diff --git a/Flight_control/src/.vscode/c_cpp_properties.json b/Flight_control/src/.vscode/c_cpp_properties.json
new file mode 100644
index 0000000..f8920a0
--- /dev/null
+++ b/Flight_control/src/.vscode/c_cpp_properties.json
@@ -0,0 +1,31 @@
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+ {
+ "browse": {
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+ "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",
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diff --git a/Flight_control/src/.vscode/settings.json b/Flight_control/src/.vscode/settings.json
new file mode 100644
index 0000000..6f26cb4
--- /dev/null
+++ b/Flight_control/src/.vscode/settings.json
@@ -0,0 +1,31 @@
+{
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+ "/home/zhangshuai/Flight_control/devel/lib/python2.7/dist-packages",
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+ ],
+ "files.associations": {
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+ "cstdlib": "cpp",
+ "cstring": "cpp",
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+}
\ No newline at end of file
diff --git a/Flight_control/src/CMakeLists.txt b/Flight_control/src/CMakeLists.txt
new file mode 120000
index 0000000..581e61d
--- /dev/null
+++ b/Flight_control/src/CMakeLists.txt
@@ -0,0 +1 @@
+/opt/ros/kinetic/share/catkin/cmake/toplevel.cmake
\ No newline at end of file
diff --git a/Flight_control/src/enemy_suv/enemy_suv_description/CMakeLists.txt b/Flight_control/src/enemy_suv/enemy_suv_description/CMakeLists.txt
new file mode 100644
index 0000000..da6521f
--- /dev/null
+++ b/Flight_control/src/enemy_suv/enemy_suv_description/CMakeLists.txt
@@ -0,0 +1,47 @@
+################################################################################
+# 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/src/enemy_suv/enemy_suv_description/launch/spawn_enemy_suv.launch b/Flight_control/src/enemy_suv/enemy_suv_description/launch/spawn_enemy_suv.launch
new file mode 100644
index 0000000..e8cb626
--- /dev/null
+++ b/Flight_control/src/enemy_suv/enemy_suv_description/launch/spawn_enemy_suv.launch
@@ -0,0 +1,41 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/Flight_control/src/enemy_suv/enemy_suv_description/launch/xacro_gazebo_display_enemy_suv.launch b/Flight_control/src/enemy_suv/enemy_suv_description/launch/xacro_gazebo_display_enemy_suv.launch
new file mode 100644
index 0000000..0a2e8d8
--- /dev/null
+++ b/Flight_control/src/enemy_suv/enemy_suv_description/launch/xacro_gazebo_display_enemy_suv.launch
@@ -0,0 +1,40 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
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+
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+
+
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diff --git a/Flight_control/src/enemy_suv/enemy_suv_description/materials/textures/suv.png b/Flight_control/src/enemy_suv/enemy_suv_description/materials/textures/suv.png
new file mode 100644
index 0000000..c5bb1cb
Binary files /dev/null and b/Flight_control/src/enemy_suv/enemy_suv_description/materials/textures/suv.png differ
diff --git a/Flight_control/src/enemy_suv/enemy_suv_description/materials/textures/wheels_01.png b/Flight_control/src/enemy_suv/enemy_suv_description/materials/textures/wheels_01.png
new file mode 100644
index 0000000..278b4c8
Binary files /dev/null and b/Flight_control/src/enemy_suv/enemy_suv_description/materials/textures/wheels_01.png differ
diff --git a/Flight_control/src/enemy_suv/enemy_suv_description/meshes/suv.mtl b/Flight_control/src/enemy_suv/enemy_suv_description/meshes/suv.mtl
new file mode 100644
index 0000000..4f57f8e
--- /dev/null
+++ b/Flight_control/src/enemy_suv/enemy_suv_description/meshes/suv.mtl
@@ -0,0 +1,30 @@
+# 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/src/enemy_suv/enemy_suv_description/meshes/suv.obj b/Flight_control/src/enemy_suv/enemy_suv_description/meshes/suv.obj
new file mode 100644
index 0000000..0d6a765
--- /dev/null
+++ b/Flight_control/src/enemy_suv/enemy_suv_description/meshes/suv.obj
@@ -0,0 +1,4971 @@
+# 3ds Max Wavefront OBJ Exporter v0.97b - (c)2007 guruware
+# File Created: 02.10.2016 09:23:07
+
+mtllib suv.mtl
+
+#
+# object SUV
+#
+
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+# 176 texture coords
+
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+usemtl SUV_Wheels
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+# 152 faces
+
diff --git a/Flight_control/src/enemy_suv/enemy_suv_description/package.xml b/Flight_control/src/enemy_suv/enemy_suv_description/package.xml
new file mode 100644
index 0000000..538d09f
--- /dev/null
+++ b/Flight_control/src/enemy_suv/enemy_suv_description/package.xml
@@ -0,0 +1,14 @@
+
+
+ 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/src/enemy_suv/enemy_suv_description/urdf/enemy_suv.gazebo.xacro b/Flight_control/src/enemy_suv/enemy_suv_description/urdf/enemy_suv.gazebo.xacro
new file mode 100644
index 0000000..ac01db1
--- /dev/null
+++ b/Flight_control/src/enemy_suv/enemy_suv_description/urdf/enemy_suv.gazebo.xacro
@@ -0,0 +1,138 @@
+
+
+
+
+
+
+
+ cmd_vel
+ odom
+ odom
+ base_link
+ false
+ true
+ false
+ 100
+ wheel_left_joint
+ wheel_right_joint
+ 2.160
+ 0.66
+ 10
+ 100
+
+
+
+
+
+ 100.0
+ base_link
+ ground_truth/state
+ 0.0
+ world
+
+
+
+
+ 100
+ 100
+ 500000.0
+ 10.0
+ 0.001
+ 0.1
+ 1 0 0
+ Gazebo/DarkGrey
+
+
+
+ 100
+ 100
+ 500000.0
+ 10.0
+ 0.001
+ 0.1
+ 1 0 0
+ Gazebo/DarkGrey
+
+
+
+
+
diff --git a/Flight_control/src/enemy_suv/enemy_suv_description/urdf/enemy_suv.urdf.xacro b/Flight_control/src/enemy_suv/enemy_suv_description/urdf/enemy_suv.urdf.xacro
new file mode 100644
index 0000000..f06f424
--- /dev/null
+++ b/Flight_control/src/enemy_suv/enemy_suv_description/urdf/enemy_suv.urdf.xacro
@@ -0,0 +1,229 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/Flight_control/src/enemy_suv/enemy_suv_description/worlds/kunming.world b/Flight_control/src/enemy_suv/enemy_suv_description/worlds/kunming.world
new file mode 100644
index 0000000..56ed8e3
--- /dev/null
+++ b/Flight_control/src/enemy_suv/enemy_suv_description/worlds/kunming.world
@@ -0,0 +1,71 @@
+
+
+
+
+
+ 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/src/enemy_suv/enemy_suv_description/worlds/kunming/km.jpg b/Flight_control/src/enemy_suv/enemy_suv_description/worlds/kunming/km.jpg
new file mode 100644
index 0000000..3ae9c15
Binary files /dev/null and b/Flight_control/src/enemy_suv/enemy_suv_description/worlds/kunming/km.jpg differ
diff --git a/Flight_control/src/enemy_suv/enemy_suv_description/worlds/kunming/kunming.material b/Flight_control/src/enemy_suv/enemy_suv_description/worlds/kunming/kunming.material
new file mode 100644
index 0000000..4cd181b
--- /dev/null
+++ b/Flight_control/src/enemy_suv/enemy_suv_description/worlds/kunming/kunming.material
@@ -0,0 +1,20 @@
+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/src/enemy_suv/enemy_suv_description/worlds/kunming/kunming.world b/Flight_control/src/enemy_suv/enemy_suv_description/worlds/kunming/kunming.world
