep(); - - enemy_suv_msgs::Waypoint new_waypoint; - - new_waypoint.w[0] = wps[i * tmp + 0]; - new_waypoint.w[1] = wps[i * tmp + 1]; - new_waypoint.w[2] = wps[i * tmp + 2]; - new_waypoint.chi_d = wps[i * tmp + 3]; - new_waypoint.Va_d = wps[i * tmp + 4]; - // add by kobe - new_waypoint.lat = wps[i * tmp + 5]; - new_waypoint.lon = wps[i * tmp + 6]; - - new_waypoint.chi_valid = false; //kobe - - if (i == 0) - new_waypoint.set_current = true; - else - new_waypoint.set_current = false; - - new_waypoint.clear_wp_list = false; - - waypointPublisher.publish(new_waypoint); - } - ros::Duration(1.5).sleep(); - - return 0; -} diff --git a/Flight_control_Comprehensive/src/enemy_suv/suv_move/src/pseudo_controller_base.cpp b/Flight_control_Comprehensive/src/enemy_suv/suv_move/src/pseudo_controller_base.cpp deleted file mode 100644 index bb6a17f..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/suv_move/src/pseudo_controller_base.cpp +++ /dev/null @@ -1,214 +0,0 @@ -#include "pseudo_controller_base.h" -#include "pseudo_controller_example.h" -// modified by kobe -namespace rosplane -{ - -pseudo_controller_base::pseudo_controller_base(): - nh_(ros::NodeHandle()), - nh_private_(ros::NodeHandle()) -{ - //ROS_INFO("hello"); - vehicle_state_sub_ = nh_.subscribe("state", 10, &pseudo_controller_base::vehicle_state_callback, this); - bebop1_state_sub_ = nh_.subscribe("ground_truth/state", 10, &pseudo_controller_base::bebop1_state_callback, this); - //bebop1_state_sub_ = nh_.subscribe("/test/odom", 10, &pseudo_controller_base::bebop1_state_callback, this); - - - - controller_commands_sub_ = nh_.subscribe("controller_commands", 10, &pseudo_controller_base::controller_commands_callback,this); - - memset(&vehicle_state_, 0, sizeof(vehicle_state_)); - memset(&bebop1_state_, 0, sizeof(bebop1_state_)); - - memset(&controller_commands_, 0, sizeof(controller_commands_)); - - nh_private_.param("TRIM_T", params_.trim_t, 0.3); - - nh_private_.param("ALT_TOZ", params_.alt_toz, 1.5); - nh_private_.param("ALT_HZ", params_.alt_hz, 0.2); - nh_private_.param("TAU", params_.tau, 5.0); - nh_private_.param("COURSE_KP", params_.c_kp, 0.7329); - //nh_private_.param("COURSE_KD", params_.c_kd, 0.0); - nh_private_.param("COURSE_KI", params_.c_ki, 0.0); - - nh_private_.param("AS_PITCH_KI", params_.a_p_ki, 0.0); - nh_private_.param("AS_THR_KP", params_.a_t_kp, 0.9); - nh_private_.param("AS_THR_KD", params_.a_t_kd, 0.0); - nh_private_.param("AS_THR_KI", params_.a_t_ki, 0.0); - nh_private_.param("ALT_KP", params_.a_kp, 0.045); - nh_private_.param("ALT_KD", params_.a_kd, 0.0); - nh_private_.param("ALT_KI", params_.a_ki, 0.0); - - //nh_private_.param("MAX_A", params_.max_a, 0.523);//rotate_trans - //nh_private_.param("MAX_T", params_.max_t, 1.0); - nh_private_.param("MAX_T", params_.max_t, 200.0); - - func_ = boost::bind(&pseudo_controller_base::reconfigure_callback, this, _1, _2); - server_.setCallback(func_); - - //pesudors_pub_ = nh_.advertise("command", 10); - pesudors_pub_ = nh_.advertise("cmd_vel", 10); - internals_pub_ = nh_.advertise("controller_inners", 10); - act_pub_timer_ = nh_.createTimer(ros::Duration(1.0/100.0), &pseudo_controller_base::actuator_controls_publish, this); - - command_recieved_ = false; -} - -void pseudo_controller_base::vehicle_state_callback(const enemy_suv_msgs::StateConstPtr &msg) -{ - vehicle_state_ = *msg; -} - -void pseudo_controller_base::bebop1_state_callback(const nav_msgs::Odometry::ConstPtr &msg) -{ - bebop1_state_ = *msg; -} - -void pseudo_controller_base::controller_commands_callback(const enemy_suv_msgs::Controller_CommandsConstPtr &msg) -{ - command_recieved_ = true; - controller_commands_ = *msg; -} - -void pseudo_controller_base::reconfigure_callback(rosplane::ControllerConfig &config, uint32_t level) -{ - params_.trim_t = config.TRIM_T; - - params_.c_kp = config.COURSE_KP; - //params_.c_kd = config.COURSE_KD; - params_.c_ki = config.COURSE_KI; - - params_.a_p_ki = config.AS_PITCH_KI; - - params_.a_t_kp = config.AS_THR_KP; - params_.a_t_kd = config.AS_THR_KD; - params_.a_t_ki = config.AS_THR_KI; - - params_.a_kp = config.ALT_KP; - params_.a_kd = config.ALT_KD; - params_.a_ki = config.ALT_KI; - -} - - -void pseudo_controller_base::actuator_controls_publish(const ros::TimerEvent &) -{ - struct input_s input; - //input.h = -vehicle_state_.position[2]; - //input.va = vehicle_state_.Va; - //input.chi = vehicle_state_.chi; - input.h = bebop1_state_.pose.pose.position.z; /** altitude */ - input.va = sqrt(pow(bebop1_state_.twist.twist.linear.x,2)+pow(bebop1_state_.twist.twist.linear.y,2)); - input.chi =pseudo_controller_base::Quaternion_to_Euler(bebop1_state_.pose.pose.orientation.x,bebop1_state_.pose.pose.orientation.y,bebop1_state_.pose.pose.orientation.z,bebop1_state_.pose.pose.orientation.w); - // ROS_INFO("LOOK chi: %f",input.chi); - input.Va_c = controller_commands_.Va_c; - // ROS_INFO("LOOK Va_c: %f",input.Va_c); - input.h_c = controller_commands_.h_c;//3>controller_commands_.h_c)?3:controller_commands_.h_c; - input.chi_c = controller_commands_.chi_c; - // ROS_INFO("LOOK chi_c: %f",input.chi_c); - input.takeoff = controller_commands_.takeoff; - input.landing = controller_commands_.landing; - input.Ts = 0.01f; - if (controller_commands_.Va_c==0) - { - reached=1; - } - struct output_s output; - - if (command_recieved_ == true) - { - control(params_, input, output); - - //convert_to_pwm(output); - geometry_msgs::Twist cmd_vel; - //rosflight_msgs::Command pseudors; - /* publish pseudors controls */ - cmd_vel.linear.x = output.forward_trans;//head vel - cmd_vel.linear.y = output.left_right_trans; - // cmd_vel.linear.z = output.up_down_trans; - cmd_vel.angular.x = 0; - cmd_vel.angular.y = 0;//output.roll_trans; -if (input.va > 0.1) - cmd_vel.angular.z = output.rotate_trans;//output.rotate_trans -else -cmd_vel.angular.z = 0; - - pesudors_pub_.publish(cmd_vel); - //ROS_INFO("hello %f",bebop1_state_.pose.pose.position.z); - // ROS_INFO("x-y-z-w: %f %f %f %f",cmd_vel.linear.x,cmd_vel.linear.y,cmd_vel.linear.z,cmd_vel.angular.z); - // ROS_INFO("six: %f %f %f %f %f %f\n",input.h,input.h_c,input.va,input.Va_c,input.chi,input.chi_c); - // ROS_INFO("position: %f %f %f",bebop1_state_.pose.pose.position.x,bebop1_state_.pose.pose.position.y,bebop1_state_.pose.pose.position.z); - if (internals_pub_.getNumSubscribers() > 0) - { - enemy_suv_msgs::Controller_Internals inners; - //sinners.phi_c = output.phi_c; - //inners.theta_c = output.theta_c; - switch (output.current_zone) - { - case alt_zones::TAKE_OFF: - inners.alt_zone = inners.ZONE_TAKE_OFF; - break; - case alt_zones::CLIMB: - inners.alt_zone = inners.ZONE_CLIMB; - break; - case alt_zones::DESCEND: - inners.alt_zone = inners.ZONE_DESEND; - break; - case alt_zones::ALTITUDE_HOLD: - inners.alt_zone = inners.ZONE_ALTITUDE_HOLD; - break; - default: - break; - } - inners.aux_valid = false; - internals_pub_.publish(inners); - } - } -} - -float pseudo_controller_base::Quaternion_to_Euler(float q0,float q1,float q2,float q3) -{ - float Radx; - float sum; - sum = sqrt(q0*q0 + q1*q1 + q2*q2 + q3*q3); - if (sum==0) - { - sum=0.0001; - } - q0 = q0 / sum; - q1 = q1 / sum; - q2 = q2 / sum; - q3 = q3 / sum; - - // ROS_INFO("LOOK here2: %f",asin(2.0f*(q2*q3 + q0*q1))); - if (fabs(q2)0) - { - Radx = 3.14159-asin(2.0f*(q2*q3 + q0*q1)); - return Radx; - } - else - { - Radx = -3.14159-asin(2.0f*(q2*q3 + q0*q1)); - return Radx; - } - } -} - -} //end namespace - -int main(int argc, char **argv) -{ - ros::init(argc, argv, "rosplane_controller"); - rosplane::pseudo_controller_base *cont = new rosplane::pseudo_controller_example(); - - ros::spin(); - - return 0; -} diff --git a/Flight_control_Comprehensive/src/enemy_suv/suv_move/src/pseudo_controller_example.cpp b/Flight_control_Comprehensive/src/enemy_suv/suv_move/src/pseudo_controller_example.cpp deleted file mode 100644 index 9374e1a..0000000 --- a/Flight_control_Comprehensive/src/enemy_suv/suv_move/src/pseudo_controller_example.cpp +++ /dev/null @@ -1,326 +0,0 @@ -#include "pseudo_controller_example.h" -//modified by kobe -namespace rosplane -{ - -pseudo_controller_example::pseudo_controller_example() : pseudo_controller_base() -{ - current_zone = alt_zones::PREPARE; - //current_zone = alt_zones::TAKE_OFF; - c_error_ = 0; - c_integrator_ = 0; - r_error_ = 0; - r_integrator_ = 0; - a_error_ = 0; - a_integrator_ = 0; - at_error_ = 0; - at_integrator_ = 0; - ap_error_ = 0; - ap_integrator_ = 0; -} - -void pseudo_controller_example::control(const params_s ¶ms, const input_s &input, output_s &output) -{ - output.up_down_trans = 0; - output.forward_trans = input.Va_c; // ZS - output.rotate_trans = 0; - output.left_right_trans = 0; - - output.rotate_value=pseudo_course(input.chi, input.chi_c); - output.rotate_trans = output.rotate_value;//pseudo_course_hold(input.chi, input.chi_c, params, input.Ts); - - - // if (input.landing==true) // protect-landing first - // { - // current_zone = alt_zones::LANDING; - // } - // if (input.takeoff==true && current_zone==alt_zones::LANDING) - // { - // current_zone = alt_zones::PREPARE; - // } - - // switch (current_zone) - // { - // case alt_zones::PREPARE: - // output.up_down_trans = 0.5; - // output.forward_trans = 0; - // output.left_right_trans = 0; - // output.rotate_trans=0; - // if (input.h >= 1) // - // { - // ROS_DEBUG("TAKEOFF"); - // current_zone = alt_zones::TAKE_OFF; - // } - // break; - // case alt_zones::TAKE_OFF: - // //output.rotate_trans = 1.5*pseudo_course_hold(input.chi, input.chi_c, params, input.Ts);//recover - // //output.forward_trans = 0.7;//0.1 * pseudo_throttle_hold(input.Va_c, input.va, params, input.Ts); - // output.forward_trans = input.Va_c;//pseudo_throttle_hold(input.Va_c, input.va, params, input.Ts); - // output.up_down_trans = pow(1.1,input.h)*pseudo_pitch_hold(input.h_c, input.h, params, input.Ts); - // //output.up_down_trans = 0.01 * pseudo_pitch_hold(input.h_c, input.h, params, input.Ts); - // //if (input.h >= params.alt_toz) //alt_toz=1.5//recovery - // //output.left_right_trans = 1.5*pseudo_left_right(input.chi, input.chi_c, output.forward_trans); - // if (input.h >= 1.5) // - // { - // ROS_DEBUG("climb"); - // current_zone = alt_zones::CLIMB; - // ap_error_ = 0; - // ap_integrator_ = 0; - // ap_differentiator_ = 0; - // } - // break; - // case alt_zones::CLIMB: - // output.forward_trans = input.Va_c;//sat(input.Va_c*cos(output.rotate_trans),5,0.5);//pseudo_throttle_hold(input.Va_c, input.va, params, input.Ts); - // //output.forward_trans = 0.8;//0.1 * pseudo_throttle_hold(input.Va_c, input.va, params, input.Ts); - // output.left_right_trans = 0;//sat(input.Va_c*sin(output.rotate_trans),5,-5);//pseudo_left_right(input.chi, input.chi_c, output.forward_trans); - // output.up_down_trans = pseudo_pitch_hold(input.h_c, input.h, params, input.Ts); - // output.rotate_trans = output.rotate_value;//pseudo_course_hold(input.chi, input.chi_c, params, input.Ts); - - // //output.left_right_trans = 0.1 * pseudo_left_right(input.chi, input.chi_c, output.forward_trans); - // //output.up_down_trans = 0.01 * pseudo_pitch_hold(input.h_c, input.h, params, input.Ts); - // //output.rotate_trans = 0.3*pseudo_course_hold(input.chi, input.chi_c, params, input.Ts); - // ////if (input.h >= input.h_c - params.alt_hz) //alt_hz=0.2//recovery - // if (input.h >= input.h_c - 0.3) //alt_hz=0.2 - // { - // ROS_DEBUG("hold"); - // current_zone = alt_zones::ALTITUDE_HOLD; - // at_error_ = 0; - // at_integrator_ = 0; - // at_differentiator_ = 0; - // a_error_ = 0; - // a_integrator_ = 0; - // a_differentiator_ = 0; - // } - // //else if (input.h <= params.alt_toz) //1.5//recovery - // // else if (input.h <= 1) //1.5 - // // { - // // ROS_DEBUG("takeoff"); - // // current_zone = alt_zones::TAKE_OFF; // Is that necessary? - // // } - // break; - // case alt_zones::DESCEND: - // output.forward_trans = input.Va_c;//sat(input.Va_c*cos(output.rotate_trans),5,0.5);//pseudo_throttle_hold(input.Va_c, input.va, params, input.Ts); - // output.left_right_trans = 0;//sat(input.Va_c*sin(output.rotate_trans),5,-5);//pseudo_left_right(input.chi, input.chi_c, output.forward_trans); - // output.rotate_trans = output.rotate_value;//pseudo_course_hold(input.chi, input.chi_c, params, input.Ts); - // output.up_down_trans = pseudo_pitch_hold(input.h_c, input.h, params, input.Ts); - - // //output.forward_trans = 0.1 * pseudo_throttle_hold(input.Va_c, input.va, params, input.Ts); - // //output.left_right_trans = 0.1 * pseudo_left_right(input.chi, input.chi_c, output.forward_trans); - // //output.rotate_trans = pseudo_course_hold(input.chi, input.chi_c, params, input.Ts); - // //output.up_down_trans = 0.1 * pseudo_pitch_hold(input.h_c, input.h, params, input.Ts); - // //if (input.h <= input.h_c + params.alt_hz)//recovery - // if (input.h <= input.h_c + 0.3) - // { - // if (input.h < 0) //modify later - // { - // ROS_DEBUG("landing"); - // current_zone = alt_zones::LANDING; - // // output.forward_trans = sat(input.Va_c*cos(output.rotate_trans),1,0);//pseudo_throttle_hold(input.Va_c, input.va, params, input.Ts) * 0.5; - // // output.up_down_trans = pseudo_pitch_hold(input.h_c, input.h, params, input.Ts) / 2; - // // output.rotate_trans = output.rotate_value;//pseudo_course_hold(input.chi, input.chi_c, params, input.Ts); - // } - // else - // { - // ROS_DEBUG("hold"); - // current_zone = alt_zones::ALTITUDE_HOLD; - // at_error_ = 0; - // at_integrator_ = 0; - // at_differentiator_ = 0; - // a_error_ = 0; - // a_integrator_ = 0; - // a_differentiator_ = 0; - // } - // } - // break; - // case alt_zones::ALTITUDE_HOLD: - // output.forward_trans = input.Va_c;//sat(input.Va_c*cos(output.rotate_trans),5,0.5);//pseudo_throttle_hold(input.Va_c, input.va, params, input.Ts); - // output.left_right_trans = 0;//sat(input.Va_c*sin(output.rotate_trans),5,-5);//0.5*pseudo_left_right(input.chi, input.chi_c, output.forward_trans); - // output.up_down_trans = pseudo_altitiude_hold(input.h_c, input.h, params, input.Ts); - // output.rotate_trans = output.rotate_value;//pseudo_course_hold(input.chi, input.chi_c, params, input.Ts); - // //output.forward_trans = 1;//0.1 * pseudo_throttle_hold(input.Va_c, input.va, params, input.Ts); - // //output.left_right_trans = pseudo_left_right(input.chi, input.chi_c, output.forward_trans); - // //output.up_down_trans = 0.1 * pseudo_altitiude_hold(input.h_c, input.h, params, input.Ts); - // //output.rotate_trans = 