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Controller Update 4

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2026-02-09 06:24:13 +00:00
parent 1f4c405824
commit af4ea49efd
2 changed files with 230 additions and 220 deletions
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55
config/ardupilot_gps_denied.parm
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@@ -1,73 +1,46 @@
# ArduPilot Parameters for Simulation # ArduPilot Parameters for GPS-Denied Navigation Simulation
# Uses GPS from Gazebo for position estimation # =========================================================
# GPS is ENABLED for: Geofence safety, LOCAL_POSITION_NED telemetry
# GPS is SIMULATED DENIED for: Control (using GUIDED_NOGPS mode)
# ==================== # ====================
# GPS Configuration # GPS Configuration
# ==================== # ====================
# Enable GPS (Gazebo provides simulated GPS) # Enable GPS (needed for geofence and position telemetry)
GPS_TYPE 1 # Auto-detect GPS_TYPE 1 # Auto-detect
GPS_TYPE2 0
# ==================== # ====================
# Geofence Settings # Geofence Settings
# ==================== # ====================
# Disable geofence for simulation (avoids position requirement issues) # Safety cage - uses GPS for boundaries
FENCE_ENABLE 0 FENCE_ENABLE 1
FENCE_TYPE 3 # Alt + Circle FENCE_TYPE 3 # Alt + Circle
FENCE_ACTION 2 # Land on breach FENCE_ACTION 2 # Land on breach
FENCE_ALT_MAX 50 # Maximum altitude (meters) FENCE_ALT_MAX 10 # Maximum altitude (meters)
FENCE_RADIUS 100 # Circular fence radius (meters) FENCE_RADIUS 20 # Circular fence radius (meters)
FENCE_MARGIN 2 # Margin inside fence for warning FENCE_MARGIN 2 # Margin inside fence for warning
# ==================== # ====================
# EKF Configuration # EKF Configuration
# ==================== # ====================
# Use EKF3 with GPS # Use EKF3 with GPS (for telemetry)
AHRS_EKF_TYPE 3 AHRS_EKF_TYPE 3
EK3_ENABLE 1 EK3_ENABLE 1
EK2_ENABLE 0 EK2_ENABLE 0
# EKF3 Source Configuration - Use GPS # EKF3 Source - GPS for position (enables LOCAL_POSITION_NED)
EK3_SRC1_POSXY 3 # GPS for XY position EK3_SRC1_POSXY 3 # GPS for XY position
EK3_SRC1_POSZ 1 # Barometer for Z position EK3_SRC1_POSZ 1 # Barometer for Z position
EK3_SRC1_VELXY 3 # GPS for XY velocity EK3_SRC1_VELXY 3 # GPS for XY velocity
EK3_SRC1_VELZ 0 # None for Z velocity EK3_SRC1_VELZ 0 # None for Z velocity
EK3_SRC1_YAW 1 # Compass for yaw EK3_SRC1_YAW 1 # Compass for yaw
# EKF3 Position Innovation Gate
EK3_POS_I_GATE 300 # Larger gate
# ====================
# Vision Position Input
# ====================
# Disable vision odometry (not using for simulation)
VISO_TYPE 0 # Disabled
VISO_POS_X 0.0
VISO_POS_Y 0.0
VISO_POS_Z 0.0
VISO_ORIENT 0
VISO_DELAY_MS 50
# ====================
# Optical Flow
# ====================
# Disable optical flow (using GPS instead)
FLOW_TYPE 0 # Disabled
# ====================
# Rangefinder
# ====================
# Disable rangefinder (using barometer + GPS)
RNGFND1_TYPE 0 # Disabled
# ==================== # ====================
# Failsafe Settings # Failsafe Settings
# ==================== # ====================
FS_EKF_ACTION 1 # Land on EKF failsafe FS_EKF_ACTION 1 # Land on EKF failsafe
FS_EKF_THRESH 0.8 # EKF failsafe threshold FS_EKF_THRESH 0.8 # EKF failsafe threshold
FS_VIBE_ENABLE 0 # Disable vibration failsafe FS_GPS_ENABLE 0 # Disable GPS failsafe (we simulate GPS-denied)
FS_GPS_ENABLE 0 # Disable GPS failsafe for simulation
# ==================== # ====================
# Flight Modes # Flight Modes
@@ -82,12 +55,10 @@ FLTMODE6 9 # Land
# ==================== # ====================
# Arming Checks # Arming Checks
# ==================== # ====================
# Disable arming checks for simulation testing ARMING_CHECK 0 # Disable all checks (for simulation)
ARMING_CHECK 0 # Disable all checks (for sim only)
# ==================== # ====================
# Logging # Logging
# ==================== # ====================
LOG_BITMASK 176126 # Log all relevant data LOG_BITMASK 176126 # Log all relevant data
LOG_DISARMED 0 # Don't log when disarmed LOG_DISARMED 0 # Don't log when disarmed

395
src/autonomous_controller.py
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@@ -1,16 +1,24 @@
#!/usr/bin/env python3 #!/usr/bin/env python3
""" """
Autonomous UAV Controller using pymavlink. Autonomous UAV Controller
Connects directly to ArduPilot SITL and controls the drone autonomously. =========================
No ROS/MAVROS required. GPS-denied navigation simulation with GPS-based geofencing for safety.
