diff --git a/.gitignore b/.gitignore index af55a42..1cd8473 100644 --- a/.gitignore +++ b/.gitignore @@ -1,4 +1,6 @@ -node_modules *.swp +_site/ +examples/ +lib/ mission* -pano* +node_modules/ diff --git a/Changes.md b/Changes.md deleted file mode 100644 index bdb74f8..0000000 --- a/Changes.md +++ /dev/null @@ -1,15 +0,0 @@ -# Changes - -This file is a manually maintained list of changes for each release. Feel free -to send corrections if you spot any mistakes. - -## v0.1.1 (2013-09-01) - -* Fixed issue with cw/ccw yaw rotation -* Fixed issue with improper yaw reset on some moves -* Added ctrl-c logic to example for emegency landing - -## v0.1.0 (2013-08-23) - -* Initial release to npm - diff --git a/LICENSE b/LICENSE deleted file mode 100644 index 36ada48..0000000 --- a/LICENSE +++ /dev/null @@ -1,19 +0,0 @@ -Copyright (c) 2013 by Laurent Eschenauer - -Permission is hereby granted, free of charge, to any person obtaining a copy -of this software and associated documentation files (the "Software"), to deal -in the Software without restriction, including without limitation the rights -to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -copies of the Software, and to permit persons to whom the Software is -furnished to do so, subject to the following conditions: - -The above copyright notice and this permission notice shall be included in -all copies or substantial portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN -THE SOFTWARE. diff --git a/README.md b/README.md deleted file mode 100644 index aff1785..0000000 --- a/README.md +++ /dev/null @@ -1,176 +0,0 @@ -# ardrone-autonomy - -An autonomous flight library for the ARDrone, built on top of -the [node-ar-drone](https://github.com/felixge/node-ar-drone) library. -Instead of directly controlling the drone speed, you can use Autonomy -to plan and execute missions by describing the path, altitude and -orientation the drone must follow. - -If you are a #nodecopter enthusiast, then this library will enable you -to focus on higher level use cases and experiments. You focus on where -you want to go, the library takes your drone there. - -This work is based on the [Visual Navigation for Flying Robots](http://vision.in.tum.de/teaching/ss2013/visnav2013) course. - -**WARNING:** This is early work. _Autonomous_ means that this library will move your drone -automaticaly to reach a given target. There isn't much security in place yet, so if you -do something wrong, you may have your drone fly away :-) - -**!! Experiment with this library in a closed/controlled environment before going in the wild !!** - -## Features - -* **Extended Kalman Filter** leveraging the onboard tag detection as the observation source -for an Extended Kalman Filter. This provides much more stable and usable state estimate. - -* **Camera projection and back-projection** to estimate the position of an object detected by the camera. -Currently used to estimate a tag position in the drone coordinate system based on its detection -by the bottom camera. - -* **PID Controler** to autonomously control the drone position. - -* **Mission planner** to prepare a flight/task plan and then execute it. - -### Planned features - -* **VSLAM** to improve the drone localization estimates. - -* **Object tracking** to detect and track objects in the video stream. - -## Mission - -This module exposes a high level API to plan and execute missions, by focusing on where -the drone should go instead of its low-level movements. Here is a simple example, -with the drone taking off, travelling alongs a 2 x 2 meters square ane then landing. - -```js -var autonomy = require('ardrone-autonomy'); -var mission = autonomy.createMission(); - -mission.takeoff() - .zero() // Sets the current state as the reference - .altitude(1) // Climb to altitude = 1 meter - .forward(2) - .right(2) - .backward(2) - .left(2) - .hover(1000) // Hover in place for 1 second - .land(); - -mission.run(function (err, result) { - if (err) { - console.trace("Oops, something bad happened: %s", err.message); - mission.client().stop(); - mission.client().land(); - } else { - console.log("Mission success!"); - process.exit(0); - } -}); -``` - -### Mission API - -#### mission.log(path) - -Log the mission data, csv formatted, in the given file. Makes it really usefull to -debug/plot the state and controller behavior. - -#### mission.run(callback) - -Execute the mission. The callback has the form `function(err,result)` and will be triggered in -case of error or at the end of the mission. - -#### mission.takeoff() - -Add a takeoff step to the mission. - -#### mission.forward/backward/left/right/up/down(distance) - -Add a movement step to the mission. The drone will move in the given direction by the distance (in meters) before -proceeding to next step. The drone will also attempt to maintain all other degrees of freedom. - -#### mission.altitude(height) - -Add a altitude step to the mission. Will climb to the given height before proceeding to next step. - -#### mission.cw/ccw(angle) - -Add a rotation step to the mission. Will turn by the given angle (in Deg) before proceeding to the next step. - -#### mission.hover(delay) - -Add a hover step to the mission. Will hover in place for the given delay (in ms) before proceeding to next step. - -#### mission.wait(delay) - -Add a wait step to the mission. Will wait for the given delay (in ms) before proceeding to next step. - -#### mission.go(position) - -Add a movement step to the mission. Will go the given position before proceeding to next step. The position is a Controller goal such as {x: 0, y: 0, z: 1, yaw: 90}. - -#### mission.task(function(callback){..}) - -Add a task step to the mission. Will execute the provided function before proceeding to the next step. A callback argument is passed to the function, it should be called when the -task is done. - -#### mission.taskSync(function) - -Add a task step to the mission. Will execute the provided function before proceeding to the next step. - -#### mission.zero() - -Add a zeroing step to the mission. This will set the current position/orientation as -the base state of the kalman filter (i.e. {x: 0, y:0, yaw:0}). If you are not using -a tag as your base position, it is a good idea to zero() after takeoff. - -## Controller API - -This module exposes a high level API to control the position. It is built using an -Extended Kalman Filter to estimate the position and a PID controller to move the drone -to a given target. - -The easiest way to try the Controller is to play with the repl provided in the examples: - -```js -$ node examples/repl.js -// Make the drone takeoff -drone> takeoff() -// Move the drone to position (1,1) -drone> ctrl.go({x: 1, y:1}); -// Climb to altitude 2 meters -drone> ctrl.altitude(2); -// Spin 90 deg to the right -drone> ctrl.cw(90); -// Go back to (0,0) -drone> ctrl.go({x:0, y:0}); -// Hover in place -drone> ctrl.hover(); -// Land -drone> land(); -``` - -## License - -The MIT License - -Copyright (c) 2013 by Laurent Eschenauer - -Permission is hereby granted, free of charge, to any person obtaining a copy -of this software and associated documentation files (the "Software"), to deal -in the Software without restriction, including without limitation the rights -to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -copies of the Software, and to permit persons to whom the Software is -furnished to do so, subject to the following conditions: - -The above copyright notice and this permission notice shall be included in -all copies or substantial portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN -THE SOFTWARE. diff --git a/examples/hover.js b/examples/hover.js deleted file mode 100644 index 772ba12..0000000 --- a/examples/hover.js +++ /dev/null @@ -1,43 +0,0 @@ -var df = require('dateformat') - , autonomy = require('../') - , mission = autonomy.createMission() - , arDrone = require('ar-drone') - , arDroneConstants = require('ar-drone/lib/constants') - ; - -function navdata_option_mask(c) { - return 1 << c; -} - -// From the SDK. -var navdata_options = ( - navdata_option_mask(arDroneConstants.options.DEMO) - | navdata_option_mask(arDroneConstants.options.VISION_DETECT) - | navdata_option_mask(arDroneConstants.options.MAGNETO) - | navdata_option_mask(arDroneConstants.options.WIFI) -); - -// Connect and configure the drone -mission.client().config('general:navdata_demo', true); -mission.client().config('general:navdata_options', navdata_options); -mission.client().config('video:video_channel', 1); -mission.client().config('detect:detect_type', 12); - -mission.log("mission-" + df(new Date(), "yyyy-mm-dd_hh-MM-ss") + ".txt"); - -mission.takeoff() - .go({x:0, y:0, z:1.5}) - .hover(30000) - .land(); - -mission.run(function (err, result) { - if (err) { - console.trace("Oops, something bad happened: %s", err.message); - mission.client().stop(); - mission.client().land(); - } else { - console.log("We are done!"); - process.exit(0); - } -}); - diff --git a/examples/pano.js b/examples/pano.js deleted file mode 100644 index bdc052a..0000000 --- a/examples/pano.js +++ /dev/null @@ -1,48 +0,0 @@ -var df = require('dateformat') - , autonomy = require('../') - , mission = autonomy.createMission() - ; - -// Land on ctrl-c -var exiting = false; -process.on('SIGINT', function() { - if (exiting) { - process.exit(0); - } else { - console.log('Got SIGINT. Landing, press Control-C again to force exit.'); - exiting = true; - mission.control().disable(); - mission.client().land(function() { - process.exit(0); - }); - } -}); - -// Log mission data for debugging -mission.log("mission-" + df(new Date(), "yyyy-mm-dd_hh-MM-ss") + ".txt"); - -// Plan pano mission -mission.takeoff() - .zero() - .hover(1000) - .go({x:0, y:0}) - .altitude(1.5) - .cw(90) - .cw(90) - .cw(90) - .cw(90) - .altitude(0.5) - .land(); - -// Execute mission -mission.run(function (err, result) { - if (err) { - console.trace("Oops, something bad happened: %s", err.message); - mission.client().stop(); - mission.client().land(); - } else { - console.log("We are done!"); - process.exit(0); - } -}); - diff --git a/examples/repl.js b/examples/repl.js deleted file mode 100644 index 675c3e7..0000000 --- a/examples/repl.js +++ /dev/null @@ -1,65 +0,0 @@ -var fs = require('fs'); -var path = require('path'); -var df = require('dateformat') - , arDrone = require('ar-drone') - , arDroneConstants = require('ar-drone/lib/constants') - , autonomy = require('..'); - -var client = arDrone.createClient(); -var ctrl = new autonomy.Controller(client, {debug: false}); -var repl = client.createRepl(); - -function navdata_option_mask(c) { - return 1 << c; -} - -// From the SDK. -var navdata_options = ( - navdata_option_mask(arDroneConstants.options.DEMO) - | navdata_option_mask(arDroneConstants.options.VISION_DETECT) - | navdata_option_mask(arDroneConstants.options.MAGNETO) - | navdata_option_mask(arDroneConstants.options.WIFI) -); - -// Connect and configure the drone -client.config('general:navdata_demo', true); -client.config('general:navdata_options', navdata_options); -client.config('video:video_channel', 1); -client.config('detect:detect_type', 12); - -// Add a ctrl object to the repl. You can use the controller -// from there. E.g. -// ctrl.go({x:1, y:1}); -// -repl._repl.context['ctrl'] = ctrl; - -// Log control data for debugging -var folder = df(new Date(), "yyyy-mm-dd_hh-MM-ss"); -fs.mkdir(path.join('/tmp', folder), function() { - dataStream = fs.createWriteStream(path.join('/tmp', folder, 'data.txt')); -}); - -ctrl.on('controlData', function(d) { - dataStream.write(d.state.x + "," + - d.state.y + "," + - d.state.z + "," + - d.state.yaw + "," + - d.state.vx + "," + - d.state.vy + "," + - d.goal.x + "," + - d.goal.y + "," + - d.goal.z + "," + - d.goal.yaw + "," + - d.error.ex + "," + - d.error.ey + "," + - d.error.ez + "," + - d.error.eyaw + "," + - d.control.ux + "," + - d.control.uy + "," + - d.control.uz + "," + - d.control.uyaw + "," + - d.last_ok + "," + - d.tag + "\n"); -}); - - diff --git a/examples/square-2.js b/examples/square-2.js deleted file mode 100644 index 4d2d1e3..0000000 --- a/examples/square-2.js +++ /dev/null @@ -1,71 +0,0 @@ -var df = require('dateformat') - , autonomy = require('../') - , arDrone = require('ar-drone') - , arDroneConstants = require('ar-drone/lib/constants') - , mission = autonomy.createMission() - ; - -function navdata_option_mask(c) { - return 1 << c; -} - -// From the SDK. -var navdata_options = ( - navdata_option_mask(arDroneConstants.options.DEMO) - | navdata_option_mask(arDroneConstants.options.VISION_DETECT) - | navdata_option_mask(arDroneConstants.options.MAGNETO) - | navdata_option_mask(arDroneConstants.options.WIFI) -); - -// Land on ctrl-c -var exiting = false; -process.on('SIGINT', function() { - if (exiting) { - process.exit(0); - } else { - console.log('Got SIGINT. Landing, press Control-C again to force exit.'); - exiting = true; - mission.control().disable(); - mission.client().land(function() { - process.exit(0); - }); - } -}); - -// Connect and configure the drone -mission.client().config('general:navdata_demo', true); -mission.client().config('general:navdata_options', navdata_options); -mission.client().config('video:video_channel', 1); -mission.client().config('detect:detect_type', 12); - -// Log mission for debugging purposes -mission.log("mission-" + df(new Date(), "yyyy-mm-dd_hh-MM-ss") + ".txt"); - -// Plan mission -mission.takeoff() - .zero() - .hover(500) - .altitude(2) - .forward(2) - .cw(90) - .forward(2) - .cw(90) - .forward(2) - .cw(90) - .forward(2) - .go({x:0, y:0}) - .hover(500) - .land(); - -// Execute mission -mission.run(function (err, result) { - if (err) { - console.trace("Oops, something bad happened: %s", err.message); - mission.client().stop(); - mission.client().land(); - } else { - console.log("We are done!"); - process.exit(0); - } -}); - diff --git a/examples/square.js b/examples/square.js deleted file mode 100644 index 1e93e04..0000000 --- a/examples/square.js +++ /dev/null @@ -1,67 +0,0 @@ -var df = require('dateformat') - , autonomy = require('../') - , arDrone = require('ar-drone') - , arDroneConstants = require('ar-drone/lib/constants') - , mission = autonomy.createMission() - ; - -function navdata_option_mask(c) { - return 1 << c; -} - -// From the SDK. -var navdata_options = ( - navdata_option_mask(arDroneConstants.options.DEMO) - | navdata_option_mask(arDroneConstants.options.VISION_DETECT) - | navdata_option_mask(arDroneConstants.options.MAGNETO) - | navdata_option_mask(arDroneConstants.options.WIFI) -); - -// Land on ctrl-c -var exiting = false; -process.on('SIGINT', function() { - if (exiting) { - process.exit(0); - } else { - console.log('Got SIGINT. Landing, press Control-C again to force exit.'); - exiting = true; - mission.control().disable(); - mission.client().land(function() { - process.exit(0); - }); - } -}); - -// Connect and configure the drone -mission.client().config('general:navdata_demo', true); -mission.client().config('general:navdata_options', navdata_options); -mission.client().config('video:video_channel', 1); -mission.client().config('detect:detect_type', 12); - -// Log mission for debugging purposes -mission.log("mission-" + df(new Date(), "yyyy-mm-dd_hh-MM-ss") + ".txt"); - -// Plan mission -mission.takeoff() - .zero() - .hover(500) - .altitude(2) - .forward(2) - .right(2) - .backward(2) - .go({x:0, y:0}) - .hover(500) - .land(); - -// Execute mission -mission.run(function (err, result) { - if (err) { - console.trace("Oops, something bad happened: %s", err.message); - mission.client().stop(); - mission.client().land(); - } else { - console.log("We are done!"); - process.exit(0); - } -}); - diff --git a/images/bkg.png b/images/bkg.png new file mode 100644 index 0000000..fcebb5b Binary files /dev/null and b/images/bkg.png differ diff --git a/images/blacktocat.png b/images/blacktocat.png new file mode 100644 index 0000000..273d571 Binary files /dev/null and b/images/blacktocat.png differ diff --git a/index.html b/index.html new file mode 100644 index 0000000..86a7f0e --- /dev/null +++ b/index.html @@ -0,0 +1,189 @@ + + + + + + + + + + + + + + + Codestin Search App + + + + +
+
+