0.7*pseudo_course_hold(input.chi, input.chi_c, params, input.Ts); - // //if (input.h >= input.h_c + params.alt_hz)//recovery - // if (input.h >= input.h_c + 0.3) - // { - // ROS_DEBUG("desend"); - // current_zone = alt_zones::DESCEND; - // ap_error_ = 0; - // ap_integrator_ = 0; - // ap_differentiator_ = 0; - // } - // //else if (input.h <= input.h_c - params.alt_hz)//recovery - // else if (input.h <= input.h_c - 0.3) - // { - // ROS_DEBUG("climb"); - // current_zone = alt_zones::CLIMB; - // ap_error_ = 0; - // ap_integrator_ = 0; - // ap_differentiator_ = 0; - // } - // break; - // case alt_zones::LANDING: - // ROS_DEBUG("landing"); - // current_zone = alt_zones::LANDING; - // ap_error_ = 0; - // ap_integrator_ = 0; - // ap_differentiator_ = 0; - // output.forward_trans = 0; - // if (input.h < 0.6) - // { - // output.up_down_trans = 0; - // } - // else - // { - // output.up_down_trans = -input.h/3; - // } - - // output.rotate_trans =0; - // output.left_right_trans = 0; - // break; - // default: - // break; - // } - - output.current_zone = current_zone; - //output.delta_e = pitch_hold(output.theta_c, input.theta, input.q, params, input.Ts); - //output.up_down_trans=pseudo_pitch_hold(output.theta_c, input.theta, input.q, params, input.Ts); -} - -float pseudo_controller_example::pseudo_course(float chi, float chi_c) -{ - chi_c=sat(chi_c,3.14159,-3.14159); - chi=sat(chi,3.14159,-3.14159); - float rotate = sat(chi_c-chi,2*3.14159,-2*3.14159);//-pi to pi - // float lr; - // if (rotate>3.14159) - // { - // lr=-1; - // } - // else if(rotate<-3.14159) - // { - // lr=1; - // } - //rotate=rotate+lr*2*3.14159;//more easier to rotate - - // rotate=sat(rotate,3.14159/4,-3.14159/4);//limit - return rotate; -} - -float pseudo_controller_example::pseudo_left_right(float chi, float chi_c, float forward_trans) -{ - float error= chi_c-chi; - float a = fabs(forward_trans); - float x = (3.14 / 4 > fabs(error)) ? fabs(error) : 3.14 / 4; - float b = tan(x); - float c = error / (fabs(error + 0.001)); - float left_right_trans = sat(a * b * c, forward_trans, -forward_trans); - - return left_right_trans; -} - -float pseudo_controller_example::pseudo_course_hold(float chi, float chi_c, const params_s ¶ms, float Ts) -{ - float error = chi_c-chi; - - //c_integrator_ = c_integrator_ + (Ts / 2.0) * (error + c_error_); - - //float up = params.c_kp * error; - //float ui = params.c_ki * c_integrator_; - - float rotate_trans = sat((error + c_error_) / 2, 45.0 * 3.14 / 180.0, -45.0 * 3.14 / 180.0); - //if (fabs(params.c_ki) >= 0.00001) - //{ - //float rotate_trans_unsat = up + ui; - //c_integrator_ = c_integrator_ + (Ts / params.c_ki) * (rotate_trans - rotate_trans_unsat); - //} - - c_error_ = error; - return rotate_trans; -} - -float pseudo_controller_example::pseudo_pitch_hold(float h_c, float h, const struct params_s ¶ms, float Ts) -{ - float error = h_c - h; - //ap_integrator_ = ap_integrator_ + (Ts / 2.0) * (error + ap_error_); - // float up = 0.5 * error; - //float ui = params.a_p_ki * ap_integrator_; - //float up_down_trans = sat(up + ui, 0.8, -0.8);//recovery - float up_down_trans = sat(0.5 * error, 2, -2); - //if (fabs(params.a_p_ki) >= 0.00001) - //{ - //float up_down_trans_unsat = up + ui; - //ap_integrator_ = ap_integrator_ + (Ts / params.a_p_ki) * (up_down_trans - up_down_trans_unsat); - //} - // ap_error_ = error; - return up_down_trans; -} - -float pseudo_controller_example::pseudo_throttle_hold(float Va_c, float Va, const params_s ¶ms, float Ts) -{ - float error = Va_c - Va; - - //at_integrator_ = at_integrator_ + (Ts / 2.0) * (error + at_error_); - //at_differentiator_ = (2.0 * params.tau - Ts) / (2.0 * params.tau + Ts) * at_differentiator_ + (2.0 /(2.0 * params.tau + Ts)) *(error - at_error_); - - float up = params.a_t_kp * error; - //float ui = params.a_t_ki * at_integrator_; - //float ud = params.a_t_kd * at_differentiator_; - - //float forward_trans = sat(Va + up + ui + ud, params.max_t, 0.1); - float forward_trans = sat(Va+error, params.max_t, 0.5); - //if (fabs(params.a_t_ki) >= 0.00001) - //{ - //float forward_trans_unsat = params.trim_t + up + ui + ud; - //at_integrator_ = at_integrator_ + (Ts / params.a_t_ki) * (forward_trans - forward_trans_unsat); - //} - - //at_error_ = error; - return forward_trans; -} - -float pseudo_controller_example::pseudo_altitiude_hold(float h_c, float h, const params_s ¶ms, float Ts) -{ - float error = h_c - h; - - //a_integrator_ = a_integrator_ + (Ts / 2.0) * (error + a_error_); - //a_differentiator_ = (2.0 * params.tau - Ts) / (2.0 * params.tau + Ts) * a_differentiator_ + (2.0 /(2.0 * params.tau + Ts)) * (error - a_error_); - float up = 0.7 * error; - //float up = params.a_kp * error; - //ROS_INFO("hello %f",params.a_kp); - //float ui = params.a_ki * a_integrator_; - //float ud = params.a_kd * a_differentiator_; - - //float up_down_trans = sat(up + ui + ud, 0.8, -0.8);//recovery - float up_down_trans = sat(up, 2, -2); - //if (fabs(params.a_ki) >= 0.00001) - //{ - //float up_down_trans_unsat = up + ui + ud; - //a_integrator_ = a_integrator_ + (Ts / params.a_ki) * (up_down_trans - up_down_trans_unsat); - //} - - // at_error_ = error; - return up_down_trans; -} - -//float pseudo_controller_example::cooridinated_turn_hold(float v, const params_s ¶ms, float Ts) -//{ -// //todo finish this if you want... -// return 0; -//} - -float pseudo_controller_example::sat(float value, float up_limit, float low_limit) -{ - float rVal; - if (value > up_limit) - rVal = up_limit; - else if (value < low_limit) - rVal = low_limit; - else - rVal = value; - - return rVal; -} - -} // namespace rosplane diff --git a/Flight_control_Comprehensive/src/hector_quadrotor b/Flight_control_Comprehensive/src/hector_quadrotor deleted file mode 160000 index c5accd2..0000000 --- a/Flight_control_Comprehensive/src/hector_quadrotor +++ /dev/null @@ -1 +0,0 @@ -Subproject commit c5accd2403622ddc275e576691b9831bd6e2694f diff --git a/Flight_control_Comprehensive/src/rosflight_ws b/Flight_control_Comprehensive/src/rosflight_ws deleted file mode 160000 index 9404d28..0000000 --- a/Flight_control_Comprehensive/src/rosflight_ws +++ /dev/null @@ -1 +0,0 @@ -Subproject commit 9404d28c2d96f498a5d7f6f14a639f9318c30d64 diff --git a/Flight_control_Comprehensive/src/udp_commu/CMakeLists.txt b/Flight_control_Comprehensive/src/udp_commu/CMakeLists.txt deleted file mode 100644 index 875c905..0000000 --- a/Flight_control_Comprehensive/src/udp_commu/CMakeLists.txt +++ /dev/null @@ -1,293 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(udp_commu) - -## Compile as C++11, supported in ROS Kinetic and newer -# add_compile_options(-std=c++11) - -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages -find_package(catkin REQUIRED COMPONENTS - roscpp - rospy - std_msgs - nav_msgs - message_generation - genmsg - #udp_bc_broker -) - -## System dependencies are found with CMake's conventions -# find_package(Boost REQUIRED COMPONENTS system) - - -## Uncomment this if the package has a setup.py. This macro ensures -## modules and global scripts declared therein get installed -## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html -# catkin_python_setup() - -################################################ -## Declare ROS messages, services