diff --git a/crazyflie_groundstation/.gitignore b/crazyflie_groundstation/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..245a8f80ebc0134dfbe67cec806e74803aef375b
--- /dev/null
+++ b/crazyflie_groundstation/.gitignore
@@ -0,0 +1,2 @@
+crazyflieGroundStation
+test_connection
diff --git a/crazyflie_groundstation/How to add another Crazyflie b/crazyflie_groundstation/How to add another Crazyflie
new file mode 100644
index 0000000000000000000000000000000000000000..6d08eb8ed14536930ab9a447cb0305b5d3aaa951
--- /dev/null
+++ b/crazyflie_groundstation/How to add another Crazyflie
@@ -0,0 +1,380 @@
+vrpn.cpp
+
+ vrpn_Tracker_Remote *tracker#;
+
+ void vrpn_init(std::string connectionName, void (*callback)(void*, const vrpn_TRACKERCB), void (*callback2)(void*, const vrpn_TRACKERCB), void (*callback#)(void*, const vrpn_TRACKERCB), char *key) {
+
+ tracker# = new vrpn_Tracker_Remote("Crazyflie2#", connection);
+
+ tracker#->register_change_handler(0, callback#);
+
+ tracker#->mainloop();
+
+
+vrpn.h
+
+ void vrpn_init(std::string connectionName, void (*callback)(void*, const vrpn_TRACKERCB), void (*callback2)(void*, const vrpn_TRACKERCB), void (*callback#)(void*, const vrpn_TRACKERCB), char *key);
+
+
+
+eris_vrpn.cpp
+
+ void VRPN_CALLBACK handle_Crazyflie#(void*, const vrpn_TRACKERCB t);
+
+ CCrazyRadio *crRadio# = 0; //***NOT NECESSARY IF LESS THAN 3 QUADS PER RADIO***
+
+ CCrazyflie *cflieCopter# = 0;
+
+ ControllerObject pidCtrl# = { 0 }; // init all fields to zero
+
+ float rollControlOutput#;
+ float pitchControlOutput#;
+ float yawControlOutput#;
+ float thrustControlOutput#;
+
+ double initTime# = 0;
+
+ int vrpnPacketBackup# = 0;
+ double vrpnBackupTime# = 0;
+ double vrpnBackupTime#Prev = 0;
+ double vrpnBackupTime#Delta = 0;
+
+ char takeOff# = 0;
+
+ float xPositionDesired# = 0.681;
+ float yPositionDesired# = 0.129;
+ float zPositionDesired# = 0.6;
+ float yawDesired# = -90.0;
+
+ float yawDifference# = 0;
+ float quadYaw# = 0;
+ float prevQuadYaw# = 0;
+ float camYawDeg# = 0;
+ float camYawDeg#Off = 0;
+ float quadYaw#Off = 0;
+ float correctedYaw# = 0;
+
+ double loopTime#Start = 0;
+ double loopTime#End = 0;
+ double loopTime# = 0;
+ double loopTime#Prev = 0;
+ double loopTime#Delta = 0;
+
+ double vrpnPacketTime# = 0;
+ double vrpnPacketTime#Prev = 0;
+ double vrpnPacketDelta# = 0;
+
+ FILE * out# = NULL;
+
+ controllerResetAllPID( &pidCtrl# );
+
+ controllerInit( &pidCtrl# );
+
+ vrpn_init("192.168.0.120:3883", handle_pos, handle_Crazyflie2, handle_Crazyflie#, handle_Crazyflie(#+1), ..., &keystroke_now);
+
+ cflieCopter# = new CCrazyflie(crRadio(radio dongle number), (Radio Channel));
+
+ const char * logHeader# = "#Crazyflie# Log File\n\
+%Time\t\tPitch\t\tRoll\t\tYaw\t\tX\t\tY\t\tZ\t\tCamYaw\t\tCorrectedYaw\t\tLoopTimeTotal\t\tLoopTime\t\tLoopTimeDelta\t\tvrpnPacketDelta\t\tvrpnPacketTime\t\tvrpnPacketBackup\n\
+&sec\t\tdegrees\t\tdegrees\t\tdegrees\t\tmeters\t\tmeters\t\tmeters\t\tdegrees\t\tdegrees\t\tseconds\t\tseconds\t\tseconds\t\tseconds\t\tseconds\t\tpackets\n";
+
+ if(cflieCopter#)
+ {
+ out# = fopen("cflie#.txt", "w");
+
+ if(out# == NULL)
+ {
+ printf("Could not open cflie#.log:errno %d\n", errno);
+ exit(-1);
+ }
+
+ fprintf(out#, "%s\n", logHeader#);
+ }
+
+ initTime# = cflieCopter#->currentTime();
+
+ cflieCopter#->setSendSetpoints( true );
+
+ fclose(out#);
+
+ delete cflieCopter#;
+
+//===========MAKE NEW CALLBACK===================
+
+void VRPN_CALLBACK handle_Crazyflie#(void*, const vrpn_TRACKERCB t) {
+
+if(vrpnPacketBackup# < 2) //If VRPN Buffer does NOT have old packets stored up, run main code
+{
+ loopTime#Start = cflieCopter#->currentTime() - initTime#;
+ loopTime#Delta = loopTime#Start - loopTime#Prev; //Calculates time difference between each loop start
+ loopTime#Prev = loopTime#Start;
+
+ vrpnPacketTime# = t.msg_time.tv_sec + (t.msg_time.tv_usec / 1000000.0);
+ vrpnPacketDelta# = vrpnPacketTime# - vrpnPacketTime#Prev;
+ vrpnPacketTime#Prev = vrpnPacketTime#;
+
+ vrpnPacketBackup# = ceil(loopTime#Delta/vrpnPacketDelta#); //Calculates estimated # of packets built up in VRPN buffer.
+
+ controllerSetAllDt(&pidCtrl#, vrpnPacketDelta#); //Variable dt for controller based on time between packets | vrpnPacketDelta2
+
+ cflieCopter1->cheat_process_packets(); //Flush out other Copter Packets
+ crRadio(#RADIO NUM)->clearPackets();
+ crRadio(#RADIO NUM)->setChannel( cflieCopter#->radioChannel() );
+
+ // Get the euler angles
+ q_vec_type euler;
+ q_to_euler(euler, t.quat);
+#if USE_PRINTOUT
+ cout << "PID Radio #" << endl << endl;
+#endif
+#if 0
+ //cout << "\033[2J\033[1;1H"; //Clears Terminal Window to display clean output
+
+ /*
+ * Position
+ * x t.pos[0]
+ * y t.pos[1]
+ * z t.pos[2]
+ *
+ * Orientation
+ * yaw euler[0] Rotation
+ * pitch euler[1] East-West movement
+ * roll euler[2] North-South movement
+ * Euler's range goes from -pi : +pi
+ */
+ QUAD quad;
+ quad.vrpnNow = 0;
+ vrpn_data_t *vrpnData;
+
+ vrpnData = (vrpn_data_t*) malloc(sizeof(vrpn_data_t));
+ vrpnData->usec = t.msg_time.tv_sec + (t.msg_time.tv_usec / 1000000.0);
+ vrpnData->x = t.pos[0];
+ vrpnData->y = t.pos[1];
+ vrpnData->z = -t.pos[2] + 0.05; //Higher Altitude = Negative z //Added Offset for floor below camera system origin
+ vrpnData->yaw = euler[0];
+ vrpnData->pitch = euler[1];
+ vrpnData->roll = euler[2];
+
+ xPosition# = t.pos[0];
+ yPosition# = t.pos[1];
+ zPosition# = -t.pos[2] + 0.05;
+
+ cout << "xPosition of Crazyflie#: " << xPosition# << endl;
+
+ quad.vrpnPrev = quad.vrpnNow;
+ if (quad.vrpnNow == 0) {
+ quad.vrpnPrev = 0;
+ quad.vrpnTime0 = vrpnData->usec;
+ quad.vrpnNow = vrpnData->usec;
+ } else {
+ quad.vrpnNow = vrpnData->usec - quad.vrpnTime0;
+ }
+#endif
+//==============YAW CORRECTION========================= (IMPORTANT!!!: YAW CONTROLLER INPUT IS INVERTED IN simple.cpp FILE***)
+ camYawDeg# = -(euler[0] * 57.2958); //Converts From Radians TO Degrees
+ quadYaw# = cflieCopter#->yaw();
+
+// if((prevQuadYaw# - quadYaw# < -50) || (prevQuadYaw#-quadYaw# > 50)) //TODO HACK TO ELIMINATE PACKET CROSSING****
+// {
+ //cout << "Yaw# Prev: " << prevQuadYaw# << endl;
+ //cout << "Yaw# Current: " << quadYaw# << endl;
+// printf( "Yaw# prev %8.2f curr %8.2f\n", prevQuadYaw#, quadYaw# );
+// quadYaw# = prevQuadYaw#;
+// }
+
+ if (frameCount == 50) {
+ if (camYawDeg# < 0.0)
+ camYawDeg#Off = camYawDeg# + 360.0; //Converts from +-180 to full 360 degree form
+ else
+ camYawDeg#Off = camYawDeg#;
+
+
+
+ if(quadYaw# < 0.0)
+ quadYaw#Off = quadYaw# + 360.0;
+ else
+ quadYaw#Off = quadYaw#;
+
+ yawDifference# = quadYaw#Off - camYawDeg#Off;
+ cout << "Yaw# Offset Taken: " << yawDifference# << endl;
+ }
+
+ correctedYaw# = camYawDeg# + yawDifference#;
+
+ if(correctedYaw# > 180.0)
+ correctedYaw# -= 360.0;
+ else if(correctedYaw# < -180.0)
+ correctedYaw# += 360.0;
+
+// yawDesired# = yawDesired# + yawDifference#; //Fixes difference in camera and quad yaw measurements
+
+// if (yawDesired# > 180.0)
+// yawDesired# -= 360.0;
+// else if (yawDesired# < -180.0)
+// yawDesired# += 360.0;
+
+// prevQuadYaw# = quadYaw#; //TODO HACK TO ELIMINATE PACKET CROSSING****
+
+//===============END YAW CORRECTION=========================
+
+#if USE_PRINTOUT
+ cout << "X: " << t.pos[0] << endl;
+ cout << "Y: " << t.pos[1] << endl;
+ cout << "Z: " << -t.pos[2] + 0.05 << endl;
+#endif
+
+// free(vrpnData);
+
+ //****INSERT RUNTIME CODE HERE****
+
+ //========Reads Keystrokes from Keyboard==========
+ // nonblock(1);
+#if USE_KEYBOARD
+ /*
+ if (keystroke_now != keystroke_prev) {
+
+ //keystroke = fgetc( stdin );
+ if (keystroke_now == 'w') {
+ yPositionDesired2 -= 0.2;
+ cout << "New Y Setpoint: " << yPositionDesired2 << endl;
+ } else if (keystroke_now == 'd') {
+ yPositionDesired2 += 0.2;
+ cout << "New Y Setpoint: " << yPositionDesired2 << endl;
+ } else if (keystroke_now == 'a') {
+ xPositionDesired2 -= 0.2;
+ cout << "New X Setpoint: " << xPositionDesired2 << endl;
+ } else if (keystroke_now == 'd') {
+ xPositionDesired2 += 0.2;
+ cout << "New X Setpoint: " << xPositionDesired2 << endl;
+ } else if (keystroke_now == 'r') {
+ zPositionDesired2 += 0.2;
+ cout << "New Z Setpoint: " << zPositionDesired2 << endl;
+ } else if (keystroke_now == 'f') {
+ zPositionDesired2 -= 0.2;
+ cout << "New Z Setpoint: " << zPositionDesired2 << endl;
+ } else if (keystroke_now == 'e') {
+ landingMode ^= 1;
+ cout << "Landing Mode Enabled" << endl;
+ } else if (keystroke_now == 'm') {
+ mirrorMode ^= 1;
+ cout << "Mirror Mode Enabled" << endl;
+ } else if (keystroke_now == 't') {
+ takeOff = 1;
+ takeOffTime = vrpnData->usec;
+ } else if (keystroke_now == '`') {
+ tcp_server_ON ^= 1;
+ } else if (keystroke_now == '1') {
+ tcp_client_ON ^= 1;
+ }
+
+ keystroke_prev = keystroke_now;
+
+ } */
+ //nonblock(0);
+#endif
+
+#if USE_KEYBOARD
+ if (landingMode) //Landing Mode (TODO Change to be a keystroke when implemented)
+ {
+ controllerCorrectAttitudePID(&pidCtrl#, t.pos[0], t.pos[1], -t.pos[2], correctedYaw#,
+ xPositionDesired#, yPositionDesired#, -1.0, yawDesired#,
+ &rollControlOutput#, &pitchControlOutput#, &yawControlOutput#,
+ &thrustControlOutput#);
+ takeOff# = 0;
+ }
+// else if (mirrorMode) { //***REMOVED (NEED SEPARATE ENABLE VARIABLE)****
+// xPositionDesired# = (xPosition2 + 1.0);
+// yPositionDesired# = (yPosition2);
+// zPositionDesired# = (zPosition2);
+
+// cout << "New xPositionDesired: " << xPositionDesired# << endl;
+
+// controllerCorrectAttitudePID(&pidCtrl#, t.pos[0], t.pos[1], -t.pos[2], correctedYaw#,
+// xPositionDesired#, yPositionDesired#, zPositionDesired#,
+// yawDesired#, &rollControlOutput#, &pitchControlOutput#,
+// &yawControlOutput#, &thrustControlOutput#);
+
+// }
+ else if (takeOff#) { //correctedYaw#
+// zPositionDesired# = 1.0;
+
+ controllerCorrectAttitudePID(&pidCtrl#, t.pos[0], t.pos[1], -t.pos[2], correctedYaw#,
+ xPositionDesired#, yPositionDesired#, zPositionDesired#,
+ yawDesired#, &rollControlOutput#, &pitchControlOutput#,
+ &yawControlOutput#, &thrustControlOutput#);
+
+// if ((vrpnData->usec - takeOffTime) > 500000) //To reduce Ground Effect - Boost Thrust for first 0.5 seconds of takeoff
+// {
+// zPositionDesired# = 0.4;
+// }
+ }
+
+ else {
+ rollControlOutput# = 0;
+ pitchControlOutput# = 0;
+ yawControlOutput# = 0;
+ thrustControlOutput# = 0;
+ }
+#endif
+
+#if !USE_KEYBOARD
+ controllerCorrectAttitudePID(&pidCtrl#, t.pos[0], t.pos[1], -t.pos[2], correctedYaw#,
+ xPositionDesired#, yPositionDesired#, zPositionDesired#, yawDesired#,
+ &rollControlOutput#, &pitchControlOutput#, &yawControlOutput#,
+ &thrustControlOutput#);
+#endif
+ RunCrazyflie(crRadio(#RADIO NUM), cflieCopter#,
+ rollControlOutput#, pitchControlOutput#, yawControlOutput#, thrustControlOutput#);
+
+#if USE_LOGGING
+ fprintf(out#, "%.6f\t\t", cflieCopter#->currentTime() - initTime# );
+ fprintf(out#, "%.3f\t\t%.3f\t\t%.3f\t\t%.3f\t\t%.3f\t\t%.3f\t\t%.3f\t\t%.3f\t\t%.6f\t\t%.6f\t\t%.6f\t\t%.6f\t\t%.6f\t\t%d",
+ cflieCopter#->pitch(),
+ cflieCopter#->roll(),
+ quadYaw#,
+ t.pos[0],
+ t.pos[1],
+ -t.pos[2],
+ camYawDeg#,
+ correctedYaw#,
+ loopTimeTotal,
+ loopTime#,
+ loopTime#Delta,
+ vrpnPacketDelta#,
+ vrpnPacketTime#,
+ vrpnPacketBackup#);
+ fprintf(out#, "\n");
+#endif
+
+ loopTime#End = cflieCopter#->currentTime() - initTime#;
+ loopTime# = loopTime#End - loopTime#Start;
+// loopTimeTotal = loopTime1Start - loopTime#End;
+
+} //End Packet Backup If check
+else if(vrpnPacketBackup# < 0){ //Failsafe so can't go below 0 (should never happen) | || (vrpnPacketBackup# > 20)?
+ vrpnPacketBackup# = 0;
+// RunCrazyflie(crRadio(#RADIO NUM), cflieCopter#,
+// rollControlOutput#, pitchControlOutput#, yawControlOutput#, thrustControlOutput#);
+}
+else if(vrpnPacketBackup# >= 2){
+// cout << "VRPN Packet Backup # Detected: " << vrpnPacketBackup# << endl;
+ vrpnPacketBackup# --;
+// RunCrazyflie(crRadio(#RADIO NUM), cflieCopter#,
+// rollControlOutput#, pitchControlOutput#, yawControlOutput#, thrustControlOutput#);
+}//End Packet Backup Purge
+
+} //END CALLBACK #
+
+==================END MAKE NEW CALLBACK=================
+
+======In CTRL+C Handler=======
+
+ cflieCopter#->setThrust(10000);
+
+ cout << "Battery#: " << cflieCopter#->batteryLevel() << endl;
+
+ cflieCopter#->cycle();
+
+=====End CTRL+C Handler=======
+
+
diff --git a/crazyflie_groundstation/Makefile b/crazyflie_groundstation/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..8d83e70ded84ed7a64973d0e4b83eb42391512cc
--- /dev/null
+++ b/crazyflie_groundstation/Makefile
@@ -0,0 +1,32 @@
+# Compiler to use
+g++ = g++ -Wall
+
+# Where are things located
+INC_DIR=inc
+SRC_DIR=src
+
+# What the final executable is called
+EXE_NAME=crazyflieGroundStation
+
+# All the libraries needed
+LIBS=-lquat -lvrpn -lpthread -lusb-1.0 -lbluetooth
+
+# The compile flags
+FLAGS=-g -o0 -Wall
+
+# Determine what source files exist
+STRUCTURE := $(shell find $(SRC_DIR) -type d)
+ALL_FILES := $(addsuffix /*,$(STRUCTURE))
+ALL_FILES := $(wildcard $(ALL_FILES))
+SRC_FILES := $(filter %.cpp,$(ALL_FILES))
+
+
+all:
+ $(g++) -I$(INC_DIR) $(FLAGS) -o $(EXE_NAME) $(SRC_FILES) $(LIBS)
+
+clean:
+ rm -f *.o $(EXE_NAME)
+ rm -f test_connection
+
+test:
+ gcc -g -o test_connection test_connection.c
diff --git a/crazyflie_groundstation/Makefile.new b/crazyflie_groundstation/Makefile.new
new file mode 100644
index 0000000000000000000000000000000000000000..efe6d0523ea8da347e1c979f2b04da5c4e3fb516
--- /dev/null
+++ b/crazyflie_groundstation/Makefile.new
@@ -0,0 +1,20 @@
+CC=g++
+CFLAGS=-c -Wall
+SOURCES=eris_vrpn.cpp vrpn.cpp CCrazyflie.cpp CCrazyRadio.cpp CCRTPPacket.cpp CTOC.cpp simple.cpp pid.cpp controller.cpp multicast.cpp quadcopterData.cpp callbacks.cpp userInput.cpp userOutput.cpp logData.cpp
+HEADERS=eris_vrpn.h vrpn.h CCrazyflie.h CCrazyRadio.h CCRTPPacket.h CTOC.h simple.h pid.h controller.h quadcopterData.h callbacks.h userInput.h userOutput.h logData.h
+LDFLAGS=-lquat -lvrpn -lpthread -lusb-1.0
+OBJECTS=$(SOURCES:%.cpp=build/%.o)
+EXECUTABLE=eris_vrpn
+
+
+all: $(OBJECTS) $(EXECUTABLE)
+
+$(EXECUTABLE): $(OBJECTS)
+ $(CC) $(OBJECTS) -o $@ $(LDFLAGS)
+
+build/%.o: %.cpp
+ $(CC) $(CFLAGS) -o $@ $^
+
+clean:
+ rm -f build/*.o $(EXECUTABLE)
+
diff --git a/crazyflie_groundstation/README.md b/crazyflie_groundstation/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..ddc4571cdc071711d76cb2dabeabd89afa22f332
--- /dev/null
+++ b/crazyflie_groundstation/README.md
@@ -0,0 +1,2 @@
+This branch has an updated userInput thread that uses a socket for communication. To build the groundstation run `make`. To build the test connection run `make test` and then the `test_connection' can be run which will accept user
+input.