Uses GUIDED_NOGPS mode for GPS-denied flight simulation while keeping Uses GUIDED_NOGPS mode with velocity/attitude commands while keeping
GPS enabled in EKF for geofence safety. GPS enabled in EKF for geofence and LOCAL_POSITION_NED telemetry.
Usage:
python src/autonomous_controller.py --mission hover
python src/autonomous_controller.py --mission square --size 5
python src/autonomous_controller.py --mission circle --size 3
""" """
import sys
import os
import time import time
import math import math
import argparse import argparse
from pymavlink import mavutil from pymavlink import mavutil
@@ -32,28 +40,48 @@ class AutonomousController:
} }
def __init__(self, connection_string='tcp:127.0.0.1:5760'): def __init__(self, connection_string='tcp:127.0.0.1:5760'):
"""Initialize connection to ArduPilot.""" """Initialize controller."""
print(f"[CTRL] Connecting to {connection_string}...") self.connection_string = connection_string
self.mav = mavutil.mavlink_connection(connection_string) self.mav = None
self.armed = False
# Wait for heartbeat self.mode = "UNKNOWN"
print("[CTRL] Waiting for heartbeat...")
self.mav.wait_heartbeat()
print(f"[CTRL] Connected! System {self.mav.target_system} Component {self.mav.target_component}")
self.home_position = None
self.altitude = 0 self.altitude = 0
self.position = {"x": 0, "y": 0, "z": 0} self.position = {"x": 0, "y": 0, "z": 0}
self.armed = False
# Request data streams def connect(self, timeout=30):
self.mav.mav.request_data_stream_send( """Connect to ArduPilot SITL."""
self.mav.target_system, print(f"[CTRL] Connecting to {self.connection_string}...")
self.mav.target_component,
mavutil.mavlink.MAV_DATA_STREAM_ALL, try:
4, # 4 Hz self.mav = mavutil.mavlink_connection(self.connection_string)
1 # Start
) print("[CTRL] Waiting for heartbeat...")
msg = None
for attempt in range(3):
msg = self.mav.wait_heartbeat(timeout=timeout)
if msg and self.mav.target_system > 0:
break
print(f"[CTRL] Heartbeat attempt {attempt + 1}/3...")
if not msg or self.mav.target_system == 0:
print("[ERROR] Failed to receive heartbeat")
return False
print(f"[CTRL] Connected! System {self.mav.target_system}, Component {self.mav.target_component}")
# Request data streams for telemetry
self.mav.mav.request_data_stream_send(
self.mav.target_system,
self.mav.target_component,
mavutil.mavlink.MAV_DATA_STREAM_ALL,
10, # 10 Hz
1 # Start
)
return True
except Exception as e:
print(f"[ERROR] Connection failed: {e}")
return False
def update_state(self): def update_state(self):
"""Update drone state from MAVLink messages.""" """Update drone state from MAVLink messages."""
