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crazyflie-thrust-control.py
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crazyflie-thrust-control.py
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import argparse
import cflib.crtp
from cflib.crazyflie import Crazyflie
from cflib.crazyflie.log import LogConfig
import logging
import os
import time
hover_thrust = []
# TODO: add these to argparse
takeoff_height = 0.3 # m
forward_vel = 0.1 # m/s
turn_rate = 360.0 / 10.0 # rot/s
## Only output errors from the logging framework
logging.basicConfig(level=logging.ERROR)
def log_vbat_callback(timestamp, data, logconf):
'''
Logging callback function for battery voltage
'''
print("timestamp={}, vbat={} V".format(timestamp, data['pm.vbat']))
if args.write_to_file:
vbat_file_handler.write("{},{}\n".format(timestamp, data['pm.vbat']))
def log_thrust_callback(timestamp, data, logconf):
'''
Logging callback function for battery voltage
'''
global hover_thrust
hover_thrust.append(data['stabilizer.thrust'])
def spin():
'''
Keep script alive until KeyboardInterrupt is received
'''
while(1):
try:
time.sleep(0.01)
except KeyboardInterrupt:
break
if __name__ == '__main__':
parser = argparse.ArgumentParser(description='Script to control the crazyflie\'s thrust')
parser.add_argument('-t', '--thrust', type=int, help='Manually commanded thrust (in percentage). Use 20%% to 100%%')
parser.add_argument('-ht', '--hover', action='store_true', help='Hover thrust')
parser.add_argument('-u', '--uri', type=str, default='69', help='URI of the crazyflie to connect to')
parser.add_argument('-v', '--log_vbat', action='store_true', default=False, help='Log battery voltage')
parser.add_argument('-w', '--write_to_file', action='store_true', default=False, help='Write logging variables to file')
parser.add_argument('-n', '--trial_no', type=int, help='Trial number (for saving vbat information to file)')
args = parser.parse_args()
# Argument list sanity checks
if args.write_to_file and not args.log_vbat:
parser.error('Cannot write vbat to file without logging. Pass -v along with -w.')
if args.thrust is not None and args.hover:
parser.error('Only pass one of -t or -ht')
if (args.thrust is None == args.hover) and args.trial_no is not None:
parser.error('Pass the -n option with either -t or -ht')
# Initialize drivers for communication using CRTP
cflib.crtp.init_drivers(enable_debug_driver=False)
# Connect to the crazyflie
cf = Crazyflie(rw_cache=os.path.expanduser("~") + "/.cache")
cf.open_link('radio://0/' + args.uri + '/2M/E7E7E7E7E7')
time.sleep(5) # give some time to establish connection; 5 sec seems to work
print('radio://0/' + args.uri + '/2M/E7E7E7E7E7' + " connected?: " + str(cf.is_connected()))
# Logging battery voltage
if args.log_vbat:
# Overwrite logfile contents
if args.write_to_file:
# Unless trial no is specified, default to default filename
if args.trial_no is None:
filename = "vbat.csv"
# Else choose appropirate filename
else:
if args.hover:
filename = "vbat_h_n-" + str(args.trial_no) + ".csv"
else:
filename = "vbat_t-" + str(args.thrust) + "_n-" + str(args.trial_no) + ".csv"
vbat_file_handler = open("../data/" + filename, "w")
vbat_file_handler.close()
vbat_file_handler = open("../data/" + filename, "a")
logconf_vbat = LogConfig(name="Battery voltage", period_in_ms=1000)
logconf_vbat.add_variable('pm.vbat', 'float')
cf.log.add_config(logconf_vbat)
logconf_vbat.data_received_cb.add_callback(log_vbat_callback)
if args.thrust is not None:
# Send thrust=0 first so that the crazyflie-firmware's safety protection requirements are met
cf.commander.send_setpoint(0.0, 0.0, 0, 0)
time.sleep(0.1)
# Using param framework for low-level motor speed control
print("Sending thrust " + str(args.thrust) + "% to " + 'radio://0/' + args.uri + '/2M/E7E7E7E7E7' + " ...")