AR.Drone Autonomy

+

Autonomously flying an ARDrone in Javascript!

+ Fork me on GitHub +
+
+ +
+
+ +

An autonomous flight library for the AR.Drone 2.0, built on top of +the node-ar-drone library.

+ +

Instead of directly controlling the drone speed, you can use Autonomy +to plan and execute missions by describing the path, altitude and +orientation the drone must follow.

+ +

Autonomous means that this library will move your drone automaticaly to reach a given target. Experiment with this library in a closed/controlled environment before going in the wild !!

+ +
+ +
+ +

Features

+ +
    +

  • Extended Kalman Filter leveraging the onboard tag detection as the observation source +for an Extended Kalman Filter. This provides much more stable and usable state estimate.

    • +

  • Camera projection and back-projection to estimate the position of an object detected by the camera. +Currently used to estimate a tag position in the drone coordinate system based on its detection +by the bottom camera.

    • +

  • PID Controler to autonomously control the drone position.

    • +

  • Mission planner to prepare a flight/task plan and then execute it.

    • +

+Planned features

+ +
    +

  • VSLAM to improve the drone localization estimates.

    • +

  • Object tracking to detect and track objects in the video stream.

    • +
+ +

Documentation

+ + + +

Example

+ +

This module exposes a high level API to plan and execute missions, by focusing on where +the drone should go instead of its low-level movements. Here is a simple example, +with the drone taking off, travelling alongs a 2 x 2 meters square ane then landing.

+ +
var autonomy = require('ardrone-autonomy');
+var mission  = autonomy.createMission();
+
+mission.takeoff()
+       .zero()       // Sets the current state as the reference
+       .altitude(1)  // Climb to altitude = 1 meter
+       .forward(2)   
+       .right(2)     
+       .backward(2) 
+       .left(2)
+       .hover(1000)  // Hover in place for 1 second
+       .land();
+
+mission.run(function (err, result)
+    if (err) {
+        console.trace("Oops, something bad happened: %s", err.message);
+        mission.client().stop();
+        mission.client().land();
+    } else {
+        console.log("Mission success!");
+        process.exit(0);
+    }
+});
+
+ +

Applications

+ +Here is a list of know apps built using autonomy. Please let me know if you build something and I'll be happy to add you in the list. + +
    +

  • panorama autonomously fly to a given altitude and take pictures to form a 360 photo panorama.

    • +
+ +

Support

+ +

If you encounter issues, please add them to the issue tracker. You can find +me on twitter (@eschnou) or on the #nodecopter IRC channel +on #freenode. + +

Thanks

+ +

This work is based on the Visual Navigation for Flying Robots course. My eternal gratitude for their team to post lectures and slides on the web. I learned a lot from them.

+ +

Also a big thank you to @felixge who came up with this crazy idea of flying a drone with Javascript and building the fantastic node-ar-drone library. + +

Donate

+ +

If you like this project, please consider donating. The less time I need to work, the more I can spend on open source projects :-)

+
+
+ +
+
+ +
+
+

Please Donate To Bitcoin Address: [[address]]

+

+
+
+ Donation of [[value]] BTC Received. Thank You. +
+
+ [[error]] +
+
+ +

License

+ +

The MIT License

+ +

Copyright (c) 2013 by Laurent Eschenauer laurent@eschenauer.be

+ +

Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions:

+ +

The above copyright notice and this permission notice shall be included in +all copies or substantial portions of the Software.

+ +

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +THE SOFTWARE.