diff --git a/crazyflie_groundstation/cflie1.txt b/crazyflie_groundstation/cflie1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b987ce86f4b0232356a66ad2d7ec48c7a4ef3bfc
--- /dev/null
+++ b/crazyflie_groundstation/cflie1.txt
@@ -0,0 +1,3872 @@
+#Crazyflie1 Log File
+%Time Pitch Roll Yaw X Y Z CamYaw CorrectedYaw LoopTimeTotal LoopTimeTotalDelta LoopTime LoopTimeDelta vrpnPacketDelta vrpnPacketTime vrpnPacketBackup RadioRSSI
+&sec degrees degrees degrees meters meters meters degrees degrees seconds seconds seconds seconds seconds seconds packets strength
+
+0.470004 0.000 0.000 0.000 0.064 -0.419 -0.016 -1.658 -1.658 0.000000 0.000019 0.000000 0.000185 231.830860 231.830860 1 0
+2.037059 0.000 0.000 0.000 0.064 -0.419 -0.016 -1.626 -1.626 0.000000 0.000019 0.469854 1.444876 0.010063 231.840923 144 0
+3.885014 0.000 0.000 0.000 0.064 -0.419 -0.016 -1.619 -1.619 0.000000 0.000019 0.592093 2.437537 1.440412 233.281335 2 0
+3.886077 0.000 0.000 0.000 0.064 -0.419 -0.016 -1.603 -1.603 0.000000 0.000019 0.002488 0.002539 0.019974 233.301309 1 0
+3.887114 0.000 0.000 0.000 0.064 -0.419 -0.016 -1.594 -1.594 0.000000 0.000019 0.001007 0.001029 0.010176 233.311485 1 0
+3.888115 0.000 0.000 0.000 0.064 -0.419 -0.016 -1.625 -1.625 0.000000 0.000019 0.001016 0.001036 0.009822 233.321307 1 0
+3.889104 0.000 0.000 0.000 0.064 -0.419 -0.016 -1.623 -1.623 0.000000 0.000019 0.000983 0.001008 0.010005 233.331312 1 0
+3.890127 0.000 0.000 0.000 0.064 -0.419 -0.016 -1.597 -1.597 0.000000 0.000019 0.000953 0.000973 0.010079 233.341391 1 0
+3.891119 0.000 0.000 0.000 0.064 -0.419 -0.016 -1.624 -1.624 0.000000 0.000019 0.001010 0.001030 0.009941 233.351332 1 0
+3.892124 0.000 0.000 0.000 0.064 -0.419 -0.016 -1.627 -1.627 0.000000 0.000019 0.000965 0.000984 0.010062 233.361394 1 0
+3.893109 0.000 0.000 0.000 0.064 -0.419 -0.016 -1.627 -1.627 0.000000 0.000019 0.000993 0.001015 0.009966 233.371360 1 0
+3.896133 0.000 0.000 0.000 0.064 -0.419 -0.016 -1.632 -1.632 0.000000 0.000019 0.000963 0.000982 0.009971 233.381331 1 0
+3.897108 0.000 0.000 0.000 0.064 -0.419 -0.016 -1.619 -1.619 0.000000 0.000019 0.002999 0.003019 0.010144 233.391475 1 0
+3.898113 0.000 0.000 0.000 0.064 -0.419 -0.016 -1.624 -1.624 0.000000 0.000019 0.000960 0.000981 0.009859 233.401334 1 0
+3.902116 0.000 0.000 0.000 0.064 -0.419 -0.016 -1.628 -1.628 0.000000 0.000019 0.000985 0.003904 0.010460 233.411794 1 0
+3.903114 0.000 0.000 0.000 0.064 -0.419 -0.016 -1.631 -1.631 0.000000 0.000019 0.001078 0.001098 0.009574 233.421368 1 0
+3.907138 0.000 0.000 0.000 0.064 -0.419 -0.016 -1.634 -1.634 0.000000 0.000019 0.000978 0.001957 0.010097 233.431465 1 0
+3.909119 0.000 0.000 0.000 0.064 -0.419 -0.016 -1.610 -1.610 0.000000 0.000019 0.003044 0.004015 0.009968 233.441433 1 0
+3.913116 0.000 0.000 0.000 0.064 -0.419 -0.016 -1.642 -1.642 0.000000 0.000019 0.001016 0.003970 0.009988 233.451421 1 0
+3.917138 0.000 0.000 0.000 0.064 -0.419 -0.016 -1.628 -1.628 0.000000 0.000019 0.001073 0.002031 0.010032 233.461453 1 0
+3.919120 0.000 0.000 0.000 0.064 -0.419 -0.016 -1.626 -1.626 0.000000 0.000019 0.003028 0.003997 0.010030 233.471483 1 0
+3.923109 0.000 0.000 0.000 0.064 -0.419 -0.016 -1.659 -1.659 0.000000 0.000019 0.001019 0.004023 0.009944 233.481427 1 0
+3.927030 0.000 0.000 0.000 0.064 -0.419 -0.016 -1.648 -1.648 0.000000 0.000019 0.000984 0.001984 0.010053 233.491480 1 0
+3.929120 0.000 0.000 0.000 0.064 -0.419 -0.016 -1.620 -1.620 0.000000 0.000019 0.002948 0.003996 0.009966 233.501446 1 0
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diff --git a/crazyflie_groundstation/cflie2.txt b/crazyflie_groundstation/cflie2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..eff25e62ecf4d2a41aa1c505a52b3f1feaf53244
--- /dev/null
+++ b/crazyflie_groundstation/cflie2.txt
@@ -0,0 +1,3914 @@
+#Crazyflie2 Log File
+%Time Pitch Roll Yaw X Y Z CamYaw CorrectedYaw LoopTimeTotal LoopTimeTotalDelta LoopTime LoopTimeDelta vrpnPacketDelta vrpnPacketTime vrpnPacketBackup
+&sec degrees degrees degrees meters meters meters degrees degrees seconds seconds seconds seconds seconds seconds packets
+
+1.445002 0.000 0.000 0.000 0.353 -0.422 -0.018 6.941 6.941 0.000000 0.000019 0.000000 1.206040 231.830860 231.830860 1
+3.880032 0.000 0.000 0.000 0.353 -0.422 -0.018 6.972 6.972 0.000000 0.000019 0.238983 2.084099 0.010063 231.840923 208
+4.137029 0.000 4.112 0.000 0.353 -0.422 -0.018 6.545 6.545 0.000000 0.000019 0.589964 0.844015 2.080638 233.921561 1
+4.149129 -1.113 -0.043 0.000 0.353 -0.422 -0.018 6.977 6.977 0.000000 0.000019 0.002920 0.012014 0.009990 233.931551 2
+4.161138 -1.113 -0.043 -0.856 0.353 -0.422 -0.018 6.967 6.967 0.000000 0.000019 0.002991 0.012028 0.020000 233.951551 1
+4.173128 -1.113 -0.042 -0.856 0.353 -0.422 -0.018 6.966 6.966 0.000000 0.000019 0.002971 0.011969 0.010013 233.961564 2
+4.185142 -1.113 -0.042 -0.864 0.353 -0.422 -0.018 6.551 6.551 0.000000 0.000019 0.002992 0.012004 0.019975 233.981539 1
+4.197130 -1.111 -0.041 -0.864 0.353 -0.422 -0.018 6.542 6.542 0.000000 0.000019 0.003002 0.011992 0.010036 233.991575 2
+4.209139 -1.111 -0.041 -0.873 0.353 -0.422 -0.018 6.516 6.516 0.000000 0.000019 0.002998 0.012007 0.019999 234.011574 1
+4.221089 -1.111 -0.041 -0.873 0.353 -0.422 -0.018 6.949 6.949 0.000000 0.000019 0.003000 0.011992 0.009985 234.021559 2
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+4.357096 -1.113 -0.041 -0.880 0.353 -0.422 -0.018 7.025 7.025 0.000000 0.000019 0.003963 0.013977 0.019993 234.191541 1
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+4.381135 -1.113 -0.041 -0.880 0.353 -0.422 -0.018 6.564 6.564 0.000000 0.000019 0.002992 0.011999 0.019965 234.221682 1
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+4.406103 -1.113 -0.041 -0.880 0.353 -0.422 -0.018 6.552 6.552 0.000000 0.000019 0.003038 0.012061 0.019988 234.251695 1
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diff --git a/crazyflie_groundstation/cflie3.txt b/crazyflie_groundstation/cflie3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..325bcbeafd54df1d8656535a3c18c3931ef7f3a2
--- /dev/null
+++ b/crazyflie_groundstation/cflie3.txt
@@ -0,0 +1,3990 @@
+#Crazyflie3 Log File
+%Time Pitch Roll Yaw X Y Z CamYaw CorrectedYaw LoopTimeTotal LoopTimeTotalDelta LoopTime LoopTimeDelta vrpnPacketDelta vrpnPacketTime vrpnPacketBackup
+&sec degrees degrees degrees meters meters meters degrees degrees seconds seconds seconds seconds seconds seconds packets
+
+0.770003 0.000 0.000 0.000 0.212 -0.419 -0.015 0.488 0.488 0.000000 0.000019 0.000000 0.470061 231.830860 231.830860 1
+2.628049 0.000 0.000 0.000 0.212 -0.419 -0.015 0.480 0.480 0.000000 0.000019 0.299970 1.567107 0.010063 231.840923 156
+3.901030 0.000 0.000 0.000 0.212 -0.419 -0.015 0.496 0.496 0.000000 0.000019 0.590932 1.861016 1.560411 233.401334 2
+3.904103 0.000 0.000 0.000 0.212 -0.419 -0.015 0.395 0.395 0.000000 0.000019 0.002895 0.004994 0.020034 233.421368 1
+3.908118 0.000 0.000 0.000 0.212 -0.419 -0.015 0.478 0.478 0.000000 0.000019 0.000956 0.004024 0.010097 233.431465 1
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+3.914120 -0.927 0.087 -0.362 0.212 -0.419 -0.015 0.472 0.472 0.000000 0.000019 0.002930 0.004030 0.009988 233.451421 1
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+69.223532 -12.898 7.425 3.306 -0.351 -0.599 0.144 9.583 8.794 0.000000 0.000349 0.002971 0.003986 0.010061 303.112294 1
+69.258502 -12.898 7.425 3.306 -0.356 -0.595 0.141 9.882 9.094 0.000000 0.000350 0.000997 0.032484 0.010073 303.122367 4
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+69.556517 -12.465 7.140 -6.210 -0.505 -0.515 0.031 6.894 6.105 0.000000 0.000350 0.001016 0.004038 0.010004 303.442381 1
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+69.729543 -4.492 -0.877 -0.280 -0.552 -0.517 -0.002 23.075 22.287 0.000000 0.000340 0.000994 0.037592 0.010006 303.592503 4
diff --git a/crazyflie_groundstation/cflie4.txt b/crazyflie_groundstation/cflie4.txt
new file mode 100644
index 0000000000000000000000000000000000000000..60355c60f8de327381dcaffcf0477b2732eab53f
--- /dev/null
+++ b/crazyflie_groundstation/cflie4.txt
@@ -0,0 +1,3767 @@
+#Crazyflie4 Log File
+%Time Pitch Roll Yaw X Y Z CamYaw CorrectedYaw LoopTimeTotal LoopTimeTotalDelta LoopTime LoopTimeDelta vrpnPacketDelta vrpnPacketTime vrpnPacketBackup
+&sec degrees degrees degrees meters meters meters degrees degrees seconds seconds seconds seconds seconds seconds packets
+
+1.206000 0.000 0.000 0.000 -0.099 -0.418 -0.021 8.305 8.305 0.000000 0.000019 0.000000 0.770051 231.830860 231.830860 1
+3.290041 0.000 0.000 0.000 -0.099 -0.418 -0.021 8.284 8.284 0.000000 0.000019 0.435974 1.858066 0.010063 231.840923 185
+3.995037 0.000 0.000 0.000 -0.099 -0.418 -0.021 8.280 8.280 0.000000 0.000019 0.662004 1.364034 1.850510 233.691433 1
+4.000118 0.000 0.000 0.000 -0.099 -0.418 -0.021 8.277 8.277 0.000000 0.000019 0.002932 0.007012 0.010013 233.701446 1
+4.007139 0.000 0.000 0.000 -0.099 -0.418 -0.021 8.265 8.265 0.000000 0.000019 0.000986 0.004995 0.010009 233.711455 1
+4.012115 0.000 0.000 0.000 -0.099 -0.418 -0.021 8.256 8.256 0.000000 0.000019 0.003011 0.007023 0.010035 233.721490 1
+4.019136 -1.049 0.714 0.000 -0.098 -0.418 -0.021 8.290 8.290 0.000000 0.000019 0.000964 0.004969 0.010013 233.731503 1
+4.024114 -1.049 0.714 -0.068 -0.098 -0.418 -0.021 8.268 8.268 0.000000 0.000019 0.003017 0.007020 0.009956 233.741459 1
+4.031141 -1.049 0.714 -0.068 -0.098 -0.418 -0.021 8.266 8.266 0.000000 0.000019 0.000975 0.004980 0.010042 233.751501 1
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+4.097114 -1.048 0.718 -0.065 -0.099 -0.418 -0.021 8.328 -0.032 0.000000 0.000019 0.003004 0.007010 0.009641 233.861509 1
+4.104137 -1.048 0.718 -0.065 -0.099 -0.418 -0.021 8.303 -0.057 0.000000 0.000019 0.000978 0.004985 0.010062 233.871571 1
+4.110124 -1.048 0.718 -0.065 -0.099 -0.418 -0.021 8.297 -0.063 0.000000 0.000019 0.003017 0.007991 0.010025 233.881596 1
+4.117128 -1.052 0.721 -0.065 -0.099 -0.418 -0.021 8.307 -0.053 0.000000 0.000019 0.001014 0.005018 0.010006 233.891602 1
+4.122115 -1.052 0.721 -0.064 -0.099 -0.418 -0.021 8.301 -0.059 0.000000 0.000019 0.002999 0.006974 0.009988 233.901590 1
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+69.053536 -28.621 1.520 116.251 -0.672 -0.492 0.057 155.939 147.578 0.000000 0.000350 0.001006 0.002018 0.010000 302.942231 1
+69.091514 -28.621 1.520 116.251 -0.677 -0.499 0.048 160.857 152.497 0.000000 0.000348 0.000989 0.035992 0.010032 302.952263 4
+69.137546 -15.818 56.328 116.251 -0.693 -0.547 0.021 -163.479 -171.839 0.000000 0.000349 0.002982 0.046015 0.060053 303.012316 1
+69.138522 -15.818 56.328 -177.454 -0.692 -0.555 0.026 -146.675 -155.035 0.000000 0.000349 0.002991 0.002999 0.009913 303.022229 1
+69.142528 -15.818 56.328 -177.454 -0.691 -0.562 0.029 -140.033 -148.394 0.000000 0.000349 0.000980 0.003990 0.010044 303.032273 1
+69.175554 -15.818 56.328 -177.454 -0.689 -0.569 0.032 -134.518 -142.879 0.000000 0.000349 0.000983 0.030979 0.010028 303.042301 4
+69.218540 19.828 79.380 -177.454 -0.694 -0.621 0.038 -126.878 -135.238 0.000000 0.000349 0.003032 0.043011 0.049984 303.092285 1
+69.222521 19.828 79.380 -94.468 -0.697 -0.631 0.041 -118.659 -127.019 0.000000 0.000349 0.003005 0.005985 0.009948 303.102233 1
+69.224529 19.828 79.380 -94.468 -0.699 -0.640 0.045 -111.547 -119.907 0.000000 0.000349 0.001006 0.002012 0.010061 303.112294 1
+69.261552 19.828 79.380 -94.468 -0.704 -0.650 0.046 -100.816 -109.176 0.000000 0.000350 0.000997 0.034985 0.010073 303.122367 4
+69.272544 57.795 66.306 -94.468 -0.731 -0.677 0.044 -69.486 -77.846 0.000000 0.000350 0.003035 0.011022 0.040020 303.162387 1
+69.304505 57.795 66.306 39.278 -0.739 -0.680 0.040 -60.931 -69.291 0.000000 0.000348 0.003004 0.032010 0.009970 303.172357 4
+69.357553 57.795 66.306 39.278 -0.775 -0.665 0.008 172.884 164.524 0.000000 0.011149 0.002966 0.052910 0.080019 303.252376 1
+69.394505 57.795 66.306 39.278 -0.776 -0.662 0.005 -177.774 173.866 0.000000 0.000339 0.003129 0.037060 0.010055 303.262431 4
+69.437545 3.271 10.955 39.278 -0.781 -0.652 -0.000 -142.769 -151.129 0.000000 0.000349 0.002995 0.043048 0.040034 303.302465 2
+69.442517 3.271 10.955 -170.576 -0.785 -0.650 0.000 -123.938 -132.298 0.000000 0.000349 0.002978 0.006961 0.019895 303.322360 1
+69.449554 3.271 10.955 -170.576 -0.787 -0.648 0.000 -113.598 -121.958 0.000000 0.000349 0.000995 0.005009 0.010045 303.332405 1
+69.474505 3.271 10.955 -170.576 -0.790 -0.646 0.002 -103.640 -112.000 0.000000 0.000350 0.003017 0.024978 0.009959 303.342364 3
+69.479531 3.271 10.955 -170.576 -0.797 -0.636 0.008 -75.471 -83.831 0.000000 0.000350 0.003000 0.007007 0.030037 303.372401 1
+69.516543 -5.365 -18.760 -170.576 -0.799 -0.633 0.010 -62.525 -70.885 0.000000 0.000348 0.001010 0.035022 0.009992 303.382393 4
+69.596561 -5.365 -18.760 -104.708 -0.790 -0.619 0.022 -1.929 -10.289 0.000000 0.000358 0.002997 0.079988 0.080051 303.462444 1
+69.600509 -5.365 -18.760 -104.708 -0.786 -0.620 0.024 7.711 -0.649 0.000000 0.000358 0.003035 0.005997 0.009924 303.472368 1
+69.634543 4.612 -59.375 -104.708 -0.771 -0.627 0.023 17.710 9.350 0.000000 0.000351 0.000978 0.032013 0.030159 303.502527 2
+69.654554 4.612 -59.375 -44.026 -0.743 -0.644 0.024 13.838 5.478 0.000000 0.000349 0.003001 0.019966 0.039983 303.542510 1
+69.685499 4.612 -59.375 -44.026 -0.728 -0.652 0.022 -30.814 -39.174 0.000000 0.000350 0.003044 0.031040 0.019993 303.562503 2
+69.690518 4.612 -59.375 -44.026 -0.713 -0.658 0.020 -34.718 -43.078 0.000000 0.000350 0.002961 0.006975 0.019994 303.582497 1
diff --git a/crazyflie_groundstation/cflieLogParser.m b/crazyflie_groundstation/cflieLogParser.m
new file mode 100644
index 0000000000000000000000000000000000000000..18c367212a6e7ed997a5e2d7478bd585f16cb775
--- /dev/null
+++ b/crazyflie_groundstation/cflieLogParser.m
@@ -0,0 +1,491 @@
+%% Crazyflie Logging Parser
+
+[handLog, delimHand] = importdata('hand.txt','\t');
+[cflie1Log, delim1] = importdata('cflie1.txt','\t');
+[cflie2Log, delim2] = importdata('cflie2.txt','\t');
+[cflie3Log, delim3] = importdata('cflie3.txt','\t');
+[cflie4Log, delim4] = importdata('cflie4.txt','\t');
+%
+handTime = handLog.data(:,1);
+handRoll = handLog.data(:,3);
+handPitch = handLog.data(:,5);
+handYaw = handLog.data(:,7);
+handX = handLog.data(:,9);
+handY = handLog.data(:,11);
+handZ = handLog.data(:,13);
+handLoopTime = handLog.data(:,15);
+handLoopTimeDelta = handLog.data(:,17);
+%
+cflie1Time = cflie1Log.data(:,1);
+cflie1Roll = cflie1Log.data(:,3);
+cflie1Pitch = cflie1Log.data(:,5);
+cflie1Yaw = cflie1Log.data(:,7);
+cflie1X = cflie1Log.data(:,9);
+cflie1Y = cflie1Log.data(:,11);
+cflie1Z = cflie1Log.data(:,13);
+cflie1CamYaw = cflie1Log.data(:,15);
+cflie1CorrectedYaw = cflie1Log.data(:,17);
+cflie1LoopTimeTotal = cflie1Log.data(:,19);
+cflie1LoopTimeTotalDelta = cflie1Log.data(:,21);
+cflie1LoopTime = cflie1Log.data(:,23);
+cflie1LoopTimeDelta = cflie1Log.data(:,25);
+cflie1VrpnPacketDelta = cflie1Log.data(:,27);
+cflie1VrpnPacketTime = cflie1Log.data(:,29);
+cflie1VrpnPacketBackup = cflie1Log.data(:,31);
+% cflie1XSetpoint = cflie1Log.data(:,33);
+% cflie1YSetpoint = cflie1Log.data(:,35);
+% cflie1ZSetpoint = cflie1Log.data(:,37);
+% cflie1YawSetpoint = cflie1Log.data(:,39);
+% cflie1PitchDesired = cflie1Log.data(:,41);
+% cflie1RollDesired = cflie1Log.data(:,43);
+% cflie1YawDesired = cflie1Log.data(:,45);
+% cflie1ThrustDesired = cflie1Log.data(:,47);
+% cflie1RadioRSSI = cflie1Log.data(:,49);
+% cflie1CamYawRad = cflie1Log.data(:,51);
+% cflie1CamPitchRad = cflie1Log.data(:,53);
+% cflie1CamRollRad = cflie1Log.data(:,55);
+% cflie1Motor1 = cflie1Log.data(:,57);
+% cflie1Motor2 = cflie1Log.data(:,59);
+% cflie1Motor3 = cflie1Log.data(:,61);
+% cflie1Motor4 = cflie1Log.data(:,63);
+% cflie1RollRate = cflie1Log.data(:,65);
+% cflie1PitchRate = cflie1Log.data(:,67);
+% cflie1YawRate = cflie1Log.data(:,69);
+%
+cflie2Time = cflie2Log.data(:,1);
+cflie2Roll = cflie2Log.data(:,3);
+cflie2Pitch = cflie2Log.data(:,5);
+cflie2Yaw = cflie2Log.data(:,7);
+cflie2X = cflie2Log.data(:,9);
+cflie2Y = cflie2Log.data(:,11);
+cflie2Z = cflie2Log.data(:,13);
+cflie2CamYaw = cflie2Log.data(:,15);
+cflie2CorrectedYaw = cflie2Log.data(:,17);
+cflie2LoopTimeTotal = cflie2Log.data(:,19);
+cflie2LoopTimeTotalDelta = cflie2Log.data(:,21);
+cflie2LoopTime = cflie2Log.data(:,23);
+cflie2LoopTimeDelta = cflie2Log.data(:,25);
+cflie2VrpnPacketDelta = cflie2Log.data(:,27);
+cflie2VrpnPacketTime = cflie2Log.data(:,29);
+cflie2VrpnPacketBackup = cflie2Log.data(:,31);
+% cflie2XSetpoint = cflie2Log.data(:,33);
+% cflie2YSetpoint = cflie2Log.data(:,35);
+% cflie2ZSetpoint = cflie2Log.data(:,37);
+% cflie2YawSetpoint = cflie2Log.data(:,39);
+% cflie2PitchDesired = cflie2Log.data(:,41);
+% cflie2RollDesired = cflie2Log.data(:,43);
+% cflie2YawDesired = cflie2Log.data(:,45);
+% cflie2ThrustDesired = cflie2Log.data(:,47);
+% cflie2RadioRSSI = cflie2Log.data(:,49);
+% cflie2CamYawRad = cflie2Log.data(:,51);
+% cflie2CamPitchRad = cflie2Log.data(:,53);
+% cflie2CamRollRad = cflie2Log.data(:,55);
+% cflie2Motor1 = cflie2Log.data(:,57);
+% cflie2Motor2 = cflie2Log.data(:,59);
+% cflie2Motor3 = cflie2Log.data(:,61);
+% cflie2Motor4 = cflie2Log.data(:,63);
+% cflie2RollRate = cflie2Log.data(:,65);
+% cflie2PitchRate = cflie2Log.data(:,67);
+% cflie2YawRate = cflie2Log.data(:,69);
+%
+cflie3Time = cflie3Log.data(:,1);
+cflie3Roll = cflie3Log.data(:,3);
+cflie3Pitch = cflie3Log.data(:,5);
+cflie3Yaw = cflie3Log.data(:,7);
+cflie3X = cflie3Log.data(:,9);
+cflie3Y = cflie3Log.data(:,11);
+cflie3Z = cflie3Log.data(:,13);
+cflie3CamYaw = cflie3Log.data(:,15);
+cflie3CorrectedYaw = cflie3Log.data(:,17);
+cflie3LoopTimeTotal = cflie3Log.data(:,19);
+cflie3LoopTimeTotalDelta = cflie3Log.data(:,21);
+cflie3LoopTime = cflie3Log.data(:,23);
+cflie3LoopTimeDelta = cflie3Log.data(:,25);
+cflie3VrpnPacketDelta = cflie3Log.data(:,27);
+cflie3VrpnPacketTime = cflie3Log.data(:,29);
+% cflie3VrpnPacketBackup = cflie3Log.data(:,31);
+% cflie3XSetpoint = cflie3Log.data(:,33);
+% cflie3YSetpoint = cflie3Log.data(:,35);
+% cflie3ZSetpoint = cflie3Log.data(:,37);
+% cflie3YawSetpoint = cflie3Log.data(:,39);
+% cflie3PitchDesired = cflie3Log.data(:,41);
+% cflie3RollDesired = cflie3Log.data(:,43);
+% cflie3YawDesired = cflie3Log.data(:,45);
+% cflie3ThrustDesired = cflie3Log.data(:,47);
+% cflie3RadioRSSI = cflie1Log.data(:,49);
+% cflie3CamYawRad = cflie3Log.data(:,51);
+% cflie3CamPitchRad = cflie3Log.data(:,53);
+% cflie3CamRollRad = cflie3Log.data(:,55);
