diff --git a/real_robot/coordination_formation_control_pkg/results/angle.csv b/real_robot/coordination_formation_control_pkg/results/angle.csv
new file mode 100644
index 0000000000000000000000000000000000000000..447f77aca0b975f898411d6650e1747ba9544c98
--- /dev/null
+++ b/real_robot/coordination_formation_control_pkg/results/angle.csv
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diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_13_working_with_integral_good_result/notes.txt b/real_robot/coordination_formation_control_pkg/results/experiment_13_working_with_integral_good_result/notes.txt
new file mode 100644
index 0000000000000000000000000000000000000000..56f5bc9b9f73e67a8139c605ab26b6e331c43391
--- /dev/null
+++ b/real_robot/coordination_formation_control_pkg/results/experiment_13_working_with_integral_good_result/notes.txt
@@ -0,0 +1,61 @@
+# Uav
+uav_c1_alpha: 0.20
+uav_c2_alpha: 0.3 # this is recomputed
+uav_c1_beta: 0.3
+uav_c2_beta: 0.1 # this is recomputed
+uav_c1_gamma: 0.25
+uav_c2_gamma: 0.2
+uav_c1_theta: 0.2
+uav_c1_delta: 0.05
+
+# uav_c1_alpha: 0.035
+# uav_c2_alpha: 0.04 # this is recomputed
+# uav_c1_beta: 0.04
+# uav_c2_beta: 0.02 # this is recomputed
+# uav_c1_gamma: 0.02
+# uav_c2_gamma: 0.03
+# uav_c1_theta: 0.3
+# uav_c1_delta: 0.01
+
+uav_d: 0.8
+uav_formation_t: 2 #/* type must be minimum 2, 3: tuangle formation, 4 suare, 5 pentagon*/
+uav_k: 7
+uav_ratio: 0.8 # /* ratio between dist inter and obstacle*/
+uav_eps: 0.1
+uav_a: 5
+uav_b: 5
+uav_h_alpha: 0.2
+uav_h_beta: 0.9
+uav_d_obs: 0
+uav_nav_type: 1 #/* convergence approach -1, parallel approach 2*/
+uav_integrator: 2 #/* single/ double integrator*/
+uav_dt: 0.01 #/* sample time*/
+uav_int_max: 0.01 #/* maximum integral*/
+
+# ugv
+
+# Uav
+ugv_c1_alpha: 0.2
+ugv_c2_alpha: 1 # this is recomputed
+ugv_c1_beta: 0.3
+ugv_c2_beta: 1 # this is recomputed
+ugv_c1_gamma: 0.25
+ugv_c2_gamma: 0.2
+ugv_c1_theta: 0.2
+ugv_c1_delta: 0.09
+
+
+ugv_d: 0.5
+ugv_formation_t: 2 #/* type must be minimum 2, 3: tuangle formation, 4 suare, 5 pentagon*/
+ugv_k: 7
+ugv_ratio: 0.8 # /* ratio between dist inter and obstacle*/
+ugv_eps: 0.1
+ugv_a: 5
+ugv_b: 5
+ugv_h_alpha: 0.2
+ugv_h_beta: 0.9
+ugv_d_obs: 0
+ugv_nav_type: 1 #/* convergence approach -1, parallel approach 2*/
+ugv_integrator: 1 #/* single/ double integrator*/
+ugv_dt: 0.02 #/* sample time*/
+ugv_int_max: 0.1 #/* maximum integral*/
diff --git a/real_robot/coordination_formation_control_pkg/results/t.csv b/real_robot/coordination_formation_control_pkg/results/t.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5dc184b1a09d7c0de04baa72757d5f7afa37379e
--- /dev/null
+++ b/real_robot/coordination_formation_control_pkg/results/t.csv
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diff --git a/real_robot/coordination_formation_control_pkg/results/vel.csv b/real_robot/coordination_formation_control_pkg/results/vel.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b196ade7705a3a63bcdaa9a61c0c580588ccf105
--- /dev/null
+++ b/real_robot/coordination_formation_control_pkg/results/vel.csv