and actions ## -################################################ - -## To declare and build messages, services or actions from within this -## package, follow these steps: -## * Let MSG_DEP_SET be the set of packages whose message types you use in -## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). -## * In the file package.xml: -## * add a build_depend tag for "message_generation" -## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET -## * If MSG_DEP_SET isn't empty the following dependency has been pulled in -## but can be declared for certainty nonetheless: -## * add a run_depend tag for "message_runtime" -## * In this file (CMakeLists.txt): -## * add "message_generation" and every package in MSG_DEP_SET to -## find_package(catkin REQUIRED COMPONENTS ...) -## * add "message_runtime" and every package in MSG_DEP_SET to -## catkin_package(CATKIN_DEPENDS ...) -## * uncomment the add_*_files sections below as needed -## and list every .msg/.srv/.action file to be processed -## * uncomment the generate_messages entry below -## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) - -## Generate messages in the 'msg' folder - add_message_files( - FILES - Up_Data.msg - Down_Data.msg - Down_Data_Speed_Nav.msg - Leader_Receive.msg - Broad_State.msg - # State.msg - ) - - -## Generate services in the 'srv' folder -# add_service_files( -# FILES -# Service1.srv -# Service2.srv -# ) - -## Generate actions in the 'action' folder -# add_action_files( -# FILES -# Action1.action -# Action2.action -# ) - -## Generate added messages and services with any dependencies listed here - generate_messages( - DEPENDENCIES - std_msgs - nav_msgs - # rosplane_msgs -) - -################################################ -## Declare ROS dynamic reconfigure parameters ## -################################################ - -## To declare and build dynamic reconfigure parameters within this -## package, follow these steps: -## * In the file package.xml: -## * add a build_depend and a run_depend tag for "dynamic_reconfigure" -## * In this file (CMakeLists.txt): -## * add "dynamic_reconfigure" to -## find_package(catkin REQUIRED COMPONENTS ...) -## * uncomment the "generate_dynamic_reconfigure_options" section below -## and list every .cfg file to be processed - -## Generate dynamic reconfigure parameters in the 'cfg' folder -# generate_dynamic_reconfigure_options( -# cfg/DynReconf1.cfg -# cfg/DynReconf2.cfg -# ) - -################################### -## catkin specific configuration ## -################################### -## The catkin_package macro generates cmake config files for your package -## Declare things to be passed to dependent projects -## INCLUDE_DIRS: uncomment this if your package contains header files -## LIBRARIES: libraries you create in this project that dependent projects also need -## CATKIN_DEPENDS: catkin_packages dependent projects also need -## DEPENDS: system dependencies of this project that dependent projects also need -catkin_package( -# INCLUDE_DIRS include -# LIBRARIES serial_commu - CATKIN_DEPENDS message_runtime roscpp rospy std_msgs -# DEPENDS system_lib -) - -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations -include_directories( - include - ${catkin_INCLUDE_DIRS} -) - -## Declare a C++ library -# add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/serial_commu.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Declare a C++ executable -## With catkin_make all packages are built within a single CMake context -## The recommended prefix ensures that target names across packages don't collide - -# add_executable(udp_receive_node src/udp_receive.cpp) -# add_executable(udp_send_node src/udp_send.cpp) -# add_executable(udp_tasksend_speed_nav_node src/udp_tasksend_speed_nav.cpp) -# add_executable(udp_gazeboreceive_speed_nav_node src/udp_gazeboreceive_speed_nav.cpp) -# add_executable(udp_gazebosend_state_node src/udp_gazebosend_state.cpp) -# add_executable(udp_taskreceive_state_node src/udp_taskreceive_state.cpp) -# add_executable(leader_broadcast_node src/leader_broadcast.cpp) -# add_executable(follower_receive_node src/follower_receive.cpp) -# add_executable(udp_docker_send_receive_node src/udp_docker_send_receive.cpp) -add_executable(udp_gazebo_send_receive_node src/udp_gazebo_send_receive.cpp) -# add_executable(groundstation_broadcast_node src/groundstation_broadcast.cpp) - -# add_executable(leader_receive_node src/leader_receive.cpp) - - -## Rename C++ executable without prefix -## The above recommended prefix causes long target names, the following renames the -## target back to the shorter version for ease of user use -## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" -# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") - -## Add cmake target dependencies of the executable -## same as for the library above - -# add_dependencies(udp_receive_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) -# add_dependencies(udp_send_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) -# add_dependencies(udp_tasksend_speed_nav_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) -# add_dependencies(udp_gazeboreceive_speed_nav_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) -# add_dependencies(udp_gazebosend_state_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) -# add_dependencies(udp_taskreceive_state_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) -# add_dependencies(leader_broadcast_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) -# add_dependencies(follower_receive_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) -# add_dependencies(udp_docker_send_receive_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) -add_dependencies(udp_gazebo_send_receive_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -# add_dependencies(groundstation_broadcast_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) -# add_dependencies(leader_receive_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -# target_link_libraries(udp_receive_node -# ${catkin_LIBRARIES} -# ) -# target_link_libraries(udp_send_node -# ${catkin_LIBRARIES} -# ) -# target_link_libraries(udp_tasksend_speed_nav_node -# ${catkin_LIBRARIES} -# ) -# target_link_libraries(udp_gazeboreceive_speed_nav_node -# ${catkin_LIBRARIES} -# ) -# target_link_libraries(udp_gazebosend_state_node -# ${catkin_LIBRARIES} -# ) -# target_link_libraries(udp_taskreceive_state_node -# ${catkin_LIBRARIES} -# ) -# target_link_libraries(leader_broadcast_node -# UDPBCBroker -# ${catkin_LIBRARIES} -# ) -# target_link_libraries(follower_receive_node -# UDPBCBroker -# ${catkin_LIBRARIES} -# ) -# target_link_libraries(udp_docker_send_receive_node -# UDPBCBroker -# ${catkin_LIBRARIES} -# ) - - target_link_libraries(udp_gazebo_send_receive_node - # UDPBCBroker - ${catkin_LIBRARIES} - ) - -# target_link_libraries(groundstation_broadcast_node -# UDPBCBroker -# ${catkin_LIBRARIES} -# ) - -# target_link_libraries(leader_receive_node -# UDPBCBroker -# ${catkin_LIBRARIES} -# ) - - -# add_dependencies(udp_receive_node udp_commu_generate_messages_cpp) -# add_dependencies(udp_send_node udp_commu_generate_messages_cpp) -# add_dependencies(udp_tasksend_speed_nav_node