new file mode 100644
index 0000000..f1f5e8a
--- /dev/null
+++ b/Flight_control/src/enemy_suv/enemy_suv_description/worlds/kunming/kunming.world
@@ -0,0 +1,84 @@
+
+
+
+
+
+ model://sun
+
+
+
+
+
+ 0.68 0.68 0.68 1.0
+
+
+
+ 0
+
+
+
+
+
+ true
+
+
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diff --git a/Flight_control/src/enemy_suv/enemy_suv_description/worlds/kunming/kunmingjichang.dem b/Flight_control/src/enemy_suv/enemy_suv_description/worlds/kunming/kunmingjichang.dem
new file mode 100644
index 0000000..698dbce
--- /dev/null
+++ b/Flight_control/src/enemy_suv/enemy_suv_description/worlds/kunming/kunmingjichang.dem
@@ -0,0 +1 @@
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20280 20290 20342 20405 20448 20459 20455 20445 20435 20440 20453 20499 20502 20448 20413 20397 20385 20320 20249 20363 20537 20704 20812 20756 20572 20519 20656 20869 21005 20982 20805 20655 20662 20807 20991 21144 21250 21326 21322 21189 21086 21153 21193 21119 21161 21262 21236 21166 21172 21258 21365 21472 21566 21637 21697 21770 21851 21890 21948 22118 22269 22510 22739 22916 22974 22937 22832 22634 22503 22494 22565 22676 22733 22715 22716 22820 22904 22880 22827 22748 22589 22551 1 22 154 1 370390.650382543157320 90151.573536386393243 0.000000000000000 1961.875854492187500 2309.429199218750000 19743 19706 19690 19666 19637 19625 19622 19638 19683 19717 19726 19743 19766 19766 19760 19758 19742 19725 19708 19681 19652 19634 19629 19627 19619 19619 19640 19680 19722 19727 19727 19732 19740 19754 19765 19772 19786 19807 19828 19843 19851 19871 19896 19899 19888 19876 19875 19915 19992 20061 20081 20034 19973 19932 19942 19993 20082 20194 20254 20227 20165 20156 20192 20231 20257 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22861 1 34 154 1 370426.650382543157320 90151.573536386393243 0.000000000000000 1971.013793945312500 2310.710449218750000 19996 19941 19846 19749 19715 19710 19715 19724 19736 19759 19811 19905 20004 20008 19981 19969 19957 19939 19941 19958 19963 19970 19988 19995 19974 19990 20028 20006 19965 19962 19963 19941 19913 19890 19883 19874 19834 19789 19785 19807 19817 19806 19783 19793 19825 19832 19818 19805 19781 19749 19736 19757 19840 19932 19980 20044 20128 20180 20176 20172 20196 20215 20258 20320 20307 20217 20107 20066 20118 20160 20205 20319 20449 20501 20435 20351 20366 20422 20486 20564 20645 20726 20827 20940 21046 21159 21263 21387 21523 21643 21703 21710 21705 21669 21600 21559 21617 21701 21814 22024 22256 22321 22180 22165 22345 22503 22584 22370 21952 21787 21913 21964 22039 22327 22585 22694 22913 23044 22966 22950 23080 23107 23004 22895 22772 22632 22629 22692 22638 22587 22645 22690 22678 22677 22732 22829 22930 22984 23016 23013 23008 23019 22951 22823 22743 22804 22918 23003 23084 22997 22717 22472 22426 22663 1 35 154 1 370429.650382543157320 90151.573536386393243 0.000000000000000 1971.359130859375000 2317.688964843750000 20024 19964 19882 19793 19719 19714 19721 19730 19734 19739 19778 19865 19959 19975 19967 19974 19976 19976 19983 19999 20001 19988 19999 20007 19993 20006 20029 20006 19974 19981 19988 19973 19944 19903 19880 19893 19896 19868 19850 19878 19896 19869 19830 19818 19863 19907 19904 19880 19852 19819 19782 19775 19851 19942 19980 20000 20056 20131 20164 20145 20128 20143 20173 20226 20229 20163 20085 20057 20110 20173 20227 20316 20406 20446 20405 20342 20367 20433 20515 20615 20720 20830 20964 21107 21207 21260 21302 21362 21456 21588 21673 21667 21623 21548 21493 21521 21630 21746 21876 22083 22360 22489 22354 22287 22539 22802 22864 22580 22133 22003 22196 22274 22295 22541 22834 22962 23088 23177 23107 23040 23092 23123 23096 22962 22793 22689 22689 22693 22649 22599 22585 22582 22583 22624 22713 22811 22904 22950 22939 22916 22941 22956 22853 22689 22588 22623 22737 22889 23053 23036 22842 22604 22400 22446 1 36 154 1 370432.650382543157320 90151.573536386393243 0.000000000000000 1971.508300781250000 2315.927734375000000 20051 19958 19865 19794 19726 19715 19735 19746 19741 19740 19765 19830 19900 19932 19959 19981 19997 20019 20039 20060 20052 20022 20015 20015 20013 20009 20010 19994 19984 19989 19991 19982 19957 19914 19890 19912 19940 19939 19919 19936 19950 19925 19876 19846 19892 19937 19943 19931 19916 19893 19857 19840 19861 19892 19919 19943 19999 20076 20127 20116 20080 20092 20106 20134 20143 20101 20060 20063 20129 20218 20268 20296 20335 20376 20393 20374 20392 20466 20562 20689 20813 20950 21108 21253 21323 21308 21298 21320 21367 21476 21594 21615 21561 21493 21481 21554 21706 21875 22026 22185 22393 22536 22467 22425 22685 22931 22966 22734 22353 22312 22586 22686 22661 22797 22983 23045 23125 23159 23046 22929 22914 22989 23056 22939 22768 22656 22634 22633 22599 22542 22489 22458 22481 22565 22678 22782 22869 22896 22866 22844 22885 22904 22793 22598 22440 22427 22592 22863 23081 23078 22930 22705 22423 22319 1 37 154 1 370435.650382543157320 90151.573536386393243 0.000000000000000 1971.898071289062500 2311.139160156250000 20101 19978 19856 19783 19736 19719 19736 19755 19764 19766 19795 19844 19888 19922 19961 19993 20026 20044 20058 20076 20068 20047 20047 20048 20047 20038 20026 20009 20008 20011 20013 20000 19975 19955 19946 19952 19955 19951 19950 19957 19961 19946 19908 19886 19919 19950 19971 19985 19983 19956 19937 19942 19948 19933 19921 19939 20001 20074 20119 20102 20057 20061 20063 20066 20068 20054 20055 20088 20157 20232 20274 20298 20322 20358 20410 20455 20487 20546 20625 20769 20917 21071 21228 21355 21402 21363 21314 21311 21338 21412 21504 21532 21504 21475 21502 21596 21765 21984 22209 22389 22504 22574 22559 22570 22759 22919 22966 22881 22663 22682 22920 23024 22976 22957 23003 23046 23094 23049 22927 22811 22784 22882 22921 22787 22666 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22818 22711 22708 22779 22739 22640 22608 22542 22497 22449 22370 22386 22396 22387 22443 22558 22705 22818 22876 22832 22736 22703 22770 22846 22735 22502 22297 22223 22411 22785 23082 23137 23038 22846 22646 22443 1 39 154 1 370441.650382543157320 90151.573536386393243 0.000000000000000 1974.906738281250000 2323.654296875000000 20069 19954 19845 19770 19750 19749 19753 19759 19784 19825 19862 19891 19928 19956 19980 20031 20075 20086 20088 20091 20094 20101 20111 20098 20097 20092 20079 20087 20086 20083 20068 20025 19997 19986 19981 19973 19981 19973 19967 19975 19988 19988 19972 19971 20005 20038 20058 20078 20085 20072 20072 20079 20081 20062 20054 20086 20128 20147 20159 20128 20092 20090 20090 20082 20110 20146 20178 20218 20252 20273 20323 20372 20397 20406 20431 20519 20628 20709 20788 20909 21040 21170 21304 21433 21501 21501 21446 21367 21318 21305 21309 21311 21361 21473 21625 21753 21858 22060 22325 22527 22687 22761 22712 22598 22605 22741 22920 23055 23153 23237 23182 