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Bio test succeeded

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This commit is contained in:
Xuan0319
2023-08-01 16:22:04 +08:00
parent bf8f017f95
commit e525815992
14 changed files with 137 additions and 81 deletions
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class_model/include/class_model/Leader.h
+2 -2
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@@ -45,8 +45,8 @@ private:
int OnTarget = 0; int OnTarget = 0;
float pre_alt,cur_alt; float pre_alt,cur_alt;
float error_lon,error_lat; float error_lon,error_lat;
float leader_pid[3] = {1 , 0.000000000001 ,0}; float leader_pid[3] = {0.5 , 0.000001 ,0.001};
float ignore_small = 0.50 ,limit_speed = 0.5; float ignore_small = 0.50 ,limit_speed = 10;
void face2target(float target_heading); void face2target(float target_heading);
}; };
#endif // Leader_H #endif // Leader_H
class_model/include/class_model/PID.h
+8 -3
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@@ -4,16 +4,21 @@
#include <ros/ros.h> #include <ros/ros.h>
#include "ctime" #include "ctime"
#include <iostream>
#include <fstream>
class PIDClass { class PIDClass {
public: public:
// PIDClass(); PIDClass();
// virtual ~PIDClass(); virtual ~PIDClass();
float update(float current ,float target ,float pidvals[3]); float update(float current ,float target ,float pidvals[3]);
float update1(float current ,float target ); float update1(float current ,float target );
std::string droneID;
private: private:
// ROS NodeHandle // ROS NodeHandle
ros::NodeHandle node_handle_; ros::NodeHandle node_handle_;
std::ofstream logFile;
std::string ros_namespace;
float pidval1[3] = {0.5 , 0.000000000001 , 0.5}; float pidval1[3] = {0.5 , 0.000000000001 , 0.5};
float limit[2] = {2 , -2}; float limit[2] = {2 , -2};
@@ -23,5 +28,5 @@ private:
}; };
//"/home/dodo/ardupilot_ws/src/class_model/src/log/PID"+droneID+".txt"
#endif // PID_H #endif // PID_H
class_model/include/class_model/convert_degree.h
+2 -2
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@@ -29,11 +29,11 @@ float check_direction(float error_degree){
int direction; int direction;
if(error_degree <= 180 && error_degree >= 0){ //check yaw direction if(error_degree <= 180 && error_degree >= 0){ //check yaw direction
direction = -1; direction = -1;
}else if(error_degree < -180){ }else if(error_degree < -180 && error_degree < 0){
direction = -1; direction = -1;
}else if(error_degree >= -180 && error_degree < 0){ }else if(error_degree >= -180 && error_degree < 0){
direction = 1; direction = 1;
}else if(error_degree > 180){ }else if(error_degree > 180 && error_degree >= 0){
direction = 1; direction = 1;
} }
class_model/include/class_model/follower.h
+3 -3
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@@ -1,7 +1,7 @@
/*Follow the leader in a fixed formation */ /*Follow the leader in a fixed formation */
#ifndef FOLLOWER_H #ifndef FOLLOWER_H
#define FOLLOWER_H #define FOLLOWER_H
#define swarmNum 3 #define swarmNum 5 //The number of drones
#define changeLeader #define changeLeader
// #define NoChangeLeader // #define NoChangeLeader
#include <ros/ros.h> #include <ros/ros.h>
@@ -62,8 +62,8 @@ private:
float distance = config["formation"]["distance"].as<float>(); float distance = config["formation"]["distance"].as<float>();
float angle = config["formation"]["angle"].as<float>(); float angle = config["formation"]["angle"].as<float>();
float error_lon,error_lat; float error_lon,error_lat;