@@ -66,6 +94,10 @@ class AutonomousController:
if msg_type == "HEARTBEAT": if msg_type == "HEARTBEAT":
self.armed = (msg.base_mode & mavutil.mavlink.MAV_MODE_FLAG_SAFETY_ARMED) != 0 self.armed = (msg.base_mode & mavutil.mavlink.MAV_MODE_FLAG_SAFETY_ARMED) != 0
try:
self.mode = mavutil.mode_string_v10(msg)
except:
self.mode = str(msg.custom_mode)
elif msg_type == "LOCAL_POSITION_NED": elif msg_type == "LOCAL_POSITION_NED":
self.position = {"x": msg.x, "y": msg.y, "z": msg.z} self.position = {"x": msg.x, "y": msg.y, "z": msg.z}
@@ -90,105 +122,85 @@ class AutonomousController:
float(value), float(value),
mavutil.mavlink.MAV_PARAM_TYPE_REAL32 mavutil.mavlink.MAV_PARAM_TYPE_REAL32
) )
time.sleep(0.3) time.sleep(0.5)
def setup_for_flight(self): def setup_gps_denied(self):
"""Configure ArduPilot for simulation flight. """Configure for simulated GPS-denied operation.
For Gazebo simulation, we use GPS (provided by Gazebo) for position. GPS is enabled in EKF for:
We disable the fence to avoid position requirement conflicts. 1. Geofence safety
2. LOCAL_POSITION_NED telemetry
But we use GUIDED_NOGPS mode and send velocity/attitude commands,
simulating GPS-denied flight control.
""" """
print("[CTRL] Configuring for simulation...") print("[CTRL] Configuring for GPS-denied simulation...")
# Disable ALL arming checks for simulation # Disable arming checks
self.set_param("ARMING_CHECK", 0) self.set_param("ARMING_CHECK", 0)
# Enable GPS (Gazebo provides simulated GPS) # Enable GPS in EKF (for geofence and position telemetry)
self.set_param("GPS_TYPE", 1) # Auto
# Configure EKF to use GPS
self.set_param("EK3_SRC1_POSXY", 3) # GPS self.set_param("EK3_SRC1_POSXY", 3) # GPS
self.set_param("EK3_SRC1_VELXY", 3) # GPS self.set_param("EK3_SRC1_VELXY", 3) # GPS
self.set_param("EK3_SRC1_POSZ", 1) # Baro self.set_param("EK3_SRC1_POSZ", 1) # Baro
# Disable fence to avoid "fence requires position" error # Disable GPS failsafe (we're simulating GPS-denied)
self.set_param("FENCE_ENABLE", 0)
# Disable vision odometry requirement
self.set_param("VISO_TYPE", 0)
# Disable GPS failsafe
self.set_param("FS_GPS_ENABLE", 0) self.set_param("FS_GPS_ENABLE", 0)
print("[CTRL] Setup complete") # Setup geofence (safety cage)
time.sleep(1) print("[CTRL] Setting up geofence: Alt=10m, Radius=20m")
self.set_param("FENCE_ENABLE", 1)
self.set_param("FENCE_TYPE", 3) # Alt + Circle
self.set_param("FENCE_ACTION", 2) # Land on breach
self.set_param("FENCE_ALT_MAX", 10)
self.set_param("FENCE_RADIUS", 20)
self.set_param("FENCE_MARGIN", 2.0)
# Wait for GPS lock and home position print("[CTRL] Setup complete (GPS for fence, GUIDED_NOGPS for control)")
print("[CTRL] Waiting for GPS lock and home position...") time.sleep(1)
for i in range(60): # 60 second timeout
def wait_for_ready(self, timeout=60):
"""Wait for EKF and GPS to be ready."""
print("[CTRL] Waiting for system ready...")