+% cflie3Motor1 = cflie3Log.data(:,57);
+% cflie3Motor2 = cflie3Log.data(:,59);
+% cflie3Motor3 = cflie3Log.data(:,61);
+% cflie3Motor4 = cflie3Log.data(:,63);
+% cflie3RollRate = cflie3Log.data(:,65);
+% cflie3PitchRate = cflie3Log.data(:,67);
+% cflie3YawRate = cflie3Log.data(:,69);
+%
+cflie4Time = cflie4Log.data(:,1);
+cflie4Roll = cflie4Log.data(:,3);
+cflie4Pitch = cflie4Log.data(:,5);
+cflie4Yaw = cflie4Log.data(:,7);
+cflie4X = cflie4Log.data(:,9);
+cflie4Y = cflie4Log.data(:,11);
+cflie4Z = cflie4Log.data(:,13);
+cflie4CamYaw = cflie4Log.data(:,15);
+cflie4CorrectedYaw = cflie4Log.data(:,17);
+cflie4LoopTimeTotal = cflie4Log.data(:,19);
+cflie4LoopTimeTotalDelta = cflie1Log.data(:,21);
+cflie4LoopTime = cflie4Log.data(:,23);
+cflie4LoopTimeDelta = cflie4Log.data(:,25);
+cflie4VrpnPacketDelta = cflie4Log.data(:,27);
+cflie4VrpnPacketTime = cflie4Log.data(:,29);
+cflie4VrpnPacketBackup = cflie4Log.data(:,31);
+% cflie4XSetpoint = cflie4Log.data(:,33);
+% cflie4YSetpoint = cflie4Log.data(:,35);
+% cflie4ZSetpoint = cflie4Log.data(:,37);
+% cflie4YawSetpoint = cflie4Log.data(:,39);
+% cflie4PitchDesired = cflie4Log.data(:,41);
+% cflie4RollDesired = cflie4Log.data(:,43);
+% cflie4YawDesired = cflie4Log.data(:,45);
+% cflie4ThrustDesired = cflie4Log.data(:,47);
+% cflie4RadioRSSI = cflie1Log.data(:,49);
+% cflie4CamYawRad = cflie4Log.data(:,51);
+% cflie4CamPitchRad = cflie4Log.data(:,53);
+% cflie4CamRollRad = cflie4Log.data(:,55);
+% cflie4Motor1 = cflie4Log.data(:,57);
+% cflie4Motor2 = cflie4Log.data(:,59);
+% cflie4Motor3 = cflie4Log.data(:,61);
+% cflie4Motor4 = cflie4Log.data(:,63);
+% cflie4RollRate = cflie4Log.data(:,65);
+% cflie4PitchRate = cflie4Log.data(:,67);
+% cflie4YawRate = cflie4Log.data(:,69);
+
+% 'Done'
+%% Using dataImport
+
+% figure(1)
+% hold off
+% plot(cflie1Time, cflie1CamYaw, '-g')
+% hold on
+% plot(cflie1Time, cflie1Yaw, '-r')
+% plot(cflie1Time, cflie1CorrectedYaw, '-b')
+% title 'cflie1 Yaw'
+% legend('CamYaw', 'Quad Yaw', 'CorrectedYaw');
+% ylim([-190,190]);
+%
+% figure(2)
+% hold off
+% plot(cflie2Time, cflie2CamYaw, '-g')
+% hold on
+% plot(cflie2Time, cflie2Yaw, '-r')% hold off
+% plot(cflie2Time, cflie2CorrectedYaw, '-b')
+% title 'cflie2 Yaw'
+% legend('CamYaw', 'Quad Yaw', 'CorrectedYaw');
+% ylim([-190,190]);
+%
+% figure(3)
+% hold off
+% plot(cflie3Time, cflie3CamYaw, '-g')
+% hold on
+% plot(cflie3Time, cflie3Yaw, '-r')
+% plot(cflie3Time, cflie3CorrectedYaw, '-b')
+% title 'cflie3 Yaw'
+% legend('CamYaw', 'Quad Yaw', 'CorrectedYaw');
+% ylim([-190,190]);
+%
+% figure(4)
+% hold off
+% plot(cflie4Time, cflie4CamYaw, '-g')
+% hold on
+% plot(cflie4Time, cflie4Yaw, '-r')
+% plot(cflie4Time, cflie4CorrectedYaw, '-b')
+% title 'cflie4 Yaw'
+% legend('CamYaw', 'Quad Yaw', 'CorrectedYaw');
+% ylim([-190,190]);
+
+%% Plot X Using ImportData
+
+figure(8)
+hold off
+plot(cflie1Time,cflie1X, '-b')
+hold on
+% plot(cflie1Time,cflie1XSetpoint, '-.b')
+%
+plot(cflie2Time,cflie2X, '-g')
+% plot(cflie2Time,cflie2XSetpoint, '-.g')
+%
+plot(cflie3Time,cflie3X, '-k')
+% plot(cflie3Time,cflie3XSetpoint, '-.k')
+%
+plot(cflie4Time,cflie4X, '-y')
+%
+plot(handTime, handX, '-r')
+% plot(cflie4Time,cflie4XSetpoint, '-.y')
+title 'Crazyflie X-Positions'
+legend('Crazyflie 1','Crazyflie 2','Crazyflie3', 'Crazyflie4', 'Hand')
+xlabel 'Time (seconds)'
+ylabel 'X-Position (m)'
+grid on
+% legend('Crazyflie 1','Setpoint', 'Crazyflie 2','Setpoint', 'Crazyflie3','Setpoint', 'Crazyflie4','Setpoint')
+%
+%
+figure(9)
+hold off
+plot(cflie1Time,cflie1Y, '-b')
+hold on
+% plot(cflie1Time,cflie1YSetpoint, '-.b')
+%
+plot(cflie2Time,cflie2Y, '-g')
+% plot(cflie2Time,cflie2YSetpoint, '-.g')
+%
+plot(cflie3Time,cflie3Y, '-k')
+% plot(cflie3Time,cflie3YSetpoint, '-.k')
+%
+plot(cflie4Time,cflie4Y, '-y')
+% plot(cflie3Time,cflie3YSetpoint, '-.y')
+%
+plot(handTime, handY, '-r')
+title 'Crazyflie Y-Positions'
+legend('Crazyflie 1','Crazyflie 2','Crazyflie3', 'Crazyflie4', 'Hand')
+% legend('Crazyflie 1', 'Setpoint','Crazyflie 2', 'Setpoint','Crazyflie3','Setpoint', 'Crazyflie4','Setpoint')
+xlabel 'Time (seconds)'
+ylabel 'Y-Position (m)'
+grid on
+
+%% Plot Yaw Using DataAnalysis.m
+%
+% hold off
+% plot(main.expData.Time.data, main.expData.CamYaw.data, '-g')
+% hold on
+% plot(main.expData.Time.data, main.expData.Yaw.data, '-r')
+% plot(main.expData.Time.data, main.expData.CorrectedYaw.data, '-b')
+% legend('CamYaw', 'Quad Yaw', 'CorrectedYaw');
+
+% figure(2)
+% hold off
+% plot(main.expData.Time.data, main.expData.Pitch.data, '-g')
+% hold on
+% plot(main.expData.Time.data, main.expData.Roll.data, '-b')
+% plot(main.expData.Time.data, main.expData.X.data, '-r')
+% plot(main.expData.Time.data, main.expData.Y.data, '-k')
+% legend('Pitch', 'Roll', 'X', 'Y')
+
+%% Time Deltas (using importData)
+
+% for i = 1:length(cflie1Log.data(:,1))-1
+% delta1(i) = cflie1Log.data(i+1,1)-cflie1Log.data(i,1);
+% end
+%
+% for j = 1:length(cflie2Log.data(:,1))-1
+% delta2(j) = cflie2Log.data(j+1,1)-cflie2Log.data(j,1);
+% end
+%
+% figure(3)
+% hold off
+% subplot(2,1,1)
+% plot(cflie1Log.data(:,1),cflie1Log.data(:,11),'-g')
+% hold on
+% plot(cflie2Log.data(:,1),cflie2Log.data(:,11),'-b')
+%
+% subplot(2,1,2)
+% plot(cflie1Log.data(3:length(cflie1Log.data(:,1))-1,1),delta1(3:length(delta1)),'-g')
+% hold on
+% plot(cflie2Log.data(3:length(cflie2Log.data(:,1))-1,1),delta2(3:length(delta2)),'-b')
+%
+figure(7)
+
+subplot(3,1,1)
+hold off
+plot(cflie1Time,cflie1Z,'-b')
+hold on
+plot(cflie2Time,cflie2Z,'-g')
+plot(cflie3Time,cflie3Z,'-k')
+plot(cflie4Time,cflie4Z,'-y')
+title 'Crazyflie Z (Height)'
+legend('Crazyflie 1', 'Crazyflie2', 'Crazyflie3', 'Crazyflie4','Location','NorthWest')
+ylabel 'Height (m)'
+grid on
+
+subplot(3,1,2)
+hold off
+plot(cflie1Time(4:end),cflie1LoopTime(4:end),'-b')
+hold on
+plot(cflie2Time(4:end),cflie2LoopTime(4:end),'-g')
+plot(cflie3Time(4:end),cflie3LoopTime(4:end),'-k')
+plot(cflie4Time(4:end),cflie4LoopTime(4:end),'-y')
+title 'Loop Timing'
+legend('Callback 1', 'Callback 2', 'Callback3', 'Callback4','Location','NorthWest')
+ylabel 'Loop Time (seconds)'
+grid on
+
+subplot(3,1,3)
+hold off
+plot(cflie1Time(4:end),cflie1LoopTimeDelta(4:end),'-b')
+hold on
+plot(cflie2Time(4:end),cflie2LoopTimeDelta(4:end),'-g')
+plot(cflie3Time(4:end),cflie3LoopTimeDelta(4:end),'-k')
+plot(cflie4Time(4:end),cflie4LoopTimeDelta(4:end),'-y')
+title 'Time Between Loop Calls'
+legend('Callback 1', 'Callback 2', 'Callback3', 'Callback4','Location','NorthWest')
+ylabel 'Loop Deltas (seconds)'
+xlabel 'Time (seconds)'
+grid on
+
+%% dataImport Hand Plot
+
+figure(12)
+
+subplot(4,1,1)
+hold off
+plot(cflie1Time,cflie1X,'-b')
+hold on
+plot(cflie2Time,cflie2X,'-g')
+plot(cflie3Time,cflie3X,'-k')
+plot(cflie4Time,cflie4X,'-y')
+plot(handTime, handX, '-r')
+title 'X Position'
+legend('Crazyflie 1', 'Crazyflie2', 'Crazyflie3', 'Crazyflie4','Hand')
+ylabel 'X Position (m)'
+grid on
+
+subplot(4,1,2)
+hold off
+plot(cflie1Time,cflie1Y,'-b')
+hold on
+plot(cflie2Time,cflie2Y,'-g')
+plot(cflie3Time,cflie3Y,'-k')
+plot(cflie4Time,cflie4Y,'-y')
+plot(handTime, handY, '-r')
+title 'Y Position'
+legend('Crazyflie 1', 'Crazyflie2', 'Crazyflie3', 'Crazyflie4','Hand')
+ylabel 'Y Position (m)'
+grid on
+
+subplot(4,1,3)
+hold off
+plot(handTime, handZ, '-r')
+title 'Hand Z Position'
+legend('Hand Height')
+ylabel 'Height (m)'
+grid on
+
+subplot(4,1,4)
+hold off
+plot(handTime, handPitch, '-r')
+title 'Hand Pitch'
+legend('Hand Pitch')
+ylabel 'Angle (rad)'
+grid on
+
+%% Just Timing Data (dataImport)
+figure(13)
+subplot(4,1,1)
+plot(cflie1Time(4:end),cflie1LoopTime(4:end),'-b')
+title 'Loop Timing'
+ylim([0,0.005])
+grid on
+subplot(4,1,2)
+plot(cflie2Time(4:end),cflie2LoopTime(4:end),'-g')
+ylim([0,0.005])
+grid on
+subplot(4,1,3)
+plot(cflie3Time(4:end),cflie3LoopTime(4:end),'-k')
+ylim([0,0.005])
+grid on
+subplot(4,1,4)
+plot(cflie4Time(4:end),cflie4LoopTime(4:end),'-y')
+ylim([0,0.005])
+grid on
+
+% legend('Callback 1', 'Callback 2', 'Callback3', 'Callback4','Location','NorthWest')
+ylabel 'Loop Time (seconds)'
+xlabel 'Time (seconds)'
+grid on
+
+figure(14)
+subplot(4,1,1)
+plot(cflie1Time(4:end),cflie1LoopTimeDelta(4:end),'-b')
+title 'Time Between Loop Calls'
+ylim([0,0.05])
+grid on
+subplot(4,1,2)
+plot(cflie2Time(4:end),cflie2LoopTimeDelta(4:end),'-g')
+ylim([0,0.05])
+grid on
+subplot(4,1,3)
+plot(cflie3Time(4:end),cflie3LoopTimeDelta(4:end),'-k')
+ylim([0,0.05])
+grid on
+subplot(4,1,4)
+plot(cflie4Time(4:end),cflie4LoopTimeDelta(4:end),'-y')
+ylim([0,0.05])
+grid on
+
+% legend('Callback 1', 'Callback 2', 'Callback3', 'Callback4','Location','NorthWest')
+ylabel 'Loop Deltas (seconds)'
+xlabel 'Time (seconds)'
+grid on
+
+
+%% Pitch Roll Yaw Performance from DataImport
+% figure(10)
+%
+% subplot(3,1,1)
+% hold off
+% plot(cflie1Time,cflie1Pitch, '-b')
+% hold on
+% plot(cflie1Time,cflie1PitchDesired, '-.b')
+%
+% plot(cflie2Time,cflie2Pitch, '-g')
+% plot(cflie2Time,cflie2PitchDesired, '-.g')
+% plot(cflie3Time,cflie3Pitch, '-k')
+% plot(cflie3Time,cflie3PitchDesired, '-.k')
+% plot(cflie4Time,cflie4Pitch, '-y')
+% plot(cflie4Time,cflie4PitchDesired, '-.y')
+% title 'Crazyflie Pitch'
+% legend('Crazyflie 1','', 'Crazyflie2','', 'Crazyflie3','', 'Crazyflie4')
+%
+% subplot(3,1,2)
+% hold off
+% plot(cflie1Time,cflie1Roll, '-b')
+% hold on
+% plot(cflie1Time,cflie1RollDesired, '-.b')
+%
+% plot(cflie2Time,cflie2Roll, '-g')
+% plot(cflie2Time,cflie2RollDesired, '-.g')
+% plot(cflie3Time,cflie3Roll, '-k')
+% plot(cflie3Time,cflie3RollDesired, '-.k')
+% plot(cflie4Time,cflie4Roll, '-y')
+% plot(cflie4Time,cflie4RollDesired, '-.y')
+% title 'Crazyflie Roll'
+%
+% subplot(3,1,3)
+% hold off
+% plot(cflie1Time,cflie1Yaw, '-b')
+% hold on
+% plot(cflie1Time,cflie1YawDesired, '-.b')
+%
+% plot(cflie2Time,cflie2Yaw, '-g')
+% plot(cflie2Time,cflie2YawDesired, '-.g')
+% plot(cflie3Time,cflie3Yaw, '-k')
+% plot(cflie3Time,cflie3YawDesired, '-.k')
+% plot(cflie4Time,cflie4Yaw, '-y')
+% plot(cflie4Time,cflie4YawDesired, '-.y')
+% title 'Crazyflie Yaw'
+
+
+%% Time Deltas (using dataAnalysis.m)
+%
+% for i = 1:length(main.expData.Time.data)-1
+% delta1(i) = main.expData.Time.data(i+1)-main.expData.Time.data(i);
+% end
+%
+% figure(3)
+% hold off
+% subplot(2,1,1)
+% plot(main.expData.Time.data,main.expData.Z.data,'-g')
+% title 'Crazyflie Z Data (Height)'
+%
+% subplot(2,1,2)
+% plot(main.expData.Time.data(3:length(main.expData.Time.data)-1),delta1(3:length(delta1)),'-g')
+% title 'Crazyflie Time Deltas'
diff --git a/crazyflie_groundstation/changeLog.txt b/crazyflie_groundstation/changeLog.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c7d097c447568223b9ca8e634364bf35b98cd9ef
--- /dev/null
+++ b/crazyflie_groundstation/changeLog.txt
@@ -0,0 +1,267 @@
+4/11/16
+
+ -Added Compiler if's for selecting number of Crazyflies
+ -Added Position storage variables for each Crazyflie (Used for mirror mode)
+ -Updated Mirror Mode to 'Chain Mode' (cflie 2 setpoint depends on cflie 1, and cflie 3 setpoint depends on cflie 2)
+ -Added Yaw +45 deg and -45 deg command to keyboard inputs (For Crazyflie 1 ONLY)
+ -Changed Keyboard Input scan into a function
+PUSHED TO GIT
+ -Added correction for Pitch and Roll error depending on current yaw (needed to convert from deg to rad for sin & cos)
+ -Calculated and Set Error for X and Y controllers Manually
+ -Added functions to controller.c to set error for X and Y PID's
+ -Changed Update Error in X and Y controllers to FALSE
+PUSHED TO GIT
+END OF DAY
+
+
+
+
+4/12/16
+
+ -Current Radio Power is set at 0dBm (Line 185 of CCrazyRadio.cpp)
+ -Fixed Gyro functions in CCrazyflie.cpp (Line 325 - 333)
+ -Added cheatProcessPackets to process all quads packets before moving to the next
+ -We may only need to process packets from the previous callback (TRADEOFF between performance and crosstalk)
+ -Statistically we'd expect each callback to happen in succession in most cases?
+ -REMOVED: Correction for Pitch and Roll relative to Yaw is causing cflie 4 to freak out.
+ -Added independent error update for mirror mode step in callback 1
+PUSHED TO GIT
+ -Adding 4th Crazyflie + Callback ON RADIO 1
+ -Added framework for timing Total loop time in vrpn.cpp
+ -Moved 4th Quad to 2nd Radio
+PUSHED TO GIT
+END OF DAY
+
+
+
+
+4/14/16
+
+ -REDACT:(It makes it worse) Modify sendSetpoint time to see if it speeds up the control loop (CCrazyflie.cpp line 54)
+ -Modify readACK() to include header info about power and # of re-transmissions
+ -Shifted default y-setpoints up to fit more crazyflies in the camera zone.
+ -Added Total Loop timer to vrpn_go and extern the values to the logger.
+ -Tuning X Y and Z PID constants
+PUSHED TO GIT
+END OF DAY
+
+
+
+4/15/16
+
+ -Added enum for flight mode 'state' into Crazyflie Class
+ -Automated Landing Process to kill motors when near ground
+PUSHED TO GIT
+END OF DAY
+
+
+
+4/18/16
+
+ -Changed TakeOff Mode to boost thrust for first 0.5 seconds
+PUSHED TO GIT
+END OF DAY
+
+
+
+4/19/16
+
+ -Added Controller command outputs (Pitch, Roll, Yaw, Thrust) to logfile
+ -Using Mirror Mode for modeling purposes (Step response)
+ -Created new updateHand function in vrpn.cpp for hand flight demo
+ -Added HandMode for crazyflies to follow hand XY position
+
+ -FIRMWARE MODIFICATIONS
+ -NOTE: LOG GROUPS ARE IN STABILIZER.C
+ -Added Output variable to PID class
+ -Added Line in controller to update error
+ -Added Logging Groups to controller.c
+ -Included log.h into controller.c to enable output logging
+ -Added params for controller outputs in controller.c
+
+ -STILL BROKEN
+PUSHED TO GIT
+END OF DAY
+
+
+
+4/21/16
+
+ -FIRMWARE MODIFICATIONS
+ -Removed all changes made previously
+ -re-Added in pid->out to the struct and assigned it during controller update (pid.c and pid.h)
+ -re-Added log block creation in controller.c for logging both PID ang pos and PID ang rate
+
+ -Fixed setpoint mistake in crazyflie1 takeoff
+ -Moved crazyflie3 to Radio2
+ -Increased Hand Mode Trigger counters to 5 before changing modes via gestures
+ -Added Startlogging, disableLogging, and initLogging functions to crazyflie.cpp
+ -Added logging value read functions for all the pid outputs and pid rate outputs
+PUSHED TO GIT
+END OF DAY
+
+
+4/23/16
+
+ -Shifted Mirror Mode Master closer to middle of camera zone
+ -Reduced step interval in Mirror mode to 4 seconds (was 8)
+ -Tuning XY PID's, adding more ki : Increased to 2.0 (was 0.75)
+PUSHED TO GIT
+END OF DAY
+
+
+4/24/16
+
+ -Adding Start Logging to get RSSI Data
+ -Removed Logging for Magnetometer and Altimeter to see if it improves runtime, since we don't need it(TEMPORARY)
+ -Flashed All quads to New Firmware (did work at least twice)
+ -Logging RSSI Data in the logfiles
+ -Drastically changed Z PID constants to account for thrust compesation from new firmware
+PUSHED TO GIT
+END OF DAY
+
+4/25/16
+
+ -Tuning XY PID's
+ -Reduced ARD to 2000 micro (was 4000) to improve runtime with packet drop
+ -Changed landing mode to work better with new Z PID (Changed setpoint to -0.4 (was -1.0))
+ -Modified cflie 3 and 4's hover X setpoint to stay in bounds more
+ -Removed jn_pid log group (TEMPORARY)
+ -Changed Radio Dongle power to -12 dBm (was 0 dBm)
+PUSHED TO GIT
+END OF DAY
+
+
+4/28/16
+
+ -Increasing Limits of integration on XYZ PIDs
+ -Tuning PID's more
+ -Fixed error in RunCrazyflie Calling wrong radio??
+ -
+
+4/29/16
+
+ -Increased Radio Power to -6 dBm
+ -Fixed some radio call typos in the callbacks
+ -Changed the RSSI logging and function to int
+END OF DAY
+
+5/3/16
+
+ -Changed Y PID back to match X
+ -Removed sendDummyPacket() slowing system down
+PUSHED TO GIT
+END OF DAY
+
+
+5/16/16
+
+ -Removed nRetries and Power variables from CCrazyRadio.cpp
+ -Fixed Variable to remove Hand Callback in compiler
+ -
+
+
+5/25/16
+
+ -Added Camera Eul Angles to logging
+ -Added Individual Motor Logging
+PUSHED TO GIT
+END OF DAY
+
+5/26/16
+
+ -Added Gyro rates to log file
+ -Flashed Ian's Old Firmware to all the quads
+END OF DAY
+
+6/9/16
+
+ -Flashed Brand new firmware onto All Crazyflies
+ -Adds new Rate Controller PID constants that improve flight
+ -Increased Yaw Kd from 0.5 to 0.8(compensate for new changes in the stability)
+ -Increased Yaw Kd to 2.0
+ -Decreased Yaw Kd back to 0.5 (Stability issues were being caused by delay from logging)
+CAN'T PUSH TO GIT (SERVER DOWN)
+END OF DAY
+
+6/10/16
+
+ PUSHED TO GIT
+ -Added Experimental PID rate constants for Firmware
+ -Changed Yaw Kd to 2.0 (GOOD)
+ -Fixed Flying 2 quads if we want (If you try to call any mention of a crazyflie pointer that doesn't exist it will end program...)
+ -
+
+6/15/16
+
+ -Added Hand Logging
+ -Fixed Matlab file (Pitch and Roll Flipped)
+
+6/22/16
+
+ -Flashed new NRF Firmware to all quads
+ -Added RSSI logging to ONLY Cflie1
+ -
+
+6/23/16
+
+ -Changed Firmware YAW_MODE to CAREFREE (Commander.h LINE 36)
+ -Removed Pitch & Roll setpoint correction based on yaw (done on firmware now with above line)
+
+6/24/16
+
+ -Added 3rd radio with cflie3 on radio 2 and cflie 4 on radio 3 exclusively (testing timing of switching radios vs dedicated radio comms)
+ -
+
+7/12/16
+
+ -Changed Hand Mode follow to track Yaw as well
+ -REMOVED YAW tracking (Works, but not very impressive)
+
+7/19/16
+ -Added carriage return to Print statements when changing flight modes
+
+8/3/16
+PUSHED TO GIT
+
+END OF JUSTIN's LOG (GRADUATED)
+
+
+
+
+
+ TODO: Add a 5th Crazyflie
+ Tune XY PIDs (more ki***)
+ Add StartLogging(jn_pid) to crazyflie.cpp
+ Create functions for reading values from logger in crazyflie.cpp(return this->sensorDoubleValue("pid.out"))
+ Look into CAREFREE Mode on New Firmware!! (commander.c line 194, line 210, flightMode Param in GUI) ***COMMANDER.H LINE 36***
+ Use Sound effects to test sending custom packets to quad. (system.c line 210: sound_cf2.c line 181)
+ CHECK HAL/SRC/RADIOLINK.C for RSSI
+ Firmware: log.c line 283 (multiplies logger by 10)
+
+ Position_Controller_PID.c has a FIRMWARE position controller implementation already, need to be able to send floats
+ Stabilizer.c: "vTaskDelayUntil()" line 102.
+ CCrazyflie.cpp: (LINE 85) Use to send setpoints to commander channel 3
+ estimator_complimentary.c: (LINE 28) This is where position estimate is set to 100 Hz
+
+ NOTES:
+ Changing Logging Time step does not affect the loop time at all (WRONG)
+ NEED TO REDUCE SINGLE CALLBACK TIME, EACH ONE TAKES 0.006 sec SO CAN'T FIT 4 IN 0.01 sec
+ Can't make any mention of a Crazyflie Pointer that doesn't exist, otherwise code will end (CRASH)!!