float follower_pid[3] = {1 , 0.00000000001 ,0};// D downsize float follower_pid[3] = {0.5 , 0.000001 ,0.001};// D downsize
float ignore_small = 0.50 ,limit_speed = 0.5; float ignore_small = 0.50 ,limit_speed = 10;
float m,n,k,cosTheta,pre_m,pre_k,u,LTcos; // function direct()'s variable float m,n,k,cosTheta,pre_m,pre_k,u,LTcos; // function direct()'s variable
global_location pre_tar,ref_point; // function plane()'s variable global_location pre_tar,ref_point; // function plane()'s variable
float slope,c,y; // function plane()'s variable float slope,c,y; // function plane()'s variable
class_model/src/Leader.cpp
+2 -1
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@@ -28,6 +28,7 @@ void LeaderClass::leader(global_location target){
pre_target.lon = target.lon; pre_target.lon = target.lon;
pre_target.lat = target.lat; pre_target.lat = target.lat;
OnTarget = 1; OnTarget = 1;
heading_status = 0;
ROS_INFO("break"); ROS_INFO("break");
break; break;
} }
@@ -122,7 +123,7 @@ void LeaderClass::face2target(float target_heading){
float error_heading; float error_heading;
float heading = GPS_object.get_heading(); float heading = GPS_object.get_heading();
float error_yaw = 0.2; float error_yaw = 0.25;
error_heading = target_heading - heading; error_heading = target_heading - heading;
error_yaw = check_direction(error_heading)*error_yaw*0.5; error_yaw = check_direction(error_heading)*error_yaw*0.5;
class_model/src/PID.cpp
+25 -4
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@@ -1,23 +1,37 @@
#include "class_model/PID.h" #include "class_model/PID.h"
// PIDClass::PIDClass() : node_handle_(""){ PIDClass::PIDClass() : node_handle_("~"){
// if (!node_handle_.hasParam("droneID"))
// {
// }else{
// node_handle_.getParam("droneID", droneID);
// }
// } if (!node_handle_.hasParam("namespace"))
{
}else{
node_handle_.getParam("namespace", ros_namespace);
}
// PIDClass::~PIDClass() { ros::shutdown(); } }
PIDClass::~PIDClass() { ros::shutdown(); }
float PIDClass::update(float current ,float target ,float pidvals[3]){ float PIDClass::update(float current ,float target ,float pidvals[3]){
current_time = std::clock(); current_time = std::clock();
// pTime = current_time - // pTime = current_time -
double t = (current_time - pTime); double t = (current_time - pTime)/1e6;
float error = (target - current); float error = (target - current);
double P,D,result; double P,D,result;
P = pidvals[0] * error; P = pidvals[0] * error;
I = I + (pidvals[1] * error *t); I = I + (pidvals[1] * error *t);
// D = (pidvals[2] * (error - pError))/t; // D = (pidvals[2] * (error - pError))/t;
// I = 0;
D = 0; D = 0;
result = P + I + D; result = P + I + D;
@@ -31,6 +45,13 @@ float PIDClass::update(float current ,float target ,float pidvals[3]){
} }
} }
logFile.open("/home/dodo/ardupilot_ws/src/class_model/src/log"+ros_namespace+"PID.txt", std::ofstream::app);
logFile << P <<","<< I <<","<< D << std::endl;
logFile.close();
pError = error; pError = error;
pTime = current_time; pTime = current_time;
class_model/src/bio_main.cpp
+16 -9
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@@ -45,10 +45,10 @@ int main(int argc, char **argv) {
M4 = request_object.get_M4_GPS(); M4 = request_object.get_M4_GPS();
// global_location* pos[] = {&target,&self,&M1,&M2,&M3,&M4}; global_location* pos[] = {&target,&self,&M1,&M2,&M3,&M4};
// global_location* member[] = {&M1,&M2,&M3,&M4}; global_location* member[] = {&M1,&M2,&M3,&M4};