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20343 20385 20379 20348 20286 20233 20200 20204 20240 20307 20350 20361 20413 20497 20530 1 106 154 1 370642.650382543157320 90151.573536386393243 0.000000000000000 2013.607421875000000 2361.393554687500000 21222 21255 21190 21274 21504 21777 22018 22137 22215 22382 22567 22746 22868 23010 23290 23509 23597 23614 23606 23535 23387 23433 23563 23528 23331 22971 22614 22398 22228 22034 21829 21656 21626 21704 21805 21871 21925 21973 21943 21873 21794 21752 21718 21659 21612 21604 21618 21624 21577 21512 21510 21565 21562 21528 21527 21511 21427 21335 21249 21229 21266 21321 21358 21395 21418 21437 21444 21439 21438 21449 21448 21438 21403 21324 21259 21237 21209 21201 21171 21133 21069 21041 20979 20917 20883 20844 20791 20763 20738 20732 20738 20750 20806 20920 20963 20922 20835 20815 20883 20902 20760 20553 20358 20236 20239 20282 20351 20415 20478 20517 20549 20570 20585 20573 20548 20523 20459 20367 20316 20350 20431 20534 20612 20658 20697 20680 20606 20515 20404 20280 20193 20189 20288 20390 20401 20338 20327 20354 20321 20322 20384 20407 20392 20351 20271 20180 20136 20146 20184 20221 20276 20359 20440 20507 1 107 154 1 370645.650382543157320 90151.573536386393243 0.000000000000000 2010.999755859375000 2373.653076171875000 21335 21443 21330 21242 21346 21619 21880 22005 22083 22185 22335 22503 22646 22883 23216 23496 23666 23737 23727 23702 23681 23723 23651 23427 23183 22925 22694 22499 22271 22020 21783 21652 21715 21827 21865 21893 21968 22012 21972 21903 21828 21762 21700 21636 21598 21594 21603 21616 21608 21575 21577 21616 21611 21580 21589 21602 21516 21421 21285 21225 21277 21339 21372 21423 21453 21468 21474 21473 21475 21479 21475 21466 21443 21387 21311 21213 21129 21141 21162 21147 21114 21089 21000 20927 20902 20849 20777 20748 20721 20706 20705 20721 20765 20869 20937 20925 20820 20733 20772 20812 20725 20562 20381 20256 20252 20295 20370 20438 20503 20551 20577 20580 20584 20580 20546 20506 20451 20371 20308 20319 20373 20457 20551 20625 20636 20582 20495 20408 20325 20233 20153 20155 20238 20310 20303 20261 20263 20282 20289 20323 20362 20351 20319 20297 20249 20176 20110 20110 20148 20191 20263 20374 20472 20554 1 108 154 1 370648.650382543157320 90151.573536386393243 0.000000000000000 2009.747680664062500 2387.936523437500000 21444 21667 21619 21391 21300 21441 21710 21925 22017 22047 22145 22298 22493 22816 23152 23428 23631 23768 23823 23871 23879 23743 23450 23129 22891 22755 22666 22508 22243 21967 21758 21737 21836 21888 21907 21931 21983 22001 21962 21912 21847 21765 21691 21627 21595 21610 21623 21627 21634 21625 21643 21677 21662 21622 21646 21696 21632 21537 21386 21275 21308 21369 21394 21438 21477 21503 21509 21507 21509 21509 21499 21483 21452 21379 21271 21159 21080 21087 21120 21110 21083 21076 21025 20960 20919 20869 20807 20750 20702 20673 20680 20703 20733 20809 20894 20913 20818 20690 20643 20653 20611 20520 20391 20274 20261 20311 20388 20460 20521 20574 20592 20573 20546 20544 20540 20521 20461 20374 20321 20313 20333 20396 20494 20571 20567 20483 20408 20377 20341 20267 20157 20124 20175 20227 20226 20224 20250 20282 20317 20352 20372 20323 20230 20175 20148 20126 20097 20109 20157 20207 20266 20374 20491 20571 1 109 154 1 370651.650382543157320 90151.573536386393243 0.000000000000000 2008.305908203125000 2394.240966796875000 21524 21817 21892 21652 21417 21366 21605 21877 21945 21923 21996 22170 22438 22784 23042 23271 23509 23699 23844 23942 23873 23547 23176 22873 22640 22533 22491 22376 22166 21910 21750 21817 21919 21925 21963 21988 22013 22010 21993 21950 21867 21796 21744 21683 21643 21661 21659 21658 21689 21702 21705 21726 21699 21658 21697 21758 21718 21645 21516 21398 21431 21502 21501 21499 21520 21541 21539 21531 21534 21538 21532 21511 21450 21338 21233 21183 21155 21144 21152 21105 21050 21061 21045 20995 20944 20896 20836 20759 20680 20640 20651 20675 20708 20760 20840 20884 20834 20740 20641 20590 20526 20448 20363 20279 20252 20291 20369 20457 20533 20583 20587 20560 20501 20470 20517 20557 20514 20429 20356 20322 20316 20346 20414 20486 20494 20406 20326 20342 20374 20321 20181 20105 20146 20222 20285 20318 20332 20351 20374 20368 20369 20331 20219 20108 20083 20098 20116 20153 20196 20236 20270 20343 20450 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 20324 20308 20271 20168 20073 20094 20146 20220 20317 20373 20383 20375 20387 20408 20395 1 112 154 1 370660.650382543157320 90151.573536386393243 0.000000000000000 2007.946777343750000 2392.489013671875000 21668 22052 22424 22382 22075 21748 21489 21415 21475 21554 21703 21942 22209 22423 22642 22909 23208 23542 23847 23925 23631 23274 22928 22686 22538 22337 22133 22004 21915 21864 21893 22047 22200 22272 22269 22226 22160 22106 22089 22062 22040 22035 22034 22024 22029 22042 22075 22100 22051 21962 21913 21871 21801 21791 21842 21816 21771 21788 21817 21798 21746 21691 21731 21802 21752 21670 21630 21649 21650 21572 21487 21483 21527 21478 21378 21325 21291 21258 21188 21079 20994 20982 21019 21002 20991 20987 20929 20852 20772 20672 20603 20608 20630 20638 20646 20681 20709 20726 20715 20651 20575 20489 20385 20338 20314 20275 20259 20297 20404 20469 20439 20378 20349 20375 20438 20462 20481 20483 20448 20382 20319 20277 20263 20275 20293 20255 20216 20263 20264 20171 20111 20174 20263 20371 20457 20500 20473 20388 20309 20297 20298 20264 20159 20079 20123 20191 20266 20377 20452 20444 20398 20388 20406 20390 1 113 154 1 370663.650382543157320 90151.573536386393243 0.000000000000000 2009.821899414062500 2384.854736328125000 21716 22085 22424 22389 22116 21810 21563 21550 21557 21538 21752 22035 22285 22500 22702 22922 23193 23518 23818 23849 23515 23161 22874 22622 22415 22243 22128 22074 22048 21969 21937 22113 22309 22391 22374 22307 22236 22182 22160 22139 22122 22127 22128 22131 22148 22165 22195 22219 22176 22097 22027 21946 21868 21883 21941 21915 21866 21831 21793 21772 21739 21664 21719 21834 21807 21701 21674 21700 21656 21547 21456 21473 21538 21518 21435 21381 21300 21234 21173 21116 21056 21006 21011 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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 20451 20439 20402 20349 20297 20272 20255 20237 20223 20220 20215 20238 20306 20371 20458 20527 20525 20459 20362 20283 20216 20137 20080 20097 20179 20285 20391 20454 20462 20440 20400 20341 20276 20227 20201 20218 20271 20263 20156 20102 20195 20295 20276 20222 20221 20257 20320 20375 20370 20313 1 117 154 1 370675.650382543157320 90151.573536386393243 0.000000000000000 2009.402221679687500 2336.654785156250000 22750 22972 22805 22408 22076 21892 21983 22344 22389 22140 21975 21868 21866 22046 22269 22587 22930 23119 23168 23279 23367 23180 22962 22786 22716 22861 23018 22996 22826 22534 22225 22135 22399 22715 22899 22968 22927 22815 22679 22563 22476 22433 22437 22488 22529 22551 