+
+ tools/make/config.mk.example
+
+ +## Automatically reboot to bootloader before flashing
+ +# CLOAD_CMDS = -w radio://0/100/2M/E7E7E7E7E7
+
+ Timing Diagnostics:
+
+ Removing manual PID error update does not Reduce loop time
+ Removing Crazyflie read requests does not have significant effect in reducing loop time
+ Removing Pitch and Roll Correction did help reduce loop time (moved to firmware)
+ COMMUNICATIONS IS THE PROBLEM, NEED THREADING
+
+
+
+
+
diff --git a/crazyflie_groundstation/console_cflie1 b/crazyflie_groundstation/console_cflie1
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/crazyflie_groundstation/hand.txt b/crazyflie_groundstation/hand.txt
new file mode 100644
index 0000000000000000000000000000000000000000..59e70dc864b819e8d09581930ad457813f4de70b
--- /dev/null
+++ b/crazyflie_groundstation/hand.txt
@@ -0,0 +1,3884 @@
+#Hand Log File
+%Time Pitch Roll Yaw X Y Z LoopTime LoopTimeDelta
+&sec degrees degrees degrees meters meters meters seconds seconds
+
+1.445048 -0.056 0.004 -0.095 1.343 -0.298 0.888 0.000003 1.445044
+3.880127 -0.055 0.004 -0.095 1.343 -0.298 0.888 0.000004 2.435079
+4.418140 -0.055 0.004 -0.095 1.343 -0.298 0.888 0.000001 0.538016
+4.421168 -0.055 0.004 -0.095 1.343 -0.298 0.888 0.000001 0.003028
+4.430146 -0.055 0.004 -0.095 1.343 -0.298 0.888 0.000002 0.008977
+4.442183 -0.055 0.005 -0.095 1.343 -0.298 0.888 0.000001 0.012038
+4.454137 -0.055 0.005 -0.095 1.343 -0.298 0.888 0.000001 0.011954
+4.466136 -0.055 0.004 -0.095 1.343 -0.298 0.888 0.000001 0.011999
+4.478168 -0.056 0.003 -0.095 1.343 -0.298 0.888 0.000001 0.012031
+4.490136 -0.056 0.004 -0.095 1.343 -0.298 0.888 0.000001 0.011968
+4.502136 -0.055 0.004 -0.095 1.343 -0.298 0.888 0.000001 0.012000
+4.514136 -0.055 0.005 -0.095 1.343 -0.298 0.888 0.000001 0.012000
+4.526138 -0.055 0.004 -0.095 1.343 -0.298 0.888 0.000001 0.012002
+4.538162 -0.056 0.004 -0.095 1.343 -0.298 0.888 0.000001 0.012024
+4.550137 -0.055 0.004 -0.095 1.343 -0.298 0.888 0.000001 0.011975
+4.562140 -0.055 0.004 -0.095 1.343 -0.298 0.888 0.000001 0.012003
+4.574169 -0.056 0.003 -0.095 1.343 -0.298 0.888 0.000001 0.012029
+4.586136 -0.055 0.003 -0.095 1.343 -0.298 0.888 0.000001 0.011967
+4.598140 -0.055 0.003 -0.095 1.343 -0.298 0.888 0.000001 0.012003
+4.610129 -0.056 0.004 -0.095 1.343 -0.298 0.888 0.000002 0.011989
+4.622132 -0.056 0.003 -0.095 1.343 -0.298 0.888 0.000001 0.012003
+4.634133 -0.055 0.004 -0.095 1.343 -0.298 0.888 0.000001 0.012000
+4.646160 -0.055 0.004 -0.095 1.343 -0.298 0.888 0.000001 0.012027
+4.658135 -0.055 0.005 -0.095 1.343 -0.298 0.888 0.000001 0.011976
+4.670135 -0.055 0.005 -0.095 1.343 -0.298 0.888 0.000001 0.011999
+4.682169 -0.056 0.004 -0.095 1.343 -0.298 0.888 0.000001 0.012035
+4.694140 -0.056 0.004 -0.095 1.343 -0.298 0.888 0.000001 0.011970
+4.706138 -0.055 0.004 -0.095 1.343 -0.298 0.888 0.000001 0.011998
+4.718137 -0.056 0.004 -0.095 1.343 -0.298 0.888 0.000001 0.011999
+4.731137 -0.055 0.004 -0.095 1.343 -0.298 0.888 0.000001 0.012999
+4.743163 -0.055 0.004 -0.095 1.343 -0.298 0.888 0.000001 0.012026
+4.755138 -0.055 0.003 -0.095 1.343 -0.298 0.888 0.000001 0.011975
+4.767137 -0.055 0.003 -0.095 1.343 -0.298 0.888 0.000001 0.011999
+4.779173 -0.056 0.004 -0.095 1.343 -0.298 0.888 0.000001 0.012036
+4.791134 -0.055 0.004 -0.095 1.343 -0.298 0.888 0.000001 0.011961
+4.803136 -0.055 0.004 -0.095 1.343 -0.298 0.888 0.000001 0.012002
+4.815176 -0.055 0.004 -0.095 1.343 -0.298 0.888 0.000001 0.012040
+4.827137 -0.055 0.004 -0.095 1.343 -0.298 0.888 0.000001 0.011960
+4.839161 -0.055 0.003 -0.095 1.343 -0.298 0.888 0.000001 0.012024
+4.851131 -0.055 0.004 -0.095 1.343 -0.298 0.888 0.000001 0.011970
+4.863138 -0.055 0.005 -0.095 1.343 -0.298 0.888 0.000001 0.012007
+4.875169 -0.055 0.005 -0.095 1.343 -0.298 0.888 0.000001 0.012031
+4.887136 -0.055 0.004 -0.095 1.343 -0.298 0.888 0.000001 0.011967
+4.899126 -0.055 0.004 -0.095 1.343 -0.298 0.888 0.000001 0.011991
+4.911133 -0.056 0.004 -0.095 1.343 -0.298 0.888 0.000001 0.012007
+4.923132 -0.055 0.004 -0.095 1.343 -0.298 0.888 0.000001 0.011999
+4.935132 -0.055 0.004 -0.095 1.343 -0.298 0.888 0.000001 0.012000
+4.947156 -0.056 0.003 -0.095 1.343 -0.298 0.888 0.000001 0.012024
+4.960131 -0.056 0.003 -0.095 1.343 -0.298 0.888 0.000001 0.012975
+4.972167 -0.055 0.004 -0.095 1.343 -0.298 0.888 0.000001 0.012036
+4.984130 -0.055 0.003 -0.095 1.343 -0.298 0.888 0.000001 0.011962
+4.996130 -0.055 0.005 -0.095 1.343 -0.298 0.888 0.000001 0.012000
+5.008136 -0.055 0.005 -0.095 1.343 -0.298 0.888 0.000001 0.012006
+5.020135 -0.055 0.004 -0.095 1.343 -0.298 0.888 0.000001 0.011999
+5.032133 -0.056 0.004 -0.095 1.343 -0.298 0.888 0.000001 0.011998
+5.044155 -0.056 0.003 -0.095 1.343 -0.298 0.888 0.000001 0.012023
+5.056133 -0.056 0.004 -0.095 1.343 -0.298 0.888 0.000001 0.011977
+5.068130 -0.055 0.005 -0.095 1.343 -0.298 0.888 0.000001 0.011998
+5.080162 -0.055 0.006 -0.095 1.343 -0.298 0.888 0.000001 0.012031
+5.092130 -0.055 0.004 -0.095 1.343 -0.298 0.888 0.000001 0.011968
+5.104129 -0.056 0.003 -0.095 1.343 -0.298 0.888 0.000001 0.011999
+5.116130 -0.055 0.004 -0.095 1.343 -0.298 0.888 0.000001 0.012001
+5.128130 -0.056 0.003 -0.095 1.343 -0.298 0.888 0.000001 0.012000
+5.140154 -0.056 0.004 -0.095 1.343 -0.298 0.888 0.000001 0.012024
+5.152125 -0.055 0.003 -0.095 1.343 -0.298 0.888 0.000001 0.011971
+5.164151 -0.055 0.004 -0.095 1.343 -0.298 0.888 0.000003 0.012024
+5.176203 -0.055 0.003 -0.095 1.343 -0.298 0.888 0.000001 0.012053
+5.189130 -0.055 0.004 -0.095 1.343 -0.298 0.888 0.000001 0.012927
+5.201138 -0.056 0.004 -0.095 1.343 -0.298 0.888 0.000001 0.012008
+5.213134 -0.056 0.002 -0.095 1.343 -0.298 0.888 0.000001 0.011996
+5.225134 -0.055 0.004 -0.095 1.343 -0.298 0.888 0.000001 0.012000
+5.237147 -0.055 0.004 -0.095 1.343 -0.298 0.888 0.000001 0.012014
+5.249135 -0.055 0.004 -0.095 1.343 -0.298 0.888 0.000001 0.011988
+5.261136 -0.056 0.004 -0.095 1.343 -0.298 0.888 0.000001 0.012001
+5.273164 -0.056 0.004 -0.095 1.343 -0.298 0.888 0.000001 0.012028
+5.285129 -0.056 0.004 -0.095 1.343 -0.298 0.888 0.000001 0.011965
+5.297135 -0.056 0.004 -0.095 1.343 -0.298 0.888 0.000001 0.012006
+5.309135 -0.055 0.005 -0.095 1.343 -0.298 0.888 0.000001 0.012000
+5.321133 -0.055 0.004 -0.095 1.343 -0.298 0.888 0.000001 0.011998
+5.333132 -0.055 0.004 -0.095 1.343 -0.298 0.888 0.000001 0.011999
+5.345157 -0.056 0.004 -0.095 1.343 -0.298 0.888 0.000001 0.012024
+5.357129 -0.055 0.004 -0.095 1.343 -0.298 0.888 0.000001 0.011972
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+69.179571 0.072 0.294 0.118 -0.171 -0.378 0.553 0.000001 0.000983
+69.180561 0.072 0.327 0.101 -0.166 -0.380 0.565 0.000001 0.000990
+69.214575 0.092 0.306 0.084 -0.161 -0.382 0.577 0.000001 0.034015
+69.264592 0.146 0.226 0.012 -0.145 -0.392 0.629 0.000001 0.050016
+69.265562 0.144 0.156 -0.041 -0.138 -0.398 0.653 0.000001 0.000970
+69.266571 0.187 0.173 -0.058 -0.136 -0.402 0.665 0.000001 0.001009
+69.275586 0.172 0.129 -0.079 -0.133 -0.405 0.675 0.000001 0.009015
+69.307580 0.190 0.141 -0.098 -0.131 -0.410 0.686 0.000001 0.031994
+69.347589 0.145 0.061 -0.109 -0.126 -0.429 0.725 0.000001 0.040009
+69.349578 0.123 0.063 -0.125 -0.125 -0.434 0.731 0.000001 0.001989
+69.351571 0.133 0.073 -0.132 -0.124 -0.438 0.737 0.000001 0.001993
+69.360554 0.111 0.047 -0.140 -0.123 -0.442 0.742 0.000001 0.008984
+69.397556 0.122 0.057 -0.131 -0.122 -0.446 0.747 0.000001 0.037001
+69.440579 0.087 -0.000 -0.189 -0.120 -0.464 0.760 0.000001 0.043023
+69.443566 0.051 -0.026 -0.230 -0.118 -0.473 0.764 0.000001 0.002987
+69.452586 0.060 -0.021 -0.230 -0.117 -0.477 0.766 0.000001 0.009020
+69.477555 0.079 -0.011 -0.229 -0.117 -0.481 0.767 0.000001 0.024969
+69.480563 0.114 0.034 -0.219 -0.117 -0.488 0.769 0.000001 0.003009
+69.519576 0.109 0.045 -0.217 -0.117 -0.491 0.769 0.000001 0.039013
+69.551551 0.071 0.054 -0.251 -0.116 -0.494 0.770 0.000001 0.031976
+69.555589 0.062 0.048 -0.258 -0.116 -0.494 0.771 0.000001 0.004038
+69.557566 0.055 0.048 -0.259 -0.115 -0.494 0.772 0.000001 0.001977
+69.559568 0.040 0.032 -0.272 -0.115 -0.495 0.771 0.000001 0.002001
+69.599550 0.046 0.038 -0.275 -0.114 -0.495 0.771 0.000002 0.039982
+69.634584 0.040 0.075 -0.304 -0.112 -0.494 0.767 0.000001 0.035034
+69.638573 0.063 0.085 -0.306 -0.111 -0.493 0.766 0.000001 0.003989
+69.643558 0.060 0.064 -0.314 -0.111 -0.493 0.764 0.000001 0.004986
+69.645564 0.084 0.099 -0.311 -0.111 -0.492 0.764 0.000002 0.002004
+69.657542 0.090 0.099 -0.315 -0.110 -0.492 0.762 0.000001 0.011979
+69.688548 0.081 0.112 -0.320 -0.110 -0.492 0.758 0.000001 0.031006
+69.691568 0.088 0.126 -0.327 -0.110 -0.491 0.753 0.000001 0.003019
diff --git a/crazyflie_groundstation/inc/Bridge.h b/crazyflie_groundstation/inc/Bridge.h
new file mode 100644
index 0000000000000000000000000000000000000000..8dcd0a5ee4dca9dbdc0d085793b848ce4b526945
--- /dev/null
+++ b/crazyflie_groundstation/inc/Bridge.h
@@ -0,0 +1,58 @@
+#ifndef BRIDGE_H_
+#define BRIDGE_H_
+
+#include "structures.h"
+#include <vrpn_Tracker.h>
+
+class Bridge {
+
+ private:
+
+ public:
+
+ // Location of the two endpoints
+ lateralPosition endpoint1;
+ lateralPosition endpoint2;
+
+ targetDistance disToQuad1;
+ targetDistance disToQuad2;
+ targetDistance disToQuad3;
+ targetDistance disToQuad4;
+
+ bool endpoint1Valid;
+ bool endpoint2Valid;
+
+ Bridge();
+
+ ~Bridge();
+
+ /**
+ * This function will find the point located between the two endpoints.
+ * If the second endpoint is missing, then the 1st endpoint is returned
+ *
+ * @param pos Pointer to a lateral position struct
+ * @param loc Location between the two endpoints to find (loc must be in [0,1])
+ * @return True if a location is valid, false if no location is able to found
+ */
+ bool getInterpolatedPosition(lateralPosition *pos, int loc);
+
+ /**
+ * Calculates the distance between the Bridge and each of the active Crazyflie
+ *
+ * @param pos Pointer to a lateral position struct
+ * @param dis Distance between Bridge and Quadcopters, up to four
+ * @return True if a location is valid, false if no location is able to found
+ */
+ bool getTargetDistance(lateralPosition *pos, targetDistance *disToQuad1);
+ bool getTargetDistance(lateralPosition *pos, targetDistance *disToQuad1, targetDistance *disToQuad2);
+ bool getTargetDistance(lateralPosition *pos, targetDistance *disToQuad1, targetDistance *disToQuad2, targetDistance *disToQuad3);
+ bool getTargetDistance(lateralPosition *pos, targetDistance *disToQuad1, targetDistance *disToQuad2, targetDistance *disToQuad3, targetDistance *disToQuad4);
+ /**
+ * Callbacks for the VRPN trackers on either end of the bridge
+ */
+ static void VRPN_CALLBACK end1Callback(void* inst, const vrpn_TRACKERCB t);
+ static void VRPN_CALLBACK end2Callback(void* inst, const vrpn_TRACKERCB t);
+};
+
+
+#endif
diff --git a/crazyflie_groundstation/inc/CCRTPPacket.h b/crazyflie_groundstation/inc/CCRTPPacket.h
new file mode 100644
index 0000000000000000000000000000000000000000..f75218050ecbedb6155426b7021f5c8571663ba3
--- /dev/null
+++ b/crazyflie_groundstation/inc/CCRTPPacket.h
@@ -0,0 +1,167 @@
+// Copyright (c) 2013, Jan Winkler <winkler@cs.uni-bremen.de>
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright
+// notice, this list of conditions and the following disclaimer in the
+// documentation and/or other materials provided with the distribution.
+// * Neither the name of Universität Bremen nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+
+/* \author Jan Winkler */
+
+
+#ifndef __C_CRTP_PACKET_H__
+#define __C_CRTP_PACKET_H__
+
+
+// System
+#include <cstring>
+
+
+/*! \brief Class to hold and process communication-related data for
+ the CRTProtocol */
+class CCRTPPacket {
+ private:
+ // Variables
+ /*! \brief Internal storage pointer for payload data inside the
+ packet
+
+ This data is freed when either new data is set or the class
+ instance is destroyed.*/
+ char *m_cData;
+ /*! \brief The length of the data pointed to by m_cData */
+ int m_nDataLength;
+ /*! \brief The copter port the packet will be delivered to */
+ int m_nPort;
+ /*! \brief The copter channel the packet will be delivered to */
+ int m_nChannel;
+ bool m_bIsPingPacket;
+
+ // Functions
+ /*! \brief Sets all internal variables to their default values.
+
+ The function clearData() should be called before this if it is
+ used outside of the constructor. */
+ void basicSetup();
+ /*! \brief Deletes the internally stored data and resets the data
+ length and the pointer to zero */
+
+ public:
+ void clearData();
+ /*! \brief Constructor for the CCRTPPacket communication packet
+ class
+
+ Initializes the communication packet and sets the given
+ channel. The packet starts out without payload data.
+
+ \param nChannel The channel the payload in this packet is
+ designated for. */
+ CCRTPPacket(int nChannel);
+ /*! \brief Convenience constructor for the CCRTPPacket communication
+ packet class
+
+ Initializes the communication packet and sets the given
+ channel. The given data is set as the internal payload data.
+
+ \param cData The data pointer to read the new payload data from
+ \param nDataLength The length (in bytes) of data to read from
+ cData
+ \param nChannel The channel the payload in this packet is
+ designated for. */
+ CCRTPPacket(char *cData, int nDataLength, int nChannel);
+ CCRTPPacket(char cData, int nPort);
+
+ CCRTPPacket( const CCRTPPacket& obj );
+ CCRTPPacket& operator = (const CCRTPPacket& obj);
+
+ /*! \brief Destructor for the packet class
+
+ De-initializes the packet and deletes all available payload data
+ stored. */
+ ~CCRTPPacket();
+
+ /*! \brief Copies the given data of the specified length to the
+ internal storage.
+
+ \param cData Pointer pointing to the data that should be used as
+ payload
+ \param nDataLength Length (in bytes) of the data that should be
+ read from cData for storage */
+ void setData(char *cData, int nDataLength);
+ /*! \brief Gives out the pointer to the internally stored data
+
+ Don't manipulate the data pointed to by this pointer. Usually, you
+ won't have to call this function at all as it is used by the more
+ interface-designated functions.
+
+ \return Returns a direct pointer to the internally stored data */
+ char *data();
+ /*! \brief Returns the length of the currently stored data (in
+ bytes)
+
+ \return Returns the number of bytes stored as payload data */
+ int dataLength();
+
+ /*! \brief Prepares a sendable block of data based on the
+ CCRTPPacket details
+
+ A block of data is prepared that contains the packet header
+ (channel, port), the payload data and a finishing byte
+ (0x27). This block is newly allocated and must be delete[]'d after
+ usage.
+
+ \return Pointer to a new char[] containing a sendable block of
+ payload data */
+ char *sendableData();
+ /*! \brief Returns the length of a sendable data block
+
+ \return Length of the sendable data block returned by
+ sendableData() (in bytes) */
+ int sendableDataLength();
+
+ /*! \brief Set the copter port to send the payload data to
+
+ The port identifies the purpose of the packet on the copter. This
+ function sets the port that is later used in sendableData().
+
+ \param nPort Port number to set */
+ void setPort(int nPort);
+ /*! \brief Returns the currently set port number */
+ int port();
+
+ /*! \brief Set the copter channel to send the payload data to
+
+ The channel identifies the purpose of the packet on the
+ copter. This function sets the channel that is later used in
+ sendableData().
+
+ \param nChannel Channel number to set */
+ void setChannel(int nChannel);
+ /*! \brief Returns the currently set channel number */
+ int channel();
+
+ void setIsPingPacket(bool bIsPingPacket);
+ bool isPingPacket();
+};
+
+
+#endif /* __C_CRTP_PACKET_H__ */
diff --git a/crazyflie_groundstation/inc/CCrazyRadio.h b/crazyflie_groundstation/inc/CCrazyRadio.h
new file mode 100644
index 0000000000000000000000000000000000000000..deb60456d87e83d38bace93aaff75df01a88979c
--- /dev/null
+++ b/crazyflie_groundstation/inc/CCrazyRadio.h
@@ -0,0 +1,258 @@
+// Copyright (c) 2013, Jan Winkler <winkler@cs.uni-bremen.de>
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright
+// notice, this list of conditions and the following disclaimer in the
+// documentation and/or other materials provided with the distribution.
+// * Neither the name of Universität Bremen nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+
+/* \author Jan Winkler */
+
+
+#ifndef __C_CRAZY_RADIO_H__
+#define __C_CRAZY_RADIO_H__
+
+#define ALL_THE_DEBUG 0
+
+// System
+#include <list>
+#include <string>
+#include <cstdio>
+#include <cstring>
+#include <libusb-1.0/libusb.h>
+#include <unistd.h>
+#include <iostream>
+#include <sstream>
+#include <vector>
+
+// Private
+#include "structures.h"
+#include "CCRTPPacket.h"
+#include "CCrazyflie.h"
+
+// Backward declaration of the CCrazyflie class to make the compiler happy
+class CCrazyflie;
+
+/*! \brief Communication class to connect to and communicate via the
+ CrazyRadio USB dongle.
+
+ The class is capable of finding the CrazyRadio USB dongle on the
+ host computer, open and maintain a connection, and send/receive
+ data when communicating with the Crazyflie Nano copter using the
+ Crazy Radio Transfer Protocol as defined by Bitcraze. */
+class CCrazyRadio {
+private:
+ // Variables
+ /*! \brief The radio URI as supplied when initializing the class
+ instance */
+ //std::string m_strRadioIdentifier; -- removing this, as we want our radio to support more than one crazyflie
+ /*! \brief The current USB context as supplied by libusb */
+ libusb_context *m_ctxContext;
+ libusb_device *m_devDevice;
+ libusb_device_handle *m_hndlDevice;
+ int m_nARC;
+ //int m_nChannel; -- moving this out to the crazyflie
+ //std::string m_strDataRate; -- so that multiple flies can be on the same radio.
+ int m_nARDTime;
+ int m_nARDBytes;
+ int m_nDongleNumber;
+ enum Power m_enumPower;
+ char *m_cAddress;
+ int m_bContCarrier;
+ float m_fDeviceVersion;
+ bool m_bAckReceived;
+
+ bool m_exitThread;
+
+ // Vector to hold the crazyflie objects associated with this radio
+ std::vector<CCrazyflie*> crazyflies;
+
+ // Functions
+ std::list<libusb_device*> listDevices(int nVendorID, int nProductID);
+ bool openUSBDongle();
+ bool claimInterface(int nInterface);
+ void closeDevice();
+
+ CCRTPPacket *readACK();
+
+ CCRTPPacket *writeData(void *vdData, int nLength);
+ bool writeControl(void *vdData, int nLength, uint8_t u8Request, uint16_t u16Value, uint16_t u16Index);
+ bool readData(void *vdData, int &nMaxLength);
+
+ void setAddress(char *cAddress);
+ void setContCarrier(bool bContCarrier);
+
+public:
+
+ /**
+ * Add a Crazyflie to the radio
+ *
+ * @param flie Pointer to the CCrazyflie object
+ */
+ void addCrazyflie(CCrazyflie *flie);
+
+ /**
+ * Main loop for the thread running the radio
+ */
+ void mainLoop();
+
+ /**
+ * Static function to use to start the thread for the radio
+ */
+ static void* startThread(void* args);
+ void stopThread();
+
+ void setDataRate(XferRate rate); //Moved From Private
+
+ void setARC(int nARC); //Moved From Private
+
+ void setARDBytes(int nARDBytes); //Moved From Private
+ void setARDTime(int nARDTime); //Moved From Private
+
+ void setChannel(int nChannel);
+ /*! \brief Constructor for the radio communication class
+
+ \param dongleNumber 0-based index of the USB dongle to use. */
+ //CCrazyRadio(std::string strRadioIdentifier); -- removing for multiple crazyflie support
+ CCrazyRadio(int dongleNumber);
+ /*! \brief Destructor for the radio communication class */
+ ~CCrazyRadio();
+
+ /*! \brief Function to start the radio communication
+
+ The first available USB dongle will be opened and claimed for
+ communication. The connection will be maintained and used to
+ communicate with a Crazyflie Nano quadcopter in range.
+
+ \return Returns 'true' if the connection could successfully be
+ made and 'false' if no dongle could be found (or any other
+ USB-related error came up - this is not handled here). */
+ bool startRadio();
+
+ /*! \brief Returns the current setting for power usage by the USB
+ dongle
+
+ \return Value denoting the current power settings reserved for
+ communication */
+ enum Power power();
+ /*! \brief Set the power level to be used for communication purposes
+
+ \param enumPower The level of power that is being used for
+ communication. The integer value maps to one of the entries of the
+ Power enum. */
+ void setPower(enum Power enumPower);
+
+ /*! \brief Sends the given packet's payload to the copter
+
+ \param crtpSend The packet which supplied header and payload
+ information to send to the copter */
+ CCRTPPacket *sendPacket(int nRadioChannel, CCRTPPacket *crtpSend, CCrazyflie *crazyflie);
+
+ /*! \brief Sends the given packet and waits for a reply.