+
+
+ + + + + + + + diff --git a/index.js b/index.js deleted file mode 100644 index ad7a05e..0000000 --- a/index.js +++ /dev/null @@ -1,20 +0,0 @@ -var autonomy = exports; -var ardrone = require('ar-drone'); - -exports.EKF = require('./lib/EKF'); -exports.Camera = require('./lib/Camera'); -exports.Controller = require('./lib/Controller'); -exports.Mission = require('./lib/Mission'); - -exports.control = function(client, options) { - return new autonomy.Controller(client, options); -} - -exports.createMission = function(options, client) { - var client = client || ardrone.createClient(options); - var control = new autonomy.Controller(client, options); - var mission = new autonomy.Mission(client, control, options); - - return mission; -} - diff --git a/javascripts/main.js b/javascripts/main.js new file mode 100644 index 0000000..d8135d3 --- /dev/null +++ b/javascripts/main.js @@ -0,0 +1 @@ +console.log('This would be the main JS file.'); diff --git a/lib/Camera.js b/lib/Camera.js deleted file mode 100644 index 882771b..0000000 --- a/lib/Camera.js +++ /dev/null @@ -1,55 +0,0 @@ -var sylvester = require('sylvester'); -var util = require('util'); - - -// TODO: Extend to support roll/pitch in back projection -// TODO: Add support for front-facing camera -// TODO: Make image aspect ratio configurable - -// AR Drone 2.0 Bottom Camera Intrinsic Matrix -// https://github.com/tum-vision/ardrone_autonomy/blob/master/calibrations/ardrone2_bottom/cal.ymli -var K_BOTTOM = $M([[686.994766, 0, 329.323208], - [0, 688.195055, 159.323007], - [0, 0, 1]]); - -module.exports = Camera; -function Camera(options) { - this._options = options || {}; - this._k = this._options.k || K_BOTTOM; - - // We need to compute the inverse of K to back-project 2D to 3D - this._invK = this._k.inverse(); -} - -/* - * Given (x,y) pixel coordinates (e.g. obtained from tag detection) - * Returns a (X,Y) coordinate in drone space. - */ -Camera.prototype.p2m = function(x, y, altitude) { - // From the SDK Documentation: - // X and Y coordinates of detected tag or oriented roundel #i inside the picture, - // with (0; 0) being the top-left corner, and (1000; 1000) the right-bottom corner regardless - // the picture resolution or the source camera. - // - // But our camera intrinsic is built for 640 x 360 pixel grid, so we must do some mapping. - var xratio = 640 / 1000; - var yratio = 360 / 1000; - - // Perform a simple back projection, we assume the drone is flat (no roll/pitch) - // for the moment. We ignore the drone translation and yaw since we want X,Y in the - // drone coordinate system. - var p = $V([x * xratio, y * yratio, 1]); - var P = this._invK.multiply(p).multiply(altitude); - - // X,Y are expressed in meters, in the drone coordinate system. - // Which is: - // <--- front-facing camera - // | - // / \------- X - // \_/ - // | - // | - // Y - return {x: P.e(1), y: P.e(2)}; -} - diff --git a/lib/Controller.js b/lib/Controller.js deleted file mode 100644 index 02f0dda..0000000 --- a/lib/Controller.js +++ /dev/null @@ -1,387 +0,0 @@ -var EventEmitter = require('events').EventEmitter; -var Timers = require('timers'); -var util = require('util'); -var PID = require('./PID'); -var EKF = require('./EKF'); -var Camera = require('./Camera'); - -EPS_LIN = 0.1; // We are ok with 10 cm horizontal precision -EPS_ALT = 0.1; // We are ok with 10 cm altitude precision -EPS_ANG = 0.1; // We are ok with 0.1 rad precision (5 deg) -STABLE_DELAY = 200; // Time in ms to wait before declaring the drone on target - -module.exports = Controller; -util.inherits(Controller, EventEmitter); -function Controller(client, options) { - EventEmitter.call(this); - - options = options || {}; - - // A ardrone client to pilot the drone - this._client = client; - - // The position of a roundel tag to detect - this._tag = options.tag || {x: 0, y: 0, yaw: 0}; - - // Configure the four PID required to control the drone - this._pid_x = new PID(0.5, 0, 0.35); - this._pid_y = new PID(0.5, 0, 0.35); - this._pid_z = new PID(0.8, 0, 0.35); - this._pid_yaw = new PID(1.0, 0, 0.30); - - // kalman filter is used for the drone state estimation - this._ekf = new EKF(options); - - // Used to process images and backproject them - this._camera = new Camera(); - - // Control will only work if enabled - this._enabled = false; - - // Ensure that we don't enter the processing loop twice - this._busy = false; - - // The curretn target goal and an optional callback to trigger - // when goal is reached - this._goal = null; - this._callback = null; - - // The last known state - this._state = null, - - // The last time we have reached the goal (all control commands = 0) - this._last_ok = 0; - - // Register the listener on navdata for our control loop - var self = this; - client.on('navdata', function(d) { - if (!this._busy && d.demo) { - this._busy = true; - self._processNavdata(d); - self._control(d); - this._busy = false; - } - }); -} - -/* - * Enable auto-pilot. The controller will attempt to bring - * the drone (and maintain it) to the goal. - */ -Controller.prototype.enable = function() { - this._pid_x.reset(); - this._pid_y.reset(); - this._pid_z.reset(); - this._pid_yaw.reset(); - this._enabled = true; -}; - -/* - * Disable auto-pilot. The controller will stop all actions - * and send a stop command to the drone. - */ -Controller.prototype.disable = function() { - this._enabled = false; - this._client.stop(); -} - -/* - * Return the drone state (x,y,z,yaw) as estimated - * by the Kalman Filter. - */ -Controller.prototype.state = function() { - return this._state; -} - -/* - * Sets the goal to the current state and attempt to hover on top. - */ -Controller.prototype.hover = function() { - this._go({x: this._state.x, y: this._state.y, z: this._state.z, yaw: this._state.yaw}); -} - -/* - * Reset the kalman filter to its base state (default is x:0, y:0, yaw:0). - * - * This is especially usefull to set mark the drone position as the starting position - * after takeoff. We must disable, to ensure that the zeroing does not trigger a sudden move - * of the drone. - */ -Controller.prototype.zero = function() { - this.disable(); - this._ekf.reset(); -} - -/* - * Move forward (direction faced by the front camera) by the given - * distance (in meters). - */ -Controller.prototype.forward = function(distance, callback) { - // Our starting position - var state = this.state(); - - // Remap our target position in the world coordinates - var gx = state.x + Math.cos(state.yaw) * distance; - var gy = state.y + Math.sin(state.yaw) * distance; - - // Assign the new goal - this._go({x: gx, y: gy, z: state.z, yaw: state.yaw}, callback); -} - -/* - * Move backward by the given distance (in meters). - */ -Controller.prototype.backward = function(distance, callback) { - return this.forward(-distance, callback); -} - -/* - * Move right (front being the direction faced by the front camera) by the given - * distance (in meters). - */ -Controller.prototype.right = function(distance, callback) { - // Our starting position - var state = this.state(); - - // Remap our target position in the world coordinates - var gx = state.x - Math.sin(state.yaw) * distance; - var gy = state.y + Math.cos(state.yaw) * distance; - - // Assign the new goal - this._go({x: gx, y: gy, z: state.z, yaw: state.yaw}, callback); -} - -/* - * Move left by the given distance (in meters). - */ -Controller.prototype.left = function(distance, callback) { - return this.right(-distance, callback); -} - -/* - * Turn clockwise of the given angle. Note that this does not - * force a clockwise motion, if the angle is > 180 then the drone - * will turn in the other direction, taking the shortest path. - */ -Controller.prototype.cw = function(angle, callback) { - var state = this.state(); - var yaw = state.yaw.toDeg() + angle; - - return this._go({x: state.x, y: state.y, z: state.z, yaw: yaw.toRad()}, callback); -} - -/* - * Turn counter clockwise of the given angle (in degrees) - */ -Controller.prototype.ccw = function(angle, callback) { - return this.cw(-angle, callback); -} - -/* - * Climb ups by the given distance (in meters). - */ -Controller.prototype.up = function(distance, callback) { - var state = this.state(); - return this._go({x: state.x, y: state.y, z: state.z + distance, yaw: state.yaw}, callback); -} - -/* - * Lower itself by the given distance (in meters). - */ -Controller.prototype.down = function(distance, callback) { - return this.up(-distance, callback); -} - -/* - * Go to the target altitude - */ -Controller.prototype.altitude = function(altitude, callback) { - var state = this.state(); - return this._go({x: state.x, y: state.y, z: altitude, yaw: state.yaw}, callback); -} - -/* - * Go to the target yaw (argument in degree) - */ -Controller.prototype.yaw = function(yaw, callback) { - var state = this.state(); - return this._go({x: state.x, y: state.y, z: state.z, yaw: yaw.toRad()}, callback); -} - -/* - * Sets a new goal and enable the controller. When the goal - * is reached, the callback is called with the current state. - * - * x,y,z in meters - * yaw in degrees - */ -Controller.prototype.go = function(goal, callback) { - if (goal.yaw != undefined) { - goal.yaw = goal.yaw.toRad(); - } - - return this._go(goal, callback); -} - -Controller.prototype._go = function(goal, callback) { - // Since we are going to modify goal settings, we - // disable the controller, just in case. - this.disable(); - - // If no goal given, assume an empty goal - goal = goal || {}; - - // Normalize the yaw, to make sure we don't spin 360deg for - // nothing :-) - if (goal.yaw != undefined) { - var yaw = goal.yaw; - goal.yaw = Math.atan2(Math.sin(yaw),Math.cos(yaw)); - } - - // Make sure we don't attempt to go too low - if (goal.z != undefined) { - goal.z = Math.max(goal.z, 0.5); - } - - // Update our goal - this._goal = goal; - this._goal.reached = false; - - // Keep track of the callback to trigger when we reach the goal - this._callback = callback; - - // (Re)-Enable the controller - this.enable(); -} - -Controller.prototype._processNavdata = function(d) { - // EKF prediction step - this._ekf.predict(d); - - // If a tag is detected by the bottom camera, we attempt a correction step - // This require prior configuration of the client to detect the oriented - // roundel and to enable the vision detect in navdata. - // TODO: Add documentation about this - if (d.visionDetect && d.visionDetect.nbDetected > 0) { - // Fetch detected tag position, size and orientation - var xc = d.visionDetect.xc[0] - , yc = d.visionDetect.yc[0] - , wc = d.visionDetect.width[0] - , hc = d.visionDetect.height[0] - , yaw = d.visionDetect.orientationAngle[0] - , dist = d.visionDetect.dist[0] / 100 // Need meters - ; - - // Compute measure tag position (relative to drone) by - // back-projecting the pixel position p(x,y) to the drone - // coordinate system P(X,Y). - // TODO: Should we use dist or the measure altitude ? - var camera = this._camera.p2m(xc + wc/2, yc + hc/2, dist); - - // We convert this to the controller coordinate system - var measured = {x: -1 * camera.y, y: camera.x}; - - // Rotation is provided by the drone, we convert to radians - measured.yaw = yaw.toRad(); - - // Execute the EKS correction step - this._ekf.correct(measured, this._tag); - } - - // Keep a local copy of the state - this._state = this._ekf.state(); - this._state.z = d.demo.altitude; - this._state.vx = d.demo.velocity.x / 1000 //We want m/s instead of mm/s - this._state.vy = d.demo.velocity.y / 1000 -} - -Controller.prototype._control = function(d) { - // Do not control if not enabled - if (!this._enabled) return; - - // Do not control if no known state or no goal defines - if (this._goal == null || this._state == null) return; - - // Compute error between current state and goal - var ex = (this._goal.x != undefined) ? this._goal.x - this._state.x : 0 - , ey = (this._goal.y != undefined) ? this._goal.y - this._state.y : 0 - , ez = (this._goal.z != undefined) ? this._goal.z - this._state.z : 0 - , eyaw = (this._goal.yaw != undefined) ? this._goal.yaw - this._state.yaw : 0 - ; - - // Normalize eyaw within [-180, 180] - while(eyaw < -Math.PI) eyaw += (2 * Math.PI); - while(eyaw > Math.PI) eyaw -= (2 * Math.PI); - - // Check if we are within the target area - if ((Math.abs(ex) < EPS_LIN) && (Math.abs(ey) < EPS_LIN) && (Math.abs(ez) < EPS_ALT) && (Math.abs(eyaw) < EPS_ANG)) { - // Have we been here before ? - if (!this._goal.reached && this._last_ok != 0) { - // And for long enough ? - if ((Date.now() - this._last_ok) > STABLE_DELAY) { - // Mark the goal has reached - this._goal.reached = true; - - // We schedule the callback in the near future. This is to make - // sure we finish all our work before the callback is called. - if (this._callback != null) { - setTimeout(this._callback, 10); - this._callback = null; - } - - // Emit a state reached - this.emit('goalReached', this._state); - } - } else { - this._last_ok = Date.now(); - } - } else { - // If we just left the goal, we notify - if (this._last_ok != 0) { - // Reset last ok since we are in motion - this._last_ok = 0; - this._goal.reached = false; - this.emit('goalLeft', this._state); - } - } - - // Get Raw command from PID - var ux = this._pid_x.getCommand(ex); - var uy = this._pid_y.getCommand(ey); - var uz = this._pid_z.getCommand(ez); - var uyaw = this._pid_yaw.getCommand(eyaw); - - // Ceil commands and map them to drone orientation - var yaw = this._state.yaw; - var cx = within(Math.cos(yaw) * ux + Math.sin(yaw) * uy, -1, 1); - var cy = within(-Math.sin(yaw) * ux + Math.cos(yaw) * uy, -1, 1); - var cz = within(uz, -1, 1); - var cyaw = within(uyaw, -1, 1); - - // Emit the control data for auditing - this.emit('controlData', { - state: this._state, - goal: this._goal, - error: {ex: ex, ey: ey, ez: ez, eyaw: eyaw}, - control: {ux: ux, uy: uy, uz: uz, uyaw: uyaw}, - last_ok: this._last_ok, - tag: (d.visionDetect && d.visionDetect.nbDetected > 0) ? 1 : 0 - }); - - // Send commands to drone - if (Math.abs(cx) > 0.01) this._client.front(cx); - if (Math.abs(cy) > 0.01) this._client.right(cy); - if (Math.abs(cz) > 0.01) this._client.up(cz); - if (Math.abs(cyaw) > 0.01) this._client.clockwise(cyaw); - -} - -function within(x, min, max) { - if (x < min) { - return min; - } else if (x > max) { - return max; - } else { - return x; - } -} diff --git a/lib/EKF.js b/lib/EKF.js deleted file mode 100644 index dab07d7..0000000 --- a/lib/EKF.js +++ /dev/null @@ -1,145 +0,0 @@ -var sylvester = require('sylvester'); -var util = require('util'); - -var Matrix = sylvester.Matrix; -var Vector = sylvester.Vector; - -EKF.DELTA_T = 1 / 15; // In demo mode, 15 navdata per second - -module.exports = EKF; -function EKF(options) { - - options = options || {}; - - this._options = options; - this._delta_t = options.delta_t || EKF.DELTA_T; - - this.reset(); -} - -EKF.prototype.state = function() { - return this._state; -} - -EKF.prototype.confidence = function() { - return this._sigma; -} - -EKF.prototype.reset = function() { - this._state = this._options.state || {x: 0, y: 0, yaw: 0}; - this._sigma = Matrix.I(3); - this._q = Matrix.Diagonal([0.0003, 0.0003, 0.0001]); - this._r = Matrix.Diagonal([0.3, 0.3, 0.3]); - this._last_yaw = null; -} - -EKF.prototype.predict = function(data) { - var pitch = data.demo.rotation.pitch.toRad() - , roll = data.demo.rotation.roll.toRad() - , yaw = normAngle(data.demo.rotation.yaw.toRad()) - , vx = data.demo.velocity.x / 1000 //We want m/s instead of mm/s - , vy = data.demo.velocity.y / 1000 - , dt = this._delta_t - ; - - // We are not interested by the absolute yaw, but the yaw motion, - // so we need at least a prior value to get started. - if (this._last_yaw == null) { - this._last_yaw = yaw; - return; - } - - // Compute the odometry by integrating the motion over delta_t - var o = {dx: vx * dt, dy: vy * dt, dyaw: yaw - this._last_yaw}; - this._last_yaw = yaw; - - // Update the state estimate - var state = this._state; - state.x = state.x + o.dx * Math.cos(state.yaw) - o.dy * Math.sin(state.yaw); - state.y = state.y + o.dx * Math.sin(state.yaw) + o.dy * Math.cos(state.yaw); - state.yaw = state.yaw + o.dyaw; - - // Normalize the yaw value - state.yaw = Math.atan2(Math.sin(state.yaw),Math.cos(state.yaw)); - - // Compute the G term (due to the Taylor approximation to linearize the function). - var G = $M( - [[1, 0, -1 * Math.sin(state.yaw) * o.dx - Math.cos(state.yaw) * o.dy], - [0, 1, Math.cos(state.yaw) * o.dx - Math.sin(state.yaw) * o.dy], - [0, 0, 1]] - ); - - // Compute the new sigma - this._sigma = G.multiply(this._sigma).multiply(G.transpose()).add(this._q); -} - /* - * measure.x: x-position of marker in drone's xy-coordinate system (independant of roll, pitch) - * measure.y: y-position of marker in drone's xy-coordinate system (independant of roll, pitch) - * measure.yaw: yaw rotation of marker, in drone's xy-coordinate system (independant of roll, pitch) - * - * pose.x: x-position of marker in world-coordinate system - * pose.y: y-position of marker in world-coordinate system - * pose.yaw: yaw-rotation