22537 22482 22411 22304 22185 22114 22115 22175 22136 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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 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23215 23457 23587 23674 23668 23603 23547 23401 23179 22881 22527 22286 22390 22695 22959 23153 23226 23156 23049 22980 22960 22992 23011 22966 22859 22768 22669 22559 22544 22588 22617 22607 22556 22459 22316 22166 22057 22024 22091 22128 22071 22064 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 22196 22171 22138 22124 22110 22090 22091 22068 22025 21945 21842 21774 21716 21712 21791 21813 21728 21573 21440 21405 21412 21409 21390 21315 21234 21238 21287 21303 21226 21127 21071 21045 21081 21142 21098 20967 20881 20847 20802 20756 20727 20700 20641 20574 20564 20607 20650 20675 20681 20705 20725 20678 20594 20512 20428 20357 20305 20261 20230 20195 20171 20219 20306 20391 20442 20425 20342 20283 20291 20276 20244 20185 20114 20062 20048 20095 20164 20167 20151 20143 20165 20167 20106 20024 19996 20055 20126 20159 20171 20185 20194 20254 20342 20376 20332 20240 20153 20105 20076 1 124 154 1 370696.650382543157320 90151.573536386393243 0.000000000000000 2000.614135742187500 2355.107177734375000 23518 23551 23491 23443 23267 23153 23135 23052 23059 23163 23232 23300 23288 23010 22668 22576 22668 22669 22698 22770 22820 22921 23000 23091 23166 23269 23387 23257 22920 22674 22463 22341 22462 22739 22990 23157 23244 23269 23239 23231 23262 23284 23210 23044 22871 22725 22666 22709 22746 22718 22674 22607 22510 22377 22270 22252 22288 22253 22164 22125 22125 22116 22074 22028 21953 21844 21768 21752 21780 21823 21806 21706 21568 21458 21401 21386 21377 21334 21237 21178 21196 21273 21355 21333 21210 21104 21048 21062 21089 21063 20970 20902 20867 20816 20755 20713 20687 20652 20605 20572 20593 20638 20669 20671 20667 20665 20624 20556 20497 20408 20315 20256 20224 20212 20199 20190 20202 20228 20264 20284 20294 20270 20247 20257 20246 20200 20121 20061 20043 20043 20059 20083 20080 20072 20072 20098 20125 20104 20048 20006 20044 20106 20132 20136 20174 20206 20238 20316 20350 20292 20180 20096 20059 20041 1 125 154 1 370699.650382543157320 90151.573536386393243 0.000000000000000 2000.644409179687500 2362.220703125000000 23221 23177 23143 23271 23406 23512 23522 23486 23555 23622 23556 23456 23350 23039 22829 22918 23055 23007 23047 23160 23183 23174 23087 23074 23143 23182 23254 23215 22999 22823 22596 22414 22464 22712 22979 23204 23373 23447 23420 23396 23369 23300 23153 22982 22844 22745 22736 22801 22826 22772 22683 22587 22477 22368 22297 22302 22339 22283 22174 22145 22145 22125 22069 22009 21923 21811 21724 21730 21785 21831 21796 21672 21538 21469 21451 21450 21427 21350 21229 21181 21202 21280 21364 21350 21214 21093 21022 21044 21065 21023 20958 20932 20919 20866 20788 20732 20695 20659 20624 20586 20582 20609 20629 20640 20643 20621 20590 20540 20481 20396 20303 20264 20272 20263 20243 20248 20263 20256 20239 20212 20181 20170 20199 20236 20233 20165 20064 20046 20066 20089 20065 20045 20044 20043 20045 20055 20072 20079 20054 20006 20028 20089 20108 20120 20176 20211 20225 20265 20283 20239 20155 20088 20033 20022 1 126 154 1 370702.650382543157320 90151.573536386393243 0.000000000000000 1997.136962890625000 2397.913085937500000 22903 22828 22821 23044 23307 23463 23556 23718 23927 23979 23842 23667 23470 23162 23088 23227 23357 23335 23394 23566 23610 23491 23310 23323 23334 23264 23262 23319 23233 23042 22753 22514 22481 22674 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 23487 23424 23196 22911 22632 22513 22668 22906 23145 23442 23667 23636 23498 23373 23283 23200 23064 22925 22913 22978 22993 22965 22897 22790 22685 22584 22487 22394 22324 22280 22265 22253 22245 22212 22134 22043 21963 21887 21799 21749 21749 21802 21874 21873 21744 21586 21544 21559 21539 21512 21424 21301 21279 21291 21298 21292 21277 21212 21174 21170 21158 21098 20992 20929 20930 20938 20921 20901 20833 20750 20707 20682 20673 20649 20605 20571 20548 20534 20511 20494 20482 20461 20411 20347 20313 20339 20371 20383 20406 20478 20510 20443 20340 20232 20141 20105 20095 20087 20070 20060 20124 20223 20279 20229 20123 20074 20108 20109 20084 20055 20005 19977 19943 19946 20019 20075 20103 20189 20242 20214 20164 20143 20134 20122 20104 20053 20022 1 128 154 1 370708.650382543157320 90151.573536386393243 0.000000000000000 1998.839965820312500 2424.139404296875000 22234 22242 22426 22733 22895 23031 23238 23503 23809 24093 24241 24144 23902 23732 23686 23786 23868 23951 24078 24203 24197 23957 23787 23915 23891 23653 23575 23628 23495 23247 23004 22706 22524 22644 22895 23134 23404 23659 23689 23552 23465 23420 23300 23104 22994 23027 23086 23076 23032 22963 22861 22752 22641 22528 22419 22331 22306 22336 22324 22288 22237 22169 22068 21977 21911 21857 21815 21795 21818 21867 21864 21740 21610 21579 21589 21560 21504 21410 21309 21305 21308 21295 21303 21299 21280 21267 21254 21214 21112 20988 20930 20930 20932 20925 20917 20858 20788 20744 20702 20684 20672 20620 20557 20507 20477 20457 20439 20434 20426 20393 20350 20335 20372 20420 20459 20486 20551 20590 20530 20430 20325 20211 20125 20070 20040 20052 20108 20178 20248 20297 20255 20144 20120 20177 20199 20201 20191 20138 20080 20041 20000 19988 20023 20088 20161 20201 20197 20147 20107 20079 20060 20046 20029 20027 1 129 154 1 370711.650382543157320 90151.573536386393243 0.000000000000000 1997.753784179687500 2438.034179687500000 22123 22148 22270 22482 22643 22857 23135 23376 23665 23990 24204 24215 24167 24062 23950 24063 24178 24230 24300 24380 24368 24203 24086 24101 23973 23785 23736 23690 23437 23179 22960 22718 22540 22609 22828 23111 23419 23704 23824 23727 23639 23574 23385 23157 23073 23131 23186 23174 23127 23041 22933 22819 22687 22546 22424 22354 22372 22412 22372 22313 22247 22172 22076 22000 21958 21933 21874 21835 21849 21881 21876 21784 21676 21624 21617 21575 21496 21415 21350 21347 21335 21315 21342 21345 21314 21290 21274 21234 21137 21021 20968 20957 20949 20937 20913 20849 20799 20763 20716 20684 20672 20636 20585 20538 20497 20447 20409 20398 20387 20366 20348 20354 20392 20440 20511 20549 20580 20583 20537 20470 20373 20250 20153 20113 20087 20104 20186 20246 20268 20278 20227 20146 20180 20262 20286 20289 20304 20301 20270 20229 20142 20025 19988 20076 20138 20157 20170 20114 20054 20009 19978 19978 19982 20007 1 130 154 1 370714.650382543157320 90151.573536386393243 0.000000000000000 1991.240600585937500 2457.850341796875000 22319 22358 22323 22307 22438 22739 23058 23275 23526 23799 23941 24072 24278 24316 24273 24407 24524 24535 24536 24579 24562 24465 24360 24249 24121 24024 23945 23785 23478 23133 22851 22707 22661 22693 22838 23171 23537 23835 24001 23958 23870 23767 23546 23283 23153 23212 23276 23263 23218 23124 23009 22877 22720 22555 22416 22383 22441 22466 22415 22340 22247 