+
+ Internally, this function calls the more elaborate
+ sendAndReceive() function supplying parameters for retrying and
+ waiting. Convenience function signature.
+
+ \param crtpSend Packet to send
+ \param bDeleteAfterwards Whether or not the packet to send is
+ deleted internally after sending it
+
+ \return Packet containing the reply or NULL if no reply was
+ received (after retrying). */
+ CCRTPPacket *sendAndReceive(CCRTPPacket *crtpSend, int nRadioChannel, CCrazyflie *crazyflie);
+
+ /*! \brief Sends the given packet and waits for a reply.
+
+ Sends out the CCRTPPacket instance denoted by crtpSend on the
+ given port and channel. Retries a number of times and waits
+ between each retry whether or not an answer was received (in this
+ case, dummy packets are sent in order to receive replies).
+
+ \param crtpSend Packet to send
+
+ \param nPort Port number on which to send this packet (and where
+ to wait for the reply)
+ \param nChannel Channel number on which to send this packet (and
+ where to wait for the reply)
+ \param bDeletAfterwards Whether or not the packet to send is
+ deleted internally after sending it
+ \param nRetries Number of retries (re-sending) before giving up on
+ an answer
+ \param nMicrosecondsWait Microseconds to wait between two re-sends
+
+ \return Packet containing the reply or NULL if no reply was
+ received (after retrying). */
+ CCRTPPacket *sendAndReceive(CCRTPPacket *crtpSend, int nRadioChannel, int nPort, int nChannel, CCrazyflie *crazyflie, int nRetries = 10, int nMicrosecondsWait = 100); //TODO ******CHANGED nRetries from 10 to 1 - JUSTIN*******
+
+ /*! \brief Sends out an empty dummy packet
+
+ Only contains the payload `0xff`, as used for empty packet
+ requests. Mostly used for waiting or keepalive.
+
+ \return Boolean value denoting whether sending the dummy packet
+ worked or not. */
+ bool sendDummyPacket(int nChannel, CCrazyflie *crazyflie);
+
+ /*! \brief Waits for the next non-empty packet.
+
+ Sends out dummy packets until a reply is non-empty and then
+ returns this reply.
+
+ \return Packet contaning a non-empty reply. */
+ CCRTPPacket *waitForPacket( int nChannel, CCrazyflie *crazyflie);
+
+ /*! \brief Whether or not the copter is answering sent packets.
+
+ Returns whether the copter is actually answering sent packets with
+ a set ACK flag. If this is not the case, it is either switched off
+ or out of range.
+
+ \return Returns true if the copter is returning the ACK flag properly, false otherwise. */
+ bool ackReceived();
+ /*! \brief Whether or not the USB connection is still operational.
+
+ Checks if the USB read/write calls yielded any errors.
+
+ \return Returns true if the connection is working properly and
+ false otherwise. */
+ bool usbOK();
+
+ /*! \brief Extracting all logging related packets
+
+ Returns a list of all collected logging related (i.e. originating
+ from port 5) packets. This is called by the CCrazyflie class
+ automatically when performing cycle().
+
+ \return List of CCRTPPacket instances collected from port 5
+ (logging). */
+// std::list<CCRTPPacket*> popLoggingPackets();
+// void clearPackets();
+
+ bool bPowerDetector;
+ int nRetransmissions;
+
+};
+
+
+#endif /* __C_CRAZY_RADIO_H__ */
diff --git a/crazyflie_groundstation/inc/CCrazyflie.h b/crazyflie_groundstation/inc/CCrazyflie.h
new file mode 100644
index 0000000000000000000000000000000000000000..f0c5307d8a8ce62ff82528a21758fd01d28b6bce
--- /dev/null
+++ b/crazyflie_groundstation/inc/CCrazyflie.h
@@ -0,0 +1,573 @@
+// Copyright (c) 2013, Jan Winkler <winkler@cs.uni-bremen.de>
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright
+// notice, this list of conditions and the following disclaimer in the
+// documentation and/or other materials provided with the distribution.
+// * Neither the name of Universität Bremen nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+
+/* \author Jan Winkler */
+
+
+#ifndef __C_CRAZYFLIE_H__
+#define __C_CRAZYFLIE_H__
+
+
+#define NSEC_PER_SEC 1000000000L
+
+
+// System
+#include <cmath>
+#include <stdbool.h>
+#include <iostream>
+#include <fstream>
+#include <string.h>
+#include <pthread.h>
+
+// Private
+#include "structures.h"
+#include "CCrazyRadio.h"
+#include "computations/NetworkForwarding.h"
+#include "CTOC.h"
+
+#include "vrpn_Connection.h"
+#include "vrpn_Tracker.h"
+
+
+// Ports defined for the CRTP protocol
+enum CRTPPort {
+ CRTP_PORT_CONSOLE = 0x00,
+ CRTP_PORT_PARAM = 0x02,
+ CRTP_PORT_COMMANDER = 0x03,
+ CRTP_PORT_MEM = 0x04,
+ CRTP_PORT_LOG = 0x05,
+ CRTP_PORT_XYZ_SET = 0x06,
+ CRTP_PORT_XYZ_POS = 0x07,
+ CRTP_PORT_CONTROLLER_UPDATE = 0x08,
+ CRTP_PORT_COMPUTATION = 0x09,
+ CRTP_PORT_PLATFORM = 0x0D,
+ CRTP_PORT_LINK = 0x0F,
+};
+
+// Channels in the CRTP packet describing the update requested
+enum controllerUpdate_Channels {
+ CONTROLLER_QUERY_TYPE = 0,
+ CONTROLLER_CALL_UPDATE,
+ CONTROLLER_SWITCH_THROTTLE_CTRL
+};
+
+// Channels in the CRTP packet for the computation framework
+enum Computation_channels {
+ COMP_CHAN_QUERY = 0,
+ COMP_CHAN_COMPUTE_DATA,
+ COMP_CHAN_CONFIG,
+};
+
+// These are various codes used to configure the computation framework in the config packet
+enum comp_config_codes {
+ COMP_CONFIG_ENABLE = 0,
+ COMP_CONFIG_FUNC,
+ COMP_CONFIG_RATE,
+};
+
+// Numbers specified here must match the quadcopter ID numbers
+enum PID_Controller_IDs {
+ PID_X = 0,
+ PID_Y = 1,
+ PID_Z = 2,
+ PID_ROLL = 3,
+ PID_PITCH = 4,
+ PID_YAW = 5,
+ PID_ROLL_RATE = 6,
+ PID_PITCH_RATE = 7,
+ PID_YAW_RATE = 8
+};
+
+enum State {
+ STATE_ZERO = 0,
+ STATE_READ_PARAMETERS_TOC = 1,
+ STATE_READ_LOGS_TOC = 2,
+ STATE_START_LOGGING = 3,
+ STATE_ZERO_MEASUREMENTS = 4,
+ STATE_NORMAL_OPERATION = 5
+};
+
+enum FlightMode{
+ LANDING_MODE,
+ TAKEOFF_MODE,
+ HOVER_MODE,
+ MIRROR_MODE,
+ HAND_MODE,
+ GROUNDED_MODE,
+ STEP_MODE,
+ KILL_MODE,
+ BRIDGE_HOVER_MODE,
+ BRIDGE_LANDING_MODE,
+ BRIDGE_TAKEOFF_MODE,
+ IDLE_MODE
+};
+
+// Backward declaration of the CCrazyflie class to make the compiler happy
+class CCrazyRadio;
+class CTOC;
+
+/*! \brief Crazyflie Nano convenience controller class
+
+ The class containing the mechanisms for starting sensor readings,
+ ordering set point setting, selecting and running controllers and
+ calculating information based on the current sensor readings. */
+class CCrazyflie {
+ private:
+ // Variables for the specific quadcopter
+ int m_quadNum;
+ int m_nRadioChannel;
+ XferRate m_radioDataRate;
+
+ int m_nAckMissTolerance;
+ int m_nAckMissCounter;
+ /*! \brief Internal pointer to the initialized CCrazyRadio radio
+ interface instance. */
+ CCrazyRadio *m_crRadio;
+ /*! \brief The current thrust to send as a set point to the
+ copter. */
+ int m_nThrust;
+ /*! \brief The current roll to send as a set point to the copter. */
+ float m_fRoll;
+ /*! \brief The current pitch to send as a set point to the
+ copter. */
+ float m_fPitch;
+ /*! \brief The current yaw to send as a set point to the copter. */
+ float m_fYaw;
+ /*! \brief The current desired control set point (position/yaw to
+ reach) */
+
+ // Structures to hold the current position and orientation of the quad
+ lateralPosition m_currentCameraPosition;
+ angularPosition m_currentCameraAngle;
+ quaternionPosition m_currentCameraQuat;
+
+
+ // The origin and limits of the local coordinate system
+ lateralPosition m_localOrigin;
+ limits m_localXlim;
+ limits m_localYlim;
+ limits m_localZlim;
+ coordinateSystem m_systemToUse;
+
+ // Structures to hold the desired setpoints
+ lateralPosition m_desiredPositionLocal;
+ lateralPosition m_desiredPositionGlobal;
+ float m_desiredYaw;
+ uint16_t m_baseThrust;
+
+ // The network structure for forwarding packets
+ NetworkForwarding *m_network;
+
+ // Stuff for the computation
+ int computationType;
+ bool computationStarted;
+
+ // An array to hold the takeoff profile
+ takeoffProfileStep *takeoffProfile;
+ int numTakeoffSteps;
+
+ // Variables needed for the takeoff routine
+ int currentStep;
+ double lastStepTime;
+
+ float m_startTime;
+
+ bool m_resetController;
+
+ // Last time a position packet was received
+ double lastPositionTime;
+ double positionTimeDelta;
+
+ // File stream for the console output and log file
+ std::ofstream file_console;
+ std::ofstream file_log;
+
+ // Controller type
+ int controllerType;
+
+ // Various things for setting the PID parameters of the quadcopter
+ std::queue<PID_ControllerParams> pidToSend;
+
+ // Queue for the commands received from the user
+ std::queue<userCommands_t> userCommands;
+ pthread_mutex_t userCommandsMutex;
+
+ // Mutex to protect the camera data
+ pthread_mutex_t cameraDataMutex;
+
+ // Control related parameters
+ /*! \brief Maximum absolute value for the roll that will be sent to
+ the copter. */
+ float m_fMaxAbsRoll;
+ /*! \brief Maximum absolute value for the pitch that will be sent to
+ the copter. */
+ float m_fMaxAbsPitch;
+ /*! \brief Maximum absolute value for the yaw that will be sent to
+ the copter. */
+ float m_fMaxYaw;
+ /*! \brief Maximum thrust that will be sent to the copter. */
+ int m_nMaxThrust;
+ /*! \brief Minimum thrust that will be sent to the copter. */
+ int m_nMinThrust;
+ double m_dSendSetpointPeriod;
+ double m_dSetpointLastSent;
+
+ CTOC *m_tocLogs;
+ enum State m_enumState;
+
+ // Flags to say whether to send packets
+ bool m_sendSetpoints;
+ bool m_sendPosition;
+
+ // Functions
+ bool readTOCParameters();
+ bool readTOCLogs();
+
+ /*! \brief Send a set point to the copter controller
+
+ Send the set point for the internal copter controllers. The
+ copter will then try to achieve the given roll, pitch, yaw and
+ thrust. These values can be set manually but are managed by the
+ herein available controller(s) if one is switched on to reach
+ desired positions.
+
+ \param fRoll The desired roll value.
+ \param fPitch The desired pitch value.
+ \param fYaw The desired yaw value.
+ \param sThrust The desired thrust value.
+ \return Boolean value denoting whether or not the command could be sent successfully. */
+
+ /**
+ * Modify if the thrust controller is active or not.
+ *
+ * @param enabled True to enable controller, false to disable
+ * @return True if packet received successfully
+ */
+ bool modifyThrustController(bool enabled);
+
+ /**
+ * Parse the commands that are sitting in the queue.
+ * Each call will only parse one command.
+ *
+ * @return True if command parsed, false otherwise
+ */
+ bool parseReceivedUserCommand();
+
+
+ public:
+ /*! \brief Constructor for the copter convenience class
+
+ Constructor for the CCrazyflie class, taking a CCrazyRadio radio
+ interface instance as a parameter.
+
+ \param crRadio Initialized (and started) instance of the
+ CCrazyRadio class, denoting the USB dongle to communicate
+ with. */
+ lateralPosition m_currentLocalPosition;
+ CTOC *m_tocParameters;
+
+ CCrazyflie(CCrazyRadio *crRadio, int radioChannel, XferRate dataRate, int quadNum, double startTime);
+ /*! \brief Destructor for the copter convenience class
+
+ Destructor, deleting all internal variables (except for the
+ CCrazyRadio radio instance given in the constructor). */
+ ~CCrazyflie();
+
+ int getRadioChannel();
+ XferRate getRadioDataRate();
+
+ /*
+ * Open a log file for the quadcopter
+ *
+ * @param baseFileName The base filename for the logfile
+ */
+ void openLogFile(char *baseFileName);
+
+ /*
+ * Write data to the log file
+ */
+ void writeLogData();
+
+ /**
+ * Pass a command from the user into this Crazyflie
+ *
+ * @param command The command to pass in
+ */
+ void passUserCommand(userCommands_t command);
+
+ int getQuadcopterNumber();
+
+ /*
+ * Callback called whenever there is a new VRPN position packet.
+ * Note: This function is static in the class.
+ *
+ * @param crazyflie Pointer to the crazyflie object (cast as a void *)
+ * @param t The tracker results
+ */
+ static void VRPN_CALLBACK vrpnTrackerCallback(void *crazyflie, const vrpn_TRACKERCB t);
+
+ void setNetworkForwarding(NetworkForwarding *network);
+
+ /**
+ * Query the type of controller that the Crazyflie is using
+ *
+ * @return Controller type
+ */
+ int queryControllerType();
+ int getControllerType();
+ std::string getControllerTypeString();
+
+ /**
+ * Enable the thrust controller.
+ */
+ bool enableThrustController();
+ bool disableThrustController();
+
+ void setCameraPosition(lateralPosition cameraPosition);
+ void setCameraAngle(angularPosition cameraAngle);
+ void setCameraQuat(quaternionPosition cameraQuat);
+
+ /*
+ * These functions will return the current quadcopter
+ * lateral position as reported by the camera system.
+ */
+ float getPositionX(coordinateSystem coor);
+ float getPositionY(coordinateSystem coor);
+ float getPositionZ(coordinateSystem coor);
+
+ /*
+ * These functions will return the current quadcopter
+ * angular position as reported by the quadcopter sensors.
+ */
+ float getQuadRoll();
+ float getQuadPitch();
+ float getQuadYaw();
+
+ /*
+ * These functions will return the current quadcopter
+ * angular position as reported by the camera system.
+ */
+ float getCameraRoll();
+ float getCameraPitch();
+ float getCameraYaw();
+
+ /*
+ * These functions will return the current controller setpoints.
+ */
+ float getSetpointX(coordinateSystem coor);
+ float getSetpointY(coordinateSystem coor);
+ float getSetpointZ(coordinateSystem coor);
+ float getSetpointYaw();
+ uint16_t getBaseThrust();
+
+ // Return the time delta for the most recent position packet
+ double getPositionTimeDelta();
+
+ /**
+ * These functions will set the setpoints of the quadcopter
+ */
+ void setSetpointX(float setpoint, coordinateSystem coor);
+ void setSetpointY(float setpoint, coordinateSystem coor);
+ void setSetpointZ(float setpoint, coordinateSystem coor);
+ void setSetpointYaw(float setpoint);
+ void setBaseThrust(uint16_t thrust);
+
+ void setLocalOrigin(lateralPosition newOrigin);
+ void setCoordinateSystem(coordinateSystem coor);
+ coordinateSystem getCoordinateSystem();
+
+
+ /*
+ * Computation functions
+ */
+ int getComputationType();
+ int queryComputationType();
+ std::string getComputationTypeString();
+ void enableComputation();
+ void disableComputation();
+ void configureComputation( void *config, uint8_t length);
+
+ /**
+ * Set the computation data rate in Hz.
+ * Note: Maximum rate of 1000 Hz.
+ *
+ * @param rate The computation rate in Hz
+ */
+ void setComputationRate(uint16_t rate);
+
+ /**
+ * Reset the controller on the quadcopter
+ */
+ void resetController();
+
+ /**
+ * This function will set the flight mode of the Crazyflie
+ */
+ void setFlightMode( enum FlightMode mode);
+
+ /*
+ * This function will set the takeoff profile to use.
+ *
+ * @param profile Pointer to the takeoff profile to use
+ * @param numSteps The number of steps in the takeoff profile
+ *
+ */
+ void setTakeoffProfile( takeoffProfileStep *profile, int numSteps );
+
+ /*
+ * This function will cycle through the takeoff profile for the Crazyflie.
+ */
+ void takeoffCycle();
+
+ /*! \brief Manages internal calculation operations
+
+ Should be called during every 'cycle' of the main program using
+ this class. Things like sensor reading processing, integral
+ calculation and controller signal application are performed
+ here. This function also triggers communication with the
+ copter. Not calling it for too long will cause a disconnect from
+ the copter's radio.
+
+ \return Returns a boolean value denoting the current status of the
+ radio dongle. If it returns 'false', the dongle was most likely
+ removed or somehow else disconnected from the host machine. If it
+ returns 'true', the dongle connection works fine. */
+ bool cycle();
+ /*! \brief Signals whether the copter is in range or not
+
+ Returns whether the radio connection to the copter is currently
+ active.
+
+ \return Returns 'true' is the copter is in range and radio
+ communication works, and 'false' if the copter is either out of
+ range or is switched off. */
+ bool copterInRange();
+
+ /*! \brief Whether or not the copter was initialized successfully.
+
+ \returns Boolean value denoting the initialization status of the
+ copter communication. */
+ bool isInitialized();
+
+ void setPID_Constants( PID_ControllerParams params );
+
+ bool sendPID_Constants( PID_ControllerParams params, std::string str );
+
+ bool sendSGSF_Gains( CONTROLLER_SGSF_GAINS gains);
+/*
+ void setXYZYawPosition(float xPosition, float yPosition, float zPosition,
+ float yawPosition);
+
+ void setXYZYawSetpoint(float xSetpoint, float ySetpoint, float zSetpoint,
+ float yawSetpoint, uint16_t baseThrust,
+ uint8_t resetController);
+*/
+ /*
+ * Send setpoints for the quadcopter
+ */
+ bool sendPositionSetpoint();
+
+ /*
+ * Send the current position to the quad
+ */
+ bool sendCameraData();
+
+
+ void displayLoggingBlocksInitialized();
+
+ /**
+ * Add a new logging block to the quadcopter
+ *
+ * @param name The name of the logging block
+ * @param frequency The frequency to log (in Hz)
+ */
+ bool addLoggingBlock(const char *name, uint16_t frequency);
+
+ /**
+ * Remove a logging block (stop logging)
+ *
+ * @param name The name of the logging block
+ */
+ void removeLoggingBlock(const char *name);
+
+ /**
+ * Add a log entry to a logging block
+ *
+ * @param blockName The block to add the entry to
+ * @param entryName The entry to add
+ */
+ bool addLoggingEntry(const char *blockName, const char *entryName);
+
+ /*
+ * Callback to pass a packet back to the quadcopter
+ *
+ * @param packet Pointer to the CRTP packet that was received
+ */
+ void callback_Packet(CCRTPPacket *crtpPacket);
+
+// void CCrazyflie::setFlightMode(enum FLIGHT_MODE);
+
+ /*! \brief Read back a sensor value you subscribed to
+
+ Possible sensor values might be:
+ * stabilizer.yaw
+ * stabilizer.roll
+ * stabilizer.pitch
+ * pm.vbat
+
+ The possible key names strongly depend on your firmware. If you
+ don't know what to do with this, just use the convience functions
+ like roll(), pitch(), yaw(), and batteryLevel().
+
+ \return Double value denoting the current value of the requested
+ log variable. */
+ double sensorDoubleValue(std::string strName);
+
+ /*! \brief Report the current battery level
+
+ \return Double value denoting the battery level as reported by the
+ copter. */
+ double batteryLevel();
+
+ float batteryState();
+
+ enum State getCurrentState();
+
+ double currentTime();
+
+ int radioChannel() { return m_nRadioChannel; } //Added for switching radio channels
+// void cheat_process_packets();
+
+ bool sendSetpoint(float fRoll, float fPitch, float fYaw, short sThrust); //Moved From Private
+
+ enum FlightMode m_enumFlightMode; //JN: ADDED enum for flight mode
+
+};
+
+
+#endif /* __C_CRAZYFLIE_H__ */
diff --git a/crazyflie_groundstation/inc/CTOC.h b/crazyflie_groundstation/inc/CTOC.h
new file mode 100644
index 0000000000000000000000000000000000000000..fceaeaee187394a18f3282853791964c2b99ac4e
--- /dev/null
+++ b/crazyflie_groundstation/inc/CTOC.h
@@ -0,0 +1,141 @@
+// Copyright (c) 2013, Jan Winkler <winkler@cs.uni-bremen.de>
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright
+// notice, this list of conditions and the following disclaimer in the
+// documentation and/or other materials provided with the distribution.
+// * Neither the name of Universität Bremen nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+
+/* \author Jan Winkler */
+
+
+#ifndef __C_TOC_H__
+#define __C_TOC_H__
+
+
+// System
+#include <list>
+#include <string>
+#include <cstdlib>
+#include <iostream>
+#include <fstream>
+
+// Private
+#include "CCrazyRadio.h"
+#include "CCrazyflie.h"
+#include "CCRTPPacket.h"
+
+
+/*! \brief Storage element for logged variable identities */
+struct TOCElement {
+ /*! \brief The numerical ID of the log element on the copter's
+ internal table */
+ int nID;
+ /*! \brief The (ref) type of the log element */
+ int nType;
+ /*! \brief The string group name of the log element */
+ std::string strGroup;
+ /*! \brief The string identifier of the log element */
+ std::string strIdentifier;
+ bool bIsLogging;
+ double dValue;
+};
+
+
+struct LoggingBlock {
+ std::string strName;
+ int nID;
+ double dFrequency;
+ std::list<int> lstElementIDs;
+};
+
+// Backward declaration of the CCrazyflie and CCrazyradio class to make the compiler happy
+class CCrazyflie;
+class CCrazyRadio;
+
+class CTOC {
+ private:
+ int m_nPort;
+ int m_nRadioChannel;
+ CCrazyRadio *m_crRadio;
+ CCrazyflie *m_crazyflie;
+ int m_nItemCount;
+ std::list<struct TOCElement> m_lstTOCElements;
+ std::list<struct LoggingBlock> m_lstLoggingBlocks;
+ std::ofstream param_toc_file;
+ std::ofstream log_toc_file;
+
+ bool requestInitialItem();
+ bool requestItem(int nID, bool bInitial);
+ bool requestItem(int nID);
+ bool requestNextItem();
+ bool processItem(CCRTPPacket* crtpItem);
+ bool processNextItem(CCRTPPacket* crtpItem);
+
+
+ CCRTPPacket* sendAndReceive(CCRTPPacket* crtpSend, int nChannel);
+
+ public:
+ CTOC(CCrazyRadio* crRadio, CCrazyflie *crazyflie, int radioChannel, int nPort);
+ ~CTOC();
+
+ bool sendTOCPointerReset();
+ bool requestMetaData();
+ bool requestItems();
+ bool downloadTOC();
+
+ void printLoggingBlocksInitialized();
+
+ struct TOCElement elementForName(std::string strName, bool& bFound);
+ struct TOCElement elementForID(int nID, bool &bFound);
+ int idForName(std::string strName);
+ int typeForName(std::string strName);
+
+ // For loggable variables only
+ bool registerLoggingBlock(std::string strName, double dFrequency);
+ bool unregisterLoggingBlock(std::string strName);
+ struct LoggingBlock loggingBlockForName(std::string strName, bool& bFound);
+ struct LoggingBlock loggingBlockForID(int nID, bool& bFound);
+
+ bool startLogging(std::string strName, std::string strBlockName);
+ bool stopLogging(std::string strName);
+ bool isLogging(std::string strName);
+
+ double doubleValue(std::string strName);
+
+ bool enableLogging(std::string strBlockName);
+
+// void processPackets(std::list<CCRTPPacket*> lstPackets);
+ void processPackets(CCRTPPacket *crtpPacket);
+
+ int elementIDinBlock(int nBlockID, int nElementIndex);
+ bool setFloatValueForElementID(int nElementID, float fValue);
+ bool addElementToBlock(int nBlockID, int nElementID);
+ bool unregisterLoggingBlockID(int nID);
+
+ void openLogTOCFile(char *baseFileName);
+ void openParamTOCFile(char *baseFileName);
+};
+
+
+#endif /* __C_TOC_H__ */
diff --git a/crazyflie_groundstation/inc/callbacks.h b/crazyflie_groundstation/inc/callbacks.h
new file mode 100644
index 0000000000000000000000000000000000000000..39fb46cb6e25f82594b7c24bcc7d93df58f46d45
--- /dev/null
+++ b/crazyflie_groundstation/inc/callbacks.h
@@ -0,0 +1,57 @@
+#ifndef VRPN_CALLBACKS_H_
+#define VRPN_CALLBACKS_H_
+
+#include "vrpn_Connection.h"
+#include "vrpn_Tracker.h"
+#include "quadcopterData.h"
+#include <math.h>
+#include <quat.h>
+
+
+// Function prototypes for the VRPN callback routines
+void VRPN_CALLBACK handle_hand(void*, const vrpn_TRACKERCB t);
+
+// Function prototypes for the trackable callbacks for the quadcopters
+//void VRPN_CALLBACK handle_pos(void*, const vrpn_TRACKERCB t);
+void VRPN_CALLBACK handle_Crazyflie2(void*, const vrpn_TRACKERCB t);
+void VRPN_CALLBACK handle_Crazyflie3(void*, const vrpn_TRACKERCB t);
+void VRPN_CALLBACK handle_Crazyflie4(void*, const vrpn_TRACKERCB t);
+
+/**
+ * This code chunk will check the battery level for the quadcopter against the
+ * minimum specified battery level and land the quad if it is too low.