global_location* pos[] = {&target,&self,&M1,&M2}; // global_location* pos[] = {&target,&self,&M1,&M2};
global_location* member[] = {&M1,&M2}; // global_location* member[] = {&M1,&M2};
size_t index = sizeof(pos)/sizeof(pos[0]); size_t index = sizeof(pos)/sizeof(pos[0]);
size_t m_index = sizeof(member)/sizeof(member[0]); size_t m_index = sizeof(member)/sizeof(member[0]);
@@ -95,7 +95,7 @@ int main(int argc, char **argv) {
// std::cout <<"x: "<< errorX << std::endl; // std::cout <<"x: "<< errorX << std::endl;
// std::cout <<"y: "<< errorY << std::endl; // std::cout <<"y: "<< errorY << std::endl;
while(errorX > 100 || errorY > 100){ while(errorX > 150 || errorY > 150){
self = request_object.get_self_GPS(); self = request_object.get_self_GPS();
M1 = request_object.get_M1_GPS(); M1 = request_object.get_M1_GPS();
@@ -103,6 +103,12 @@ int main(int argc, char **argv) {
M3 = request_object.get_M3_GPS(); M3 = request_object.get_M3_GPS();
M4 = request_object.get_M4_GPS(); M4 = request_object.get_M4_GPS();
errorX = abs(pos[leaderIndex]->lon - target.lon) ;
errorY = abs(pos[leaderIndex]->lat - target.lat) ;
if(errorX < 150 && errorY < 150){
break;
}
if(checkLeader == 1){ if(checkLeader == 1){
std::cout << "Drone1 is Leader" << std::endl; std::cout << "Drone1 is Leader" << std::endl;
@@ -114,20 +120,21 @@ int main(int argc, char **argv) {
} }
// OnTarget = leader_object.isOnTarget(); // OnTarget = leader_object.isOnTarget();
// std::cout <<"tar: "<< OnTarget << std::endl; // std::cout <<"tar: "<< OnTarget << std::endl;
errorX = abs(pos[leaderIndex]->lon - target.lon) ;
errorY = abs(pos[leaderIndex]->lat - target.lat) ;
// std::cout <<"x: "<< errorX << std::endl; // std::cout <<"x: "<< errorX << std::endl;
// std::cout <<"y: "<< errorY << std::endl; // std::cout <<"y: "<< errorY << std::endl;
} }
sleep(3); sleep(3);
// while(type != "n"){ // while(type != "n"){
// type = receiver_object.check_command(); // type = receiver_object.check_command();
if(errorX < 100 && errorY < 100 && routeIndex < routeNum -1 ){ if(errorX < 150 && errorY < 150 && routeIndex < routeNum -1 ){
routeIndex++; routeIndex++;
checkLeader = 0; checkLeader = 0;
std::cout <<"Drone1routeIndex: "<<routeIndex<<std::endl; // std::cout <<"Drone1routeIndex: "<<routeIndex<<std::endl;
// OnTarget = 0; // OnTarget = 0;
} }
// else if(routeIndex == routeNum -1){
// routeIndex = 0;
// }
// } // }
// type = "x"; // type = "x";
// while (routeIndex >= routeNum){ // while (routeIndex >= routeNum){
class_model/src/bio_main2.cpp
+16 -9
View File
@@ -45,10 +45,10 @@ int main(int argc, char **argv) {
M4 = request_object.get_M4_GPS(); M4 = request_object.get_M4_GPS();
// global_location* pos[] = {&target,&self,&M1,&M2,&M3,&M4}; global_location* pos[] = {&target,&self,&M1,&M2,&M3,&M4};
// global_location* member[] = {&M1,&M2,&M3,&M4}; global_location* member[] = {&M1,&M2,&M3,&M4};
global_location* pos[] = {&target,&self,&M1,&M2}; // global_location* pos[] = {&target,&self,&M1,&M2};
global_location* member[] = {&M1,&M2}; // global_location* member[] = {&M1,&M2};
size_t index = sizeof(pos)/sizeof(pos[0]); size_t index = sizeof(pos)/sizeof(pos[0]);
size_t m_index = sizeof(member)/sizeof(member[0]); size_t m_index = sizeof(member)/sizeof(member[0]);
@@ -95,7 +95,7 @@ int main(int argc, char **argv) {
// std::cout <<"x: "<< errorX << std::endl; // std::cout <<"x: "<< errorX << std::endl;
// std::cout <<"y: "<< errorY << std::endl; // std::cout <<"y: "<< errorY << std::endl;
