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Webots new system id values #65

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Webots new system id values #65

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a680a3a
new system id values
knmcguire Aug 15, 2024
349912d
new c values tuning
knmcguire Aug 15, 2024
3ce0942
new scaling sitl pid
knmcguire Aug 15, 2024
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2 changes: 1 addition & 1 deletion docs/functional_areas/controllers.md
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Original file line number Diff line number Diff line change
Expand Up @@ -21,7 +21,7 @@ As of this [Pull request in the Crazyflie firmware repo](https://github.com/bitc

Change the controller in the crazyflie robot model in webots to crazyflie_controller_py_firmware_pid, and adjust the following line to point to your crazyflie-firmware repo:

sys.path.append('../../../../../C/crazyflie-firmware')
sys.path.append('../../../../../C/crazyflie-firmware/build')

Press play with the simulator and use your keyboard to control it.

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20 changes: 11 additions & 9 deletions simulator_files/webots/controllers/crazyflie_controller_c/crazyflie_controller.c
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Expand Up @@ -99,15 +99,15 @@ int main(int argc, char **argv) {

// Initialize PID gains.
gains_pid_t gains_pid;
gains_pid.kp_att_y = 1;
gains_pid.kd_att_y = 0.5;
gains_pid.kp_att_rp = 0.5;
gains_pid.kd_att_rp = 0.1;
gains_pid.kp_vel_xy = 2;
gains_pid.kd_vel_xy = 0.5;
gains_pid.kp_z = 10;
gains_pid.ki_z = 5;
gains_pid.kd_z = 5;
gains_pid.kp_att_y = 200;
gains_pid.kd_att_y = 20;
gains_pid.kp_att_rp = 100;
gains_pid.kd_att_rp = 20;
gains_pid.kp_vel_xy = 0.1;
gains_pid.kd_vel_xy = 0.01;
gains_pid.kp_z = 1000;
gains_pid.ki_z = 500;
gains_pid.kd_z = 500;
init_pid_attitude_fixed_height_controller();

double height_desired = FLYING_ALTITUDE;
Expand Down Expand Up @@ -204,6 +204,8 @@ int main(int argc, char **argv) {
desired_state.altitude = height_desired;
pid_velocity_fixed_height_controller(actual_state, &desired_state, gains_pid, dt, &motor_power);


printf("motor_power: %f %f %f %f\n", motor_power.m1, motor_power.m2, motor_power.m3, motor_power.m4);
// Setting motorspeed
wb_motor_set_velocity(m1_motor, -motor_power.m1);
wb_motor_set_velocity(m2_motor, motor_power.m2);
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6 changes: 4 additions & 2 deletions .../controllers/crazyflie_controller_py_firmware_pid/crazyflie_controller_py_firmware_pid.py
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Expand Up @@ -27,7 +27,7 @@

import sys
# Change this path to your crazyflie-firmware folder
sys.path.append('../../../../../c/crazyflie-firmware')
sys.path.append('../crazyflie-firmware/build/')
import cffirmware

robot = Robot()
Expand Down Expand Up @@ -175,7 +175,9 @@
motorPower_m3 = cmd_thrust + cmd_roll - cmd_pitch + cmd_yaw
motorPower_m4 = cmd_thrust + cmd_roll + cmd_pitch - cmd_yaw

scaling = 1000 ##Todo, remove necessity of this scaling (SI units in firmware)
print('Motor Powers: ', motorPower_m1, motorPower_m2, motorPower_m3, motorPower_m4)

scaling = 20 ##Todo, remove necessity of this scaling (SI units in firmware)
m1_motor.setVelocity(-motorPower_m1/scaling)
m2_motor.setVelocity(motorPower_m2/scaling)
m3_motor.setVelocity(-motorPower_m3/scaling)
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32 changes: 16 additions & 16 deletions simulator_files/webots/protos/Crazyflie.proto
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Expand Up @@ -96,13 +96,13 @@ PROTO Crazyflie [
DEF M1 Propeller {
shaftAxis 0 0 1
centerOfThrust 0.031 -0.031 0.008
thrustConstants -4e-05 0
torqueConstants 2.4e-06 0
thrustConstants -1.3e-08 1e-06
torqueConstants 7.6e-11 1e-07
fastHelixThreshold 50
device RotationalMotor {
name "m1_motor"
maxVelocity 600
maxTorque 30
maxVelocity 5000
maxTorque 10000
}
fastHelix Solid {
translation 0.031 -0.031 0.008
Expand Down Expand Up @@ -144,13 +144,13 @@ PROTO Crazyflie [
DEF M2 Propeller {
shaftAxis 0 0 1
centerOfThrust -0.031 -0.031 0.008
thrustConstants 4e-05 0
torqueConstants 2.4e-06 0
thrustConstants 1.3e-08 1e-06
torqueConstants 7.6e-11 1e-07
fastHelixThreshold 50
device RotationalMotor {
name "m2_motor"
maxVelocity 600
maxTorque 30
maxVelocity 5000
maxTorque 10000
}
fastHelix Solid {
translation -0.031 -0.031 0.008
Expand All @@ -168,13 +168,13 @@ PROTO Crazyflie [
DEF M3 Propeller {
shaftAxis 0 0 1
centerOfThrust -0.031 0.031 0.008
thrustConstants -4e-05 0
torqueConstants 2.4e-06 0
thrustConstants -1.3e-08 1e-06
torqueConstants 7.6e-11 1e-07
fastHelixThreshold 50
device RotationalMotor {
name "m3_motor"
maxVelocity 600
maxTorque 30
maxVelocity 5000
maxTorque 10000
}
fastHelix Solid {
translation -0.031 0.031 0.008
Expand All @@ -192,13 +192,13 @@ PROTO Crazyflie [
DEF M4 Propeller {
shaftAxis 0 0 1
centerOfThrust 0.031 0.031 0.008
thrustConstants 4e-05 0
torqueConstants 2.4e-06 0
thrustConstants 1.3e-08 1e-06
torqueConstants 7.6e-11 1e-07
fastHelixThreshold 50
device RotationalMotor {
name "m4_motor"
maxVelocity 600
maxTorque 30
maxVelocity 5000
maxTorque 10000
}
fastHelix Solid {
translation 0.031 0.031 0.008
Expand Down