+ *
+ * @param i The number of the quadcopter to check
+ */
+#define CHECK_BATTERY(i) ({\
+ float battery = crazyflie_info[i].cflieCopter->batteryLevel(); \
+ if (crazyflie_info[i].cflieCopter->m_enumFlightMode != LANDING_MODE || crazyflie_info[i].cflieCopter->m_enumFlightMode != GROUNDED_MODE) { \
+ if (battery < LOW_BATTERY_LEVEL && battery != 0) { \
+ cout << "Crazyflie 0: Battery Level Too Low, Landing Crazyflie" << endl; \
+ crazyflie_info[i].cflieCopter->m_enumFlightMode = LANDING_MODE; \
+ }\
+ }\
+})
+
+
+/**
+ * Correct the X and Y position to be relative to the body axis instead of the camera axis (due to yaw change)
+ *
+ * @param yaw The current yaw angle
+ * @param x The uncorrected x position
+ * @param y The uncorrected y position
+ * @param xCorrected Pointer to the variable to contain the corrected x value
+ * @param yCorrected Pointer to the variable to contain the corrected y value
+ */
+inline void yawCorrection(float yaw, float x, float y, float *xCorrected, float *yCorrected) {
+#if USE_PR_YAW_CORRECT
+ //CORRECTS PITCH AND ROLL PID ERRORS TO ACCOUNT FOR QUADS CURRENT YAW DIRECTION
+ *xCorrected = cos( Q_DEG_TO_RAD(yaw) )*x - sin( Q_DEG_TO_RAD(yaw) )*y;
+ *yCorrected = sin( Q_DEG_TO_RAD(yaw) )*x + cos( Q_DEG_TO_RAD(yaw) )*y;
+#else
+ *xCorrected = x;
+ *yCorrected = y;
+#endif // END USE_PR_YAW_CORRECT
+}
+
+#endif // VRPN_CALLBACKS_H_
\ No newline at end of file
diff --git a/crazyflie_groundstation/inc/computations/LocalizationLogger.h b/crazyflie_groundstation/inc/computations/LocalizationLogger.h
new file mode 100644
index 0000000000000000000000000000000000000000..39d9dbfed13d23b19192b79bb6a32d88512945a1
--- /dev/null
+++ b/crazyflie_groundstation/inc/computations/LocalizationLogger.h
@@ -0,0 +1,74 @@
+#ifndef LOCALIZATIONLOGGER_H_
+#define LOCALIZATIONLOGGER_H_
+
+#include <iostream>
+#include <fstream>
+#include <string.h>
+
+#include "vrpn_Connection.h"
+#include "vrpn_Tracker.h"
+
+#include "CCRTPPacket.h"
+
+typedef struct computation_localization_shared_node_data {
+ float measuredRadius;
+ float estimatedX;
+ float estimatedY;
+ float estimatedZ;
+ float alpha;
+ float beta;
+ float gamma;
+} __attribute__((packed)) computation_localization_node_data;
+
+class LocalizationLogger{
+
+private:
+ computation_localization_node_data *nodeData;
+
+ float *agentPositionX;
+ float *agentPositionY;
+ float *agentPositionZ;
+
+ int numAgents;
+
+ float targetX;
+ float targetY;
+ float targetZ;
+
+ double startTime;
+
+ double nextLogTime;
+
+ double logInterval;
+
+ std::ofstream file_log;
+
+public:
+ LocalizationLogger(int numAgents, char* filename, double logInterval);
+
+ ~LocalizationLogger();
+
+ /*
+ * Functions to get different computation values from an agent
+ */
+ float getMeasuredRadius(int agent);
+ float getEstimatedX(int agent);
+ float getEstimatedY(int agent);
+ float getEstimatedZ(int agent);
+ float getAlpha(int agent);
+ float getBeta(int agent);
+ float getGamma(int agent);
+
+ static void VRPN_CALLBACK vrpnTrackerCallback(void *logger, const vrpn_TRACKERCB t);
+
+ void setAgentPosition(int agent, float x, float y, float z);
+
+ void setTargetPosition(float x, float y, float z);
+
+ void logData();
+
+ void packetReceived(CCRTPPacket *packet);
+
+};
+
+#endif
\ No newline at end of file
diff --git a/crazyflie_groundstation/inc/computations/NetworkForwarding.h b/crazyflie_groundstation/inc/computations/NetworkForwarding.h
new file mode 100644
index 0000000000000000000000000000000000000000..0d0703cf5425e618103dbee76b840a6dbd91c13b
--- /dev/null
+++ b/crazyflie_groundstation/inc/computations/NetworkForwarding.h
@@ -0,0 +1,98 @@
+#ifndef NETWORKFORWARDING_H_
+#define NETWORKFORWARDING_H_
+
+#include <queue>
+#include <stdlib.h>
+
+#include "../CCRTPPacket.h"
+
+#include "LocalizationLogger.h"
+
+typedef struct edge{
+ int node1;
+ int node2;
+} edge_t;
+
+class NetworkForwarding {
+
+private:
+ // The edges that the network has
+ std::vector<int> **edges;
+
+ // The number of nodes in the network
+ int numNodes;
+
+ // Array to hold pointers to the queues storing the packets to send to each quadcopter
+ std::queue<CCRTPPacket> **packetQueues;
+
+ LocalizationLogger *networkLogger;
+
+ pthread_mutex_t queueMutex;
+
+public:
+ // The constructor
+ NetworkForwarding(int numNodes);
+
+ NetworkForwarding(int numNodes, edge_t *edges, int numEdges);
+
+ // The destructor
+ ~NetworkForwarding();
+
+ void clearAllNetworkQueues();
+ void clearNetworkQueue(int node);
+
+ void setNetworkLogger(LocalizationLogger *logger);
+ LocalizationLogger* getNetworkLogger();
+
+ /*
+ * Add an edge to the graph
+ *
+ * @param edge The edge to add
+ */
+ void addEdge(edge_t edge);
+
+ /**
+ * Remove an edge from the graph
+ *
+ * @param edge The edge to remove
+ */
+ void removeEdge(edge_t edge);
+
+ /**
+ * List all the edges in the computation graph
+ */
+ void listEdges();
+
+ /**
+ * Display the graph adjacency matrix
+ *
+ */
+ void displayAdjacency();
+
+ /**
+ * Retrieve the next packet to send
+ *
+ * @param quadNum The number of the quadcopter to get the next packet for
+ * @param pk Pointer to the packet object to return the next packet in
+ * @return If there was a packet to send
+ */
+ bool retrievePacket(int quadNum, CCRTPPacket *pk);
+
+ /*
+ * Callback to be called when a packet is received from a quadcopter
+ *
+ * @param quadNum The number of the quadcopter the packet was received from
+ * @param pk Pointer to the CRTP packet that was received
+ */
+ void packetReceived(int quadNum, CCRTPPacket *pk);
+ static void packetCallback(NetworkForwarding *network, int quadNum, CCRTPPacket *pk);
+
+ /**
+ *
+ *
+ */
+
+};
+
+
+#endif
\ No newline at end of file
diff --git a/crazyflie_groundstation/inc/crazyflieGroundStation.h b/crazyflie_groundstation/inc/crazyflieGroundStation.h
new file mode 100644
index 0000000000000000000000000000000000000000..ff5cd480f08d336cd0cf72150289800cab57a952
--- /dev/null
+++ b/crazyflie_groundstation/inc/crazyflieGroundStation.h
@@ -0,0 +1,48 @@
+#ifndef CRAZYFLIE_GROUND_STATION_H_
+#define CRAZYFLIE_GROUND_STATION_H_
+
+#include <iostream>
+#include <iomanip>
+#include <string>
+#include <cstdlib>
+#include <signal.h>
+#include <unistd.h>
+#include <string>
+
+#include "vrpn_Connection.h"
+#include "vrpn_Tracker.h"
+#include "computations/LocalizationLogger.h"
+
+#include <quat.h>
+
+#include "Bridge.h"
+
+extern uint8_t exitProgram;
+
+extern Bridge *bridge;
+
+// The lowest battery level to fly with
+#define LOW_BATTERY_LEVEL 3.2
+
+#define USE_BRIDGE 1
+
+#define USE_LOCALIZATION
+
+#define USE_VRPN 1
+#define USE_KEYBOARD 1
+#define USE_PRINTOUT 0
+#define USE_LOGGING 0
+#define USE_BASIC_LOGGING 0
+#define USE_PR_YAW_CORRECT 0 //DO NOT NEED (NOW IMPLEMENTED ON FIRMWARE)
+#define USE_HAND 0
+
+extern LocalizationLogger *compLogger;
+
+void query_vrpn();
+
+/**
+ * This function is registered as the handler for when Ctrl-C is pressed
+ */
+void ctrlc_handler(int sig);
+
+#endif
diff --git a/crazyflie_groundstation/inc/helperFunctions.h b/crazyflie_groundstation/inc/helperFunctions.h
new file mode 100644
index 0000000000000000000000000000000000000000..a0945f35acd72351b57aeb086f214e412e47b8fd
--- /dev/null
+++ b/crazyflie_groundstation/inc/helperFunctions.h
@@ -0,0 +1,45 @@
+#ifndef HELPER_FUNCTIONS_H_
+#define HELPER_FUNCTIONS_H_
+
+#define HOVER_THRUST(takeoff)({\
+ takeoff.profile[ (takeoff.numTakeoffSteps-1)*3 + 0 ]; \
+})
+
+/**
+ * This code chunk will compute the X, Y, Z coordinate of the bridge at the given convex input
+ * @param t The convex input
+ * @param x Float for the x position
+ * @param y Float for the y position
+ * @param z Float for the z position
+ */
+#define COMPUTE_BRIDGE_COORDINATE(t, xRes, yRes, zRes) ({\
+ xRes = t*bridge1.x + (1 - t)*bridge2.x; \
+ yRes = t*bridge1.y + (1 - t)*bridge2.y; \
+ zRes = t*bridge1.z + (1 - t)*bridge2.z; \
+})
+
+/**
+ * This code chunk will extract the position from the VRPN data and put
+ * it into the controller data array
+ * @param i The number of the quadcopter
+ * @param t The VRPN data array
+ */
+#define EXTRACT_POSITION(i, t) ({\
+ crazyflie_info[i].controllerData.xPosition = t.pos[0]; \
+ crazyflie_info[i].controllerData.yPosition = t.pos[1]; \
+ crazyflie_info[i].controllerData.zPosition = t.pos[2]; \
+ q_vec_type euler; \
+ q_to_euler(euler, t.quat); \
+ crazyflie_info[i].controllerData.yawPosition = Q_RAD_TO_DEG(euler[0]); \
+ crazyflie_info[i].controllerData.pitchPosition = Q_RAD_TO_DEG(euler[1]); \
+ crazyflie_info[i].controllerData.rollPosition = Q_RAD_TO_DEG(euler[2]); \
+})
+
+#define SET_X(quadNumber, setpoint) ( crazyflie_info[quadNumber-1].cflieCopter->setSetpointX( setpoint ) )
+#define SET_Y(quadNumber, setpoint) ( crazyflie_info[quadNumber-1].cflieCopter->setSetpointY( setpoint ) )
+#define SET_Z(quadNumber, setpoint) ( crazyflie_info[quadNumber-1].cflieCopter->setSetpointZ( setpoint ) )
+#define SET_YAW(quadNumber, setpoint) ( crazyflie_info[quadNumber-1].cflieCopter->setSetpointYaw( setpoint ) )
+
+#define SET_FLIGHTMODE(quadNumber, mode) ( crazyflie_info[quadNumber-1].cflieCopter->setFlightMode( mode ) )
+
+#endif
\ No newline at end of file
diff --git a/crazyflie_groundstation/inc/quadcopterData.h b/crazyflie_groundstation/inc/quadcopterData.h
new file mode 100644
index 0000000000000000000000000000000000000000..118b3dfa529dccfb231cc031fd737a496a6de483
--- /dev/null
+++ b/crazyflie_groundstation/inc/quadcopterData.h
@@ -0,0 +1,121 @@
+#ifndef QUADCOPTERDATA_H_
+#define QUADCOPTERDATA_H_
+
+#include "vrpn_Connection.h"
+#include "vrpn_Tracker.h"
+#include "structures.h"
+#include "CCrazyflie.h"
+#include "computations/NetworkForwarding.h"
+
+#include <iostream>
+#include <fstream>
+
+// The number of radios to use
+#define NUM_RADIOS 1
+
+// The number of quadcopters to initialize
+#define NUM_QUADS 1
+
+#define BASE_THRUST 42000
+#define Kp 5000
+//#define Kp 50
+//#define Kp 0
+//#define Ki 10*3/7
+#define Ki 0
+#define Kd 750
+
+extern CONTROLLER_SGSF_GAINS ssGains[STATE_END+1];
+
+typedef struct CONTROLLER_DATA {
+ double loopTimeStartPrevious; // The start time of the last loop to run
+ double loopTime; // The time taken by running the last loop
+ double timeBetweenLoop; // The time between loops
+ double vrpnTimePrevious; // The time of the last VRPN packet
+ int vrpnPacketQueueLen; // The number of VRPN packets in the queue to be processed
+ float yawOffset; // Offset of the yaw in degrees
+ float xSetpoint; // Setpoint for the x axis
+ float ySetpoint; // Setpoint for the y axis
+ float zSetpoint; // Setpoint for the z axis
+ float yawSetpoint; // Setpoint for the yaw angle
+ float xPosition; // X position from last VRPN packet
+ float yPosition; // Y position from last VRPN packet
+ float zPosition; // Z position from last VRPN packet
+ float pitchPosition; // Pitch angle from last VRPN packet
+ float rollPosition; // Roll angle from last VRPN packet
+ float yawPosition; // Yaw angle from last VRPN packet
+ uint16_t baseThrust; // The base thrust to use for the quadcopter
+ int frameCount; // The number of frames received
+ int resetController; // Flag to reset the controllers
+ float bridgePos; // Ratio for the distance to land between the bridge markers
+ bool resetSent;
+} CONTROLLER_DATA_t;
+
+// This structure contains the distinctive information about each crazyflie
+typedef struct QUADCOPTERS {
+ // VRPN variables
+ const char* vrpn_trackableName; // The VPRN trackable name
+ vrpn_Tracker_Remote *vrpn_tracker; // The VRPN tracker object
+
+ CCrazyflie *cflieCopter; // The crazyflie copter object
+ uint8_t channelNumber; // The channel number of the CrazyFlie
+ uint8_t radioNumber; // The radio to use for this CrazyFlie
+ XferRate dataRate; // The data rate of the radio used with this CrazyFlie
+ double initTime; // Time the crazyflie was initialized
+
+ CONTROLLER_DATA_t controllerData; // Data associated with the controller for the quadcopter
+
+ const char* baselogfileName; // The base name for the log file
+ struct PID_ControllerParams pidParams[9]; // The PID parameters for all 9 internal controllers
+} QUADCOPTERS_t;
+
+// This structure contains the information about each radio in use
+typedef struct RADIOS {
+ CCrazyRadio* radio; // The radio
+ int ARDtime; // Wait Time between Packet Retries (**MUST BE IN INCREMENTS OF 250**)
+ int ARC; // Number of times Retries Packet Send
+ enum Power powerLevel; // The power level
+ enum XferRate dataRate; // The data rate
+} RADIOS_t;
+
+// This structure contains the information for the hand object
+typedef struct HAND {
+ double loopTimeStartPrevious; // The start time of the last loop to run
+ double loopTime; // The time taken by running the last loop
+ double vrpnTimePrevious; // The time of the last VRPN packet
+ int vrpnPacketQueueLen; // The number of VRPN packets in the queue to be processed
+ float xPosition; // The X position of the hand
+ float yPosition; // The Y position of the hand
+ float zPosition; // The Z position of the hand
+ float yawAngle; // The yaw angle of the hand
+ float pitchAngle; // The pitch angle of the hand
+ float rollAngle; // The roll angle of the hand
+ const char* logfileName; // The name for the log file
+ FILE *logfile; // The logfile object for the hand
+} HAND_t;
+
+// Array to hold the quadcopter data
+extern QUADCOPTERS_t crazyflie_info[];
+
+// Array to hold the radio data
+extern RADIOS_t radios[];
+
+// Array to hold the hand data
+extern HAND_t hand;
+
+extern int networkNumNodes;
+extern int networkNumEdges;
+extern edge_t networkEdges[];
+
+extern int quad1_numTakeoffSteps;
+extern takeoffProfileStep quad1_takeoffSteps[];
+
+// Array to hold the offsets for mirror flight
+extern float mirrorOffsets[][2];
+
+// Array to hold the offsets for hand flight
+extern float handOffsets[][2];
+
+// Array to hold the default setpoints for each quadcopter
+extern float defaultSetpoints[][3];
+
+#endif
diff --git a/crazyflie_groundstation/inc/structures.h b/crazyflie_groundstation/inc/structures.h
new file mode 100644
index 0000000000000000000000000000000000000000..3e9b424a34bc4517ee9b2a09a59fb7b366f6b01e
--- /dev/null
+++ b/crazyflie_groundstation/inc/structures.h
@@ -0,0 +1,152 @@
+#ifndef STRUCTURES_H_
+#define STRUCTURES_H_
+
+#include <stdint.h>
+
+/*! \brief Power levels to configure the radio dongle with */
+enum Power {
+ /*! \brief Power at -18dbm */
+ P_M18DBM = 0,
+ /*! \brief Power at -12dbm */
+ P_M12DBM = 1,
+ /*! \brief Power at -6dbm */
+ P_M6DBM = 2,
+ /*! \brief Power at 0dbm */
+ P_0DBM = 3
+};
+
+/*! \brief Channel speeds */
+typedef enum XferRate {
+ /*! \brief 250 kbps */
+ XFER_250K = 0,
+ /*! \brief 1 mbps */
+ XFER_1M = 1,
+ /*! \brief 2 mbps */
+ XFER_2M = 2,
+} XferRate;
+
+typedef struct computation_localization_config_packet {
+ uint8_t nodeNumber;
+ uint8_t numTotalNodes;
+ float stepSize;
+ uint8_t anchor;
+ float k1;
+ float k2;
+ float k3;
+} __attribute__((packed)) computation_localization_config_packet;
+
+// The ordering of the states for the K matrix
+enum stateOrdering {
+ state_u = 0,
+ state_v,
+ state_w,
+ state_p,
+ state_q,
+ state_r,
+ state_x,
+ state_y,
+ state_z,
+ state_phi,
+ state_theta,
+ state_psi,
+
+ // Lateral velocity integrator states
+ state_u_integ,
+ state_v_integ,
+ state_w_integ,
+
+ // Angular rate integrator states
+ state_p_integ,
+ state_q_integ,
+ state_r_integ,
+
+ // Position integrator states
+ state_x_integ,
+ state_y_integ,
+ state_z_integ,
+
+ // Euler angle integrator states
+ state_phi_integ,
+ state_theta_integ,
+ state_psi_integ,
+
+ // This is an item that will help to know how many states there are
+ STATE_END = state_psi_integ,
+};
+
+enum CONTROLLER_SGSF_OPCODES {
+ CONT_SGSF_UPDATE_GAINS = 0,
+ CONT_SGSF_RETRIEVE_GAINS,
+};
+
+typedef struct CONTROLLER_SGSF_GAINS {
+ uint8_t state;
+ float ut;
+ float ua;
+ float ue;
+ float ur;
+} __attribute__((packed)) CONTROLLER_SGSF_GAINS;
+
+typedef enum coordinateSystem {
+ coor_global = 0,
+ coor_local,
+} coordinateSystem;
+
+typedef struct userCommands {
+ char type;
+ uint8_t* payload;
+ int fd;
+} userCommands_t;
+
+enum takeoffStepType {
+ step_final = 0,
+ step_time,
+ step_height
+};
+
+struct PID_ControllerParams {
+ float Kp;
+ float Ki;
+ float Kd;
+ float iLimit;
+ uint8_t controllerID;
+};
+
+typedef struct limits {
+ float min;
+ float max;
+} limits;
+
+typedef struct angularPosition {
+ float roll;
+ float pitch;
+ float yaw;
+} angularPosition;
+
+typedef struct lateralPosition {
+ float x;
+ float y;
+ float z;
+} lateralPosition;
+
+typedef struct targetDistance {
+ float x;
+ float y;
+ float z;
+ float dis;
+} targetDistance;
+
+typedef struct quaternionPosition {
+ float q0;
+ float q1;
+ float q2;
+ float q3;
+} quaternionPosition;
+
+typedef struct takeoffProfileStep {
+ uint16_t thrust;
+ enum takeoffStepType type;
+ double condition;
+} takeoffProfileStep;
+
+#endif
diff --git a/crazyflie_groundstation/inc/userInput.h b/crazyflie_groundstation/inc/userInput.h
new file mode 100644
index 0000000000000000000000000000000000000000..7c099d05b5ce18d9f34081a9e284a4a5f88d67a8
--- /dev/null
+++ b/crazyflie_groundstation/inc/userInput.h
@@ -0,0 +1,44 @@
+#ifndef USERINPUT_H_
+#define USERINPUT_H_
+
+#include <string>
+
+enum commandType {
+ CMD_TAKEOFF = 't',
+ CMD_LAND = 'l',
+ CMD_SET_X = 'x',
+ CMD_SET_Y = 'y',
+ CMD_SET_Z = 'z',
+ CMD_SET_YAW = 'w',
+ CMD_BRIDGE_HOVER = 'r',
+ CMD_BRIDGE_LAND = 'e',
+ CMD_BRIDGE_TAKEOFF = 'b',
+ CMD_KILL = 'k',
+ CMD_ALL_MOTORS = 'm',
+ CMD_GOTO_DEFAULT = 'd',
+ CMD_START_MOTORS = 's',
+ CMD_TOGGLE_COOR = 'f',
+ CMD_TOGGLE_COMP = 'c',
+ ACMD_GETPARAM = 0x08,
+ ACMD_SETPARAM = 0x07,
+ ACMD_SETPOINT = 0x13,
+};
+
+struct metadata {
+ char begin_char;
+ uint16_t msg_type;
+ uint16_t msg_id;
+ uint16_t data_len;
+};
+
+struct command {
+ enum commandType type;
+ struct metadata* meta;
+ uint8_t* data;
+};
+
+extern const std::string CLEAR; // When sent to cout, this clears the terminal screen
+
+void* UIThread(void *threadID);
+
+#endif
\ No newline at end of file
diff --git a/crazyflie_groundstation/inc/userOutput.h b/crazyflie_groundstation/inc/userOutput.h
new file mode 100644
index 0000000000000000000000000000000000000000..3a933bdf1ebdc6f704d5ed187001d28b747b13cb
--- /dev/null
+++ b/crazyflie_groundstation/inc/userOutput.h
@@ -0,0 +1,6 @@
+#ifndef USEROUTPUT_H_
+#define USEROUTPUT_H_
+
+void* displayData(void* id);
+
+#endif
\ No newline at end of file
diff --git a/crazyflie_groundstation/inc/vrpn.h b/crazyflie_groundstation/inc/vrpn.h
new file mode 100644
index 0000000000000000000000000000000000000000..0de70c3d9fe50186963c4a940ddcc355b0ce367c
--- /dev/null
+++ b/crazyflie_groundstation/inc/vrpn.h
@@ -0,0 +1,47 @@
+#ifndef VRPN_H_
+#define VRPN_H_
+
+#include <string>
+#include "vrpn_Connection.h"
+#include "vrpn_Tracker.h"
+#include "crazyflieGroundStation.h"
+#include <stdio.h>
+#include <sys/select.h>
+#include <termios.h> /* POSIX terminal control definitions */
+#include <sys/time.h> // for get time of day
+
+#include "quadcopterData.h"
+
+void vrpn_init(std::string connectionName, void (*callbackHand)(void*, const vrpn_TRACKERCB));
+
+void* vrpn_go(void *threadID);
+
+void nonblock(int state);
+void readKeyboard();
+void nearGround();
+void updateHand();
+int kbhit();
+
+//NEW EDIT 6/26/2015
+
+typedef struct //Defines Data packet Struct
+{
+ double usec;
+ float x;
+ float y;
+ float z;
+ float yaw;
+ float pitch;
+ float roll;
+} vrpn_data_t;
+
+typedef struct
+{
+ double vrpnNow;
+ double vrpnPrev;
+ double vrpnTime0;
+} QUAD;
+
+
+#endif
+
diff --git a/crazyflie_groundstation/src/Bridge.cpp b/crazyflie_groundstation/src/Bridge.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..41dce4b313d9349a742d3ee3bfd836d610b6e653
--- /dev/null
+++ b/crazyflie_groundstation/src/Bridge.cpp
@@ -0,0 +1,181 @@
+#include "Bridge.h"
+#include <vrpn_Tracker.h>
+#include "structures.h"
+#include "quadcopterData.h"
+#include "crazyflieGroundStation.h"
+#include <cmath>
+
+Bridge::Bridge() {
+ // The endpoints are not valid yet
+ this->endpoint1Valid = false;
+ this->endpoint2Valid = false;
+}
+
+Bridge::~Bridge() {
+
+}
+
+
+/**
+ * This function will find the point located between the two endpoints.