udp_commu_generate_messages_cpp) -# add_dependencies(udp_gazeboreceive_speed_nav_node udp_gazeboreceive_speed_nav_cpp) -# add_dependencies(udp_gazebosend_state_node udp_gazebosend_state_cpp) -# add_dependencies(udp_taskreceive_state_node udp_taskreceive_state_cpp) -# add_dependencies(leader_broadcast_node leader_broadcast_cpp) -# add_dependencies(follower_receive_node follower_receive_cpp) -# add_dependencies(udp_docker_send_receive_node udp_docker_send_receive_cpp) -add_dependencies(udp_gazebo_send_receive_node udp_gazebo_send_receive_cpp) - -# add_dependencies(groundstation_broadcast_node groundstation_broadcast_cpp) -# add_dependencies(leader_receive_node leader_receive_cpp) - -############# -## Install ## -############# - -# all install targets should use catkin DESTINATION variables -# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html - -## Mark executable scripts (Python etc.) for installation -## in contrast to setup.py, you can choose the destination -# install(PROGRAMS -# scripts/my_python_script -# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark executables and/or libraries for installation -# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark cpp header files for installation -# install(DIRECTORY include/${PROJECT_NAME}/ -# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -# FILES_MATCHING PATTERN "*.h" -# PATTERN ".svn" EXCLUDE -# ) - -## Mark other files for installation (e.g. launch and bag files, etc.) -# install(FILES -# # myfile1 -# # myfile2 -# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -# ) - -############# -## Testing ## -############# - -## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_serial_commu.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() - -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) diff --git a/Flight_control_Comprehensive/src/udp_commu/launch/start.launch b/Flight_control_Comprehensive/src/udp_commu/launch/start.launch deleted file mode 100644 index a23d5c5..0000000 --- a/Flight_control_Comprehensive/src/udp_commu/launch/start.launch +++ /dev/null @@ -1,4 +0,0 @@ - - - - \ No newline at end of file diff --git a/Flight_control_Comprehensive/src/udp_commu/launch/udp_commu.launch b/Flight_control_Comprehensive/src/udp_commu/launch/udp_commu.launch deleted file mode 100644 index 9fccf3d..0000000 --- a/Flight_control_Comprehensive/src/udp_commu/launch/udp_commu.launch +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/Flight_control_Comprehensive/src/udp_commu/launch/udp_gazebo_send_receive.launch b/Flight_control_Comprehensive/src/udp_commu/launch/udp_gazebo_send_receive.launch deleted file mode 100644 index 677216a..0000000 --- a/Flight_control_Comprehensive/src/udp_commu/launch/udp_gazebo_send_receive.launch +++ /dev/null @@ -1,15 +0,0 @@ - - - - - - - - - - - - - - - diff --git a/Flight_control_Comprehensive/src/udp_commu/msg/Broad_State.msg b/Flight_control_Comprehensive/src/udp_commu/msg/Broad_State.msg deleted file mode 100644 index f20dab1..0000000 --- a/Flight_control_Comprehensive/src/udp_commu/msg/Broad_State.msg +++ /dev/null @@ -1,2 +0,0 @@ -string name -nav_msgs/Odometry msg diff --git a/Flight_control_Comprehensive/src/udp_commu/msg/Down_Data.msg b/Flight_control_Comprehensive/src/udp_commu/msg/Down_Data.msg deleted file mode 100644 index 70f9236..0000000 --- a/Flight_control_Comprehensive/src/udp_commu/msg/Down_Data.msg +++ /dev/null @@ -1,5 +0,0 @@ -int32 status_word -float32 longitude -float32 latitude -float32 altitude -float32 plane_speed \ No newline at end of file diff --git a/Flight_control_Comprehensive/src/udp_commu/msg/Down_Data_Speed_Nav.msg b/Flight_control_Comprehensive/src/udp_commu/msg/Down_Data_Speed_Nav.msg deleted file mode 100644 index bfaa087..0000000 --- a/Flight_control_Comprehensive/src/udp_commu/msg/Down_Data_Speed_Nav.msg +++ /dev/null @@ -1,7 +0,0 @@ -string plane_ns -float64 linear_x -float64 linear_y -float64 linear_z -float64 angular_x -float64 angular_y -float64 angular_z diff --git a/Flight_control_Comprehensive/src/udp_commu/msg/Leader_Receive.msg b/Flight_control_Comprehensive/src/udp_commu/msg/Leader_Receive.msg deleted file mode 100644 index 9bec4ca..0000000 --- a/Flight_control_Comprehensive/src/udp_commu/msg/Leader_Receive.msg +++ /dev/null @@ -1,2 +0,0 @@ -string msg_type -uint8[] data \ No newline at end of file diff --git a/Flight_control_Comprehensive/src/udp_commu/msg/State.msg b/Flight_control_Comprehensive/src/udp_commu/msg/State.msg deleted file mode 100644 index 2e588f7..0000000 --- a/Flight_control_Comprehensive/src/udp_commu/msg/State.msg +++ /dev/null @@ -1,38 +0,0 @@ -# modified by DA-kobe - -Header header - -# Original States -# @warning roll, pitch and yaw have always to be valid, the quaternion is optional -float32[3] position # north, east, down(altitude,not from the ground) (m) -float32 Va # Airspeed (m/s) -float32 alpha # Angle of attack (rad) -float32 beta # Slide slip angle (rad) -float32 phi # Roll angle (rad) -float32 theta # Pitch angle (rad) -float32 psi # Yaw angle (rad) -float32 chi # Course angle (rad) -float32 p # Body frame rollrate (rad/s) -float32 q # Body frame pitchrate (rad/s) -float32 r # Body frame yawrate (rad/s) -float32 Vg # Groundspeed (m/s) -float32 wn # Windspeed north component (m/s) -float32 we # Windspeed east component (m/s) - -float32 Wd # latitude -90--90 -float32 Jd # longtitude -180--180 -float32 Vn # v-north speed or x -float32 Ve # v-east or y -float32 Vd # v-down or z - - -# Additional States for convenience -float32[4] quat # Quaternion (wxyz, NED) -bool quat_valid # Quaternion valid -float32 chi_deg # Wrapped course angle (deg) -float32 psi_deg # Wrapped yaw angle (deg) - - -float32 initial_lat # Initial/origin latitude (lat. deg) -float32 initial_lon # Initial/origin longitude (lon. deg) -float32 initial_alt # Initial/origin longitude (lon. deg) diff --git a/Flight_control_Comprehensive/src/udp_commu/msg/Up_Data.msg b/Flight_control_Comprehensive/src/udp_commu/msg/Up_Data.msg deleted file mode 100644 index 54d70dc..0000000 --- a/Flight_control_Comprehensive/src/udp_commu/msg/Up_Data.msg +++ /dev/null @@ -1,16 +0,0 @@ -int32 status_word -float32 longitude -float32 latitude -float32 altitude -float32 roll_angle -float32 pitch_angle -float32 yaw_angle -float32 angular_rate_x -float32 angular_rate_y -float32 angular_rate_z -float32 north_direction_speed -float32 east_direction_speed -float32 ground_direction_speed -float32 acceleration_x -float32 acceleration_y -float32 acceleration_z \ No newline at end of file diff --git a/Flight_control_Comprehensive/src/udp_commu/msg/任务板与飞控板之间消息文件及类型说明.rar b/Flight_control_Comprehensive/src/udp_commu/msg/任务板与飞控板之间消息文件及类型说明.rar deleted file mode 100644 index 4159014..0000000 Binary files a/Flight_control_Comprehensive/src/udp_commu/msg/任务板与飞控板之间消息文件及类型说明.rar and /dev/null differ diff --git a/Flight_control_Comprehensive/src/udp_commu/msg/说明 b/Flight_control_Comprehensive/src/udp_commu/msg/说明 deleted file mode 100644 index fa7812f..0000000 --- a/Flight_control_Comprehensive/src/udp_commu/msg/说明 +++ /dev/null @@ -1,31 +0,0 @@ -1.