22162 22088 22034 22010 21988 21926 21881 21908 21952 21938 21879 21785 21701 21669 21603 21495 21393 21371 21385 21361 21336 21370 21356 21292 21274 21282 21257 21166 21048 21004 21009 20996 20970 20910 20824 20771 20737 20701 20681 20664 20639 20601 20562 20529 20471 20427 20399 20373 20362 20366 20384 20419 20466 20540 20587 20597 20552 20494 20449 20369 20274 20198 20192 20183 20185 20251 20294 20283 20255 20193 20156 20228 20300 20309 20316 20360 20393 20418 20406 20294 20091 20001 20098 20142 20142 20145 20081 20004 19948 19912 19935 19947 19975 1 131 154 1 370717.650382543157320 90151.573536386393243 0.000000000000000 1986.925415039062500 2473.351318359375000 22592 22678 22617 22423 22391 22641 22944 23136 23353 23533 23610 23892 24247 24416 24520 24665 24729 24727 24721 24734 24722 24712 24658 24532 24388 24178 23940 23689 23414 23098 22852 22879 23021 22972 22901 23136 23511 23843 24108 24192 24129 23996 23723 23403 23255 23333 23394 23362 23303 23202 23076 22925 22749 22567 22438 22449 22508 22510 22443 22357 22255 22190 22144 22119 22107 22059 21978 21924 21948 21992 21973 21938 21866 21771 21690 21572 21450 21370 21377 21398 21375 21360 21402 21369 21291 21264 21273 21256 21170 21064 21036 21055 21035 20976 20899 20817 20766 20717 20672 20653 20634 20611 20569 20532 20506 20470 20445 20424 20406 20394 20394 20410 20447 20484 20524 20561 20578 20521 20439 20404 20369 20317 20274 20276 20262 20232 20286 20316 20276 20230 20180 20177 20260 20316 20330 20366 20407 20424 20483 20512 20408 20191 20053 20084 20134 20128 20102 20033 19935 19875 19869 19899 19915 19943 1 132 154 1 370720.650382543157320 90151.573536386393243 0.000000000000000 1983.440063476562500 2484.618652343750000 22906 23038 22927 22570 22357 22490 22757 22935 23144 23257 23390 23772 24133 24305 24450 24573 24609 24636 24664 24666 24690 24812 24846 24704 24426 24079 23730 23446 23227 23045 22953 23145 23395 23273 22994 23010 23321 23716 24119 24346 24351 24187 23831 23484 23385 23502 23543 23493 23402 23299 23193 23038 22807 22584 22490 22538 22574 22537 22456 22386 22312 22250 22202 22192 22194 22132 22027 21966 21981 22004 21969 21938 21863 21747 21631 21517 21430 21391 21424 21457 21440 21413 21418 21373 21307 21278 21267 21238 21170 21109 21097 21090 21029 20946 20886 20823 20772 20709 20660 20638 20616 20591 20551 20526 20506 20476 20449 20430 20435 20439 20435 20436 20459 20493 20520 20546 20547 20491 20423 20395 20394 20375 20362 20360 20310 20256 20303 20325 20267 20210 20178 20212 20306 20357 20372 20415 20453 20467 20519 20545 20465 20289 20128 20061 20103 20107 20055 19967 19874 19838 19834 19857 19895 19928 1 133 154 1 370723.650382543157320 90151.573536386393243 0.000000000000000 1984.284301757812500 2478.040527343750000 23281 23361 23125 22666 22367 22366 22494 22670 22892 23036 23289 23639 23919 24036 24127 24227 24291 24362 24425 24466 24557 24723 24780 24607 24239 23895 23614 23448 23332 23159 23089 23381 23617 23417 23088 23036 23283 23630 24047 24392 24499 24305 23888 23562 23514 23686 23754 23665 23511 23394 23297 23127 22836 22593 22558 22631 22645 22563 22474 22439 22392 22328 22265 22233 22233 22167 22062 22005 22006 22017 21969 21918 21828 21708 21610 21539 21472 21460 21511 21546 21514 21466 21449 21400 21341 21301 21265 21224 21193 21158 21128 21089 21016 20929 20867 20817 20766 20712 20662 20638 20619 20596 20568 20556 20530 20490 20461 20448 20451 20469 20478 20469 20463 20488 20530 20552 20540 20486 20441 20430 20415 20405 20417 20385 20328 20312 20339 20331 20264 20202 20182 20240 20327 20373 20402 20454 20493 20500 20521 20533 20473 20306 20118 20027 20046 20008 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 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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 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23584 23452 23336 23215 23071 22914 22773 22654 22536 22423 22307 22200 22131 22089 22089 22161 22268 22347 22329 22220 22090 21964 21834 21657 21489 21356 21262 21204 21181 21203 21252 21251 21132 20997 20915 20884 20878 20888 20926 20964 20966 20947 20924 20876 20849 20839 20843 20857 20870 20852 20836 20865 20924 20953 20956 20953 20969 21013 21072 21102 21126 21181 21143 21008 20866 20751 20658 20571 20509 20503 20500 20484 20466 20453 20461 20506 20534 20511 20473 20475 20500 20504 20476 20381 20259 1 162 154 1 370810.650382543157320 90151.573536386393243 0.000000000000000 2028.289428710937500 2533.943847656250000 23430 23549 23585 23645 23828 23962 23974 24003 24052 24011 23875 23751 23759 23851 23993 24102 24228 24475 24713 24889 24975 25042 25128 25103 25016 25014 25187 25322 25339 25288 25116 24771 24433 24153 23970 23884 23912 23926 24015 24294 24429 24305 24273 24371 24360 24141 23913 24072 24392 24641 24705 24529 24294 24067 23966 24022 24091 24078 24170 24329 24228 24074 24051 24117 24122 24043 23973 23931 23848 23683 23531 23417 23305 23171 23023 22884 22763 22638 22520 22421 22333 22266 22180 22132 22171 22284 22369 22347 22221 22103 22003 21896 21726 21544 21385 21283 21220 21188 21187 21223 21232 21134 21005 20931 20911 20905 20900 20926 20975 20991 20981 20958 20920 20891 20860 20828 20816 20815 20814 20799 20802 20856 20881 20885 20902 20936 20989 21053 21102 21157 21223 21203 21089 20948 20823 20714 20614 20531 20518 20513 20491 20469 20457 20485 20543 20580 20573 20532 20500 20487 20468 20441 20379 20283 1 163 154 1 370813.650382543157320 90151.573536386393243 0.000000000000000 2028.548217773437500 2510.137939453125000 23463 23579 23693 23767 23870 24010 24077 24141 24225 24206 24056 23875 23885 23992 24144 24286 24394 24544 24687 24806 24905 24936 24952 24907 24811 24866 25001 25076 25101 25088 25002 24769 24552 24398 24212 23990 23838 23738 23798 24062 24198 24097 24043 24142 24112 23887 23679 23840 24174 24519 24628 24466 24214 23925 23718 23732 23811 23872 24068 24193 23996 23817 23829 23964 24017 24006 24016 24018 23948 23792 23634 23517 23386 23251 23126 22998 22868 22736 22618 22540 22475 22385 22270 22192 22184 22278 22353 22309 22187 22122 22083 21986 21807 21606 21425 21301 21247 21221 21190 21196 21205 21135 21031 20964 20930 20917 20902 20923 20962 20997 21019 21008 20967 20934 20878 20822 20799 20782 20779 20778 20781 20807 20818 20846 20893 20939 20989 21039 21083 21132 21200 21224 21158 21033 20895 20763 20656 20567 20539 20543 20523 20492 20480 20497 20534 20585 20602 20574 20540 20486 20421 20371 20331 20285 1 164 154 1 370816.650382543157320 90151.573536386393243 0.000000000000000 2029.829345703125000 2488.768554687500000 23554 23607 23771 23908 23981 24076 24154 24215 24321 24340 24240 24075 24022 24108 24269 24401 24530 24631 24628 24628 24734 24800 24775 24719 24656 24666 24698 24759 24811 24851 24888 24866 24856 24785 24627 24423 24169 23852 23657 23739 23883 23889 23828 23916 23895 23671 23521 23775 24169 24476 24517 24345 24084 23757 23507 23460 23556 