start = time.time()
while time.time() - start < timeout:
self.update_state() self.update_state()
# Check for GPS_RAW_INT message msg = self.mav.recv_match(type=['STATUSTEXT', 'GPS_RAW_INT'], blocking=True, timeout=1)
msg = self.mav.recv_match(type=['GPS_RAW_INT', 'HOME_POSITION', 'STATUSTEXT'], blocking=True, timeout=1)
if msg: if msg:
msg_type = msg.get_type() msg_type = msg.get_type()
if msg_type == 'GPS_RAW_INT': if msg_type == 'STATUSTEXT':
fix = msg.fix_type
if fix >= 3: # 3D fix
print(f"[CTRL] GPS fix: {fix} (satellites: {msg.satellites_visible})")
return True
elif msg_type == 'HOME_POSITION':
print("[CTRL] Home position set")
return True
elif msg_type == 'STATUSTEXT':
text = msg.text if isinstance(msg.text, str) else msg.text.decode('utf-8', errors='ignore') text = msg.text if isinstance(msg.text, str) else msg.text.decode('utf-8', errors='ignore')
if text.strip(): text = text.strip()
print(f"[SITL] {text.strip()}") if text:
print(f"[SITL] {text}")
if 'EKF3' in text and 'active' in text.lower():
print("[CTRL] EKF ready!")
time.sleep(2)
return True
elif msg_type == 'GPS_RAW_INT':
if msg.fix_type >= 3:
print(f"[CTRL] GPS fix: {msg.fix_type} (satellites: {msg.satellites_visible})")
time.sleep(1)
return True
if i % 10 == 0: if int(time.time() - start) % 10 == 0 and int(time.time() - start) > 0:
print(f"[CTRL] Waiting for GPS... ({i}s)") print(f"[CTRL] Waiting... ({int(time.time() - start)}s)")
print("[CTRL] GPS timeout - continuing anyway") print("[CTRL] Ready timeout - continuing anyway")
return True return True
def wait_for_ekf(self, timeout=60): def set_mode(self, mode_name):
"""Wait for EKF to initialize.""" """Set flight mode."""
print("[CTRL] Waiting for EKF initialization...") mode_upper = mode_name.upper()
start_time = time.time()
while time.time() - start_time < timeout:
msg = self.mav.recv_match(type='STATUSTEXT', blocking=True, timeout=1)
if msg:
text = msg.text if isinstance(msg.text, str) else msg.text.decode('utf-8', errors='ignore')
text = text.strip()
if text:
print(f"[SITL] {text}")
if 'EKF' in text and 'active' in text.lower():
print("[CTRL] EKF is active!")
time.sleep(2)
return True
if 'EKF3 IMU0 initialised' in text:
print("[CTRL] EKF initialized")
time.sleep(2)
return True
if 'ArduPilot Ready' in text:
print("[CTRL] ArduPilot is ready")
time.sleep(2)
return True
print("[CTRL] EKF timeout - continuing anyway...")
return True
def set_mode(self, mode):
"""Set flight mode using MAV_CMD_DO_SET_MODE."""
mode_upper = mode.upper()
if mode_upper not in self.COPTER_MODES: if mode_upper not in self.COPTER_MODES:
print(f"[CTRL] Unknown mode: {mode}") print(f"[CTRL] Unknown mode: {mode_name}")
return False return False
mode_id = self.COPTER_MODES[mode_upper] mode_id = self.COPTER_MODES[mode_upper]
print(f"[CTRL] Setting mode to {mode_upper} (id={mode_id})...") print(f"[CTRL] Setting mode to {mode_upper}...")
self.mav.mav.command_long_send( self.mav.mav.command_long_send(
self.mav.target_system, self.mav.target_system,
@@ -200,39 +212,38 @@ class AutonomousController:
0, 0, 0, 0, 0 0, 0, 0, 0, 0
) )
# Wait and verify
time.sleep(1) time.sleep(1)
for _ in range(10): for _ in range(10):
self.update_state() self.update_state()
if mode_upper in self.mode.upper():
print(f"[CTRL] Mode: {self.mode}")
return True
time.sleep(0.2) time.sleep(0.2)
print(f"[CTRL] Mode set to {mode_upper}") print(f"[CTRL] Mode set (current: {self.mode})")
return True return True
def arm(self): def arm(self):
"""Arm the vehicle with force.""" """Force arm the drone."""
print("[CTRL] Arming...") print("[CTRL] Arming...")