+ * If the second endpoint is missing, then the valid endpoint is returned
+ *
+ * @param pos Pointer to a lateral position struct
+ * @param loc Location between the two endpoints to find (loc must be in [0,1])
+ */
+bool Bridge::getInterpolatedPosition(lateralPosition *pos, int loc) {
+
+ bool retVal = false;
+ if (this->endpoint2Valid && this->endpoint1Valid) {
+ // If both endpoints are valid, then interpolate the location between the points
+ pos->x = loc * this->endpoint1.x + (1 - loc) * this->endpoint2.x;
+ pos->y = loc * this->endpoint1.y + (1 - loc) * this->endpoint2.y;
+ pos->z = loc * this->endpoint1.z + (1 - loc) * this->endpoint2.z;
+ retVal = true;
+ } else if (this->endpoint1Valid) {
+ // Return the 1st endpoint
+ pos->x = this->endpoint1.x;
+ pos->y = this->endpoint1.y;
+ pos->z = this->endpoint1.z;
+ retVal = true;
+ } else if (this->endpoint2Valid) {
+ // Return the 2nd endpoint
+ pos->x = this->endpoint2.x;
+ pos->y = this->endpoint2.y;
+ pos->z = this->endpoint2.z;
+ retVal = true;
+ } else {
+ // Neither endpoint is valid
+ retVal = false;
+ }
+
+ return( retVal );
+}
+
+/**
+* Calculates the distance between the Bridge and each of the active Crazyflie
+*
+* @param pos Pointer to a lateral position struct
+* @param dis Distance between Bridge and Quadcopters, up to four
+* @return True if a location is valid, false if no location is able to found
+*/
+bool Bridge::getTargetDistance(lateralPosition *pos, targetDistance *disToQuad1) {
+ bool retVal = false;
+ if(this->endpoint1Valid){
+ coordinateSystem coor = crazyflie_info[0].cflieCopter->getCoordinateSystem();
+ this->disToQuad1.x = this->endpoint1.x - crazyflie_info[0].cflieCopter->getPositionX( coor );
+ this->disToQuad1.y = this->endpoint1.y - crazyflie_info[0].cflieCopter->getPositionY( coor );
+ this->disToQuad1.z = this->endpoint1.z - crazyflie_info[0].cflieCopter->getPositionZ( coor );
+ this->disToQuad1.dis = ((this->disToQuad1.x)*(this->disToQuad1.x))+((this->disToQuad1.y)*(this->disToQuad1.y))+((this->disToQuad1.z)*(this->disToQuad1.z));
+ this->disToQuad1.dis = sqrt(this->disToQuad1.dis);
+ retVal = true;
+ }
+ return retVal;
+}
+
+bool Bridge::getTargetDistance(lateralPosition *pos, targetDistance *disToQuad1, targetDistance *disToQuad2) {
+ bool retVal = false;
+ if(this->endpoint1Valid){
+ coordinateSystem coor0 = crazyflie_info[0].cflieCopter->getCoordinateSystem();
+ this->disToQuad1.x = this->endpoint1.x - crazyflie_info[0].cflieCopter->getPositionX( coor0 );
+ this->disToQuad1.y = this->endpoint1.y - crazyflie_info[0].cflieCopter->getPositionY( coor0 );
+ this->disToQuad1.z = this->endpoint1.z - crazyflie_info[0].cflieCopter->getPositionZ( coor0 );
+ this->disToQuad1.dis = ((this->disToQuad1.x)*(this->disToQuad1.x))+((this->disToQuad1.y)*(this->disToQuad1.y))+((this->disToQuad1.z)*(this->disToQuad1.z));
+ this->disToQuad1.dis = sqrt(this->disToQuad1.dis);
+ coordinateSystem coor1 = crazyflie_info[1].cflieCopter->getCoordinateSystem();
+ this->disToQuad2.x = this->endpoint1.x - crazyflie_info[1].cflieCopter->getPositionX( coor1 );
+ this->disToQuad2.y = this->endpoint1.y - crazyflie_info[1].cflieCopter->getPositionY( coor1 );
+ this->disToQuad2.z = this->endpoint1.z - crazyflie_info[1].cflieCopter->getPositionZ( coor1 );
+ this->disToQuad2.dis = ((this->disToQuad2.x)*(this->disToQuad2.x))+((this->disToQuad2.y)*(this->disToQuad2.y))+((this->disToQuad2.z)*(this->disToQuad2.z));
+ this->disToQuad2.dis = sqrt(this->disToQuad2.dis);
+ retVal = true;
+ }
+ return retVal;
+}
+
+ bool Bridge::getTargetDistance(lateralPosition *pos, targetDistance *disToQuad1, targetDistance *disToQuad2, targetDistance *disToQuad3) {
+ bool retVal = false;
+ if(this->endpoint1Valid){
+ coordinateSystem coor0 = crazyflie_info[0].cflieCopter->getCoordinateSystem();
+ this->disToQuad1.x = this->endpoint1.x - crazyflie_info[0].cflieCopter->getPositionX( coor0 );
+ this->disToQuad1.y = this->endpoint1.y - crazyflie_info[0].cflieCopter->getPositionY( coor0 );
+ this->disToQuad1.z = this->endpoint1.z - crazyflie_info[0].cflieCopter->getPositionZ( coor0 );
+ this->disToQuad1.dis = ((this->disToQuad1.x)*(this->disToQuad1.x))+((this->disToQuad1.y)*(this->disToQuad1.y))+((this->disToQuad1.z)*(this->disToQuad1.z));
+ this->disToQuad1.dis = sqrt(this->disToQuad1.dis);
+ coordinateSystem coor1 = crazyflie_info[1].cflieCopter->getCoordinateSystem();
+ this->disToQuad2.x = this->endpoint1.x - crazyflie_info[1].cflieCopter->getPositionX( coor1 );
+ this->disToQuad2.y = this->endpoint1.y - crazyflie_info[1].cflieCopter->getPositionY( coor1 );
+ this->disToQuad2.z = this->endpoint1.z - crazyflie_info[1].cflieCopter->getPositionZ( coor1 );
+ this->disToQuad2.dis = ((this->disToQuad2.x)*(this->disToQuad2.x))+((this->disToQuad2.y)*(this->disToQuad2.y))+((this->disToQuad2.z)*(this->disToQuad2.z));
+ this->disToQuad2.dis = sqrt(this->disToQuad2.dis);
+ coordinateSystem coor2 = crazyflie_info[2].cflieCopter->getCoordinateSystem();
+ this->disToQuad3.x = this->endpoint1.x - crazyflie_info[2].cflieCopter->getPositionX( coor2 );
+ this->disToQuad3.y = this->endpoint1.y - crazyflie_info[2].cflieCopter->getPositionY( coor2 );
+ this->disToQuad3.z = this->endpoint1.z - crazyflie_info[2].cflieCopter->getPositionZ( coor2 );
+ this->disToQuad3.dis = ((this->disToQuad3.x)*(this->disToQuad3.x))+((this->disToQuad3.y)*(this->disToQuad3.y))+((this->disToQuad3.z)*(this->disToQuad3.z));
+ this->disToQuad3.dis = sqrt(this->disToQuad3.dis);
+ retVal = true;
+ }
+ return retVal;
+}
+
+
+ bool Bridge::getTargetDistance(lateralPosition *pos, targetDistance *disToQuad1, targetDistance *disToQuad2, targetDistance *disToQuad3, targetDistance *disToQuad4) {
+ bool retVal = false;
+ if(this->endpoint1Valid){
+ coordinateSystem coor0 = crazyflie_info[0].cflieCopter->getCoordinateSystem();
+ this->disToQuad1.x = this->endpoint1.x - crazyflie_info[0].cflieCopter->getPositionX( coor0 );
+ this->disToQuad1.y = this->endpoint1.y - crazyflie_info[0].cflieCopter->getPositionY( coor0 );
+ this->disToQuad1.z = this->endpoint1.z - crazyflie_info[0].cflieCopter->getPositionZ( coor0 );
+ this->disToQuad1.dis = ((this->disToQuad1.x)*(this->disToQuad1.x))+((this->disToQuad1.y)*(this->disToQuad1.y))+((this->disToQuad1.z)*(this->disToQuad1.z));
+ this->disToQuad1.dis = sqrt(this->disToQuad1.dis);
+ coordinateSystem coor1 = crazyflie_info[1].cflieCopter->getCoordinateSystem();
+ this->disToQuad2.x = this->endpoint1.x - crazyflie_info[1].cflieCopter->getPositionX( coor1 );
+ this->disToQuad2.y = this->endpoint1.y - crazyflie_info[1].cflieCopter->getPositionY( coor1 );
+ this->disToQuad2.z = this->endpoint1.z - crazyflie_info[1].cflieCopter->getPositionZ( coor1 );
+ this->disToQuad2.dis = ((this->disToQuad2.x)*(this->disToQuad2.x))+((this->disToQuad2.y)*(this->disToQuad2.y))+((this->disToQuad2.z)*(this->disToQuad2.z));
+ this->disToQuad2.dis = sqrt(this->disToQuad2.dis);
+ coordinateSystem coor2 = crazyflie_info[2].cflieCopter->getCoordinateSystem();
+ this->disToQuad3.x = this->endpoint1.x - crazyflie_info[2].cflieCopter->getPositionX( coor2 );
+ this->disToQuad3.y = this->endpoint1.y - crazyflie_info[2].cflieCopter->getPositionY( coor2 );
+ this->disToQuad3.z = this->endpoint1.z - crazyflie_info[2].cflieCopter->getPositionZ( coor2 );
+ this->disToQuad3.dis = ((this->disToQuad3.x)*(this->disToQuad3.x))+((this->disToQuad3.y)*(this->disToQuad3.y))+((this->disToQuad3.z)*(this->disToQuad3.z));
+ this->disToQuad3.dis = sqrt(this->disToQuad3.dis);
+ coordinateSystem coor3 = crazyflie_info[3].cflieCopter->getCoordinateSystem();
+ this->disToQuad4.x = this->endpoint1.x - crazyflie_info[3].cflieCopter->getPositionX( coor3 );
+ this->disToQuad4.y = this->endpoint1.y - crazyflie_info[3].cflieCopter->getPositionY( coor3 );
+ this->disToQuad4.z = this->endpoint1.z - crazyflie_info[3].cflieCopter->getPositionZ( coor3 );
+ this->disToQuad4.dis = ((this->disToQuad4.x)*(this->disToQuad4.x))+((this->disToQuad4.y)*(this->disToQuad4.y))+((this->disToQuad4.z)*(this->disToQuad4.z));
+ this->disToQuad4.dis = sqrt(this->disToQuad4.dis);
+ retVal = true;
+ }
+ return retVal;
+}
+
+
+/**
+ * Callbacks for the VRPN trackers on either end of the bridge
+ */
+void VRPN_CALLBACK Bridge::end1Callback(void *inst, const vrpn_TRACKERCB t) {
+ Bridge *bridge = (Bridge*) inst;
+
+ // Save the position data
+ bridge->endpoint1.x = t.pos[0];
+ bridge->endpoint1.y = t.pos[1];
+ bridge->endpoint1.z = t.pos[2];
+
+ // Say the endpoint is valid
+ bridge->endpoint1Valid = true;
+}
+
+void VRPN_CALLBACK Bridge::end2Callback(void *inst, const vrpn_TRACKERCB t) {
+ Bridge *bridge = (Bridge*) inst;
+
+ // Save the position data
+ bridge->endpoint2.x = t.pos[0];
+ bridge->endpoint2.y = t.pos[1];
+ bridge->endpoint2.z = t.pos[2];
+
+ // Say the endpoint is valid
+ bridge->endpoint2Valid = true;
+}
diff --git a/crazyflie_groundstation/src/CCRTPPacket.cpp b/crazyflie_groundstation/src/CCRTPPacket.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..64e0c52394da97e6f136a2d68c5e75f601d1365e
--- /dev/null
+++ b/crazyflie_groundstation/src/CCRTPPacket.cpp
@@ -0,0 +1,162 @@
+// Copyright (c) 2013, Jan Winkler <winkler@cs.uni-bremen.de>
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright
+// notice, this list of conditions and the following disclaimer in the
+// documentation and/or other materials provided with the distribution.
+// * Neither the name of Universität Bremen nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+
+#include "CCRTPPacket.h"
+
+
+CCRTPPacket::CCRTPPacket(int nPort) {
+ this->basicSetup();
+ this->setPort(nPort);
+}
+
+CCRTPPacket::CCRTPPacket(char *cData, int nDataLength, int nPort) {
+ this->basicSetup();
+ this->setPort(nPort);
+
+ this->setData(cData, nDataLength);
+}
+
+CCRTPPacket::CCRTPPacket(char cData, int nPort) {
+ this->basicSetup();
+ this->setPort(nPort);
+
+ this->setData(&cData, 1);
+}
+
+CCRTPPacket& CCRTPPacket::operator = (const CCRTPPacket& obj) {
+ // Copy all fields properly to the new object (obj)
+
+ m_nPort = obj.m_nPort;
+ m_nChannel = obj.m_nChannel;
+ m_bIsPingPacket = obj.m_bIsPingPacket;
+ m_nDataLength = obj.m_nDataLength;
+
+ m_cData = new char[m_nDataLength]();
+ std::memcpy(m_cData, obj.m_cData, m_nDataLength);
+
+ return *this;
+}
+
+CCRTPPacket::CCRTPPacket( const CCRTPPacket& obj ) {
+ // Copy all fields properly to the new object (obj)
+
+ m_nPort = obj.m_nPort;
+ m_nChannel = obj.m_nChannel;
+ m_bIsPingPacket = obj.m_bIsPingPacket;
+ m_nDataLength = obj.m_nDataLength;
+
+ m_cData = new char[m_nDataLength]();
+ std::memcpy(m_cData, obj.m_cData, m_nDataLength);
+}
+
+CCRTPPacket::~CCRTPPacket() {
+ this->clearData();
+}
+
+void CCRTPPacket::basicSetup() {
+ m_cData = NULL;
+ m_nDataLength = 0;
+ m_nPort = 0;
+ m_nChannel = 0;
+ m_bIsPingPacket = false;
+}
+
+void CCRTPPacket::setData(char *cData, int nDataLength) {
+ this->clearData();
+
+ m_cData = new char[nDataLength]();
+ std::memcpy(m_cData, cData, nDataLength);
+ m_nDataLength = nDataLength;
+}
+
+char *CCRTPPacket::data() {
+ return m_cData;
+}
+
+int CCRTPPacket::dataLength() {
+ return m_nDataLength;
+}
+
+void CCRTPPacket::clearData() {
+ if(m_cData != NULL) {
+ delete[] m_cData;
+ m_cData = NULL;
+ m_nDataLength = 0;
+ }
+}
+
+char *CCRTPPacket::sendableData() {
+ char *cSendable = new char[this->sendableDataLength()]();
+
+ if(m_bIsPingPacket) {
+ cSendable[0] = 0xff;
+ } else {
+ // Header byte
+ cSendable[0] = (m_nPort << 4) | 0b00001100 | (m_nChannel & 0x03);
+
+ // Payload
+ std::memcpy(&cSendable[1], m_cData, m_nDataLength);
+
+ // Finishing byte
+ //cSendable[m_nDataLength + 1] = 0x27;
+ }
+
+ return cSendable;
+}
+
+int CCRTPPacket::sendableDataLength() {
+ if(m_bIsPingPacket) {
+ return 1;
+ } else {
+ return m_nDataLength + 1;//2;
+ }
+}
+
+void CCRTPPacket::setPort(int nPort) {
+ m_nPort = nPort;
+}
+
+int CCRTPPacket::port() {
+ return m_nPort;
+}
+
+void CCRTPPacket::setChannel(int nChannel) {
+ m_nChannel = nChannel;
+}
+
+int CCRTPPacket::channel() {
+ return m_nChannel;
+}
+
+void CCRTPPacket::setIsPingPacket(bool bIsPingPacket) {
+ m_bIsPingPacket = bIsPingPacket;
+}
+
+bool CCRTPPacket::isPingPacket() {
+ return m_bIsPingPacket;
+}
diff --git a/crazyflie_groundstation/src/CTOC.cpp b/crazyflie_groundstation/src/CTOC.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..2ecc8423e6a5c00f3cda334325a7b2bc49375f2b
--- /dev/null
+++ b/crazyflie_groundstation/src/CTOC.cpp
@@ -0,0 +1,958 @@
+// Copyright (c) 2013, Jan Winkler <winkler@cs.uni-bremen.de>
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright
+// notice, this list of conditions and the following disclaimer in the
+// documentation and/or other materials provided with the distribution.
+// * Neither the name of Universität Bremen nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+#include "CTOC.h"
+#include "CCrazyflie.h"
+
+#include <limits>
+
+static const char *param_header = "Param ID\tType\t\tGroup\t\t"
+ "Identifier Name";
+
+static const char *log_header = "Log ID\tType\t\tGroup\t\t"
+ "Identifier Name";
+
+CTOC::CTOC(CCrazyRadio *crRadio, CCrazyflie *crazyflie, int radioChannel, int nPort) {
+ m_crRadio = crRadio;
+ m_crazyflie = crazyflie;
+ m_nRadioChannel = radioChannel;
+ m_nPort = nPort;
+ m_nItemCount = 0;
+ char fileName[255];
+ if(nPort == 0x02) {
+ sprintf(fileName, "logs/cflie%d_param_toc", crazyflie->getQuadcopterNumber()+1);
+ this->openParamTOCFile(fileName);
+ }
+ else if(nPort == 0x05) {
+ sprintf(fileName, "logs/cflie%d_log_toc", crazyflie->getQuadcopterNumber()+1);
+ this->openLogTOCFile(fileName);
+ }
+}
+
+CTOC::~CTOC() {
+}
+
+bool CTOC::sendTOCPointerReset() {
+ if( ALL_THE_DEBUG ) printf( "Enter: %s\n", __FUNCTION__);
+ CCRTPPacket* crtpPacket = new CCRTPPacket(0x01, 0);
+ crtpPacket->setPort(m_nPort);
+ crtpPacket->setChannel(0);
+ CCRTPPacket* crtpReceived = m_crRadio->sendPacket(m_nRadioChannel,
+ crtpPacket, m_crazyflie);
+
+ if (crtpReceived) {
+ delete crtpReceived;
+ return true;
+ }
+ if( ALL_THE_DEBUG ) printf( "Exit: %s\n", __FUNCTION__);
+ return false;
+}
+
+bool CTOC::requestMetaData() {
+ if( ALL_THE_DEBUG ) printf( "%s\n", __FUNCTION__);
+ bool bReturnvalue = false;
+
+ if( ALL_THE_DEBUG ) printf( "new CCRTP Packet\n" );
+ CCRTPPacket* crtpPacket = new CCRTPPacket(m_nPort == 0x02 ? 0x03 : 0x01, 0);
+ if( ALL_THE_DEBUG ) printf( "set port\n" );
+ crtpPacket->setPort(m_nPort);
+ crtpPacket->setChannel(0);
+ if( ALL_THE_DEBUG ) printf( "..sendAndReceive\n" );
+ CCRTPPacket* crtpReceived = m_crRadio->sendAndReceive(crtpPacket,
+ m_nRadioChannel, m_crazyflie);
+
+ if (crtpReceived->data()[0] == 0x03) {
+ m_nItemCount = (uint8_t) crtpReceived->data()[1];
+ bReturnvalue = true;
+ }
+ else if(crtpReceived->data()[0] == 0x01) {
+ m_nItemCount = (uint8_t) crtpReceived->data()[1];
+ bReturnvalue = true;
+ }
+
+ delete crtpReceived;
+ delete crtpPacket;
+ return bReturnvalue;
+}
+
+bool CTOC::requestInitialItem() {
+ if( ALL_THE_DEBUG ) printf( "%s\n", __FUNCTION__);
+ return this->requestItem(0, true);
+}
+
+bool CTOC::requestItem(int nID) {
+ if( ALL_THE_DEBUG ) printf( "%s\n", __FUNCTION__);
+ return this->requestItem(nID, false);
+}
+
+bool CTOC::requestItem(int nID, bool bInitial) {
+ if( ALL_THE_DEBUG ) printf( "%s\n", __FUNCTION__);
+ bool bReturnvalue = false;
+
+ char cRequest[2];
+ cRequest[0] = 0x0;
+ cRequest[1] = nID;
+
+ CCRTPPacket* crtpPacket = new CCRTPPacket(cRequest, (bInitial ? 1 : 2), 0);
+ crtpPacket->setPort(m_nPort);
+ crtpPacket->setChannel(0x0);
+ CCRTPPacket* crtpReceived = m_crRadio->sendAndReceive(crtpPacket, m_nRadioChannel, m_crazyflie);
+
+ bReturnvalue = this->processItem(crtpReceived);
+
+ delete crtpReceived;
+ delete crtpPacket;
+ return bReturnvalue;
+}
+
+bool CTOC::requestNextItem() {
+ if( ALL_THE_DEBUG ) printf( "%s\n", __FUNCTION__);
+ bool bReturnvalue = false;
+
+ if( ALL_THE_DEBUG ) printf( "new CCRTP Packet\n" );
+ CCRTPPacket* crtpPacket = new CCRTPPacket(0x01, 0);
+ if( ALL_THE_DEBUG ) printf( "set port\n" );
+ crtpPacket->setPort(m_nPort);
+ crtpPacket->setChannel(0);
+ if( ALL_THE_DEBUG ) printf( "..sendAndReceive\n" );
+ CCRTPPacket* crtpReceived = m_crRadio->sendAndReceive(crtpPacket,
+ m_nRadioChannel, m_crazyflie);
+
+ if( ALL_THE_DEBUG ) printf( "retrieved item\n" );
+ bReturnvalue = this->processItem(crtpReceived);
+ if(!bReturnvalue) {
+ if(ALL_THE_DEBUG) printf("failure processing item\n");
+ return bReturnvalue;
+ }
+ if( ALL_THE_DEBUG ) printf( "item saved\n" );
+
+ return bReturnvalue;
+}
+
+//probably works but super inefficient
+bool CTOC::requestItems() {
+ if( ALL_THE_DEBUG ) printf( "%s\n", __FUNCTION__);
+ for (int nI = 0; nI < m_nItemCount; nI++) {
+ this->requestItem(nI);
+ }
+
+ return true;
+}
+
+bool CTOC::downloadTOC() {
+ if( ALL_THE_DEBUG ) printf( "Enter: %s\n", __FUNCTION__);
+ if(m_nPort == 2) {
+ this->requestMetaData();
+ this->sendTOCPointerReset();
+ for (int nI = 0; nI < m_nItemCount; nI++) {
+ printf("Parameter Progress: %i / %i\n", nI+1, m_nItemCount);
+ this->requestNextItem();
+ }
+ }
+ else {
+ this->requestMetaData();
+ for (int nI = 0; nI < m_nItemCount; nI++) {
+ printf("Logging Progress: %i / %i\n", nI+1, m_nItemCount);
+ this->requestItem(nI);
+ }
+ }
+ if( ALL_THE_DEBUG ) printf( "Exit: %s\n", __FUNCTION__);
+ return true;
+}
+
+bool CTOC::processItem(CCRTPPacket* crtpItem) {
+ if( ALL_THE_DEBUG ) printf( "%s\n", __FUNCTION__);
+ if (crtpItem->port() == m_nPort) {
+ if (crtpItem->channel() == 0) {
+ char* cData = crtpItem->data();
+ //int nLength = crtpItem->dataLength(); -- unused variable
+
+ if (cData[0] == 0x0 || cData[0] == 0x1) { // Command identification ok?