of marker in world-coordinate system - */ -EKF.prototype.correct = function(measure, pose) { - // Compute expected measurement given our current state and the marker pose - var state = this._state; - var psi = state.yaw; - this._s = {x: state.x, y: state.y, yaw: state.yaw}; - - // Normalized the measure yaw - measure.yaw = normAngle(measure.yaw); - this._m = {x: measure.x, y: measure.y, yaw: measure.yaw}; - - var z1 = Math.cos(psi) * (pose.x - state.x) + Math.sin(psi) * (pose.y - state.y); - var z2 = -1 * Math.sin(psi) * (pose.x - state.x) + Math.cos(psi) * (pose.y - state.y); - var z3 = pose.yaw - psi; - this._z = {x: z1, y: z2, yaw: z3}; - - // Compute the error - var e1 = measure.x - z1; - var e2 = measure.y - z2; - var e3 = measure.yaw - z3; - this._e = {x: e1, y: e2, yaw: e3}; - - // Compute the H term - var H = $M([[ -Math.cos(psi), -Math.sin(psi), Math.sin(psi) * (state.x - pose.x) - Math.cos(psi) * (state.y - pose.y)], - [ Math.sin(psi), -Math.cos(psi), Math.cos(psi) * (state.x - pose.x) + Math.sin(psi) * (state.y - pose.y)], - [ 0, 0, -1]]); - - // Compute the Kalman Gain - var Ht = H.transpose(); - var K = this._sigma.multiply(Ht).multiply(H.multiply(this._sigma).multiply(Ht).add(this._r).inverse()) - - // Correct the pose estimate - var err = $V([e1, e2, e3]); - var c = K . multiply(err); - state.x = state.x + c.e(1); - state.y = state.y + c.e(2); - -// TODO - This does not work, need more investigation. -// In the meanwhile, we don't correct yaw based on observation. -// state.yaw = state.yaw + c.e(3); - - this._sigma = Matrix.I(3).subtract(K.multiply(H)).multiply(this._sigma); -}; - -function normAngle(rad) { - while (rad > Math.PI) { rad -= 2 * Math.PI;} - while (rad < -Math.PI) { rad += 2 * Math.PI;} - return rad; -} - -/** Converts numeric degrees to radians */ -if (typeof(Number.prototype.toRad) === "undefined") { - Number.prototype.toRad = function() { - return this * Math.PI / 180; - } -} - -/** Converts radians to numeric dregrees */ -if (typeof(Number.prototype.toDeg) === "undefined") { - Number.prototype.toDeg = function() { - return this * 180 / Math.PI; - } -} diff --git a/lib/Mission.js b/lib/Mission.js deleted file mode 100644 index d793d5b..0000000 --- a/lib/Mission.js +++ /dev/null @@ -1,243 +0,0 @@ -var async = require('async') - , fs = require('fs') - ; - -module.exports = Mission; -function Mission(client, controller, options) { - - options = options || {}; - - this._options = options; - this._client = client; - this._control = controller; - - this._steps = []; -} - -Mission.prototype.client = function() { - return this._client; -} - -Mission.prototype.control = function() { - return this._control; -} - -Mission.prototype.run = function(callback) { - async.waterfall(this._steps, callback); -} - -Mission.prototype.log = function(path) { - var dataStream = fs.createWriteStream(path); - var ekf = this._control._ekf; - - this._control.on('controlData', function(d) { - var log = (d.state.x + "," + - d.state.y + "," + - d.state.z + "," + - d.state.yaw + "," + - d.state.vx + "," + - d.state.vy + "," + - d.goal.x + "," + - d.goal.y + "," + - d.goal.z + "," + - d.goal.yaw + "," + - d.error.ex + "," + - d.error.ey + "," + - d.error.ez + "," + - d.error.eyaw + "," + - d.control.ux + "," + - d.control.uy + "," + - d.control.uz + "," + - d.control.uyaw + "," + - d.last_ok + "," + - d.tag); - - if (d.tag > 0) { - log = log + "," + - ekf._s.x + "," + - ekf._s.y + "," + - ekf._s.yaw.toDeg() + "," + - ekf._m.x + "," + - ekf._m.y + "," + - ekf._m.yaw.toDeg() + "," + - ekf._z.x + "," + - ekf._z.y + "," + - ekf._z.yaw.toDeg() + "," + - ekf._e.x + "," + - ekf._e.y + "," + - ekf._e.yaw.toDeg() - } else { - log = log + ",0,0,0,0,0,0" - } - - log = log + "\n"; - - dataStream.write(log); - }); -} - -Mission.prototype.takeoff = function() { - var self = this; - this._steps.push(function(cb) { - self._client.takeoff(cb); - }); - - return this; -} - -Mission.prototype.land = function() { - var self = this; - this._steps.push(function(cb) { - self._client.land(cb); - }); - - return this; -} - -Mission.prototype.hover = function(delay) { - var self = this; - this._steps.push(function(cb) { - self._control.hover(); - setTimeout(cb, delay); - }); - - return this; -} - -Mission.prototype.wait = function(delay) { - this._steps.push(function(cb) { - setTimeout(cb, delay); - }); - - return this; -} - -Mission.prototype.task = function(task) { - this._steps.push(function(cb) { - task(cb); - }); - - return this; -} - -Mission.prototype.taskSync = function(task) { - this._steps.push(function(cb) { - task(); - cb(); - }); - - return this; -} - -Mission.prototype.zero = function() { - var self = this; - this._steps.push(function(cb) { - self._control.zero(); - cb(); - }); - - return this; -} - -Mission.prototype.go = function(goal) { - var self = this; - this._steps.push(function(cb) { - self._control.go(goal, cb); - }); - - return this; -} - -Mission.prototype.forward = function(distance) { - var self = this; - this._steps.push(function(cb) { - self._control.forward(distance, cb); - }); - - return this; -} - -Mission.prototype.backward = function(distance) { - var self = this; - this._steps.push(function(cb) { - self._control.backward(distance, cb); - }); - - return this; -} - -Mission.prototype.left = function(distance) { - var self = this; - this._steps.push(function(cb) { - self._control.left(distance, cb); - }); - - return this; -} - -Mission.prototype.right = function(distance) { - var self = this; - this._steps.push(function(cb) { - self._control.right(distance, cb); - }); - - return this; -} - -Mission.prototype.up = function(distance) { - var self = this; - this._steps.push(function(cb) { - self._control.up(distance, cb); - }); - - return this; -} - -Mission.prototype.down = function(distance) { - var self = this; - this._steps.push(function(cb) { - self._control.down(distance, cb); - }); - - return this; -} - -Mission.prototype.cw = function(angle) { - var self = this; - this._steps.push(function(cb) { - self._control.cw(angle, cb); - }); - - return this; -} - -Mission.prototype.ccw = function(angle) { - var self = this; - this._steps.push(function(cb) { - self._control.ccw(angle, cb); - }); - - return this; -} - -Mission.prototype.altitude = function(altitude) { - var self = this; - this._steps.push(function(cb) { - self._control.altitude(altitude, cb); - }); - - return this; -} - -Mission.prototype.yaw = function(angle) { - var self = this; - this._steps.push(function(cb) { - self._control.yaw(angle,cb); - }); - - return this; -} - - - - diff --git a/lib/PID.js b/lib/PID.js deleted file mode 100644 index ae4719e..0000000 --- a/lib/PID.js +++ /dev/null @@ -1,45 +0,0 @@ -module.exports = PID; -function PID(kp, ki, kd) { - this.configure(kp, ki, kd); - this.reset(); -} - -PID.prototype.configure = function(kp,ki,kd) { - this._kp = kp; - this._ki = ki; - this._kd = kd; -} - -PID.prototype.reset = function() { - this._last_time = 0; - this._last_error = Infinity; - this._error_sum = 0; -} - -PID.prototype.getCommand = function(e) { - // Compute dt in seconds - var time = Date.now(); - var dt = (time - this._last_time) / 1000 - - var de = 0; - if (this._last_time != 0) { - // Compute de (error derivation) - if (this._last_error < Infinity) { - de = (e - this._last_error) / dt; - } - - // Integrate error - this._error_sum += e * dt; - } - - // Update our trackers - this._last_time = time; - this._last_error = e; - - // Compute commands - var command = this._kp * e - + this._ki * this._error_sum - + this._kd * de; - - return command; -} diff --git a/lib/StateEstimator.js b/lib/StateEstimator.js deleted file mode 100644 index 310097b..0000000 --- a/lib/StateEstimator.js +++ /dev/null @@ -1,66 +0,0 @@ -var EventEmitter = require('events').EventEmitter; -var util = require('util'); - -module.exports = StateEstimator; -util.inherits(StateEstimator, EventEmitter); -function StateEstimator(client, options) { - EventEmitter.call(this); - - options = options || {}; - - this._options = options; - this._client = client; - this._delta_t = options.delta_t || StateEstimator.DELTA_T; - this._state = {roll: 0, pitch: 0, yaw: 0, x: 0, y: 0, z: 0}; - this._mode = options.mode || "yaw"; - - if (this._client == null) throw new Error("This won't work if you don't pass a proper ardrone client."); - - console.log('State estimator initialized in %s mode.', this._mode); - - this._bind(); -} - -StateEstimator.DELTA_T = 1 / 15; // In demo mode, 15 navdata per second - -StateEstimator.prototype.state = function() { - return this._state; -} - -StateEstimator.prototype._bind = function() { - var self = this; - this._client.on('navdata', function(data) { - self._processNavData(data); - }); -} - -StateEstimator.prototype._processNavData = function(data) { - var pitch = data.demo.rotation.pitch.toRad() - , roll = data.demo.rotation.roll.toRad() - , yaw = data.demo.rotation.yaw.toRad() - , mag = data.magneto.heading.fusionUnwrapped.toRad() - , vx = data.demo.velocity.x / 1000 //We want m/s instead of mm/s - , vy = data.demo.velocity.y / 1000 - , vz = data.demo.velocity.z / 1000 - , alt = data.demo.altitude - , dt = this._delta_t; - ; - - var phi = (this._mode == "magneto" && mag != null) ? mag : yaw; - - this._state.x = this._state.x + dt * (vx * Math.cos(phi) - vy * Math.sin(phi)); - this._state.y = this._state.y + dt * (vx * Math.sin(phi) + vy * Math.cos(phi)); - this._state.z = alt; - this._state.roll = roll; - this._state.pitch = pitch; - this._state.yaw = yaw; - - this.emit('state', this._state); -}; - -/** Converts numeric degrees to radians */ -if (typeof(Number.prototype.toRad) === "undefined") { - Number.prototype.toRad = function() { - return this * Math.PI / 180; - } -} diff --git a/package.json b/package.json deleted file mode 100644 index cef7594..0000000 --- a/package.json +++ /dev/null @@ -1,32 +0,0 @@ -{ - "name": "ardrone-autonomy", - "version": "0.1.2", - "description": "Building blocks for autonomous flying an AR.Drone.", - "repository": { - "type": "git", - "url": "git@github.com:eschnou/ardrone-autonomy.git" - }, - "keywords": [ - "drone", - "ardrone", - "nodecopter", - "parrot", - "autonomous", - "kalman", - "pid" - ], - "scripts": { - "test": "node tests/run.js" - }, - "dependencies": { - "sylvester": "0.0.21", - "async": "0.2.9" - }, - "devDependencies": { - "utest": "0.0.6", - "urun": "0.0.6", - "sinon": "1.4.2" - }, - "author": "Laurent Eschenauer ", - "license": "MIT" -} diff --git a/params.json b/params.json new file mode 100644 index 0000000..96f96ce --- /dev/null +++ b/params.json @@ -0,0 +1 @@ +{"name":"Ardrone-autonomy","tagline":"Provides key building blocks to create autonomous flight applications with the #nodecopter (AR.Drone).","body":"# ardrone-autonomy\r\n\r\nAn autonomous flight library for the ARDrone, built on top of \r\nthe [node-ar-drone](https://github.com/felixge/node-ar-drone) library. \r\nInstead of directly controlling the drone speed, you can use Autonomy \r\nto plan and execute missions by describing the path, altitude and \r\norientation the drone must follow.\r\n\r\nIf you are a #nodecopter enthusiast, then this library will enable you\r\nto focus on higher level use cases and experiments. You focus on where\r\nyou want to go, the library takes your drone there.\r\n\r\nThis work is based on the [Visual Navigation for Flying Robots](http://vision.in.tum.de/teaching/ss2013/visnav2013) course.\r\n\r\n**WARNING:** This is early work. _Autonomous_ means that this library will move your drone\r\nautomaticaly to reach a given target. There isn't much security in place yet, so if you \r\ndo something wrong, you may have your drone fly away :-)\r\n\r\n**!! Experiment with this library in a closed/controlled environment before going in the wild !!**\r\n\r\n## Features\r\n\r\n* **Extended Kalman Filter** leveraging the onboard tag detection as the observation source\r\nfor an Extended Kalman Filter. This provides much more stable and usable state estimate.\r\n\r\n* **Camera projection and back-projection** to estimate the position of an object detected by the camera.\r\nCurrently used to estimate a tag position in the drone coordinate system based on its detection\r\nby the bottom camera.\r\n\r\n* **PID Controler** to autonomously control the drone position.\r\n\r\n* **Mission planner** to prepare a flight/task plan and then execute it.\r\n\r\n### Planned features\r\n\r\n* **VSLAM** to improve the drone localization estimates.\r\n\r\n* **Object tracking** to detect and track objects in the video stream.\r\n\r\n## Mission\r\n\r\nThis module exposes a high level API to plan and execute missions, by focusing on where\r\nthe drone should go instead of its low-level movements. Here is a simple example, \r\nwith the drone taking off, travelling alongs a 2 x 2 meters square ane then landing.\r\n\r\n```js\r\nvar autonomy = require('ardrone-autonomy');\r\nvar mission = autonomy.createMission();\r\n\r\nmission.takeoff()\r\n .zero() // Sets the current state as the reference\r\n .altitude(1) // Climb to altitude = 1 meter\r\n .forward(2) \r\n .right(2) \r\n .backward(2) \r\n .left(2)\r\n .hover(1000) // Hover in place for 1 second\r\n .land();\r\n\r\nmission.run(function (err, result)\r\n if (err) {\r\n console.trace(\"Oops, something bad happened: %s\", err.message);\r\n mission.client().stop();\r\n mission.client().land();\r\n } else {\r\n console.log(\"Mission success!\");\r\n process.exit(0);\r\n }\r\n});\r\n```\r\n\r\n### Mission API\r\n\r\n#### mission.log(path)\r\n\r\nLog the mission data, csv formatted, in the given file. Makes it really usefull to\r\ndebug/plot the state and controller behavior.\r\n\r\n#### mission.run(callback)\r\n\r\nExecute the mission. The callback has the form `function(err,result)` and will be triggered in\r\ncase of error or at the end of the mission.\r\n\r\n#### mission.takeoff()\r\n\r\nAdd a takeoff step to the mission.\r\n\r\n#### mission.forward/backward/left/right/up/down(distance)\r\n\r\nAdd a movement step to the mission. The drone will move in the given direction by the distance (in meters) before\r\nproceeding to next step. The drone will also attempt to maintain all other degrees of freedom.\r\n\r\n#### mission.altitude(height)\r\n\r\nAdd a altitude step to the mission. Will climb to the given height before proceeding to next step.\r\n\r\n#### mission.cw/ccw(angle)\r\n\r\nAdd a rotation step to the mission. Will turn by the given angle (in Deg) before proceeding to the next step.\r\n\r\n#### mission.hover(delay)\r\n\r\nAdd a hover step to the mission. Will hover in place for the given delay (in ms) before proceeding to next step.\r\n\r\n#### mission.wait(delay)\r\n\r\nAdd a wait step to the mission. Will wait for the given delay (in ms) before proceeding to next step.\r\n\r\n#### mission.go(position)\r\n\r\nAdd a movement step to the mission. Will go the given position before proceeding to next step. The position is a Controller goal such as {x: 0, y: 0, z: 1, yaw: 90}.\r\n\r\n#### mission.task(function(callback){..})\r\n\r\nAdd a task step to the mission. Will execute the provided function before proceeding to the next step. A callback argument is passed to the function, it should be called when the \r\ntask is done.\r\n\r\n#### mission.taskSync(function)\r\n\r\nAdd a task step to the mission. Will execute the provided function before proceeding to the next step.\r\n\r\n#### mission.zero()\r\n\r\nAdd a zeroing step to the mission. This will set the current position/orientation as \r\nthe base state of the kalman filter (i.e. {x: 0, y:0, yaw:0}). If you are not using\r\na tag as your base position, it is a good idea to zero() after takeoff.\r\n\r\n## Controller API\r\n\r\nThis module exposes a high level API to control the position. It is built using an\r\nExtended Kalman Filter to estimate the position and a PID controller to move the drone\r\nto a given target.\r\n\r\nThe easiest way to try the Controller is to play with the repl provided in the examples:\r\n\r\n```js\r\n$ node examples/repl.js\r\n// Make the drone takeoff\r\ndrone> takeoff()\r\n// Move the drone to position (1,1)\r\ndrone> ctrl.go({x: 1, y:1});\r\n// Climb to altitude 2 meters\r\ndrone> ctrl.altitude(2);\r\n// Spin 90 deg to the right\r\ndrone> ctrl.cw(90);\r\n// Go back to (0,0)\r\ndrone> ctrl.go({x:0, y:0});\r\n// Hover in place\r\ndrone> ctrl.hover();\r\n// Land\r\ndrone> land();\r\n```\r\n\r\n## License\r\n\r\nThe MIT License\r\n\r\nCopyright (c) 2013 by Laurent Eschenauer \r\n\r\nPermission is hereby granted, free of charge, to any person obtaining a copy\r\nof this software and associated documentation files (the \"Software\"), to deal\r\nin the Software without restriction, including without limitation the rights\r\nto use, copy, modify, merge, publish, distribute, sublicense, and/or sell\r\ncopies of the Software, and to permit persons to whom the Software is\r\nfurnished to do so, subject to the following conditions:\r\n\r\nThe above copyright notice and this permission notice shall be included in\r\nall copies or substantial portions of the Software.