for attempt in range(5): for attempt in range(5):
# Clear pending messages
while self.mav.recv_match(blocking=False): while self.mav.recv_match(blocking=False):
pass pass
print(f"[CTRL] Arm attempt {attempt + 1}/5...") print(f"[CTRL] Arm attempt {attempt + 1}/5...")
self.mav.mav.command_long_send( self.mav.mav.command_long_send(
self.mav.target_system, self.mav.target_system,
self.mav.target_component, self.mav.target_component,
mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM, mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
0, 0,
1, # Arm 1, # Arm
21196, # Force arm magic number 21196, # Force arm
0, 0, 0, 0, 0 0, 0, 0, 0, 0
) )
# Wait for result start = time.time()
start_time = time.time() while time.time() - start < 3.0:
while time.time() - start_time < 3.0:
msg = self.mav.recv_match(type=['COMMAND_ACK', 'HEARTBEAT', 'STATUSTEXT'], blocking=True, timeout=0.5) msg = self.mav.recv_match(type=['COMMAND_ACK', 'HEARTBEAT', 'STATUSTEXT'], blocking=True, timeout=0.5)
if msg is None: if msg is None:
continue continue
@@ -253,22 +264,19 @@ class AutonomousController:
elif msg_type == 'COMMAND_ACK': elif msg_type == 'COMMAND_ACK':
if msg.command == mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM: if msg.command == mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM:
if msg.result == 0: if msg.result == 0:
print("[CTRL] Arm command accepted") print("[CTRL] Arm accepted")
time.sleep(0.5) time.sleep(0.5)
self.update_state() self.update_state()
if self.armed: if self.armed:
return True return True
else:
print(f"[CTRL] Arm rejected: result={msg.result}")
time.sleep(1) time.sleep(1)
print("[CTRL] Arm failed after 5 attempts") print("[CTRL] Arm failed")
return False return False
def send_attitude_thrust(self, roll, pitch, yaw, thrust): def send_attitude_thrust(self, roll, pitch, yaw, thrust):
"""Send attitude and thrust command for GUIDED_NOGPS mode.""" """Send attitude and thrust command for GUIDED_NOGPS mode."""
# Convert euler to quaternion
cy = math.cos(yaw * 0.5) cy = math.cos(yaw * 0.5)
sy = math.sin(yaw * 0.5) sy = math.sin(yaw * 0.5)
cp = math.cos(pitch * 0.5) cp = math.cos(pitch * 0.5)
@@ -277,14 +285,13 @@ class AutonomousController:
sr = math.sin(roll * 0.5) sr = math.sin(roll * 0.5)
q = [ q = [
cr * cp * cy + sr * sp * sy, # w cr * cp * cy + sr * sp * sy,
sr * cp * cy - cr * sp * sy, # x sr * cp * cy - cr * sp * sy,
cr * sp * cy + sr * cp * sy, # y cr * sp * cy + sr * cp * sy,
cr * cp * sy - sr * sp * cy # z cr * cp * sy - sr * sp * cy
] ]
# Use attitude + thrust, ignore body rates type_mask = 0b00000111 # Use attitude + thrust
type_mask = 0b00000111
self.mav.mav.set_attitude_target_send( self.mav.mav.set_attitude_target_send(
0, 0,
@@ -292,7 +299,7 @@ class AutonomousController:
self.mav.target_component, self.mav.target_component,
type_mask, type_mask,
q, q,
0, 0, 0, # Body rates (ignored) 0, 0, 0,
thrust thrust
) )
@@ -310,46 +317,58 @@ class AutonomousController:
self.mav.target_component, self.mav.target_component,
mavutil.mavlink.MAV_FRAME_LOCAL_NED, mavutil.mavlink.MAV_FRAME_LOCAL_NED,
type_mask, type_mask,
0, 0, 0, # Position (ignored) 0, 0, 0,
vx, vy, vz, # Velocity NED vx, vy, vz,
0, 0, 0, # Acceleration (ignored) 0, 0, 0,
0, 0 # Yaw, yaw_rate 0, 0
) )
def takeoff(self, altitude=5.0): def takeoff(self, altitude=5.0):
"""Take off using attitude+thrust commands (works in GUIDED_NOGPS).""" """Take off using thrust commands."""
