From 4a56fe6771e28f86328521a392b87fd6f81a021d Mon Sep 17 00:00:00 2001 From: Alireza Ghaderi Date: Mon, 5 Jun 2023 00:51:55 +0330 Subject: [PATCH] added python example to read offbaord position setpoints from a csv file (#600) * added python example to read offbaord position setpoints from a csv file pos,vel,acc,etc * Update offboard_from_csv.py updated white spaces and long line length * changed styling and folder name * Delete examples/from_csv directory changed folder name * styling and line lengths * fixed all code styles --- examples/offboard_from_csv/active.csv | 1267 +++++++++++++++++ .../offboard_from_csv/offboard_from_csv.py | 224 +++ .../offboard_from_csv/trajectory_plot.png | Bin 0 -> 81302 bytes 3 files changed, 1491 insertions(+) create mode 100644 examples/offboard_from_csv/active.csv create mode 100644 examples/offboard_from_csv/offboard_from_csv.py create mode 100644 examples/offboard_from_csv/trajectory_plot.png diff --git a/examples/offboard_from_csv/active.csv 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a/examples/offboard_from_csv/offboard_from_csv.py b/examples/offboard_from_csv/offboard_from_csv.py new file mode 100644 index 00000000..f180c93a --- /dev/null +++ b/examples/offboard_from_csv/offboard_from_csv.py @@ -0,0 +1,224 @@ +""" +Script: offboard_from_csv.py +Author: Alireza Ghaderi +Contact: p30planets@gmail.com +GitHub: github.com/alireza787b +Last Updated: 31 May 2023 + +This script controls a drone in offboard mode using a trajectory +defined in a CSV file. +It establishes a connection with the drone, reads the trajectory +data from the CSV file, and commands the drone to +follow the trajectory. +At the end of the trajectory, the drone returns to +its home position and lands. + +Make sure that the drone is properly configured for offboard control +before running this script. +Adjust the time resolution in the script (timeStep = 0.1 seconds) +if needed for your application. + + +Prerequisites: +- MAVSDK library +(Refer to the MAVSDK documentation for installation instructions) +- Drone setup for offboard control +- Valid global position estimate for the drone + +Usage: +python offboard_from_csv.py + +Inputs: +- CSV file "active.csv" located in the same directory as this script. +This file contains the trajectory data. The CSV structure is as follows: + - t: time in seconds + - px, py, pz: position in NED (North-East-Down) coordinates + - vx, vy, vz: velocity in NED coordinates + - ax, ay, az: acceleration in NED coordinates + - mode: mode code representing different stages of the drone's movement + (see Mode Codes below for more details) +- An image "trajectory_plot.png" located in the + directory named "trajectory_plot". + This image provides a visual preview of the trajectory. + +Outputs: +- Drone movement following the trajectory defined in the CSV file. +The drone returns to its home position to land after performing the trajectory. + +Example Usage: +1. Ensure drone connection to the system and a valid global position estimate. +2. Place trajectory data in "active.csv". +3. Run the script. + +Mode Codes: +0: "On the ground", +10: "Initial climbing state", +20: "Initial holding after climb", +30: "Moving to start point", +40: "Holding at start point", +50: "Moving to maneuvering start point", +60: "Holding at maneuver start point", +70: "Maneuvering (trajectory)", +80: "Holding at the end of the trajectory coordinate", +90: "Returning to home coordinate", +100: "Landing" + +Additional Information: +- For a step-by-step guide on using the MAVSDK library for controlling drones, + refer to the video tutorial provided in the GitHub repository (alireza787b). +- More sophisticated drone show projects and multiple drone simulation examples + are available in the mavsdk_drone_show repo: + https://github.com/alireza787b/mavsdk_drone_show + +Note: +- As of May 2023, set_position_velocity_acceleration_ned is not yet available + in the default build for the mavsdk-Python Installation with pip3. + If you need to input acceleration, you should build