飞控板发送给任务板的话题为"serial_commu_up"，消息文件为up_data.msg，消息类型为serial_commu::up_data，消息头文件为 #include "serial_commu/up_data.h" -消息文件up_data.msg中变量说明如下： - - status_word; //状态字 - longitude; //经度 - latitude; //纬度 - altitude; //高度 - float roll_angle; //滚转角 - float pitch_angle; //俯仰角 - float yaw_angle; //偏航角 - float angular_rate_x; //角速率x - float angular_rate_y; //角速率y - float angular_rate_z; //角速率z - float north_direction_speed; //北向速度 - float east_direction_speed; //东向速度 - float ground_direction_speed; //地向速度 - float acceleration_x;// 加速度x - float acceleration_y;// 加速度y - float acceleration_z;// 加速度z - int sum_check;// 累加校验码 -2.任务板发送给飞控板的话题为"serial_commu_down"，消息文件为down_data.msg，消息类型为serial_commu::down_data，消息头文件为 #include "serial_commu/down_data.h" -消息文件down_data.msg中变量说明如下： - status_word; //状态字 - longitude; //经度 - latitude; //纬度 - altitude; //高度 - plane_speed; //航迹速度 - - - - diff --git a/Flight_control_Comprehensive/src/udp_commu/package.xml b/Flight_control_Comprehensive/src/udp_commu/package.xml deleted file mode 100644 index 9908f0d..0000000 --- a/Flight_control_Comprehensive/src/udp_commu/package.xml +++ /dev/null @@ -1,71 +0,0 @@ - - - udp_commu - 0.0.0 - The udp_commu package - - - - - jack - - - - - - BSD - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - roscpp - rospy - std_msgs - message_generation - roscpp - rospy - std_msgs - roscpp - rospy - std_msgs - std_msgs - message_runtime - - - - - - - - diff --git a/Flight_control_Comprehensive/src/udp_commu/src/udp_gazebo_send_receive.cpp b/Flight_control_Comprehensive/src/udp_commu/src/udp_gazebo_send_receive.cpp deleted file mode 100644 index 98dbbdc..0000000 --- a/Flight_control_Comprehensive/src/udp_commu/src/udp_gazebo_send_receive.cpp +++ /dev/null @@ -1,297 +0,0 @@ -/******************************* - * - * This udp_gazebo_send_receive.cpp is finished by YAN JIE. . - * - **************************/ -#include "ros/ros.h" -//#include "std_msgs/String.h" -// #include -#include -#include "udp_commu/Down_Data_Speed_Nav.h" -#include - -#include -#include -#include -#include - -//串口相关的头文件 -#include /*标准输入输出定义*/ -#include /*标准函数库定义*/ -#include /*Unix 标准函数定义*/ -#include -#include -#include /*文件控制定义*/ -#include /*PPSIX 终端控制定义*/ -#include /*错误号定义*/ -#include -#include -#include - -//宏定义 -#define FALSE -1 -#define TRUE 0 -#define REC_BUFFER_SIZE 200 - - -//#define BUFSIZ 200 -using std::string; - -namespace udp_commu -{ - - using std::string; - - class Udp_commu_gazebosend_state - { - public: - Udp_commu_gazebosend_state() - { - string dockerleader_ip = "172.18.0.3"; - n.getParam("dockerleader_ipaddress", dockerleader_ipaddress_); - - - string leader_ns = "leader"; - n.getParam("namespace", namespace_); - - memset(&remote_addr,0,sizeof(remote_addr)); //数据初始化--清零 - remote_addr.sin_family=AF_INET; //设置为IP通信 - remote_addr.sin_addr.s_addr=inet_addr(dockerleader_ipaddress_.c_str());//服务器(每个docker)的IP地址 - remote_addr.sin_port=htons(8000); //服务器端口号 - - /*创建客户端套接字--IPv4协议，面向无连接通信，UDP协议*/ - if((client_sockfd=socket(PF_INET,SOCK_DGRAM,0))<0) - { - perror("socket error"); - } - sin_size=sizeof(struct sockaddr_in); - - sub = n.subscribe("/"+namespace_+"/ground_truth/state", 1000, &Udp_commu_gazebosend_state::DownsendCallback, this); - - // printf("************ In Gazebo sending, namespace_ is: %s, docker_ipaddress_ is:%s, send_port is set: %d,\n",namespace_.c_str(),dockerleader_ipaddress_.c_str(),8000); - - /*string filename = "/home/jack/catkin_ws/"+namespace_+"_gazdebo.txt"; //“..."为创建的文件的存储位置，txt后缀可用其他字母代替如abc之类的 - char* buffer = new char[64]; - uint8_t len = strlen(namespace_.c_str()) + strlen(dockerleader_ipaddress_.c_str()); - memcpy(&buffer[0], namespace_.c_str(), strlen(namespace_.c_str())); - memcpy(&buffer[strlen(namespace_.c_str())], dockerleader_ipaddress_.c_str(), strlen(dockerleader_ipaddress_.c_str())); - FILE *p = fopen(filename.c_str(), "wb"); //wb表示可以写入数据 - fwrite(buffer, 1, len, p); //写入数据 - fclose(p); //关闭文件 - delete []buffer;*/ - - }; - - ~Udp_commu_gazebosend_state() - { - - }; - - void DownsendCallback(const nav_msgs::Odometry::ConstPtr& msg) - // void DownsendCallback(const rosplane_msgs::StateConstPtr& msg) - { - // printf("******************The received data from Gazebo is:\n"); - - // ROS_INFO("I heard: msg.position[0] is: %f\n", msg->position[0]); - // ROS_INFO("I heard: msg.position[1] is: %f\n", msg->position[1]); - // ROS_INFO("I heard: msg.position[2] is: %f\n", msg->position[2]); - // ROS_INFO("I heard: msg.Va is: %f\n", msg->Va); - // ROS_INFO("I heard: msg.chi is: %f\n", msg->chi); - - //序列化要发送的消息内容msg - uint32_t serial_size = ros::serialization::serializationLength(*msg); - boost::shared_array buffer(new uint8_t[serial_size]); - ros::serialization::OStream ostream(buffer.get(), serial_size); - ros::serialization::serialize(ostream, *msg); - - // printf("******%s in Gazebo *************UDP_send nav_msgs::Odometry************\n",namespace_.c_str()); - /*向服务器发送数据包*/ - // printf("UDP_send..........................................................\n"); - int len=sendto(client_sockfd,(char *)(buffer.get()),serial_size,0,(struct sockaddr *)&remote_addr,sizeof(struct sockaddr)); - - // printf("UDP_send over..........................................................\n"); - - // printf("************ In Gazebo sending, namespace_ is: %s, docker_ipaddress_ is:%s, send_port is set: %d,\n",namespace_.c_str(),dockerleader_ipaddress_.c_str(),8000); - - // if(len > 0) - // printf(" %d byte data send successfully\n",len); - // else - // printf("send data failed!\n"); - }; - - void udp_Close() - { - close(client_sockfd); - }; - - - private: - - ros::NodeHandle n; - ros::Subscriber sub; - string dockerleader_ipaddress_; - string namespace_; - - int client_sockfd; - - struct sockaddr_in remote_addr; //服务器端网络地址结构体 - int sin_size; - char buf[BUFSIZ]; //数据传送的缓冲区 - }; - - class Udp_commu_gazeboreceive - { - public: - Udp_commu_gazeboreceive() - { - ros::NodeHandle n; - n.getParam("namespace",namespace_); - - down_pub = n.advertise("/"+namespace_+"/cmd_vel", 1000); - memset(&my_addr,0,sizeof(my_addr)); //数据初始化--清零 - my_addr.sin_family=AF_INET; //设置为IP通信 - my_addr.sin_addr.s_addr=INADDR_ANY;//服务器IP地址--允许连接到所有本地地址上 - - n.getParam("htonsnumber",htonsnumber_); - my_addr.sin_port=htons(htonsnumber_); //服务器端口号 - - /*创建服务器端套接字--IPv4协议，面向无连接通信，UDP协议*/ - if((server_sockfd=socket(PF_INET,SOCK_DGRAM,0))<0) - { - perror("socket error"); - } - - int mw_optval = 1; - setsockopt(server_sockfd, SOL_SOCKET, SO_REUSEADDR, (char *)&mw_optval,sizeof(mw_optval)); - - /*将套接字绑定到服务器的网络地址上*/ - if (bind(server_sockfd,(struct sockaddr *)&my_addr,sizeof(struct sockaddr))<0) - { - perror("bind error"); - } - sin_size=sizeof(struct sockaddr_in); - - - // printf("************ In Gazebo receiving, namespace_ is: %s, receive_port is: %d,\n",namespace_.c_str(),htonsnumber_); - - }; - - ~Udp_commu_gazeboreceive() - { - close(server_sockfd); - }; - - void receive_cmddata() - { - //***************读取数据 ************* - count_gazeboread = 0; - // printf("\n Gazebo socket start to read cmd_vel data!