print(f"[CTRL] Taking off to {altitude}m using thrust commands...") print(f"[CTRL] Taking off to {altitude}m...")
hover_thrust = 0.6 hover_thrust = 0.6
max_thrust = 0.85 max_thrust = 0.85
thrust = 0.5 thrust = 0.5
start_time = time.time() start = time.time()
timeout = 30 timeout = 30
last_alt = 0
stuck_count = 0
while time.time() - start_time < timeout: while time.time() - start < timeout:
self.update_state() self.update_state()
if self.altitude >= altitude * 0.9: if self.altitude >= altitude * 0.90:
self.send_attitude_thrust(0, 0, 0, hover_thrust) self.send_attitude_thrust(0, 0, 0, hover_thrust)
print(f"\n[CTRL] Reached {self.altitude:.1f}m") print(f"\n[CTRL] Reached {self.altitude:.1f}m")
time.sleep(0.5) time.sleep(0.5)
return True return True
# Ramp up thrust # Ramp thrust
if self.altitude < 0.5 and thrust < max_thrust: if self.altitude < 0.5 and thrust < max_thrust:
thrust = min(thrust + 0.01, max_thrust) thrust = min(thrust + 0.01, max_thrust)
elif self.altitude > 0.5: elif self.altitude > 0.5:
thrust = 0.75 thrust = 0.75
self.send_attitude_thrust(0, 0, 0, thrust) # Check if stuck
if thrust >= max_thrust - 0.05:
if abs(self.altitude - last_alt) < 0.01:
stuck_count += 1
if stuck_count > 30:
print(f"\n[WARN] Not climbing at thrust={thrust:.2f}")
break
else:
stuck_count = 0
last_alt = self.altitude
print(f"\r[CTRL] Climbing... {self.altitude:.1f}m / {altitude:.1f}m (thrust={thrust:.2f})", end="") self.send_attitude_thrust(0, 0, 0, thrust)
print(f"\r[CTRL] Climbing: {self.altitude:.1f}m / {altitude:.1f}m (thrust={thrust:.2f})", end="")
time.sleep(0.1) time.sleep(0.1)
self.send_attitude_thrust(0, 0, 0, hover_thrust) self.send_attitude_thrust(0, 0, 0, hover_thrust)
print(f"\n[CTRL] Takeoff timeout at {self.altitude:.1f}m") print(f"\n[CTRL] Takeoff ended at {self.altitude:.1f}m")
return False return self.altitude > 1.0
def fly_to(self, target_x, target_y, altitude, tolerance=1.0, timeout=30): def fly_to(self, target_x, target_y, altitude, tolerance=1.0, timeout=30):
"""Fly to position using velocity commands.""" """Fly to position using velocity commands."""
@@ -377,7 +396,12 @@ class AutonomousController:
else: else:
vx, vy = 0, 0 vx, vy = 0, 0
vz = -1.0 if dz > 0.5 else (0.5 if dz < -0.5 else -dz) if dz > 0.5:
vz = -1.0
elif dz < -0.5:
vz = 0.5
else:
vz = -dz
self.send_velocity_ned(vx, vy, vz) self.send_velocity_ned(vx, vy, vz)
@@ -386,35 +410,34 @@ class AutonomousController:
time.sleep(0.1) time.sleep(0.1)
self.send_velocity_ned(0, 0, 0) self.send_velocity_ned(0, 0, 0)
print(f"\n[CTRL] Timeout reaching waypoint") print(f"\n[CTRL] Waypoint timeout")
return False return False
def land(self): def land(self):
"""Land the vehicle.""" """Land the drone."""
print("[CTRL] Landing...") print("[CTRL] Landing...")
self.set_mode("LAND") self.set_mode("LAND")
start_time = time.time() for _ in range(100):
while time.time() - start_time < 60:
self.update_state() self.update_state()
print(f"\r[CTRL] Landing... Alt: {self.altitude:.1f}m", end="") print(f"\r[CTRL] Landing... Alt: {self.altitude:.1f}m", end="")
if self.altitude < 0.3: if self.altitude < 0.3:
print("\n[CTRL] Landed!") print("\n[CTRL] Landed!")
