/
square_flight.py
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square_flight.py
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'''
My implementation based on Udacity's backyard flyer project
Event Driven implementation of a UAV's "Draw A Square"
'''
import argparse
import time
from enum import Enum
import numpy as np
import matplotlib.pyplot as plt
from udacidrone import Drone
from udacidrone.connection import MavlinkConnection, WebSocketConnection # noqa: F401
from udacidrone.messaging import MsgID
class Phases(Enum):
MANUAL = 0
ARMING = 1
TAKEOFF = 2
WAYPOINT = 3
LANDING = 4
DISARMING = 5
class BackyardFlyer(Drone):
def __init__(self, connection):
super().__init__(connection)
self.target_position = np.array([0.0, 0.0, 0.0])
self.all_waypoints = []
self.in_mission = True
self.check_state = {}
# initial state
self.flight_phase = Phases.MANUAL
# list of logs
self.xlog = []
self.ylog = []
self.zlog = []
self.vxlog = []
self.vylog = []
self.vzlog = []
self.register_callback(MsgID.LOCAL_POSITION, self.local_position_callback)
self.register_callback(MsgID.LOCAL_VELOCITY, self.velocity_callback)
self.register_callback(MsgID.STATE, self.state_callback)
def local_position_callback(self):
self.xlog.append(self.local_position[0])
self.ylog.append(self.local_position[1])
self.zlog.append(-1 * self.local_position[2])
if self.flight_phase == Phases.TAKEOFF:
if -1.0 * self.local_position[2] > 0.95 * self.target_position[2]:
self.all_waypoints = self.calculate_box()
self.waypoint_transition()
if self.flight_phase == Phases.WAYPOINT:
if np.linalg.norm(self.target_position[0:2] - self.local_position[0:2]) < 1.0:
if (len(self.all_waypoints) > 0):
self.waypoint_transition()
else:
if (self.local_velocity[0] < 1.0 and self.local_velocity[1] < 1.0):
print("local position " + str(self.local_position))
self.landing_transition()
def velocity_callback(self):
self.vxlog.append(self.local_velocity[0])
self.vylog.append(self.local_velocity[1])
self.vzlog.append(-1 * self.local_velocity[2])
if self.flight_phase == Phases.LANDING:
if ((self.global_position[2] - self.global_home[2] < 0.1)) and abs(self.local_position[2] < 0.01):
self.disarming_transition()
def state_callback(self):
if not self.in_mission:
return
if self.flight_phase == Phases.MANUAL:
self.arming_transition()
elif self.flight_phase == Phases.ARMING:
if self.armed:
self.takeoff_transition()
elif self.flight_phase == Phases.DISARMING:
if not self.armed:
self.manual_transition()
def calculate_box(self):
waypoints = [
[10.0, 0.0, 3.0],
[10.0, 10.0, 3.0],
[0.0, 10.0, 3.0],
[0.0, 0.0, 3.0]
]
self.waypointlog_x = [0., 10., 10., 0., 0.]
self.waypointlog_y = [0., 0., 10., 10., 0.]
self.waypointlog_z = [0., 3., 3., 3., 3.]
return waypoints
def arming_transition(self):
print("arming transition")
self.take_control()
self.arm()
self.set_home_position(self.global_position[0],
self.global_position[1],
self.global_position[2])
self.flight_phase = Phases.ARMING
def takeoff_transition(self):
print("takeoff transition")
target_altitude = 3.0
self.target_position[2] = target_altitude
self.takeoff(target_altitude)
self.flight_phase = Phases.TAKEOFF
def waypoint_transition(self):
print("waypoint transition")
self.target_position = self.all_waypoints.pop(0)
print("target position " + str(self.target_position))
self.cmd_position(self.target_position[0], self.target_position[1], self.target_position[2], 0.0)
self.flight_phase = Phases.WAYPOINT
def landing_transition(self):
print("landing transition")
self.land()
self.flight_phase = Phases.LANDING
def disarming_transition(self):
print("disarm transition")
self.disarm()
self.flight_phase = Phases.DISARMING
def manual_transition(self):
print("manual transition")
self.release_control()
self.stop()
self.in_mission = False
self.flight_phase = Phases.MANUAL
def start(self):
print("Creating log file")
self.start_log("Logs", "NavLog.txt")
print("starting connection")
self.connection.start()
print("Closing log file")
self.stop_log()
def plot_positions(drone_object):
fig, axs = plt.subplots(3, sharex=True, sharey=True)
fig.suptitle("Position at each Callbacks")
axs[0].plot(drone_object.xlog, 'tab:red')
axs[0].plot(drone_object.waypointlog_x, color='blue')
axs[0].set_title("X Position")
axs[1].plot(drone_object.ylog, 'tab:red')
axs[1].plot(drone_object.waypointlog_y, color='blue')
axs[1].set_title("Y Position")
axs[2].plot(drone_object.zlog, 'tab:red')
axs[2].plot(drone_object.waypointlog_z, color='blue')
axs[2].set_title("Z Position")
def plot_velocities(drone_object):
fig, axs = plt.subplots(3, sharex=True)
fig.suptitle("Velocities at each Callbacks")
axs[0].plot(drone_object.vxlog, 'tab:orange')
axs[0].set_title("X Velocity")
axs[1].plot(drone_object.vylog, 'tab:green')
axs[1].set_title("Y Velocity")
axs[2].plot(drone_object.vzlog, 'tab:blue')
axs[2].set_title("Z Velocity")
if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument('--port', type=int, default=5760, help='Port number')
parser.add_argument('--host', type=str, default='127.0.0.1', help="host address, i.e. '127.0.0.1'")
args = parser.parse_args()
conn = MavlinkConnection('tcp:{0}:{1}'.format(args.host, args.port), threaded=False, PX4=False)
#conn = WebSocketConnection('ws://{0}:{1}'.format(args.host, args.port))
drone = BackyardFlyer(conn)
time.sleep(2)
drone.start()
plot_positions(drone)
plot_velocities(drone)
plt.show()