cf.param.set_value("motorPowerSet.m1", int(args.thrust * ((2**16)-1)/100)); time.sleep(0.01)
cf.param.set_value("motorPowerSet.m2", int(args.thrust * ((2**16)-1)/100)); time.sleep(0.01)
cf.param.set_value("motorPowerSet.m3", int(args.thrust * ((2**16)-1)/100)); time.sleep(0.01)
cf.param.set_value("motorPowerSet.m4", int(args.thrust * ((2**16)-1)/100)); time.sleep(0.01)
cf.param.set_value("motorPowerSet.enable", 1)
time.sleep(3) # wait for some time before starting logging battery voltage
if args.log_vbat:
logconf_vbat.start() # start logging battery voltage
spin()
# Turn off motors
print("Turning off motors and closing connection with " + 'radio://0/' + args.uri + '/2M/E7E7E7E7E7' + " ...")
cf.param.set_value("motorPowerSet.m1", 0); time.sleep(0.01)
cf.param.set_value("motorPowerSet.m2", 0); time.sleep(0.01)
cf.param.set_value("motorPowerSet.m3", 0); time.sleep(0.01)
cf.param.set_value("motorPowerSet.m4", 0); time.sleep(0.01)
cf.param.set_value("motorPowerSet.enable", 0)
# Hover at hover thrust
elif args.hover:
# This part gets rid of the 'Hello from PyGame...' message
from os import environ
environ['PYGAME_HIDE_SUPPORT_PROMPT'] = '1'
import pygame
from pygame.locals import *
from cflib.positioning.motion_commander import MotionCommander
logconf_thrust = LogConfig(name="Thrust", period_in_ms=1000)
logconf_thrust.add_variable('stabilizer.thrust', 'float')
cf.log.add_config(logconf_thrust)
logconf_thrust.data_received_cb.add_callback(log_thrust_callback)
with MotionCommander(cf, default_height=takeoff_height) as mc:
print("Take off " + 'radio://0/' + args.uri + '/2M/E7E7E7E7E7' + " at hover thrust.")
mc.stop()
time.sleep(3) # give some time to take off before starting logging battery voltage
logconf_vbat.start() # start logging battery voltage
logconf_thrust.start() # start logging thrust
pygame.init()
win_width=400
win_height=400
screen = pygame.display.set_mode((win_width, win_height), DOUBLEBUF)
pygame.display.set_caption("Crazyflie control")
screen.fill((50, 55, 60)) # background
titlefont = pygame.font.SysFont('hack', 20)
text = titlefont.render('Crazyflie controller', True, (255, 255, 255)); screen.blit(text, (8,10))
descfont = pygame.font.SysFont('hack', 18)
text = descfont.render('Keys: w,s,a,d> move; q,e> turn; f> stop; z>land', True, (255, 255, 255)); screen.blit(text, (5, int(win_height/2 - 10)))
#text = descfont.render('Press Esc to quit.', True, (255, 255, 255)); screen.blit(text, (5,win_height/2 + 10))
pygame.display.flip()
# PyGame loop
while(1):
try:
# To exit
event = pygame.event.poll()
if event.type == QUIT or (event.type == KEYDOWN and event.key == K_ESCAPE):
break
elif event.type == KEYDOWN and event.key == K_w:
mc.stop()
mc.start_forward(velocity=forward_vel)
elif event.type == KEYDOWN and event.key == K_s:
mc.stop()
mc.start_back(velocity=forward_vel)
elif event.type == KEYDOWN and event.key == K_a:
mc.stop()
mc.start_left(velocity=forward_vel)
elif event.type == KEYDOWN and event.key == K_d:
mc.stop()
mc.start_right(velocity=forward_vel)
elif event.type == KEYDOWN and event.key == K_q:
mc.stop()
mc.start_turn_left(rate=turn_rate)
elif event.type == KEYDOWN and event.key == K_e:
mc.stop()
mc.start_turn_right(rate=turn_rate)
elif event.type == KEYDOWN and event.key == K_f:
mc.stop()
elif event.type == KEYDOWN and event.key == K_z:
mc.stop()
logconf_vbat.stop()
break
except KeyboardInterrupt:
break
logconf_thrust.stop()
mc.land()
print('radio://0/' + args.uri + '/2M/E7E7E7E7E7' + " landed.")
print("Stopped logging thrust.")
print("Average hover thrust for the flight was: {} %".format(sum(hover_thrust)*100/len(hover_thrust)/((2**16)-1)))
else:
spin()
# Stop logging battery voltage
if args.log_vbat:
logconf_vbat.stop()
print("Stopped logging vbat.")
if args.write_to_file:
vbat_file_handler.close()
print("Closed the csv file.")
# Disconnect and end
cf.close_link()
print("Exiting...")