while(errorX > 100 || errorY > 100){ while(errorX > 150 || errorY > 150){
self = request_object.get_self_GPS(); self = request_object.get_self_GPS();
M1 = request_object.get_M1_GPS(); M1 = request_object.get_M1_GPS();
@@ -103,6 +103,12 @@ int main(int argc, char **argv) {
M3 = request_object.get_M3_GPS(); M3 = request_object.get_M3_GPS();
M4 = request_object.get_M4_GPS(); M4 = request_object.get_M4_GPS();
errorX = abs(pos[leaderIndex]->lon - target.lon) ;
errorY = abs(pos[leaderIndex]->lat - target.lat) ;
if(errorX < 150 && errorY < 150){
break;
}
if(checkLeader == 1){ if(checkLeader == 1){
std::cout << "Drone2 is Leader" << std::endl; std::cout << "Drone2 is Leader" << std::endl;
@@ -114,20 +120,21 @@ int main(int argc, char **argv) {
} }
// OnTarget = leader_object.isOnTarget(); // OnTarget = leader_object.isOnTarget();
// std::cout <<"tar: "<< OnTarget << std::endl; // std::cout <<"tar: "<< OnTarget << std::endl;
errorX = abs(pos[leaderIndex]->lon - target.lon) ;
errorY = abs(pos[leaderIndex]->lat - target.lat) ;
// std::cout <<"x: "<< errorX << std::endl; // std::cout <<"x: "<< errorX << std::endl;
// std::cout <<"y: "<< errorY << std::endl; // std::cout <<"y: "<< errorY << std::endl;
} }
sleep(3); sleep(3);
// while(type != "n"){ // while(type != "n"){
// type = receiver_object.check_command(); // type = receiver_object.check_command();
if(errorX < 100 && errorY < 100 && routeIndex < routeNum -1 ){ if(errorX < 150 && errorY < 150 && routeIndex < routeNum -1 ){
routeIndex++; routeIndex++;
checkLeader = 0; checkLeader = 0;
std::cout <<"Drone2routeIndex: "<<routeIndex<<std::endl; // std::cout <<"Drone2routeIndex: "<<routeIndex<<std::endl;
// OnTarget = 0; // OnTarget = 0;
} }
// else if(routeIndex == routeNum -1){
// routeIndex = 0;
// }
// } // }
// type = "x"; // type = "x";
// while (routeIndex >= routeNum){ // while (routeIndex >= routeNum){
class_model/src/bio_main3.cpp
+16 -9
View File
@@ -45,10 +45,10 @@ int main(int argc, char **argv) {
M4 = request_object.get_M4_GPS(); M4 = request_object.get_M4_GPS();
// global_location* pos[] = {&target,&self,&M1,&M2,&M3,&M4}; global_location* pos[] = {&target,&self,&M1,&M2,&M3,&M4};
// global_location* member[] = {&M1,&M2,&M3,&M4}; global_location* member[] = {&M1,&M2,&M3,&M4};
global_location* pos[] = {&target,&self,&M1,&M2}; // global_location* pos[] = {&target,&self,&M1,&M2};
global_location* member[] = {&M1,&M2}; // global_location* member[] = {&M1,&M2};
size_t index = sizeof(pos)/sizeof(pos[0]); size_t index = sizeof(pos)/sizeof(pos[0]);
size_t m_index = sizeof(member)/sizeof(member[0]); size_t m_index = sizeof(member)/sizeof(member[0]);
@@ -95,7 +95,7 @@ int main(int argc, char **argv) {
// std::cout <<"x: "<< errorX << std::endl; // std::cout <<"x: "<< errorX << std::endl;
// std::cout <<"y: "<< errorY << std::endl; // std::cout <<"y: "<< errorY << std::endl;
while(errorX > 100 || errorY > 100){ while(errorX > 150 || errorY > 150){
self = request_object.get_self_GPS(); self = request_object.get_self_GPS();
M1 = request_object.get_M1_GPS(); M1 = request_object.get_M1_GPS();
@@ -103,6 +103,12 @@ int main(int argc, char **argv) {
M3 = request_object.get_M3_GPS(); M3 = request_object.get_M3_GPS();
M4 = request_object.get_M4_GPS(); M4 = request_object.get_M4_GPS();
errorX = abs(pos[leaderIndex]->lon - target.lon) ;
errorY = abs(pos[leaderIndex]->lat - target.lat) ;
if(errorX < 150 && errorY < 150){
break;
}
if(checkLeader == 1){ if(checkLeader == 1){