23696 23975 24092 23857 23615 23627 23798 23876 23923 24009 24079 24042 23909 23746 23614 23472 23336 23220 23100 22972 22845 22725 22643 22582 22458 22329 22249 22210 22244 22271 22217 22150 22153 22162 22067 21880 21671 21481 21345 21286 21250 21218 21212 21205 21149 21068 21004 20959 20937 20921 20925 20946 20995 21048 21060 21036 20990 20906 20821 20792 20780 20771 20762 20767 20793 20803 20836 20885 20944 20987 21030 21080 21115 21155 21195 21173 21071 20938 20798 20682 20591 20556 20567 20560 20524 20504 20490 20498 20543 20579 20597 20578 20495 20395 20336 20311 20298 1 165 154 1 370819.650382543157320 90151.573536386393243 0.000000000000000 2033.114501953125000 2510.991455078125000 23752 23765 23870 24046 24157 24223 24276 24302 24397 24445 24423 24317 24215 24225 24372 24500 24591 24658 24605 24490 24514 24633 24684 24619 24497 24442 24387 24423 24461 24555 24675 24815 25002 25110 25062 24889 24564 24105 23750 23600 23513 23499 23498 23609 23607 23461 23540 23926 24237 24356 24298 24141 23931 23612 23299 23189 23327 23571 23864 23977 23783 23507 23450 23622 23722 23826 23979 24120 24148 24029 23849 23702 23561 23425 23310 23191 23077 22947 22816 22725 22655 22518 22385 22300 22220 22168 22151 22115 22124 22178 22197 22092 21904 21703 21517 21382 21325 21295 21279 21269 21251 21194 21118 21036 20973 20934 20921 20925 20936 20972 21034 21082 21084 21021 20922 20843 20812 20806 20793 20770 20780 20813 20827 20846 20871 20933 20997 21046 21085 21096 21091 21111 21120 21055 20949 20823 20703 20609 20587 20587 20591 20554 20524 20506 20505 20534 20566 20600 20560 20451 20355 20335 20337 20331 1 166 154 1 370822.650382543157320 90151.573536386393243 0.000000000000000 2032.244506835937500 2528.250244140625000 23992 24005 24010 24169 24314 24361 24398 24393 24397 24431 24486 24487 24410 24370 24460 24553 24587 24599 24570 24459 24370 24442 24562 24531 24344 24240 24166 24169 24197 24318 24468 24620 24866 25150 25283 25193 24839 24362 24060 23848 23583 23392 23220 23211 23265 23338 23626 23967 24130 24129 23994 23832 23701 23497 23146 22977 23156 23452 23711 23761 23596 23383 23272 23429 23576 23738 23937 24131 24221 24118 23928 23773 23642 23515 23395 23272 23158 23032 22897 22781 22678 22561 22453 22349 22230 22130 22081 22052 22086 22155 22163 22056 21873 21682 21513 21408 21365 21327 21307 21305 21298 21256 21170 21062 20985 20941 20918 20941 20967 20979 21017 21077 21096 21040 20950 20882 20853 20842 20823 20804 20819 20848 20857 20865 20886 20937 20990 21052 21101 21106 21060 21023 21036 21020 20937 20824 20714 20625 20606 20608 20609 20579 20551 20531 20530 20547 20561 20579 20516 20389 20322 20362 20389 20378 1 167 154 1 370825.650382543157320 90151.573536386393243 0.000000000000000 2035.987060546875000 2523.798339843750000 24299 24319 24244 24300 24382 24332 24332 24339 24309 24327 24439 24510 24495 24504 24562 24555 24496 24473 24485 24428 24299 24271 24338 24329 24170 24051 23998 23955 23965 24098 24259 24413 24669 24985 25181 25238 25015 24645 24459 24300 24004 23681 23285 23043 23093 23372 23674 23831 23892 23867 23707 23536 23411 23335 23033 22854 23068 23356 23517 23461 23332 23233 23104 23249 23449 23660 23877 24089 24222 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/src/enemy_suv/enemy_suv_description/worlds/kunming_airport.world b/Flight_control/src/enemy_suv/enemy_suv_description/worlds/kunming_airport.world
new file mode 100644
index 0000000..e8b7f89
--- /dev/null
+++ b/Flight_control/src/enemy_suv/enemy_suv_description/worlds/kunming_airport.world
@@ -0,0 +1,78 @@
+
+
+
+
+
+ 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/src/enemy_suv/enemy_suv_teleop/CHANGELOG.rst b/Flight_control/src/enemy_suv/enemy_suv_teleop/CHANGELOG.rst
new file mode 100644
index 0000000..404258e
--- /dev/null
+++ b/Flight_control/src/enemy_suv/enemy_suv_teleop/CHANGELOG.rst
@@ -0,0 +1,29 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+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/src/enemy_suv/enemy_suv_teleop/CMakeLists.txt b/Flight_control/src/enemy_suv/enemy_suv_teleop/CMakeLists.txt
new file mode 100644
index 0000000..7c567ca
--- /dev/null
+++ b/Flight_control/src/enemy_suv/enemy_suv_teleop/CMakeLists.txt
@@ -0,0 +1,89 @@
+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/src/enemy_suv/enemy_suv_teleop/launch/logitech_gamepad.launch b/Flight_control/src/enemy_suv/enemy_suv_teleop/launch/logitech_gamepad.launch
new file mode 100644
index 0000000..83884da
--- /dev/null
+++ b/Flight_control/src/enemy_suv/enemy_suv_teleop/launch/logitech_gamepad.launch
@@ -0,0 +1,25 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/Flight_control/src/enemy_suv/enemy_suv_teleop/launch/xbox_controller.launch b/Flight_control/src/enemy_suv/enemy_suv_teleop/launch/xbox_controller.launch
new file mode 100644
index 0000000..c6e9348
--- /dev/null
+++ b/Flight_control/src/enemy_suv/enemy_suv_teleop/launch/xbox_controller.launch
@@ -0,0 +1,19 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/Flight_control/src/enemy_suv/enemy_suv_teleop/package.xml b/Flight_control/src/enemy_suv/enemy_suv_teleop/package.xml
new file mode 100644
index 0000000..4d89caf
--- /dev/null
+++ b/Flight_control/src/enemy_suv/enemy_suv_teleop/package.xml
@@ -0,0 +1,33 @@
+
+ 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/src/enemy_suv/enemy_suv_teleop/src/quadrotor_teleop.cpp b/Flight_control/src/enemy_suv/enemy_suv_teleop/src/quadrotor_teleop.cpp
new file mode 100644
index 0000000..7d6e02e
--- /dev/null
+++ b/Flight_control/src/enemy_suv/enemy_suv_teleop/src/quadrotor_teleop.cpp
@@ -0,0 +1,215 @@
+//=================================================================================================
+// 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/src/enemy_suv/enemy_suv_teleop_key/CMakeLists.txt b/Flight_control/src/enemy_suv/enemy_suv_teleop_key/CMakeLists.txt
new file mode 100644
index 0000000..39cdf18
--- /dev/null
+++ b/Flight_control/src/enemy_suv/enemy_suv_teleop_key/CMakeLists.txt
@@ -0,0 +1,89 @@
+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/src/enemy_suv/enemy_suv_teleop_key/launch/key.launch b/Flight_control/src/enemy_suv/enemy_suv_teleop_key/launch/key.launch
new file mode 100644
index 0000000..d36d9d5
--- /dev/null
+++ b/Flight_control/src/enemy_suv/enemy_suv_teleop_key/launch/key.launch
@@ -0,0 +1,12 @@
+
+
+
+
+
+
+
+
+
+
+
diff --git a/Flight_control/src/enemy_suv/enemy_suv_teleop_key/launch/key1.launch b/Flight_control/src/enemy_suv/enemy_suv_teleop_key/launch/key1.launch
new file mode 100644
index 0000000..aedd747
--- /dev/null
+++ b/Flight_control/src/enemy_suv/enemy_suv_teleop_key/launch/key1.launch
@@ -0,0 +1,7 @@
+
+
+
+
+
+
+
diff --git a/Flight_control/src/enemy_suv/enemy_suv_teleop_key/launch/key_0.launch b/Flight_control/src/enemy_suv/enemy_suv_teleop_key/launch/key_0.launch
new file mode 100644
index 0000000..b663c5e
--- /dev/null