\n"); - - while (ros::ok()) - { - int len1 =recvfrom(server_sockfd,buf,BUFSIZ,0,(struct sockaddr *)&remote_addr,&sin_size); - // printf("Gazebo received cmd_vel packet from %s:\n",inet_ntoa(remote_addr.sin_addr)); - buf[len]='\0'; - // printf("This time, UART0_Recv() return len1 = %4d\n",len1); - if(len1 == -1) - { - printf("Wrong in recvfrom()\n"); - - len = 0; - } - else - len =len1; - - if(len > 0) - { - - // printf("==========%s=== in gazebo ================received cmd_vel data from docker\n", namespace_.c_str()); - // printf("This time, received len = %4d\n",len);//调试使用 - - udp_commu::Down_Data_Speed_Nav down_msg_inc_ns; - uint32_t serial_size = sizeof(buf); - ros::serialization::IStream istream((uint8_t*)buf, serial_size); - ros::serialization::Serializer::read(istream, down_msg_inc_ns); - - // printf("**************After processing, gazebo received cmd_vel data is:\n"); - - - // printf("the plane_ns is: %s \n",down_msg_inc_ns.plane_ns); - // printf("the linear_x is: %f \n",down_msg_inc_ns.linear_x); - // printf("the linear_y is: %f \n",down_msg_inc_ns.linear_y); - // printf("the linear_z is: %f \n",down_msg_inc_ns.linear_z); - // printf("the angular_x is: %f \n",down_msg_inc_ns.angular_x); - // printf("the angular_y is: %f \n",down_msg_inc_ns.angular_y); - // printf("the angular_z is: %f \n",down_msg_inc_ns.angular_z); - - - // printf("down_msg_inc_ns.plane_ns : %s\n", down_msg_inc_ns.plane_ns.c_str()); - // printf("namespace_ : %s\n", namespace_.c_str()); - if( down_msg_inc_ns.plane_ns == namespace_ ) - { - down_msg.linear.x = down_msg_inc_ns.linear_x; - down_msg.linear.y = down_msg_inc_ns.linear_y; - down_msg.linear.z = down_msg_inc_ns.linear_z; - down_msg.angular.x = down_msg_inc_ns.angular_x; - down_msg.angular.y = down_msg_inc_ns.angular_y; - down_msg.angular.z = down_msg_inc_ns.angular_z; - down_pub.publish(down_msg); - count_gazeboread++; - // ROS_INFO("----Gazebo received----%s------publish(cmd_vel down_msg), count_gazeboread = %d \n,", namespace_.c_str(),count_gazeboread); - } - - } - // printf("************ In Gazebo receiving, namespace_ is: %s, receive_port is: %d,\n",namespace_.c_str(),htonsnumber_); - // sleep(0.05); - } - }; - - void udp_Close() - { - close(server_sockfd); - }; - - void receive() - { - process_thread_ = new boost::thread(&Udp_commu_gazeboreceive::receive_cmddata, this); - }; - - private: - string namespace_; - ros::Publisher down_pub; - geometry_msgs::Twist down_msg; - -// ros::NodeHandle n("~"); - int htonsnumber_; - - int server_sockfd; - int len; - struct sockaddr_in my_addr; //服务器网络地址结构体 - struct sockaddr_in remote_addr; //客户端网络地址结构体 - // int sin_size; - socklen_t sin_size; - char buf[BUFSIZ]; //数据传送的缓冲区 - int count_gazeboread; - boost::thread* process_thread_; - }; - -} - -int main(int argc, char **argv) -{ - - ros::init(argc, argv, "udp_gazebosend_state"); - - udp_commu::Udp_commu_gazebosend_state gazebosend; - udp_commu::Udp_commu_gazeboreceive gazeboreceive; - gazeboreceive.receive(); - - ros::spin(); - /*关闭套接字*/ - gazebosend.udp_Close(); - gazeboreceive.udp_Close(); - - return 0; -} - - diff --git a/Flight_control_Comprehensive/src/udp_commu/src/udp_receive.cpp b/Flight_control_Comprehensive/src/udp_commu/src/udp_receive.cpp deleted file mode 100644 index bc7944d..0000000 --- a/Flight_control_Comprehensive/src/udp_commu/src/udp_receive.cpp +++ /dev/null @@ -1,247 +0,0 @@ -/******************************* - * - * This UDP server is finished by YAN JIE. . - * - **************************/ -#include "ros/ros.h" -#include "udp_commu/Up_Data.h" - - - -//#include -//串口相关的头文件 -#include /*标准输入输出定义*/ -#include /*标准函数库定义*/ -#include /*Unix 标准函数定义*/ -#include -#include -#include /*文件控制定义*/ -#include /*PPSIX 终端控制定义*/ -#include /*错误号定义*/ -#include -#include - -#include -#include -#include -#include - - -//宏定义 -#define FALSE -1 -#define TRUE 0 -#define TAIL 0xFFFA55AF -#define REC_BUFFER_SIZE 200 -#define DOWN_CHECK_LEN 24 -#define UP_CHECK_LEN 68 - - - -/******************************************************************** -* 名称： scom_protocal结构体 -* 功能： 飞控板向任务板发送的数据 -******************************************************************/ -typedef struct - { - unsigned char header[4]; - int plane_info_int[4];//存放包头、状态字、经度、纬度、高度 - float plane_info_float[12]; //航迹速度 - unsigned char sum_check[4];// 累加校验码 - }Scom_up_protocal; - -struct scom_protocal -{ - int plane_info_int[3];//存放经度、纬度、高度 - float plane_info_float; //航迹速度 -}; - - -namespace udp_commu -{ - - using std::string; - - - class Udp_commu_receive - { - public: - Udp_commu_receive() - { - - }; - - ~Udp_commu_receive() - { - - }; - - int get_fd() - { - return fd; - }; - - - // void pub_up_data(ros::Publisher up_pub, udp_commu::Up_Data up_msg, Scom_up_protocal up_send_data) - // { - - // /////填充消息，发出去//////////////////////// - // up_msg.status_word = up_send_data.plane_info_int[0]; - // // printf("up_send_data.plane_info_int[0] = %2d \n", up_send_data.plane_info_int[0]); - // // printf("up_msg.status_word = %2d \n", up_msg.status_word); - - // up_msg.longitude = up_send_data.plane_info_int[1]/pow(10,7); - // up_msg.latitude = up_send_data.plane_info_int[2]/pow(10,7); - // up_msg.altitude = up_send_data.plane_info_int[3]/pow(10,2); - // up_msg.roll_angle = up_send_data.plane_info_float[0]; - // up_msg.pitch_angle = up_send_data.plane_info_float[1]; - // up_msg.yaw_angle = up_send_data.plane_info_float[2]; - // up_msg.angular_rate_x = up_send_data.plane_info_float[3]; - // up_msg.angular_rate_y = up_send_data.plane_info_float[4]; - // up_msg.angular_rate_z = up_send_data.plane_info_float[5]; - // up_msg.north_direction_speed = up_send_data.plane_info_float[6]; - // up_msg.east_direction_speed = up_send_data.plane_info_float[7]; - // up_msg.ground_direction_speed = up_send_data.plane_info_float[8]; - // up_msg.acceleration_x = up_send_data.plane_info_float[9]; - // up_msg.acceleration_y = up_send_data.plane_info_float[10]; - // up_msg.acceleration_z = up_send_data.plane_info_float[11]; - // up_pub.publish(up_msg); - // }; - - private: - int fd; - - }; - -} - - -int main(int argc, char **argv) -{ - - ros::init(argc, argv, "udp_receive"); - ros::NodeHandle n; - - //文件描述符 - int err; //返回调用函数的状态 - double i = 50; - unsigned char rcv_buf[REC_BUFFER_SIZE]; - - - - - ros::Publisher up_pub = n.advertise("serial_commu_up", 1); -// ros::Rate loop_rate(10); - udp_commu::Up_Data up_msg; - - int server_sockfd; - int len; - struct sockaddr_in my_addr; //服务器网络地址结构体 - struct sockaddr_in remote_addr; //客户端网络地址结构体 - // int sin_size; - socklen_t sin_size; - char buf[BUFSIZ]; //数据传送的缓冲区 - memset(&my_addr,0,sizeof(my_addr)); //数据初始化--清零 - my_addr.sin_family=AF_INET; //设置为IP通信 - my_addr.sin_addr.s_addr=INADDR_ANY;//服务器IP地址--允许连接到所有本地地址上 -// my_addr.sin_addr.s_addr=inet_addr("192.168.1.22");//服务器IP地址 - - my_addr.sin_port=htons(8000); //服务器端口号 - - /*创建服务器端套接字--IPv4协议，面向无连接通信，UDP协议*/ - if((server_sockfd=socket(PF_INET,SOCK_DGRAM,0))<0) - { - perror("socket error"); - return 1; - } - - /*将套接字绑定到服务器的网络地址上*/ - if (bind(server_sockfd,(struct sockaddr *)&my_addr,sizeof(struct sockaddr))<0) - { - perror("bind error"); - return 1; - } - sin_size=sizeof(struct sockaddr_in); - - //***************读取数据 ************* - printf("\nstart to read data!