std::cout << "Drone3 is Leader" << std::endl; std::cout << "Drone3 is Leader" << std::endl;
@@ -114,20 +120,21 @@ int main(int argc, char **argv) {
} }
// OnTarget = leader_object.isOnTarget(); // OnTarget = leader_object.isOnTarget();
// std::cout <<"tar: "<< OnTarget << std::endl; // std::cout <<"tar: "<< OnTarget << std::endl;
errorX = abs(pos[leaderIndex]->lon - target.lon) ;
errorY = abs(pos[leaderIndex]->lat - target.lat) ;
// std::cout <<"x: "<< errorX << std::endl; // std::cout <<"x: "<< errorX << std::endl;
// std::cout <<"y: "<< errorY << std::endl; // std::cout <<"y: "<< errorY << std::endl;
} }
sleep(3); sleep(3);
// while(type != "n"){ // while(type != "n"){
// type = receiver_object.check_command(); // type = receiver_object.check_command();
if(errorX < 100 && errorY < 100 && routeIndex < routeNum -1 ){ if(errorX < 150 && errorY < 150 && routeIndex < routeNum -1 ){
routeIndex++; routeIndex++;
checkLeader = 0; checkLeader = 0;
std::cout <<"Drone3routeIndex: "<<routeIndex<<std::endl; // std::cout <<"Drone3routeIndex: "<<routeIndex<<std::endl;
// OnTarget = 0; // OnTarget = 0;
} }
// else if(routeIndex == routeNum -1){
// routeIndex = 0;
// }
// } // }
// type = "x"; // type = "x";
// while (routeIndex >= routeNum){ // while (routeIndex >= routeNum){
class_model/src/bio_main4.cpp
+9 -5
View File
@@ -93,7 +93,7 @@ int main(int argc, char **argv) {
// std::cout <<"x: "<< errorX << std::endl; // std::cout <<"x: "<< errorX << std::endl;
// std::cout <<"y: "<< errorY << std::endl; // std::cout <<"y: "<< errorY << std::endl;
while(errorX > 100 || errorY > 100){ while(errorX > 150 || errorY > 150){
self = request_object.get_self_GPS(); self = request_object.get_self_GPS();
M1 = request_object.get_M1_GPS(); M1 = request_object.get_M1_GPS();
@@ -101,6 +101,12 @@ int main(int argc, char **argv) {
M3 = request_object.get_M3_GPS(); M3 = request_object.get_M3_GPS();
M4 = request_object.get_M4_GPS(); M4 = request_object.get_M4_GPS();
errorX = abs(pos[leaderIndex]->lon - target.lon) ;
errorY = abs(pos[leaderIndex]->lat - target.lat) ;
if(errorX < 150 && errorY < 150){
break;
}
if(checkLeader == 1){ if(checkLeader == 1){
std::cout << "Drone4 is Leader" << std::endl; std::cout << "Drone4 is Leader" << std::endl;
@@ -112,18 +118,16 @@ int main(int argc, char **argv) {
} }
// OnTarget = leader_object.isOnTarget(); // OnTarget = leader_object.isOnTarget();
// std::cout <<"tar: "<< OnTarget << std::endl; // std::cout <<"tar: "<< OnTarget << std::endl;
errorX = abs(pos[leaderIndex]->lon - target.lon) ;
errorY = abs(pos[leaderIndex]->lat - target.lat) ;
// std::cout <<"x: "<< errorX << std::endl; // std::cout <<"x: "<< errorX << std::endl;
// std::cout <<"y: "<< errorY << std::endl; // std::cout <<"y: "<< errorY << std::endl;
} }
// while(type != "n"){ // while(type != "n"){
// type = receiver_object.check_command(); // type = receiver_object.check_command();
if(errorX < 100 && errorY < 100 && routeIndex < routeNum -1 ){ if(errorX < 150 && errorY < 150 && routeIndex < routeNum -1 ){
routeIndex++; routeIndex++;
checkLeader = 0; checkLeader = 0;
std::cout <<"routeIndex: "<<routeIndex<<std::endl; // std::cout <<"routeIndex: "<<routeIndex<<std::endl;
// OnTarget = 0; // OnTarget = 0;
} }
// } // }
class_model/src/bio_main5.cpp
+10 -6
View File
@@ -93,7 +93,7 @@ int main(int argc, char **argv) {
// std::cout <<"x: "<< errorX << std::endl; // std::cout <<"x: "<< errorX << std::endl;