+++ b/Flight_control/src/enemy_suv/enemy_suv_teleop_key/launch/key_0.launch
@@ -0,0 +1,12 @@
+
+
+
+
+
+
+
+
+
+
+
diff --git a/Flight_control/src/enemy_suv/enemy_suv_teleop_key/launch/key_2.launch b/Flight_control/src/enemy_suv/enemy_suv_teleop_key/launch/key_2.launch
new file mode 100644
index 0000000..fbdcd24
--- /dev/null
+++ b/Flight_control/src/enemy_suv/enemy_suv_teleop_key/launch/key_2.launch
@@ -0,0 +1,12 @@
+
+
+
+
+
+
+
+
+
+
+
diff --git a/Flight_control/src/enemy_suv/enemy_suv_teleop_key/launch/key_3.launch b/Flight_control/src/enemy_suv/enemy_suv_teleop_key/launch/key_3.launch
new file mode 100644
index 0000000..53ae927
--- /dev/null
+++ b/Flight_control/src/enemy_suv/enemy_suv_teleop_key/launch/key_3.launch
@@ -0,0 +1,12 @@
+
+
+
+
+
+
+
+
+
+
+
diff --git a/Flight_control/src/enemy_suv/enemy_suv_teleop_key/launch/key_4.launch b/Flight_control/src/enemy_suv/enemy_suv_teleop_key/launch/key_4.launch
new file mode 100644
index 0000000..4637f2f
--- /dev/null
+++ b/Flight_control/src/enemy_suv/enemy_suv_teleop_key/launch/key_4.launch
@@ -0,0 +1,12 @@
+
+
+
+
+
+
+
+
+
+
+
diff --git a/Flight_control/src/enemy_suv/enemy_suv_teleop_key/launch/key_5.launch b/Flight_control/src/enemy_suv/enemy_suv_teleop_key/launch/key_5.launch
new file mode 100644
index 0000000..f6948a0
--- /dev/null
+++ b/Flight_control/src/enemy_suv/enemy_suv_teleop_key/launch/key_5.launch
@@ -0,0 +1,12 @@
+
+
+
+
+
+
+
+
+
+
+
diff --git a/Flight_control/src/enemy_suv/enemy_suv_teleop_key/package.xml b/Flight_control/src/enemy_suv/enemy_suv_teleop_key/package.xml
new file mode 100644
index 0000000..3ce853e
--- /dev/null
+++ b/Flight_control/src/enemy_suv/enemy_suv_teleop_key/package.xml
@@ -0,0 +1,27 @@
+
+ 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/src/enemy_suv/enemy_suv_teleop_key/src/enemy_suv_teleop_key.cpp b/Flight_control/src/enemy_suv/enemy_suv_teleop_key/src/enemy_suv_teleop_key.cpp
new file mode 100644
index 0000000..7a36bd2
--- /dev/null
+++ b/Flight_control/src/enemy_suv/enemy_suv_teleop_key/src/enemy_suv_teleop_key.cpp
@@ -0,0 +1,382 @@
+//=================================================================================================
+// 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/src/enemy_suv/enemy_suv_teleop_key/src/quadrotor_teleop_key_modify.cpp b/Flight_control/src/enemy_suv/enemy_suv_teleop_key/src/quadrotor_teleop_key_modify.cpp
new file mode 100644
index 0000000..ac4ca8d
--- /dev/null
+++ b/Flight_control/src/enemy_suv/enemy_suv_teleop_key/src/quadrotor_teleop_key_modify.cpp
@@ -0,0 +1,417 @@
+//=================================================================================================
+// 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/src/enemy_suv/suv_move/CMakeLists.txt b/Flight_control/src/enemy_suv/suv_move/CMakeLists.txt
new file mode 100644
index 0000000..f3b4225
--- /dev/null
+++ b/Flight_control/src/enemy_suv/suv_move/CMakeLists.txt
@@ -0,0 +1,123 @@
+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/src/enemy_suv/suv_move/cfg/Controller.cfg b/Flight_control/src/enemy_suv/suv_move/cfg/Controller.cfg
new file mode 100644
index 0000000..4ac9d5e
--- /dev/null
+++ b/Flight_control/src/enemy_suv/suv_move/cfg/Controller.cfg
@@ -0,0 +1,58 @@
+#!/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/src/enemy_suv/suv_move/cfg/Follower.cfg b/Flight_control/src/enemy_suv/suv_move/cfg/Follower.cfg
new file mode 100644
index 0000000..fb68338
--- /dev/null
+++ b/Flight_control/src/enemy_suv/suv_move/cfg/Follower.cfg
@@ -0,0 +1,17 @@
+#!/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/src/enemy_suv/suv_move/include/controller_base.h b/Flight_control/src/enemy_suv/suv_move/include/controller_base.h
new file mode 100644
index 0000000..465202a
--- /dev/null
+++ b/Flight_control/src/enemy_suv/suv_move/include/controller_base.h
@@ -0,0 +1,145 @@
+/**
+ * @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 */
+ rosplane_msgs::Controller_Commands controller_commands_;
+ rosplane_msgs::State vehicle_state_;
+
+ void vehicle_state_callback(const rosplane_msgs::StateConstPtr &msg);
+ void controller_commands_callback(const rosplane_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/src/enemy_suv/suv_move/include/controller_base99.h b/Flight_control/src/enemy_suv/suv_move/include/controller_base99.h
new file mode 100644
index 0000000..379010b
--- /dev/null
+++ b/Flight_control/src/enemy_suv/suv_move/include/controller_base99.h
@@ -0,0 +1,145 @@
+/**
+ * @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 */
+ rosplane_msgs::Controller_Commands controller_commands_;
+ rosplane_msgs::State vehicle_state_;
+
+ void vehicle_state_callback(const rosplane_msgs::StateConstPtr &msg);
+ void controller_commands_callback(const rosplane_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/src/enemy_suv/suv_move/include/controller_example.h b/Flight_control/src/enemy_suv/suv_move/include/controller_example.h
new file mode 100644
index 0000000..4022a33
--- /dev/null
+++ b/Flight_control/src/enemy_suv/suv_move/include/controller_example.h
@@ -0,0 +1,53 @@
+#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/src/enemy_suv/suv_move/include/controller_example99.h b/Flight_control/src/enemy_suv/suv_move/include/controller_example99.h
new file mode 100644
index 0000000..ed2afe0
--- /dev/null
+++ b/Flight_control/src/enemy_suv/suv_move/include/controller_example99.h
@@ -0,0 +1,56 @@
+#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/src/enemy_suv/suv_move/include/estimator_base.h b/Flight_control/src/enemy_suv/suv_move/include/estimator_base.h
new file mode 100644
index 0000000..39aeb4d
--- /dev/null
+++ b/Flight_control/src/enemy_suv/suv_move/include/estimator_base.h
@@ -0,0 +1,131 @@
+/**
+ * @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/src/enemy_suv/suv_move/include/estimator_base_99pub.h b/Flight_control/src/enemy_suv/suv_move/include/estimator_base_99pub.h
new file mode 100644
index 0000000..2e5102e
--- /dev/null
+++ b/Flight_control/src/enemy_suv/suv_move/include/estimator_base_99pub.h
@@ -0,0 +1,45 @@
+
+// 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 rosplane_msgs::StateConstPtr &msg);
+
+ double update_rate_;
+ ros::Timer update_timer_;
+
+ std::string truth_topic_;
+
+ bool state_init_;
+ rosplane_msgs::State true_state_;
+
+};
+
+} //end namespace
+
+#endif //
diff --git a/Flight_control/src/enemy_suv/suv_move/include/estimator_base_statesub.h b/Flight_control/src/enemy_suv/suv_move/include/estimator_base_statesub.h
new file mode 100644
index 0000000..cfcc631
--- /dev/null
+++ b/Flight_control/src/enemy_suv/suv_move/include/estimator_base_statesub.h
@@ -0,0 +1,46 @@
+// 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 rosplane_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_;
+ rosplane_msgs::State29 state29_;
+};
+
+} //end namespace
+
+#endif //
