send_setpoint error

[fangjir]

i use the code below ,but with thrust curve like the picture, how to imporve it

import asyncio
import rospy
import math
import time
from tkinter import N
from threading import Thread
from matplotlib import markers
from controller import PID

from scipy.spatial.transform import Rotation
from geometry_msgs.msg import PoseStamped
from geometry_msgs.msg import TwistStamped

import cflib.crtp
from cflib.crazyflie import Crazyflie
from cflib.crazyflie.log import LogConfig
from cflib.crazyflie.mem import Poly4D
from cflib.crazyflie.mem import MemoryElement
from cflib.crazyflie.syncCrazyflie import SyncCrazyflie
from cflib.crazyflie.syncLogger import SyncLogger
from cflib.utils import uri_helper
from cflib.crazyflie.commander import Commander
from cflib.crtp.crtpstack import CRTPPacket
from cflib.positioning.motion_commander import MotionCommander

Guidance
import numpy as np
import math as m
import numpy as np
import numpy.linalg as lg
import matplotlib.pyplot as plt
import scipy.sparse.linalg as sla

URI to the Crazyflie to connect to
uri = uri_helper.uri_from_env(default='radio://0/100/2M/E7E7E7E701')

rigid_body_name = 'cf1'

send_full_pose = False

orientation_std_dev = 8.0e-3

class MocapWrapper(Thread):
def init(self,scf,uri):
Thread.init(self)
self.scf = scf
self.cf = scf.cf
self.command = scf.cf.commander
self.uri = uri
self.first = 1
self.i = 1
self.j = 1
self.pos_cb = [0,0,0]
self.pos_mocap = np.array([0,0,0])
self.vel_mocap = np.array([0,0,0])
self.pos_init = np.array([0,0,0])
self.vel_cb = [0,0,0]
self.euler_cb = [0,0,0]
self.ngvel_cb = [0,0,0]
self.thrusts_ = []
self.thrust = []
self.thrust_current = 0
self.const_thrust = 47900.0
self.acc2thr_ = 4180.0
self.p = 1000000.0
self.gamma = 0
self.k = 0
self.rho = 0.998
self.acc_real = [0,0,0]
self.norm_acc = 0
self.acc2thr = []
self.error_thrust = []
self.h_int = [0,0,0]
self.send_full_pose = False
self.orientation_std_dev = 8.0e-3
self.z_list = []

self.Kp = np.array([2, 2, 2])
self.Kv = np.array([1,1,1])
self.des_acc = np.array([0,0,0])
self.des_vel = np.array([0,0,0])
self.a_des = np.array([0,0,9.81])
rospy.Subscriber("/vrpn_client_node/MCServer/3/pose",PoseStamped,self.pos_callback,queue_size=1)
rospy.Subscriber("/vrpn_client_node/MCServer/3/velocity",TwistStamped,self.vel_callback,queue_size=1)

def wait_for_position_estimator(self):
print('Waiting for estimator to find position...')

log_config = LogConfig(name='Kalman Variance', period_in_ms=10)
log_config.add_variable('kalman.varPX', 'FP16')
log_config.add_variable('kalman.varPY', 'FP16')
log_config.add_variable('kalman.varPZ', 'FP16')

var_y_history = [1000] * 10
var_x_history = [1000] * 10
var_z_history = [1000] * 10

threshold = 0.001

with SyncLogger(self.scf, log_config) as logger:
    for log_entry in logger:
        data = log_entry[1]

        var_x_history.append(data['kalman.varPX'])
        var_x_history.pop(0)
        var_y_history.append(data['kalman.varPY'])
        var_y_history.pop(0)
        var_z_history.append(data['kalman.varPZ'])
        var_z_history.pop(0)

        min_x = min(var_x_history)
        max_x = max(var_x_history)
        min_y = min(var_y_history)
        max_y = max(var_y_history)
        min_z = min(var_z_history)
        max_z = max(var_z_history)

        print("{} {} {}".
            format(max_x - min_x, max_y - min_y, max_z - min_z))

        if (max_x - min_x) < threshold and (
                max_y - min_y) < threshold and (
                max_z - min_z) < threshold:
            break

def _sqrt(self,a):

if a < 0.0:
    return 0.0
return math.sqrt(a)

def send_extpose_quat(self, x, y, z, quat):
if send_full_pose:
self.cf.extpos.send_extpose(x, y, z, quat.x, quat.y, quat.z, quat.w)
else:
self.cf.extpos.send_extpos(x, y, z)

def reset_estimator(self):
self.cf.param.set_value('kalman.resetEstimation', '1')
time.sleep(0.1)
self.cf.param.set_value('kalman.resetEstimation', '0')

