Rotorcraft Waypoint motion controller

Motion controller using force and torque to move a rotorcraft to a waypoint.

This controller will receive a 3D destination point and heading and make the robot move to that location by changing attitude. This controller is meant for rotorcrafts like quadrotors.

Configuration parameters for Rotorcraft Waypoint motion controller

You can set these properties in your scripts with <component>.properties(<property1>=..., <property2>=...).

  • HorizontalPgain (float, default: 0.10471975511965978)

    proportional gain for the outer horizontal position [xy] loop

  • HorizontalDgain (float, default: 0.13962634015954636)

    derivative gain for the outer horizontal position [xy] loop

  • VerticalPgain (float, default: 8)

    proportional gain for the altitude loop

  • VerticalDgain (float, default: 8)

    derivative gain for the altitude loop

  • YawPgain (float, default: 12.0)

    proportional gain for yaw control of the inner loop

  • YawDgain (float, default: 6.0)

    derivative gain for yaw control of the inner loop

  • RollPitchPgain (float, default: 9.7)

    proportional gain for roll/pitch control of the inner loop

  • RollPitchDgain (float, default: 2)

    derivative gain for roll/pitch control of the inner loop

  • MaxBankAngle (float, default: 0.5235987755982988)

    limit the maximum roll/pitch angle of the robot. This effectively limits the horizontal acceleration of the robot

  • RemainAtDestination (bool, default: True)

    If true (default), the robot actively attempts to remain at the waypoint once reached. This is especially useful for flying robots that would otherwise typically fall.

  • Target (string, default: "wp_target")

    name of a blender object in the scene. When specified, this object will be placed at the coordinates given to the actuator, to indicate the expected destination of the robot. Make sure that this object has NO_COLLISION

Data fields

This actuator reads these datafields at each simulation step:

  • x (float, initial value: 0.0)

    waypoint x coordinate in meters

  • y (float, initial value: 0.0)

    waypoint y coordinate in meters

  • z (float, initial value: 0.0)

    waypoint z coordinate in meters

  • yaw (float, initial value: 0.0)

    desired heading angle in radians

  • tolerance (float, initial value: 0.2)

    waypoint tolerance in meters

Interface support:

Services for Rotorcraft Waypoint motion controller

  • get_properties() (blocking)

    Returns the properties of a component.

    • Return value

      a dictionary of the current component’s properties

  • get_status() (blocking)

    Return the current status (Transit or Arrived)

  • get_configurations() (blocking)

    Returns the configurations of a component (parsed from the properties).

    • Return value

      a dictionary of the current component’s configurations

  • setdest(x, y, z, yaw, tolerance) (blocking)

    Set a new waypoint and returns.

    The robot will try to go to this position, but the service caller has no mean to know when the destination is reached or if it failed.

    In most cases, the asynchronous service ‘goto’ should be preferred.

    • Parameters

      • x: x coordinate of the waypoint (meter)
      • y: y coordinate of the waypoint (meter)
      • z: z coordinate of the waypoint (meter)
      • yaw: orientation of the waypoint (radian)
      • tolerance: distance considered to decide that the waypoint has been reached (meter)
    • Return value

      True (if the robot is already moving, the previous target is replaced by the new one) except if the destination is already reached. In this case, returns False.

  • goto(x, y, z, yaw, tolerance) (non blocking)

    Go to a new destination.

    The service returns when the destination is reached within the provided tolerance bounds.

    • Parameters
      • x: x coordinate of the waypoint (meter)
      • y: y coordinate of the waypoint (meter)
      • z: z coordinate of the waypoint (meter)
      • yaw: orientation of the waypoint (radian)
      • tolerance: distance considered to decide that the waypoint has been reached (meter)
  • set_property(prop_name, prop_val) (blocking)

    Modify one property on a component

    • Parameters

      • prop_name: the name of the property to modify (as shown the documentation)
      • prop_val: the new value of the property. Note that there is no checking about the type of the value so be careful
    • Return value

      nothing

Examples

The following examples show how to use this component in a Builder script:

from morse.builder import *

# adds a default robot (the MORSE mascott!)
robot = Morsy()

# creates a new instance of the actuator
rotorcraftwaypoint = RotorcraftWaypoint()

# place your component at the correct location
rotorcraftwaypoint.translate(<x>, <y>, <z>)
rotorcraftwaypoint.rotate(<rx>, <ry>, <rz>)

robot.append(rotorcraftwaypoint)

# define one or several communication interface, like 'socket'
rotorcraftwaypoint.add_interface(<interface>)

env = Environment('empty')

Other sources of examples

(This page has been auto-generated from MORSE module morse.actuators.rotorcraft_waypoint.)