return True return True
time.sleep(0.2) time.sleep(0.2)
return False return False
# ==================== MISSIONS ====================
def run_hover_mission(self, altitude=5.0, duration=30): def run_hover_mission(self, altitude=5.0, duration=30):
"""Hover mission.""" """Hover in place."""
print(f"\n[MISSION] Hover at {altitude}m for {duration}s") print(f"\n{'='*50}")
print(f" HOVER MISSION: {altitude}m for {duration}s")
print(f"{'='*50}\n")
self.setup_for_flight() self.setup_gps_denied()
self.wait_for_ready()
if not self.wait_for_ekf():
return False
# Try GUIDED_NOGPS first, fallback to GUIDED
if not self.set_mode('GUIDED_NOGPS'): if not self.set_mode('GUIDED_NOGPS'):
self.set_mode('GUIDED') self.set_mode('GUIDED')
@@ -422,27 +445,31 @@ class AutonomousController:
return False return False
if not self.takeoff(altitude): if not self.takeoff(altitude):
self.land()
return False return False
print(f"[MISSION] Hovering for {duration} seconds...") print(f"[CTRL] Hovering for {duration}s...")
start = time.time() start = time.time()
while time.time() - start < duration: while time.time() - start < duration:
self.update_state() self.update_state()
self.send_attitude_thrust(0, 0, 0, 0.6) # Maintain hover self.send_attitude_thrust(0, 0, 0, 0.6)
remaining = duration - (time.time() - start)
print(f"\r[CTRL] Hovering... {remaining:.0f}s remaining, Alt: {self.altitude:.1f}m", end="")
time.sleep(0.1) time.sleep(0.1)
print()
self.land() self.land()
print("[MISSION] Hover mission complete!") print("\n[CTRL] Hover mission complete!")
return True return True
def run_square_mission(self, altitude=5.0, side=5.0): def run_square_mission(self, altitude=5.0, size=5.0):
"""Fly a square pattern.""" """Fly a square pattern."""
print(f"\n[MISSION] Square pattern: {side}m sides at {altitude}m") print(f"\n{'='*50}")
print(f" SQUARE MISSION: {size}m x {size}m at {altitude}m")
print(f"{'='*50}\n")
self.setup_for_flight() self.setup_gps_denied()
self.wait_for_ready()
if not self.wait_for_ekf():
return False
if not self.set_mode('GUIDED_NOGPS'): if not self.set_mode('GUIDED_NOGPS'):
self.set_mode('GUIDED') self.set_mode('GUIDED')
@@ -451,6 +478,7 @@ class AutonomousController:
return False return False
if not self.takeoff(altitude): if not self.takeoff(altitude):
self.land()
return False return False
self.update_state() self.update_state()
@@ -458,29 +486,31 @@ class AutonomousController:
start_y = self.position["y"] start_y = self.position["y"]
waypoints = [ waypoints = [
(start_x + side, start_y), (start_x + size, start_y),
(start_x + side, start_y + side), (start_x + size, start_y + size),
(start_x, start_y + side), (start_x, start_y + size),
(start_x, start_y), (start_x, start_y),
] ]
print(f"[CTRL] Flying square from ({start_x:.1f}, {start_y:.1f})")
for i, (x, y) in enumerate(waypoints): for i, (x, y) in enumerate(waypoints):
print(f"\n[MISSION] Waypoint {i+1}/4") print(f"\n--- Waypoint {i+1}/4 ---")
self.fly_to(x, y, altitude) self.fly_to(x, y, altitude)
time.sleep(1) time.sleep(1)
self.land() self.land()
print("[MISSION] Square mission complete!") print("\n[CTRL] Square mission complete!")
return True return True
def run_circle_mission(self, altitude=5.0, radius=5.0, points=8): def run_circle_mission(self, altitude=5.0, radius=5.0, points=8):
"""Fly a circular pattern.""" """Fly a circular pattern."""