# time.sleep(1)
self.wait_for_position_estimator()

def position_callback(self,timestamp, data, logconf):
self.pos_cb[0] = data['kalman.stateX']
self.pos_cb[1] = data['kalman.stateY']
self.pos_cb[2] = data['kalman.stateZ']
self.vel_cb[0] = data['stateEstimate.vx']
self.vel_cb[1] = data['stateEstimate.vy']
self.vel_cb[2] = data['stateEstimate.vz']

def start_position_printing(self):
log_conf = LogConfig(name='Position', period_in_ms=10)
log_conf.add_variable('kalman.stateX', 'FP16')
log_conf.add_variable('kalman.stateY', 'FP16')
log_conf.add_variable('kalman.stateZ', 'FP16')
log_conf.add_variable('stateEstimate.vx', 'FP16')
log_conf.add_variable('stateEstimate.vy', 'FP16')
log_conf.add_variable('stateEstimate.vz', 'FP16')

self.cf.log.add_config(log_conf)
log_conf.data_received_cb.add_callback(self.position_callback)
log_conf.start()

def position_callback_euler(self,imestamp, data, logconf):
self.euler_cb[0] = data['stabilizer.roll']
self.euler_cb[1] = data['stabilizer.pitch']
self.euler_cb[2] = data['stabilizer.yaw']
self.acc_real = [data['acc.x']*9.81, data['acc.y']*9.81, data['acc.z']*9.81]
self.thrust.append(data['stabilizer.thrust'])
self.thrust_current = data['stabilizer.thrust']
self.thrusts_.append(int(10001 + ((self.const_thrust[0]-10001.0)/9.81)*lg.norm(self.acc_real)))

def estimateThrustmodel(self):
#model: thrust = acc*acc2thr
self.norm_acc = lg.norm(self.acc_real)
self.gamma = 1/(self.rho + self.norm_acc * self.p * self.norm_acc)
self.k= self.gamma * self.p * self.norm_acc
self.acc2thr_ = self.acc2thr_ + self.k * (self.thrust_current - self.norm_acc * self.acc2thr_)
self.acc2thr.append(self.acc2thr_)
self.p = (1-self.k * self.norm_acc)*self.p / self.rho

def start_position_printing_euler(self):
log_conf = LogConfig(name='Stabilizer', period_in_ms=10)
log_conf.add_variable('stabilizer.roll', 'FP16')
log_conf.add_variable('stabilizer.pitch', 'FP16')
log_conf.add_variable('stabilizer.yaw', 'FP16')
log_conf.add_variable('stabilizer.thrust','FP16')
log_conf.add_variable('acc.x', 'FP16')
log_conf.add_variable('acc.y', 'FP16')
log_conf.add_variable('acc.z', 'FP16')

self.cf.log.add_config(log_conf)
log_conf.data_received_cb.add_callback(self.position_callback_euler)
log_conf.start()

def stop_logconf(self):
log_conf = LogConfig(name='Position', period_in_ms=10)
log_conf.stop()

def adjust_orientation_sensitivity(self):
self.cf.param.set_value('locSrv.extQuatStdDev', orientation_std_dev)
print('adjust_orientation_senstivity')

def activate_kalman_estimator(self):
self.cf.param.set_value('stabilizer.estimator', '2')