\n"); - Scom_up_protocal up_send_data; -// scom_protocal down_send_data; - - - while (ros::ok()) - { - int len1 =recvfrom(server_sockfd,buf,BUFSIZ,0,(struct sockaddr *)&remote_addr,&sin_size); - printf("received packet from %s:\n",inet_ntoa(remote_addr.sin_addr)); - buf[len]='\0'; -// printf("This time, UART0_Recv() return len1 = %4d\n",len1); - if(len1 == -1) - { - printf("Wrong in recvfrom()\n"); - - len = 0; - } - else - len =len1; - - if(len > 0) - { - - - printf("This time, received len = %4d\n",len);//调试使用 - -// typedef struct -// { -// unsigned char header[4]; -// int plane_info_int[4];//状态字、经度、纬度、高度 -// float plane_info_float[12]; //航迹速度 -// unsigned char sum_check[4];// 累加校验码 -// }Scom_up_protocal; - - memcpy(&up_send_data.plane_info_int[1], buf, sizeof(Scom_up_protocal)-12); - - printf("*************************After processing, the received data is:\n"); - - printf("the longitude is: %f \n",up_send_data.plane_info_int[1]/pow(10,7)); - printf("the latitude is: %f \n",up_send_data.plane_info_int[2]/pow(10,7)); - printf("the altitude is: %f \n",up_send_data.plane_info_int[3]/pow(10,2)); - printf("the roll_angle is: %f \n",up_send_data.plane_info_float[0]); - printf("the pitch_angle is: %f \n",up_send_data.plane_info_float[1]); - printf("the yaw_angle is: %f \n",up_send_data.plane_info_float[2]); - printf("the angular_rate_x is: %f \n",up_send_data.plane_info_float[3]); - printf("the angular_rate_y is: %f \n",up_send_data.plane_info_float[4]); - printf("the angular_rate_z is: %f \n",up_send_data.plane_info_float[5]); - printf("the north_direction_speed is: %f \n",up_send_data.plane_info_float[6]); - printf("the east_direction_speed is: %f \n",up_send_data.plane_info_float[7]); - printf("the ground_direction_speed is: %f \n",up_send_data.plane_info_float[8]); - printf("the acceleration_x is: %f \n",up_send_data.plane_info_float[9]); - printf("the acceleration_y is: %f \n",up_send_data.plane_info_float[10]); - printf("the acceleration_z is: %f \n",up_send_data.plane_info_float[11]); - - up_msg.longitude = up_send_data.plane_info_int[1]/pow(10,7); - up_msg.latitude = up_send_data.plane_info_int[2]/pow(10,7); - up_msg.altitude = up_send_data.plane_info_int[3]/pow(10,2); - up_msg.roll_angle = up_send_data.plane_info_float[0]; - up_msg.pitch_angle = up_send_data.plane_info_float[1]; - up_msg.yaw_angle = up_send_data.plane_info_float[2]; - up_msg.angular_rate_x = up_send_data.plane_info_float[3]; - up_msg.angular_rate_y = up_send_data.plane_info_float[4]; - up_msg.angular_rate_z = up_send_data.plane_info_float[5]; - up_msg.north_direction_speed = up_send_data.plane_info_float[6]; - up_msg.east_direction_speed = up_send_data.plane_info_float[7]; - up_msg.ground_direction_speed = up_send_data.plane_info_float[8]; - up_msg.acceleration_x = up_send_data.plane_info_float[9]; - up_msg.acceleration_y = up_send_data.plane_info_float[10]; - up_msg.acceleration_z = up_send_data.plane_info_float[11]; - up_pub.publish(up_msg); - - } - sleep(0.05); - - } - - close(server_sockfd); - - return 0; -} - - diff --git a/Flight_control_Comprehensive/src/udp_commu/src/udp_send.cpp b/Flight_control_Comprehensive/src/udp_commu/src/udp_send.cpp deleted file mode 100644 index 0dc9b67..0000000 --- a/Flight_control_Comprehensive/src/udp_commu/src/udp_send.cpp +++ /dev/null @@ -1,175 +0,0 @@ -/******************************* - * - * This UDP Client is finished by YAN JIE. . - * - **************************/ -#include "ros/ros.h" -//#include "std_msgs/String.h" -#include "udp_commu/Down_Data.h" - -#include -#include -#include -#include - -//串口相关的头文件 -#include /*标准输入输出定义*/ -#include /*标准函数库定义*/ -#include /*Unix 标准函数定义*/ -#include -#include -#include /*文件控制定义*/ -#include /*PPSIX 终端控制定义*/ -#include /*错误号定义*/ -#include -#include -#include - -//宏定义 -#define FALSE -1 -#define TRUE 0 -#define TAIL 0xFFFA55AF -#define REC_BUFFER_SIZE 200 -#define DOWN_CHECK_LEN 24 -#define UP_CHECK_LEN 68 - -//#define BUFSIZ 200 - -struct scom_protocal -{ - int status_word;//对应无人机编号 - int plane_info_int[3];//存放经度、纬度、高度 - float plane_info_float; //航迹速度 -}; - -namespace udp_commu { - -using std::string; - -/** @brief async write buffer */ -class Udp_commu_send -{ -public: - Udp_commu_send() - { - memset(&remote_addr,0,sizeof(remote_addr)); //数据初始化--清零 - remote_addr.sin_family=AF_INET; //设置为IP通信 - remote_addr.sin_addr.s_addr=inet_addr("192.168.1.41");//服务器IP地址 - remote_addr.sin_port=htons(8000); //服务器端口号 - - /*创建客户端套接字--IPv4协议，面向无连接通信，UDP协议*/ - if((client_sockfd=socket(PF_INET,SOCK_DGRAM,0))<0) - { - perror("socket error"); - } - sin_size=sizeof(struct sockaddr_in); - - - task_send_data = (scom_protocal*)malloc(sizeof(scom_protocal)); - sub = n.subscribe("/fixedwing/serial_commu_down", 1, &Udp_commu_send::downsendCallback, this); - - //write_thread_ = new boost::thread(boost::bind(&Serial_commu_send::write_handle, this)); - //write_thread_ -> detach(); - }; - ~Udp_commu_send() - { - free(task_send_data); - delete write_thread_; - }; - - void write_handle() - { - unsigned char temp = num; - sleep(0.1); - if((num == temp) && flag == 1) - tcflush(fd,TCOFLUSH); - }; - - - - - - - - - - - void downsendCallback(const udp_commu::Down_Data::ConstPtr& msg) - { - printf("*************************The data to send is:\n"); - ROS_INFO("I heard: msg.status_word is: %d\n", msg->status_word); - ROS_INFO("I heard: msg.longitude is %f\n", msg->longitude); - ROS_INFO("I heard: msg.latitude is %f\n", msg->latitude); - ROS_INFO("I heard: msg.altitude is: %f\n", msg->altitude); - ROS_INFO("I heard: msg.plane_speed is: %f\n", msg->plane_speed); - double i = 50; - - //***************串口发送数据 ************* - // unsigned char scom_protocal::serial_num_increase = 0; - task_send_data->status_word = 0; - task_send_data->plane_info_int[0] = msg->longitude*(int)(pow(10,7)); - task_send_data->plane_info_int[1] = msg->latitude*(int)(pow(10,7)); - task_send_data->plane_info_int[2] = msg->altitude*(int)(pow(10,2)); - - task_send_data->plane_info_float = msg->plane_speed; - - printf("UDP_send..........................................................\n"); - /*向服务器发送数据包*/ - int len=sendto(client_sockfd,(char *)(&task_send_data->status_word),sizeof(scom_protocal),0,(struct sockaddr *)&remote_addr,sizeof(struct sockaddr)); - -// int len = UART0_Send((char *)(&task_send_data->header[0]), sizeof(scom_protocal)); - printf("UDP_send over..........................................................\n"); - - if(len > 0) - printf(" %f ms time send %d byte data send successfully\n",i,len); - else - printf("send data failed!\n"); - }; - - int get_fd() - { - return fd; - }; - void udp_Close() - { - close(client_sockfd); - } - - -private: - - scom_protocal* task_send_data; - int fd; - unsigned char num; - int flag; - - boost::thread *write_thread_; - - ros::NodeHandle n; - ros::Subscriber sub; - - int client_sockfd; - - struct sockaddr_in remote_addr; //服务器端网络地址结构体 - int sin_size; - char buf[BUFSIZ]; //数据传送的缓冲区 -}; - -} - -int main(int argc, char **argv) -{ - - ros::init(argc, argv, "udp_send"); - - // int err; - - udp_commu::Udp_commu_send send; - - ros::spin(); - /*关闭套接字*/ - send.udp_Close(); - return 0; -} - - diff --git a/Flight_control_Comprehensive/start.sh b/Flight_control_Comprehensive/start.sh deleted file mode 100644 index 6066cea..0000000 --- a/Flight_control_Comprehensive/start.sh +++ /dev/null @@ -1,4 +0,0 @@ -#! /bin/bash - -source devel/setup.bash -roslaunch hector_quadrotor_gazebo udp_sim_distri_server10_split_tryimage.launch