print(f"\n[MISSION] Circle pattern: {radius}m radius at {altitude}m") print(f"\n{'='*50}")
print(f" CIRCLE MISSION: radius={radius}m at {altitude}m")
print(f"{'='*50}\n")
self.setup_for_flight() self.setup_gps_denied()
self.wait_for_ready()
if not self.wait_for_ekf():
return False
if not self.set_mode('GUIDED_NOGPS'): if not self.set_mode('GUIDED_NOGPS'):
self.set_mode('GUIDED') self.set_mode('GUIDED')
@@ -489,51 +519,58 @@ class AutonomousController:
return False return False
if not self.takeoff(altitude): if not self.takeoff(altitude):
self.land()
return False return False
self.update_state() self.update_state()
center_x = self.position["x"] center_x = self.position["x"]
center_y = self.position["y"] center_y = self.position["y"]
print(f"[CTRL] Flying circle around ({center_x:.1f}, {center_y:.1f})")
for i in range(points + 1): for i in range(points + 1):
angle = 2 * math.pi * i / points angle = 2 * math.pi * i / points
x = center_x + radius * math.cos(angle) x = center_x + radius * math.cos(angle)
y = center_y + radius * math.sin(angle) y = center_y + radius * math.sin(angle)
print(f"\n[MISSION] Point {i+1}/{points+1}") print(f"\n--- Point {i+1}/{points+1} ---")
self.fly_to(x, y, altitude) self.fly_to(x, y, altitude)
time.sleep(0.5) time.sleep(0.5)
self.land() self.land()
print("[MISSION] Circle mission complete!") print("\n[CTRL] Circle mission complete!")
return True return True
def main(): def main():
parser = argparse.ArgumentParser(description='Autonomous UAV Controller') parser = argparse.ArgumentParser(description='Autonomous UAV Controller')
parser.add_argument('--connection', default='tcp:127.0.0.1:5760', parser.add_argument('--connection', '-c', default='tcp:127.0.0.1:5760',
help='MAVLink connection string') help='MAVLink connection string')
parser.add_argument('--mission', choices=['hover', 'square', 'circle'], parser.add_argument('--mission', '-m', choices=['hover', 'square', 'circle'],
default='hover', help='Mission type') default='hover', help='Mission type')
parser.add_argument('--altitude', type=float, default=5.0, parser.add_argument('--altitude', '-a', type=float, default=5.0,
help='Flight altitude in meters') help='Flight altitude (meters)')
parser.add_argument('--size', type=float, default=5.0, parser.add_argument('--size', '-s', type=float, default=5.0,
help='Mission size (side length or radius)') help='Pattern size/radius (meters)')
parser.add_argument('--duration', type=float, default=30.0, parser.add_argument('--duration', '-d', type=float, default=30.0,
help='Hover duration in seconds') help='Hover duration (seconds)')
args = parser.parse_args() args = parser.parse_args()
print("=" * 50) print("=" * 50)
print(" Autonomous UAV Controller") print(" Autonomous UAV Controller")
print(" GPS-Denied Navigation Simulation")
print("=" * 50) print("=" * 50)
print(f" Connection: {args.connection}") print(f" Connection: {args.connection}")
print(f" Mission: {args.mission}") print(f" Mission: {args.mission}")
print(f" Altitude: {args.altitude}m") print(f" Altitude: {args.altitude}m")
print("=" * 50) print("=" * 50)
print()
controller = AutonomousController(args.connection)
if not controller.connect():
print("\n[ERROR] Could not connect to SITL")
sys.exit(1)
try: try:
controller = AutonomousController(args.connection)
if args.mission == 'hover': if args.mission == 'hover':
controller.run_hover_mission(args.altitude, args.duration) controller.run_hover_mission(args.altitude, args.duration)
elif args.mission == 'square': elif args.mission == 'square':
@@ -542,11 +579,13 @@ def main():
controller.run_circle_mission(args.altitude, args.size) controller.run_circle_mission(args.altitude, args.size)
except KeyboardInterrupt: except KeyboardInterrupt:
print("\n[CTRL] Interrupted by user") print("\n\n[CTRL] Interrupted - Landing...")
controller.land()
except Exception as e: except Exception as e:
print(f"[ERROR] {e}") print(f"\n[ERROR] {e}")
import traceback import traceback
traceback.print_exc() traceback.print_exc()
controller.land()
if __name__ == '__main__': if __name__ == '__main__':