// std::cout <<"y: "<< errorY << std::endl; // std::cout <<"y: "<< errorY << std::endl;
while(errorX > 100 || errorY > 100){ while(errorX > 150 || errorY > 150){
self = request_object.get_self_GPS(); self = request_object.get_self_GPS();
M1 = request_object.get_M1_GPS(); M1 = request_object.get_M1_GPS();
@@ -101,6 +101,12 @@ int main(int argc, char **argv) {
M3 = request_object.get_M3_GPS(); M3 = request_object.get_M3_GPS();
M4 = request_object.get_M4_GPS(); M4 = request_object.get_M4_GPS();
errorX = abs(pos[leaderIndex]->lon - target.lon) ;
errorY = abs(pos[leaderIndex]->lat - target.lat) ;
if(errorX < 150 && errorY < 150){
break;
}
if(checkLeader == 1){ if(checkLeader == 1){
std::cout << "Drone5 is Leader" << std::endl; std::cout << "Drone5 is Leader" << std::endl;
@@ -112,18 +118,16 @@ int main(int argc, char **argv) {
} }
// OnTarget = leader_object.isOnTarget(); // OnTarget = leader_object.isOnTarget();
// std::cout <<"tar: "<< OnTarget << std::endl; // std::cout <<"tar: "<< OnTarget << std::endl;
errorX = abs(pos[leaderIndex]->lon - target.lon) ;
errorY = abs(pos[leaderIndex]->lat - target.lat) ;
// std::cout <<"x: "<< errorX << std::endl; // std::cout <<"x: "<< errorX << std::endl;
// std::cout <<"y: "<< errorY << std::endl; // std::cout <<"y: "<< errorY << std::endl;
} }
sleep(3);
// while(type != "n"){ // while(type != "n"){
// type = receiver_object.check_command(); // type = receiver_object.check_command();
if(errorX < 100 && errorY < 100 && routeIndex < routeNum -1 ){ if(errorX < 150 && errorY < 150 && routeIndex < routeNum -1 ){
routeIndex++; routeIndex++;
checkLeader = 0; checkLeader = 0;
std::cout <<"routeIndex: "<<routeIndex<<std::endl; // std::cout <<"routeIndex: "<<routeIndex<<std::endl;
// OnTarget = 0; // OnTarget = 0;
} }
// } // }
class_model/src/config.yaml
+6 -6
View File
@@ -2,19 +2,19 @@ DroneParam:
ID: 1 ID: 1
route1: route1:
x: 120.6743161 #(24.1218859, 120.6743161) x: 120.6743161 #(24.1218859, 120.6743161)
y: 24.1220860 y: 24.1221859
z: 0.0 z: 0.0
route2: route2:
x: 120.6746461 #(24.1218859, 120.6743161) x: 120.6745161 #(24.1218859, 120.6743161)
y: 24.1218860 y: 24.1218859
z: 0.0 z: 0.0
route3: route3:
x: 120.6743161 #(24.1218859, 120.6743161) x: 120.6743161 #(24.1218859, 120.6743161)
y: 24.1217360 y: 24.1216859
z: 0.0 z: 0.0
route4: route4:
x: 120.6743161 #(24.1218859, 120.6743161) x: 120.6740161 #(24.1218859, 120.6743161)
y: 24.1218859 y: 24.1217359
z: 0.0 z: 0.0
formation: formation:
distance: 4.0 distance: 4.0
class_model/src/follower.cpp
+21 -21
View File
@@ -83,7 +83,7 @@ void FollowerClass::plane(global_location* target, global_location* leader, glob
y = slope * follower->lon + c; y = slope * follower->lon + c;
// std::cout<< follower.ID << ","<< follower.lat <<","<< y <<std::endl; // std::cout<< follower.ID << ","<< follower.lat <<","<< y <<std::endl;
std::cout<< "slope: " << slope <<std::endl; // std::cout<< "slope: " << slope <<std::endl;
if((follower->lat <= y && phi < 180) || (follower->lat > y && phi >= 180)){ if((follower->lat <= y && phi < 180) || (follower->lat > y && phi >= 180)){
// std::cout <<"drone :"<<follower->ID <<", plane: 1" <<std::endl; // std::cout <<"drone :"<<follower->ID <<", plane: 1" <<std::endl;
@@ -298,20 +298,20 @@ int FollowerClass::find_ref_drone(global_location** data, size_t index, int lead
j+=1; j+=1;
// std::cout << "drone3" <<std::endl; // std::cout << "drone3" <<std::endl;
} }
// if(drone4.ID == data[1]->ID){ if(drone4.ID == data[1]->ID){