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diff --git a/real_robot/coordination_formation_control_pkg/scripts/plot_results.py b/real_robot/coordination_formation_control_pkg/scripts/plot_results.py
index 1c483ef842d557084a76c9be11169f9a67db9e0d..8860e399e350b6ccf51bd74cffa1d62e4a65177a 100644
--- a/real_robot/coordination_formation_control_pkg/scripts/plot_results.py
+++ b/real_robot/coordination_formation_control_pkg/scripts/plot_results.py
@@ -18,6 +18,7 @@ else:
bag = rosbag.Bag(bag_name)
topic_name = robot_name+"result"
t_ = []
+t1_ = []
pose_data = []
vel_data = []
acc_data = []
@@ -54,6 +55,7 @@ for topics, msg, t in bag.read_messages(topics =[topic_name]):
# ang_row_[ind*2] = msg.angle[ind].x
# ang_row_[ind*2+1] = msg.angle[ind].y
# ang_row_[ind*2+2] = msg.angle[ind].z
+ t1_.append(t.secs + t.nsecs*1e-9);
# print(pose_row_)
# print(pose_row_)
@@ -80,6 +82,12 @@ for topics, msg, t in bag.read_messages(topics =[topic_name]):
bag.close()
t_np = np.array(t_)
+t1_np = np.array(t1_)
+t_np = t_np -t_np[0]
+t1_np = t1_np -t1_np[0]
+
+print(np.array([t_np, t1_np]))
+
# remove the offset
t_np = t_np -t_np[0]
pose_data_np = np.array(pose_data);
@@ -104,6 +112,13 @@ input_obstacle_data_np = np.array(input_obstacle_data);
input_integration_data_np = np.array(input_integration_data);
input_to_system_data_np = np.array(input_to_system_data);
+# save data to csv for analysis*/
+# np.savetxt("../results/angle.csv",ang_data_np , delimiter=",")
+# np.savetxt("../results/vel.csv",vel_data_np , delimiter=",")
+# np.savetxt("../results/t.csv",t_np , delimiter=",")
+#
+
+
# Start plotting
####################### command vs centroid ###################################
fig1, axs1 = plt.subplots(nrows=2, ncols=2, figsize=(7, 7))
diff --git a/real_robot/coordination_formation_control_pkg/src/drone_node.cpp b/real_robot/coordination_formation_control_pkg/src/drone_node.cpp
index 48c26155526f2d450704026795d8f6a18d48431b..0d45050e0add5a5146299ace482435e26b2bd4e3 100644
--- a/real_robot/coordination_formation_control_pkg/src/drone_node.cpp
+++ b/real_robot/coordination_formation_control_pkg/src/drone_node.cpp
@@ -24,6 +24,8 @@ std::stringstream ss_log_naming;
rosbag::Bag bag;
std::string robot_name;
bool enable_log;
+bool compute_offset = true;
+float roll_offset = 0, pitch_offset = 0;
bool waypoint_received = false;
@@ -198,7 +200,7 @@ int main(int argc, char **argv) {
ss_log_naming << log_data_name << "_crazyflie_" << std::to_string(robotid) << "_logdata.bag";
// bag_ptr = new rosbag::bag();
- ros::Timer writeTobagfileTimer = nh.createTimer(ros::Duration(1.0/10.0), logCallback);
+ ros::Timer writeTobagfileTimer = nh.createTimer(ros::Duration(1.0/hz_freq), logCallback);
if(enable_log)
{
@@ -259,13 +261,20 @@ int main(int argc, char **argv) {
uav_state_o(2, i-1) = current_state.o(2);
}
+ if (compute_offset)
+ {
+ /*todo*/
+ roll_offset = uav_state_o(0, robotid-1);
+ pitch_offset = uav_state_o(1, robotid-1);
+ }
// std::cout << uav_state_q << std::endl;
if(coord_config->initialize_robot && coord_config->init_formation ==false && coord_config->stop_demo == false)
{
// send the robot to hover at zero velocity in plane
// std::cout << "Here" << std::endl;
- current_command.roll = 0;
