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