// self = drone4; self = drone4;
// }else{ }else{
// memberDrone[j] = drone4; memberDrone[j] = drone4;
// j+=1; j+=1;
// // std::cout << "drone4" <<std::endl; // std::cout << "drone4" <<std::endl;
// } }
// if(drone5.ID == data[1]->ID){ if(drone5.ID == data[1]->ID){
// self = drone5; self = drone5;
// }else{ }else{
// memberDrone[j] = drone5; memberDrone[j] = drone5;
// j+=1; j+=1;
// // std::cout << "drone4" <<std::endl; // std::cout << "drone4" <<std::endl;
// } }
for(int i=0;i<index-2;i++){ for(int i=0;i<index-2;i++){
@@ -343,7 +343,7 @@ int FollowerClass::find_ref_drone(global_location** data, size_t index, int lead
check_index = std::distance(_d.begin(),std::min_element(_d.begin(),_d.end())); //get minimum value's index check_index = std::distance(_d.begin(),std::min_element(_d.begin(),_d.end())); //get minimum value's index
ref_ID = samePlane[check_index].ID; ref_ID = samePlane[check_index].ID;
std::cout <<"drone "<< self.ID <<",plane: "<< self.plane <<",refID: " << ref_ID << ",mem_index: "<< s_index << std::endl; // std::cout <<"drone "<< self.ID <<",plane: "<< self.plane <<",refID: " << ref_ID << ",mem_index: "<< s_index << std::endl;
// std::cout <<"\n"<< std::endl; // std::cout <<"\n"<< std::endl;
return ref_ID; return ref_ID;
@@ -379,15 +379,15 @@ void FollowerClass::calculate_position(float k,float theta,int plane){
Pf[0]=(transfer[0][0]*Q[0]+transfer[0][1]*Q[1])*T[0]+Pl[0]/100; Pf[0]=(transfer[0][0]*Q[0]+transfer[0][1]*Q[1])*T[0]+Pl[0]/100;
Pf[1]=(transfer[1][0]*Q[0]+transfer[1][1]*Q[1])*T[1]+Pl[1]/100; Pf[1]=(transfer[1][0]*Q[0]+transfer[1][1]*Q[1])*T[1]+Pl[1]/100;
// error_lon = PID_x.update(follower_location.lon*1e5 , Pf[0] ,follower_pid); //caculate error (PID) error_lon = PID_x.update(follower_location.lon*1e5 , Pf[0] ,follower_pid); //caculate error (PID)
// error_lat = PID_y.update(follower_location.lat*1e5 , Pf[1] ,follower_pid); error_lat = PID_y.update(follower_location.lat*1e5 , Pf[1] ,follower_pid);
// float error_x = PID_x.update1(follower_location.lon*1e5 , Pf[0] ); //caculate error // float error_x = PID_x.update1(follower_location.lon*1e5 , Pf[0] ); //caculate error
// float error_y = PID_y.update1(follower_location.lat*1e5 , Pf[1] ); // float error_y = PID_y.update1(follower_location.lat*1e5 , Pf[1] );
error_lon = Pf[0] - (follower_location.lon*1e+5); //caculate error // error_lon = Pf[0] - (follower_location.lon*1e+5); //caculate error
error_lat = Pf[1] - (follower_location.lat*1e+5); // error_lat = Pf[1] - (follower_location.lat*1e+5);
float error_degree = deg_phi - heading; float error_degree = deg_phi - heading;
@@ -449,7 +449,7 @@ void FollowerClass::face2target(global_location* target, global_location* leader
float x,y,target_heading; float x,y,target_heading;
float heading = GPS_object.get_heading(); float heading = GPS_object.get_heading();
heading_status = 0; heading_status = 0;
error_yaw = 0.2; error_yaw = 0.25;
x = (target->lon/100) - (leader->lon/100); x = (target->lon/100) - (leader->lon/100);
y = (target->lat/100) - (leader->lat/100); y = (target->lat/100) - (leader->lat/100);
target_heading = ConvertDeg(x,y); target_heading = ConvertDeg(x,y);
iq_sim/worlds/three_drone.world
+1 -1
View File
@@ -85,7 +85,7 @@
<model name="drone1"> <model name="drone1">
<pose> 0 0 0 0 0 0</pose> <pose> 0 0 0 0 0 0</pose>
<include> <include>
<uri>model://drone1</uri> <uri>model://drone_with_camera</uri>
</include> </include>
</model> </model>
<model name="drone2"> <model name="drone2">