- current_command.pitch = 0;
+ compute_offset = false;
+ current_command.roll = 0 + roll_offset;
+ current_command.pitch = 0 + pitch_offset;
current_command.yawrate = 0;
current_command.zDistance = 0.5;
vel_cmd_publisher.publish(current_command);
diff --git a/simulation/angle.csv b/simulation/angle.csv
new file mode 100644
index 0000000000000000000000000000000000000000..447f77aca0b975f898411d6650e1747ba9544c98
--- /dev/null
+++ b/simulation/angle.csv
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diff --git a/simulation/low_passfilter.asv b/simulation/low_passfilter.asv
new file mode 100644
index 0000000000000000000000000000000000000000..dfb133ade6e4edeef845acdb645f48f5171097ef
--- /dev/null
+++ b/simulation/low_passfilter.asv
@@ -0,0 +1,28 @@
+N = 100; % FIR filter order
+Fp = 20e3; % 20 kHz passband-edge frequency
+Fs = 96e3; % 96 kHz sampling frequency
+Rp = 0.00057565; % Corresponds to 0.01 dB peak-to-peak ripple
+Rst = 1e-4; % Corresponds to 80 dB stopband attenuation
+
+tic
+%
+% lowpassFilt = dsp.LowpassFilter('DesignForMinimumOrder',false, ...
+% 'FilterOrder',N,'PassbandFrequency',Fp,'SampleRate',Fs,...
+% 'PassbandRipple',0.01, 'StopbandAttenuation',80);
+tic
+
+% import csv
+Ta = table2array(readtable('angle.csv'));
+Tt = table2array(readtable('t.csv'));
+Ts = mean(Tt(2:end,1)-Tt(1:end-1,1));
+scope = spectrumAnalyzer('SampleRate',1/Ts,'AveragingMethod','exponential','ForgettingFactor',0.5);
+show(scope);
+
+ scope(x);
+
+%
+% while toc < 10
+% x = randn(256,1);
+% % y = lowpassFilt(x);
+% scope(x);
+% end
\ No newline at end of file
diff --git a/simulation/low_passfilter.m b/simulation/low_passfilter.m
new file mode 100644
index 0000000000000000000000000000000000000000..2e5dc06b34e21ec8ca16cea859484d2efaf90ba4
--- /dev/null
+++ b/simulation/low_passfilter.m
@@ -0,0 +1,28 @@
+N = 100; % FIR filter order
+Fp = 20e3; % 20 kHz passband-edge frequency
+Fs = 96e3; % 96 kHz sampling frequency
+Rp = 0.00057565; % Corresponds to 0.01 dB peak-to-peak ripple
+Rst = 1e-4; % Corresponds to 80 dB stopband attenuation
+
+tic
+%
+% lowpassFilt = dsp.LowpassFilter('DesignForMinimumOrder',false, ...
+% 'FilterOrder',N,'PassbandFrequency',Fp,'SampleRate',Fs,...
+% 'PassbandRipple',0.01, 'StopbandAttenuation',80);
+tic
+
+% import csv
+Ta = table2array(readtable('angle.csv'));
+Tt = table2array(readtable('t.csv'));
+Ts = mean(Tt(2:end,1)-Tt(1:end-1,1));
+scope = spectrumAnalyzer('SampleRate',1/Ts,'AveragingMethod','exponential','ForgettingFactor',0.5);
+show(scope);
+
+scope(Ta(:,1));
+
+%
+% while toc < 10
+% x = randn(256,1);
+% % y = lowpassFilt(x);
+% scope(x);
+% end
\ No newline at end of file
diff --git a/simulation/t.csv b/simulation/t.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5dc184b1a09d7c0de04baa72757d5f7afa37379e
--- /dev/null
+++ b/simulation/t.csv
@@ -0,0 +1,162 @@
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diff --git a/simulation/vel.csv b/simulation/vel.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b196ade7705a3a63bcdaa9a61c0c580588ccf105
--- /dev/null
+++ b/simulation/vel.csv
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