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:
ros
as geometry_msgs/Pose (morse.middleware.ros.read_pose.PoseReader
)socket
as straight JSON deserialization (morse.middleware.socket_datastream.SocketReader
)yarp
as YarpReader (morse.middleware.yarp_datastream.YarpReader
)mavlink
as SET_POSITION_TARGET_LOCAL_NED (morse.middleware.mavlink.local_position_ned_to_waypoint.WaypointActuator
)
Services for Rotorcraft Waypoint motion controller¶
get_configurations()
(blocking)Returns the configurations of a component (parsed from the properties).
Return value
a dictionary of the current component’s configurations
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)
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
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.
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.)