MAVSDK for yourself. +""" + + +import asyncio +import csv +from mavsdk import System +from mavsdk.offboard import PositionNedYaw, VelocityNedYaw +from mavsdk.offboard import AccelerationNed, OffboardError +from mavsdk.telemetry import LandedState + + +# Find the current waypoint based on time +def get_current_waypoint(waypoints, time): + return next((wp for wp in waypoints if time <= wp[0]), None) + + +async def run(): + # Define a dictionary to map mode codes to their descriptions + mode_descriptions = { + 0: "On the ground", + 10: "Initial climbing state", + 20: "Initial holding after climb", + 30: "Moving to start point", + 40: "Holding at start point", + 50: "Moving to maneuvering start point", + 60: "Holding at maneuver start point", + 70: "Maneuvering (trajectory)", + 80: "Holding at the end of the trajectory coordinate", + 90: "Returning to home coordinate", + 100: "Landing" + } + + # Connect to the drone + drone = System() + await drone.connect(system_address="udp://:14540") + + # Wait for the drone to connect + print("Waiting for drone to connect...") + async for state in drone.core.connection_state(): + if state.is_connected: + print("-- Connected to drone!") + break + + # Wait for the drone to have a global position estimate + print("Waiting for drone to have a global position estimate...") + async for health in drone.telemetry.health(): + if health.is_global_position_ok and health.is_home_position_ok: + print("-- Global position estimate OK") + break + + # Arm the drone + print("-- Arming") + await drone.action.arm() + + # Set the```python + # Set the initial setpoint + print("-- Setting initial setpoint") + startSetpoint = PositionNedYaw(0.0, 0.0, 0.0, 0.0) + await drone.offboard.set_position_ned(startSetpoint) + + # Start offboard mode + print("-- Starting offboard") + try: + await drone.offboard.start() + except OffboardError as error: + print(f"Starting offboard mode failed with error code:" + f" {error._result.result}") + print("-- Disarming") + await drone.action.disarm() + return + + waypoints = [] + + # Read data from the CSV file + with open("active.csv", newline="") as csvfile: + reader = csv.DictReader(csvfile) + for row in reader: + waypoints.append((float(row["t"]), + float(row["px"]), + float(row["py"]), + float(row["pz"]), + float(row["vx"]), + float(row["vy"]), + float(row["vz"]), + float(row["ax"]), + float(row["ay"]), + float(row["az"]), + int(row["mode"]))) + + print("-- Performing trajectory") + total_duration = waypoints[-1][0] + # Total duration is the time of the last waypoint + t = 0 # Initialize time variable + last_mode = 0 + while t <= total_duration: + current_waypoint = get_current_waypoint(waypoints, t) + if current_waypoint is None: + # Reached the end of the trajectory + break + + position = current_waypoint[1:4] + velocity = current_waypoint[4:7] + acceleration = current_waypoint[7:10] + mode_code = current_waypoint[-1] + if last_mode != mode_code: + # Print the mode number and its description + print(" Mode number: " + f"{mode_code}, " + f"Description: {mode_descriptions[mode_code]}") + last_mode = mode_code + # set_position_velocity_acceleration_ned is not yet available + # in the default build for MAVSDK-Python Installation with pip3 + # If you need to input acceleration, + # you should build MAVSDK for yourself. + await drone.offboard.set_position_velocity_ned( + PositionNedYaw(*position, current_waypoint[10]), + VelocityNedYaw(*velocity, current_waypoint[10]) + ) + # await drone.offboard.set_position_velocity_acceleration_ned( + # PositionNedYaw(*position, current_waypoint[10]), + # VelocityNedYaw(*velocity, current_waypoint[10]), + # AccelerationNed(*acceleration, current_waypoint[10]) + # ) + + timeStep = 0.1 + await asyncio.sleep(timeStep) # Time resolution of 0.1 seconds + t += timeStep + + print("-- Shape completed") + + print("-- Landing") + await drone.action.land() + + async for state in drone.telemetry.landed_state(): + if state == LandedState.ON_GROUND: + break + + 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