\r\n\r\nTHE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\r\nIMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\r\nFITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE\r\nAUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\r\nLIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,\r\nOUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN\r\nTHE SOFTWARE.\r\n","google":"","note":"Don't delete this file! 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-common.lib = path.join(common.root, 'lib'); diff --git a/tests/integration/mission.js b/tests/integration/mission.js deleted file mode 100644 index 8d4385d..0000000 --- a/tests/integration/mission.js +++ /dev/null @@ -1,32 +0,0 @@ -var df = require('dateformat') - , common = require('../common') - , autonomy = require(common.root) - , mockClient = require('./mock/client') - ; - -var client = new mockClient(); -var controller = new autonomy.Controller(client); -var mission = new autonomy.Mission(client, controller); - -mission.log("mission-" + df(new Date(), "yyyy-mm-dd_hh-MM-ss") + ".txt"); - -mission.takeoff() - .hover(1000) - .forward(1) - .right(1) - .backward(1) - .left(1) - .hover(1000) - .land(); - -mission.run(function (err, result) { - if (err) { - console.trace("Oops, something bad happened: %s", err.message); - mission.client().stop(); - mission.client().land(); - } else { - console.log("We are done!"); - process.exit(0); - } -}); - diff --git a/tests/integration/mock/client.js b/tests/integration/mock/client.js deleted file mode 100644 index d922c7f..0000000 --- a/tests/integration/mock/client.js +++ /dev/null @@ -1,92 +0,0 @@ -var EventEmitter = require('events').EventEmitter; -var Timers = require('timers'); -var util = require('util'); - -DT = 30; - -module.exports = Client; -util.inherits(Client, EventEmitter); -function Client(options) { - EventEmitter.call(this); - - options = options || {}; - - this._state = options.state || {x: 0, y: 0, z: 1, yaw: 0}; - this._speed = {vx: 0, vy: 0, vz: 0, vyaw: 0}; - - var self = this; - Timers.setInterval(function() { - self._sendNavdata(); - }, DT); -} - -Client.prototype.takeoff = function(callback) { - setTimeout(callback, 1000); -} - -Client.prototype.land = function(callback) { - setTimeout(callback, 1000); -} - -Client.prototype.front = function(speed) { - this._speed.vx = speed; -} - -Client.prototype.back = function(speed) { - this._speed.vx = -speed; -} - -Client.prototype.right = function(speed) { - this._speed.vy = speed; -} - -Client.prototype.left = function(speed) { - this._speed.vy = -speed; -} - -Client.prototype.up = function(speed) { - this._speed.vz = speed; -} - -Client.prototype.down = function(speed) { - this._speed.vz = -speed; -} - -Client.prototype.clockwise = function(speed) { - this._speed.vyaw = speed; -} - -Client.prototype.counterClockwise = function(speed) { - this._speed.vyaw = -speed; -} - -Client.prototype.stop = function() { - this._speed = {vx: 0, vy: 0, vz: 0, vyaw: 0}; -} - -Client.prototype._sendNavdata = function() { - // First we update the state based on speed - this._state.z = Math.max(0, this._state.z + this._speed.vz); - this._state.yaw = this._state.yaw + this._speed.vyaw; - - var navdata = { - demo: { - rotation: { - pitch: 0, - roll: 0, - yaw: this._state.yaw - }, - velocity: { - x: this._speed.vx * 1000, - y: this._speed.vy * 1000, - z: this._speed.vz * 1000 - }, - altitude: this._state.z - }, - visionDetect: { - nbDetected: 0 - } - }; - - this.emit('navdata', navdata); -} diff --git a/tests/run.js b/tests/run.js deleted file mode 100644 index 37dc3b4..0000000 --- a/tests/run.js +++ /dev/null @@ -1,2 +0,0 @@ -var urun = require('urun'); -urun(__dirname); diff --git a/tests/unit/test-Controller.js b/tests/unit/test-Controller.js deleted file mode 100644 index 8191478..0000000 --- a/tests/unit/test-Controller.js +++ /dev/null @@ -1,171 +0,0 @@ -var common = require('../common'); -var assert = require('assert'); -var test = require('utest'); -var sinon = require('sinon'); -var autonomy = require(common.root); - -test('Controller', { - before: function() { - this.mockClient = {}; - this.mockClient.on = sinon.stub(); - this.mockClient.stop = sinon.stub(); - }, - - 'controller binds on navdata': function() { - var ctrl = new autonomy.Controller(this.mockClient); - assert.equal(this.mockClient.on.callCount, 1); - }, - - 'disabling the controller stops the drone': function() { - var ctrl = new autonomy.Controller(this.mockClient); - ctrl.disable(); - assert.equal(this.mockClient.stop.callCount, 1); - assert.equal(ctrl._enabled, false); - }, - - 'hover assigns current state as goal': function() { - var ctrl = new autonomy.Controller(this.mockClient); - var state = {x: 1, y: 2, z: 3, yaw: 0}; - - ctrl._state = state; - ctrl.hover(); - var goal = ctrl._goal; - - assert.equal(goal.x, state.x); - assert.equal(goal.y, state.y); - assert.equal(goal.z, state.z); - assert.equal(goal.yaw, state.yaw); - }, - - 'forward mapping works with different yaw': function() { - var ctrl = new autonomy.Controller(this.mockClient); - ctrl._state = {x: 0, y: 0, z: 1, yaw: 0}; - - // Test forward with yaw 0 - ctrl.forward(1); - assert.equal(ctrl._goal.x, 1); - assert.equal(ctrl._goal.y, 0); - - // Test forward with yaw 90 - var yaw = 90; - ctrl._state.yaw = yaw.toRad(); - ctrl.forward(1); - assert.equal(Math.round(ctrl._goal.x * 1000) / 1000, 0); - assert.equal(ctrl._goal.y, 1); - - // Test forward with yaw 45 - var yaw = 45; - ctrl._state.yaw = yaw.toRad(); - ctrl.forward(1); - assert.equal(Math.round(ctrl._goal.x * 1000) / 1000, Math.round(ctrl._goal.y * 1000) /1000); - - // Test forward with yaw -45 - var yaw = -45; - ctrl._state.yaw = yaw.toRad(); - ctrl.forward(1); - assert.equal(Math.round(ctrl._goal.x * 1000) / 1000, -Math.round(ctrl._goal.y * 1000) /1000); - }, - - 'right mapping works with different yaw': function() { - var ctrl = new autonomy.Controller(this.mockClient); - ctrl._state = {x: 0, y: 0, z: 1, yaw: 0}; - - // Test right with yaw 0 - ctrl.right(1); - assert.equal(ctrl._goal.x, 0); - assert.equal(ctrl._goal.y, 1); - - // Test right with yaw 90 - var yaw = 90; - ctrl._state.yaw = yaw.toRad(); - ctrl.right(1); - assert.equal(Math.round(ctrl._goal.x * 1000) / 1000, -1); - assert.equal(Math.round(ctrl._goal.y * 1000) / 1000, 0); - - // Test right with yaw 45 - var yaw = 45; - ctrl._state.yaw = yaw.toRad(); - ctrl.right(1); - assert.equal(Math.round(ctrl._goal.x * 1000) / 1000, -Math.round(ctrl._goal.y * 1000) /1000); - }, - - 'backward is the inverse of forward': function() { - var ctrl = new autonomy.Controller(this.mockClient); - var cb = function() {}; - ctrl._state = {x: 0, y: 0, z: 1, yaw: 0}; - sinon.spy(ctrl, 'forward'); - - ctrl.backward(1, cb); - assert(ctrl.forward.calledWith(-1, cb)); - }, - - 'left is the inverse of right': function() { - var ctrl = new autonomy.Controller(this.mockClient); - var cb = function() {}; - ctrl._state = {x: 0, y: 0, z: 1, yaw: 0}; - sinon.spy(ctrl, 'right'); - - ctrl.left(1, cb); - assert(ctrl.right.calledWith(-1, cb)); - }, - - 'zero reset the kalman filter': function() { - var ctrl = new autonomy.Controller(this.mockClient); - sinon.spy(ctrl._ekf, 'reset'); - - ctrl.zero(); - assert(ctrl._ekf.reset.calledOnce); - }, - - 'up': function() { - var ctrl = new autonomy.Controller(this.mockClient); - var state = {x: 1, y: 2, z: 3, yaw: 0}; - - ctrl._state = state; - ctrl.up(1); - var goal = ctrl._goal; - - assert.equal(goal.x, state.x); - assert.equal(goal.y, state.y); - assert.equal(goal.z, state.z + 1); - assert.equal(goal.yaw, state.yaw); - }, - - 'down is invserse of up': function() { - var ctrl = new autonomy.Controller(this.mockClient); - var cb = function() {}; - ctrl._state = {x: 0, y: 0, z: 1, yaw: 0}; - sinon.spy(ctrl, 'up'); - - ctrl.down(1, cb); - assert(ctrl.up.calledWith(-1, cb)); - }, - - 'cannot go too low': function() { - var ctrl = new autonomy.Controller(this.mockClient); - var state = {x: 0, y: 0, z: 1, yaw: 0}; - - ctrl._state = state; - ctrl.down(1); - var goal = ctrl._goal; - - assert.equal(goal.x, state.x); - assert.equal(goal.y, state.y); - assert.equal(goal.z, 0.5); - assert.equal(goal.yaw, state.yaw); - }, - - 'altitude': function() { - var ctrl = new autonomy.Controller(this.mockClient); - var state = {x: 0, y: 0, z: 1, yaw: 0}; - - ctrl._state = state; - ctrl.altitude(3); - var goal = ctrl._goal; - - assert.equal(goal.x, state.x); - assert.equal(goal.y, state.y); - assert.equal(goal.z, 3); - assert.equal(goal.yaw, state.yaw); - } -});