diff --git a/Flight_control/src/enemy_suv/suv_move/include/estimator_base_updata_statesub.h b/Flight_control/src/enemy_suv/suv_move/include/estimator_base_updata_statesub.h
new file mode 100644
index 0000000..0d26f5d
--- /dev/null
+++ b/Flight_control/src/enemy_suv/suv_move/include/estimator_base_updata_statesub.h
@@ -0,0 +1,46 @@
+// 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 rosplane_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_;
+ rosplane_msgs::Up_Data_New state29_;
+};
+
+} //end namespace
+
+#endif //
diff --git a/Flight_control/src/enemy_suv/suv_move/include/estimator_example.h b/Flight_control/src/enemy_suv/suv_move/include/estimator_example.h
new file mode 100644
index 0000000..1df030a
--- /dev/null
+++ b/Flight_control/src/enemy_suv/suv_move/include/estimator_example.h
@@ -0,0 +1,73 @@
+#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/src/enemy_suv/suv_move/include/path_follower_base.h b/Flight_control/src/enemy_suv/suv_move/include/path_follower_base.h
new file mode 100644
index 0000000..9f7296d
--- /dev/null
+++ b/Flight_control/src/enemy_suv/suv_move/include/path_follower_base.h
@@ -0,0 +1,103 @@
+//* @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_;
+
+ rosplane_msgs::Controller_Commands controller_commands_;
+ struct params_s params_; /**< params */
+ struct input_s input_;
+
+ void vehicle_state_callback(const rosplane_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 rosplane_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/src/enemy_suv/suv_move/include/path_follower_example.h b/Flight_control/src/enemy_suv/suv_move/include/path_follower_example.h
new file mode 100644
index 0000000..1df47ae
--- /dev/null
+++ b/Flight_control/src/enemy_suv/suv_move/include/path_follower_example.h
@@ -0,0 +1,18 @@
+#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/src/enemy_suv/suv_move/include/path_manager_base.h b/Flight_control/src/enemy_suv/suv_move/include/path_manager_base.h
new file mode 100644
index 0000000..0e9b547
--- /dev/null
+++ b/Flight_control/src/enemy_suv/suv_move/include/path_manager_base.h
@@ -0,0 +1,122 @@
+//* @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_;
+
+ rosplane_msgs::State vehicle_state_; /**< vehicle state */
+ nav_msgs::Odometry bebop1_state_;
+
+ double update_rate_;
+ ros::Timer update_timer_;
+
+ void vehicle_state_callback(const rosplane_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 rosplane_msgs::Waypoint &msg);
+ void current_path_publish(const ros::TimerEvent &);
+ void waypoint_received_callback(const rosplane_msgs::Waypoint &msg);
+};
+} //end namespace
+#endif // PATH_MANAGER_BASE_H
diff --git a/Flight_control/src/enemy_suv/suv_move/include/path_manager_example.h b/Flight_control/src/enemy_suv/suv_move/include/path_manager_example.h
new file mode 100644
index 0000000..90dc1af
--- /dev/null
+++ b/Flight_control/src/enemy_suv/suv_move/include/path_manager_example.h
@@ -0,0 +1,78 @@
+#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/src/enemy_suv/suv_move/include/pseudo_controller_base.h b/Flight_control/src/enemy_suv/suv_move/include/pseudo_controller_base.h
new file mode 100644
index 0000000..b716c5b
--- /dev/null
+++ b/Flight_control/src/enemy_suv/suv_move/include/pseudo_controller_base.h
@@ -0,0 +1,137 @@
+/**
+ *
+ * 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 */
+ rosplane_msgs::Controller_Commands controller_commands_;
+ rosplane_msgs::State vehicle_state_;
+ nav_msgs::Odometry bebop1_state_;
+
+ void vehicle_state_callback(const rosplane_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 rosplane_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/src/enemy_suv/suv_move/include/pseudo_controller_example.h b/Flight_control/src/enemy_suv/suv_move/include/pseudo_controller_example.h
new file mode 100644
index 0000000..1bd751e
--- /dev/null
+++ b/Flight_control/src/enemy_suv/suv_move/include/pseudo_controller_example.h
@@ -0,0 +1,66 @@
+#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/src/enemy_suv/suv_move/package.xml b/Flight_control/src/enemy_suv/suv_move/package.xml
new file mode 100644
index 0000000..8387ad5
--- /dev/null
+++ b/Flight_control/src/enemy_suv/suv_move/package.xml
@@ -0,0 +1,33 @@
+
+
+ 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/src/enemy_suv/suv_move/param/aerosonde.yaml b/Flight_control/src/enemy_suv/suv_move/param/aerosonde.yaml
new file mode 100644
index 0000000..7339e54
--- /dev/null
+++ b/Flight_control/src/enemy_suv/suv_move/param/aerosonde.yaml
@@ -0,0 +1,33 @@
+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/src/enemy_suv/suv_move/param/bixler.yaml b/Flight_control/src/enemy_suv/suv_move/param/bixler.yaml
new file mode 100644
index 0000000..b1ab278
--- /dev/null
+++ b/Flight_control/src/enemy_suv/suv_move/param/bixler.yaml
@@ -0,0 +1,41 @@
+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/src/enemy_suv/suv_move/src/controller_base.cpp b/Flight_control/src/enemy_suv/suv_move/src/controller_base.cpp
new file mode 100644
index 0000000..e5ca807
--- /dev/null
+++ b/Flight_control/src/enemy_suv/suv_move/src/controller_base.cpp
@@ -0,0 +1,203 @@
+#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 rosplane_msgs::StateConstPtr &msg)
+{
+ vehicle_state_ = *msg;
+}
+
+void controller_base::controller_commands_callback(const rosplane_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)
+ {
+ rosplane_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/src/enemy_suv/suv_move/src/controller_base99.cpp b/Flight_control/src/enemy_suv/suv_move/src/controller_base99.cpp
new file mode 100644
index 0000000..496a217
--- /dev/null
+++ b/Flight_control/src/enemy_suv/suv_move/src/controller_base99.cpp
@@ -0,0 +1,203 @@
+#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 rosplane_msgs::StateConstPtr &msg)
+{
+ vehicle_state_ = *msg;
+}
+
+void controller_base99::controller_commands_callback(const rosplane_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)
+ {
+ rosplane_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/src/enemy_suv/suv_move/src/controller_example.cpp b/Flight_control/src/enemy_suv/suv_move/src/controller_example.cpp
new file mode 100644
index 0000000..09008a5
--- /dev/null
+++ b/Flight_control/src/enemy_suv/suv_move/src/controller_example.cpp
@@ -0,0 +1,265 @@
+#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/src/enemy_suv/suv_move/src/controller_example99.cpp b/Flight_control/src/enemy_suv/suv_move/src/controller_example99.cpp
new file mode 100644
index 0000000..95474a1
--- /dev/null
+++ b/Flight_control/src/enemy_suv/suv_move/src/controller_example99.cpp
@@ -0,0 +1,293 @@
+#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/src/enemy_suv/suv_move/src/estimator_base.cpp b/Flight_control/src/enemy_suv/suv_move/src/estimator_base.cpp
new file mode 100644
index 0000000..959a8a7
--- /dev/null
+++ b/Flight_control/src/enemy_suv/suv_move/src/estimator_base.cpp
@@ -0,0 +1,228 @@
+#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