# Set the std deviation for the quaternion data pushed into the
# kalman filter. The default value seems to be a bit too low.
self.cf.param.set_value('locSrv.extQuatStdDev', 0.06)
print('activate_kalman_estimate')

def activate_high_level_commander(self):
self.cf.param.set_value('commander.enHighLevel', '1')
print('activate_high_level_commander')

def activate_mellinger_controller(self):
self.cf.param.set_value('stabilizer.controller', '2')

def run_sequence(self):
commander = self.cf.high_level_commander

commander.takeoff(0.5, 2.0)
time.sleep(3.0)
commander.land(0.0, 2.0)
time.sleep(2)
commander.stop()

def pos_callback(self,msg):
if self.first == 1:
self.pos_mocap = np.array([msg.pose.position.x/1000,msg.pose.position.y/1000,msg.pose.position.z/1000])
self.pos_init = self.pos_mocap
self.pos_init[2] = 0.4
self.first = 0
if self.i==1:
self.pos_mocap = np.array([msg.pose.position.x/1000,msg.pose.position.y/1000,msg.pose.position.z/1000])
self.send_extpose_quat(msg.pose.position.x/1000,msg.pose.position.y/1000,msg.pose.position.z/1000,msg.pose.orientation )
self.i=0

    else :
        self.i=1

def vel_callback(self,msg):
if self.j==1:
self.vel_mocap = np.array([msg.twist.linear.x,msg.twist.linear.y,msg.twist.linear.z])
self.j=0
else :
self.j=1
def thrust_clip(self,thrust_cmd):

thrust clip thrust

if (thrust_cmd > 60000):
    return 50000
elif (thrust_cmd < 10001):
    return  10001
else:
    return thrust_cmd

def vel_control(self):
controller1 = PID(1.1,0.002,0.275)
controller2 = PID(0.9,0.002,0.275)
controller3 = PID(0.9,0.002,0.275)

    t = 0.0
    self.command.send_setpoint(0,0,0,0)
    time.sleep(0.1)
    while t <= 5:#traj1.duration:
        time1 = time.time()

            #PID
            #velocityx = controller1.update(0,self.pos_init[0],self.pos_mocap[0])
            #velocityy = controller2.update(0,self.pos_init[1],self.pos_mocap[1])
            #velocityz = controller3.update(0,self.pos_init[2],self.pos_mocap[2])
        self.des_acc = (self.a_des + np.diag(self.Kv).dot(self.des_vel-self.vel_mocap) + np.diag(self.Kp).dot(self.pos_init-self.pos_mocap))
            #mc.start_linear_motion(velocityx,velocityy,velocityz)
        self.command.send_setpoint(0,0,0,int(self.thrust_clip(self.des_acc[2]*4180)))
        #self.estimateThrustmodel()
        time2 = time.time()
        time3 = time2 -time1
            #print("t=", t)

        if time3 <= 0.01:
            t = t + 0.01
            time.sleep(0.01 - time3)
        else:
            t = t + time3

    #return self.z_list

def plot(self):
print('estimate acc2thr')
print(self.acc2thr)
print('acc')
print(self.acc_real)
fig = plt.figure()
ax1 = fig.add_subplot(511)
ax1.plot(self.thrusts_) #根据加速度算出来的推力
ax2 = fig.add_subplot(512)
ax2.plot(self. thrust)#log出来的推力
ax3 = fig.add_subplot(513)
ax3.plot(self.acc_real) #加速度
ax4 = fig.add_subplot(514)
ax4.plot(self.acc2thr) #系数
ax5 = fig.add_subplot(515)
ax5.plot(self.error_thrust)#推力误差

plt.show()      

if name == 'main':
cflib.crtp.init_drivers()

Connect to QTM

rospy.init_node('mocap',anonymous=True)
with SyncCrazyflie(uri, cf=Crazyflie(rw_cache='./cache')) as scf:
cf = scf.cf
MW = MocapWrapper(scf,uri)

# accattcon = AccAttController(cf,qtm_wrapper)
MW.adjust_orientation_sensitivity()
MW.activate_kalman_estimator()
#activate_high_level_commander(cf)
# activate_mellinger_controller(cf)
MW.reset_estimator()
# run_sequence(cf, trajectory_id, duration)
MW.start_position_printing()
MW.start_position_printing_euler()
MW.vel_control()
MW.plot()

[whoenig]

Please reformat your code. Please also describe more clearly what the "error" is / what you want to improve. Thanks!

[fangjir]

I use send_setpoint to send roll,pitch and thrust to crazyflie Once every 0.02 seconds, however the uavtakes off suddenly and lands, repeating until the end of time

[knmcguire]

This seems more like a crazyflie python library problem than a crazyswarm2 issue, and a duplicate of this one: https://github.com/orgs/bitcraze/discussions/1108

This should probably be handled on the bitcraze discussion forum, so @fangjir could you give the updates there and close this discussion?