+ uint8_t nID = cData[1];
+ uint8_t nType = cData[2];
+
+ std::string strGroup;
+ int nI;
+ for (nI = 3; cData[nI] != '\0'; nI++) {
+ strGroup += cData[nI];
+ }
+
+ nI++;
+ std::string strIdentifier;
+ for (; cData[nI] != '\0'; nI++) {
+ strIdentifier += cData[nI];
+ }
+
+ struct TOCElement teNew;
+ teNew.strIdentifier = strIdentifier;
+ teNew.strGroup = strGroup;
+ teNew.nID = nID;
+ teNew.nType = nType;
+ teNew.bIsLogging = false;
+ teNew.dValue = 1;
+
+ if(ALL_THE_DEBUG) printf("Group.Name: %s.%s ID: %i Type: %i ", strGroup.c_str(), strIdentifier.c_str(), nID, nType);
+
+ if(m_nPort == 0x02) {
+ this->param_toc_file << teNew.nID << "\t\t" << teNew.nType << "\t\t" << teNew.strGroup << "\t\t" << teNew.strIdentifier << std::endl;
+ }
+ else if(m_nPort = 0x05) {
+ this->log_toc_file << teNew.nID << "\t\t" << teNew.nType << "\t\t" << teNew.strGroup << "\t\t" << teNew.strIdentifier << std::endl;
+ }
+
+ m_lstTOCElements.push_back(teNew);
+
+ if(m_nPort == 0x02) {
+ crtpItem->setPort(m_nPort);
+ crtpItem->setChannel(1);
+ crtpItem->clearData();
+ char cBuffer[1];
+ cBuffer[0] = nID;
+ crtpItem->setData(cBuffer, 1);
+
+ CCRTPPacket* crtpReceived = m_crRadio->sendAndReceive(crtpItem,
+ m_nRadioChannel, m_crazyflie);
+
+ //float fValue = 0;
+ int nByteLength = 0;
+
+
+ //teNew.dValue = crtpReceived->data()[1];
+ switch(teNew.nType) {
+ //int16
+ case 1:
+ nByteLength = 2;
+ int16_t int16Value;
+ memcpy(&int16Value, &crtpReceived->data()[1],
+ nByteLength);
+ teNew.dValue = (double) int16Value;
+ break;
+ case 2:
+ nByteLength = 4;
+ int32_t int32Value;
+ memcpy(&int32Value, &crtpReceived->data()[1],
+ nByteLength);
+ teNew.dValue = (double) int32Value;
+ break;
+ case 3:
+ nByteLength = 8;
+ int64_t int64Value;
+ memcpy(&int64Value, &crtpReceived->data()[1],
+ nByteLength);
+ teNew.dValue = (double) int64Value;
+ break;
+ case 5:
+ // NOTE(winkler): This is untested code (as no FP16
+ // variable gets advertised yet). This has to be tested
+ // and is to be used carefully. I will do that as soon
+ // as I find time for it.
+ /*nByteLength = 2;
+ char cBuffer1[nByteLength];
+ char cBuffer2[4];
+ memcpy(cBuffer1, &crtpReceived->data()[1], nByteLength);
+ cBuffer2[0] = cBuffer1[0] & 0b10000000; // Get the sign bit
+ cBuffer2[1] = 0;
+ cBuffer2[2] = cBuffer1[0] & 0b01111111; // Get the magnitude
+ cBuffer2[3] = cBuffer1[1];
+ memcpy(teNew.dValue, cBuffer2, 4); // Put it into the float variable
+ */
+ break;
+ case 6:
+ nByteLength = 4;
+ float fValue;
+ memcpy(&fValue, &crtpReceived->data()[1], nByteLength);
+ teNew.dValue = (double) fValue;
+ break;
+ case 7:
+ /*nByteLength = 8;
+ double doubleValue;
+ memcpy(&doubleValue, &cLogdata[nOffset],
+ nByteLength);
+ fValue = uint32Value;
+ */
+ break;
+ case 8:
+ nByteLength = 1;
+ uint8_t uint8Value;
+ memcpy(&uint8Value, &crtpReceived->data()[1],
+ nByteLength);
+ teNew.dValue = (double) uint8Value;
+ break;
+ case 9:
+ nByteLength = 2;
+ uint16_t uint16Value;
+ memcpy(&uint16Value, &crtpReceived->data()[1],
+ nByteLength);
+ teNew.dValue = (double) uint16Value;
+ break;
+ case 10:
+ nByteLength = 4;
+ uint32_t uint32Value;
+ memcpy(&uint32Value, &crtpReceived->data()[1],
+ nByteLength);
+ teNew.dValue = (double) uint32Value;
+ break;
+ case 11:
+ nByteLength = 8;
+ uint64_t uint64Value;
+ memcpy(&uint64Value, &crtpReceived->data()[1],
+ nByteLength);
+ teNew.dValue = (double) uint64Value;
+ break;
+ default:
+ break;
+ }
+ // NOTE(winkler): For debug purposes only.
+ // std::cout << strGroup << "." << strIdentifier << std::endl;
+
+ if(ALL_THE_DEBUG) printf("Value: %f\n", teNew.dValue);
+ }
+ else {
+ if(ALL_THE_DEBUG) printf("\n");
+ }
+
+
+ return true;
+ }
+ }
+ }
+
+ return false;
+}
+
+bool CTOC::processNextItem(CCRTPPacket* crtpItem) {
+ if( ALL_THE_DEBUG ) printf( "%s\n", __FUNCTION__);
+ if (crtpItem->port() == m_nPort) {
+ if (crtpItem->channel() == 0) {
+ char* cData = crtpItem->data();
+ //int nLength = crtpItem->dataLength(); -- unused variable
+
+ if (cData[0] == 0x1) { // Command identification ok?
+ uint8_t nID = cData[1];
+ uint8_t nType = cData[2];
+
+ std::string strGroup;
+ int nI;
+ for (nI = 3; cData[nI] != '\0'; nI++) {
+ strGroup += (char) cData[nI];
+ }
+
+ nI++;
+ std::string strIdentifier;
+ for (; cData[nI] != '\0'; nI++) {
+ strIdentifier += (char) cData[nI];
+ }
+
+ struct TOCElement teNew;
+ teNew.strIdentifier = strIdentifier;
+ teNew.strGroup = strGroup;
+ teNew.nID = nID;
+ teNew.nType = nType;
+ teNew.bIsLogging = false;
+ teNew.dValue = 0;
+
+ m_lstTOCElements.push_back(teNew);
+
+ // NOTE(winkler): For debug purposes only.
+// std::cout << strGroup << "." << strIdentifier << std::endl;
+
+ return true;
+ }
+ }
+ }
+
+ return false;
+}
+
+struct TOCElement CTOC::elementForName(std::string strName, bool& bFound) {
+ if( ALL_THE_DEBUG ) printf( "%s\n", __FUNCTION__);
+ for (std::list<struct TOCElement>::iterator itElement =
+ m_lstTOCElements.begin(); itElement != m_lstTOCElements.end();
+ itElement++) {
+ struct TOCElement teCurrent = *itElement;
+
+ std::string strTempFullname = teCurrent.strGroup + "."
+ + teCurrent.strIdentifier;
+ if (strName == strTempFullname) {
+ bFound = true;
+ return teCurrent;
+ }
+ }
+
+ bFound = false;
+ struct TOCElement teEmpty;
+
+ return teEmpty;
+}
+
+struct TOCElement CTOC::elementForID(int nID, bool& bFound) {
+ if( ALL_THE_DEBUG ) printf( "%s\n", __FUNCTION__);
+ for (std::list<struct TOCElement>::iterator itElement =
+ m_lstTOCElements.begin(); itElement != m_lstTOCElements.end();
+ itElement++) {
+ struct TOCElement teCurrent = *itElement;
+
+ if (nID == teCurrent.nID) {
+ bFound = true;
+ return teCurrent;
+ }
+ }
+
+ bFound = false;
+ struct TOCElement teEmpty;
+
+ return teEmpty;
+}
+
+int CTOC::idForName(std::string strName) {
+ if( ALL_THE_DEBUG ) printf( "%s\n", __FUNCTION__);
+ bool bFound;
+
+ struct TOCElement teResult = this->elementForName(strName, bFound);
+
+ if (bFound) {
+ return teResult.nID;
+ }
+
+ return -1;
+}
+
+int CTOC::typeForName(std::string strName) {
+ if( ALL_THE_DEBUG ) printf( "%s\n", __FUNCTION__);
+ bool bFound;
+
+ struct TOCElement teResult = this->elementForName(strName, bFound);
+
+ if (bFound) {
+ return teResult.nType;
+ }
+
+ return -1;
+}
+
+bool CTOC::startLogging(std::string strName, std::string strBlockName) {
+ if( ALL_THE_DEBUG ) printf( "%s\n", __FUNCTION__);
+ bool bFound;
+ struct LoggingBlock lbCurrent = this->loggingBlockForName(strBlockName,
+ bFound);
+
+ if (bFound) {
+ struct TOCElement teCurrent = this->elementForName(strName, bFound);
+ if (bFound) {
+ char cPayload[5] = { 0x01, (char)lbCurrent.nID, (char)teCurrent.nType,
+ (char)teCurrent.nID };
+ CCRTPPacket* crtpLogVariable = new CCRTPPacket(cPayload, 4, 1);
+ crtpLogVariable->setPort(m_nPort);
+ crtpLogVariable->setChannel(1);
+ CCRTPPacket* crtpReceived = m_crRadio->sendAndReceive(
+ crtpLogVariable, m_nRadioChannel, m_crazyflie);
+
+ delete crtpLogVariable;
+
+ char* cData = crtpReceived->data();
+ bool bCreateOK = false;
+ if (cData[0] == 0x01 && cData[1] == lbCurrent.nID
+ && cData[2] == 0x00) {
+ bCreateOK = true;
+ } else {
+ printf("0x%x %x %x\n", cData[1], cData[2], cData[3]);
+ }
+
+ if (crtpReceived) {
+ delete crtpReceived;
+ }
+
+ if (bCreateOK) {
+ this->addElementToBlock(lbCurrent.nID, teCurrent.nID);
+
+ return true;
+ } else {
+ std::cout << "Unable to add element " << strName << " to " << strBlockName << std::endl;
+ }
+ } else {
+ std::cout << "Unable to find element " << strName << " in block table" << std::endl;
+ }
+ } else {
+ std::cout << "Unable to find logging block " << strBlockName << " in the active list" << std::endl;
+ }
+
+ return false;
+}
+
+bool CTOC::addElementToBlock(int nBlockID, int nElementID) {
+ if( ALL_THE_DEBUG ) printf( "%s\n", __FUNCTION__);
+ for (std::list<struct LoggingBlock>::iterator itBlock =
+ m_lstLoggingBlocks.begin(); itBlock != m_lstLoggingBlocks.end();
+ itBlock++) {
+ struct LoggingBlock lbCurrent = *itBlock;
+
+ if (lbCurrent.nID == nBlockID) {
+ (*itBlock).lstElementIDs.push_back(nElementID);
+
+ return true;
+ }
+ }
+
+ return false;
+}
+
+bool CTOC::stopLogging(std::string strName) {
+ // TODO: Implement me.
+ if( ALL_THE_DEBUG ) printf( "%s\n", __FUNCTION__);
+ return false;
+}
+
+bool CTOC::isLogging(std::string strName) {
+ // TODO: Implement me.
+ if( ALL_THE_DEBUG ) printf( "%s\n", __FUNCTION__);
+ return false;
+}
+
+double CTOC::doubleValue(std::string strName) {
+ bool bFound;
+
+ struct TOCElement teResult = this->elementForName(strName, bFound);
+
+ if (bFound) {
+ return teResult.dValue;
+ }
+
+ return std::numeric_limits<double>::quiet_NaN();
+}
+
+void CTOC::printLoggingBlocksInitialized() {
+ if( ALL_THE_DEBUG ) printf( "%s\n", __FUNCTION__);
+
+ std::cout << m_lstLoggingBlocks.size() << " logging blocks found on quadcopter:" << std::endl;
+ for (std::list<struct LoggingBlock>::iterator itBlock = m_lstLoggingBlocks.begin();
+ itBlock != m_lstLoggingBlocks.end();
+ itBlock++) {
+ struct LoggingBlock lbCurrent = *itBlock;
+
+ std::cout << "\t" << lbCurrent.strName << std::endl;
+ }
+}
+
+struct LoggingBlock CTOC::loggingBlockForName(std::string strName,
+ bool& bFound) {
+ if( ALL_THE_DEBUG ) printf( "%s\n", __FUNCTION__);
+ for (std::list<struct LoggingBlock>::iterator itBlock =
+ m_lstLoggingBlocks.begin(); itBlock != m_lstLoggingBlocks.end();
+ itBlock++) {
+ struct LoggingBlock lbCurrent = *itBlock;
+
+ if (strName == lbCurrent.strName) {
+ bFound = true;
+ return lbCurrent;
+ }
+ }
+
+ bFound = false;
+ struct LoggingBlock lbEmpty;
+
+ return lbEmpty;
+}
+
+struct LoggingBlock CTOC::loggingBlockForID(int nID, bool& bFound) {
+ if( ALL_THE_DEBUG ) printf( "Enter: %s\n", __FUNCTION__);
+ for(std::list<struct LoggingBlock>::iterator itBlock = m_lstLoggingBlocks.begin(); itBlock != m_lstLoggingBlocks.end(); itBlock++) {
+ struct LoggingBlock lbCurrent = *itBlock;
+
+ if (nID == lbCurrent.nID) {
+ bFound = true;
+ return lbCurrent;
+ }
+
+ }
+
+ bFound = false;
+ struct LoggingBlock lbEmpty;
+ if( ALL_THE_DEBUG ) printf( "Exit: %s\n", __FUNCTION__);
+ return lbEmpty;
+}
+
+bool CTOC::registerLoggingBlock(std::string strName, double dFrequency) {
+ if( ALL_THE_DEBUG ) printf( "%s\n", __FUNCTION__);
+ int nID = 0;
+ bool bFound;
+
+ if (dFrequency > 0) { // Only do it if a valid frequency > 0 is given
+ this->loggingBlockForName(strName, bFound);
+ if (bFound) {
+ //this->unregisterLoggingBlock(strName);
+ }
+
+ do {
+ this->loggingBlockForID(nID, bFound);
+
+ if (bFound) {
+ nID++;
+ }
+ } while (bFound);
+
+ //this->unregisterLoggingBlockID(nID);
+
+ uint8_t logPeriod= (uint8_t) ( (1 / dFrequency) * 1000 );
+ char cPayload[4] = { 0x00, (char)nID, logPeriod }; // JRB: A little concerned about this cast from double to char
+ CCRTPPacket* crtpRegisterBlock = new CCRTPPacket(cPayload, 3, 1);
+ crtpRegisterBlock->setPort(m_nPort);
+ crtpRegisterBlock->setChannel(1);
+
+ CCRTPPacket* crtpReceived = m_crRadio->sendAndReceive(crtpRegisterBlock, m_nRadioChannel, m_crazyflie);
+
+ delete crtpRegisterBlock;
+
+ char* cData = crtpReceived->data();
+ bool bCreateOK = false;
+ if (cData[0] == 0x00 && cData[1] == nID && cData[2] == 0x00) {
+ bCreateOK = true;
+ std::cout << "Registered logging block `" << strName << "'"
+ << std::endl;
+ } else {
+ std::cout << "Unable to register block " << strName << " on the quadcopter" << std::endl;
+ printf("0x%x %x %x\n", cData[0], cData[1], cData[2] );
+ }
+
+ if (crtpReceived) {
+ delete crtpReceived;
+ }
+
+ if (bCreateOK) {
+ struct LoggingBlock lbNew;
+ lbNew.strName = strName;
+ lbNew.nID = nID;
+ lbNew.dFrequency = dFrequency;
+
+ m_lstLoggingBlocks.push_back(lbNew);
+
+ return this->enableLogging(strName);
+ }
+ }
+
+ return false;
+}
+
+bool CTOC::enableLogging(std::string strBlockName) {
+ if( ALL_THE_DEBUG ) printf( "%s\n", __FUNCTION__);
+ bool bFound;
+
+ struct LoggingBlock lbCurrent = this->loggingBlockForName(strBlockName,
+ bFound);
+ if (bFound) {
+ uint8_t logPeriod= (uint8_t) ( (1 / lbCurrent.dFrequency) * 1000 );
+ char cPayload[3] = { 0x03, (char)lbCurrent.nID, logPeriod }; // JRB: A little concerned about this cast from double to char
+
+ CCRTPPacket* crtpEnable = new CCRTPPacket(cPayload, 3, 1);
+ crtpEnable->setPort(m_nPort);
+ crtpEnable->setChannel(1);
+
+ CCRTPPacket* crtpReceived = m_crRadio->sendAndReceive(crtpEnable, m_nRadioChannel, m_crazyflie);
+ delete crtpEnable;
+ delete crtpReceived;
+
+ return true;
+ }
+
+ return false;
+}
+
+bool CTOC::unregisterLoggingBlock(std::string strName) {
+ if( ALL_THE_DEBUG ) printf( "%s\n", __FUNCTION__);
+ bool bFound;
+
+ struct LoggingBlock lbCurrent = this->loggingBlockForName(strName, bFound);
+ if (bFound) {
+ return this->unregisterLoggingBlockID(lbCurrent.nID);
+ }
+
+ return false;
+}
+
+bool CTOC::unregisterLoggingBlockID(int nID) {
+ if( ALL_THE_DEBUG ) printf( "%s\n", __FUNCTION__);
+ char cPayload[2] = { 0x02, (char)nID };
+
+ CCRTPPacket* crtpUnregisterBlock = new CCRTPPacket(cPayload, 2, 1);
+ crtpUnregisterBlock->setPort(m_nPort);
+ crtpUnregisterBlock->setChannel(1);
+
+ CCRTPPacket* crtpReceived = m_crRadio->sendAndReceive(crtpUnregisterBlock, m_nRadioChannel, m_crazyflie);
+
+ delete crtpUnregisterBlock;
+
+ if (crtpReceived) {
+ delete crtpReceived;
+ return true;
+ }
+
+ return false;
+}
+
+//void CTOC::processPackets(std::list<CCRTPPacket*> lstPackets) {
+void CTOC::processPackets(CCRTPPacket *crtpPacket) {
+ if( ALL_THE_DEBUG ) printf( "Enter: %s\n", __FUNCTION__ );
+// if (lstPackets.size() > 0) {
+// for (std::list<CCRTPPacket*>::iterator itPacket = lstPackets.begin();
+// itPacket != lstPackets.end(); itPacket++) {
+// CCRTPPacket* crtpPacket = *itPacket;
+
+ char* cData = crtpPacket->data();
+ float fValue;
+ memcpy(&fValue, &cData[4], 4);
+
+ char* cLogdata = &cData[4];
+ int nOffset = 0;
+ int nIndex = 0;
+ //int nAvailableLogBytes = crtpPacket->dataLength() - 5; -- unused variable, commented out
+
+ int nBlockID = cData[0];
+ bool bFound;
+
+ struct LoggingBlock lbCurrent = this->loggingBlockForID(nBlockID,
+ bFound);
+
+ if (bFound) {
+ while (nIndex < (int)lbCurrent.lstElementIDs.size()) {
+ int nElementID = this->elementIDinBlock(nBlockID, nIndex);
+ bool bFound;
+ struct TOCElement teCurrent = this->elementForID(nElementID,
+ bFound);
+
+ if (bFound) {
+ int nByteLength = 0;
+
+ // NOTE(winkler): We just copy over the incoming bytes in
+ // their according data structures and afterwards assign
+ // the value to fValue. This way, we let the compiler to
+ // the magic of conversion.
+ float fValue = 0;
+
+ switch (teCurrent.nType) {
+ case 1: { // UINT8
+ nByteLength = 1;
+ uint8_t uint8Value;
+ memcpy(&uint8Value, &cLogdata[nOffset],
+ nByteLength);
+ fValue = uint8Value;
+ }
+ break;
+
+ case 2: { // UINT16
+ nByteLength = 2;
+ uint16_t uint16Value;
+ memcpy(&uint16Value, &cLogdata[nOffset],
+ nByteLength);
+ fValue = uint16Value;
+ }
+ break;
+
+ case 3: { // UINT32
+ nByteLength = 4;
+ uint32_t uint32Value;
+ memcpy(&uint32Value, &cLogdata[nOffset],
+ nByteLength);
+ fValue = uint32Value;
+ }
+ break;
+
+ case 4: { // INT8
+ nByteLength = 1;
+ int8_t int8Value;
+ memcpy(&int8Value, &cLogdata[nOffset], nByteLength);
+ fValue = int8Value;
+ }
+ break;
+
+ case 5: { // INT16
+ nByteLength = 2;
+ int16_t int16Value;
+ memcpy(&int16Value, &cLogdata[nOffset],
+ nByteLength);
+ fValue = int16Value;
+ }
+ break;
+
+ case 6: { // INT32
+ nByteLength = 4;
+ int32_t int32Value;
+ memcpy(&int32Value, &cLogdata[nOffset],
+ nByteLength);
+ fValue = int32Value;
+ }
+ break;
+
+ case 7: { // FLOAT
+ nByteLength = 4;
+ memcpy(&fValue, &cLogdata[nOffset], nByteLength);
+ }
+ break;
+
+ case 8: { // FP16
+ // NOTE(winkler): This is untested code (as no FP16
+ // variable gets advertised yet). This has to be tested
+ // and is to be used carefully. I will do that as soon
+ // as I find time for it.
+ nByteLength = 2;
+ char cBuffer1[nByteLength];
+ char cBuffer2[4];
+ memcpy(cBuffer1, &cLogdata[nOffset], nByteLength);
+ cBuffer2[0] = cBuffer1[0] & 0b10000000; // Get the sign bit
+ cBuffer2[1] = 0;
+ cBuffer2[2] = cBuffer1[0] & 0b01111111; // Get the magnitude
+ cBuffer2[3] = cBuffer1[1];
+ memcpy(&fValue, cBuffer2, 4); // Put it into the float variable
+ }
+ break;
+
+ default: { // Unknown. This hopefully never happens.
+ }
+ break;
+ }
+
+ this->setFloatValueForElementID(nElementID, fValue);
+ nOffset += nByteLength;
+ nIndex++;
+ } else {
+ std::cerr << "Didn't find element ID " << nElementID
+ << " in block ID " << nBlockID
+ << " while parsing incoming logging data."
+ << std::endl;
+ std::cerr << "This REALLY shouldn't be happening!"
+ << std::endl;
+ std::exit(-1);
+ }
+ }
+ }
+
+// delete crtpPacket;
+// }
+// }
+ if( ALL_THE_DEBUG ) printf( "Exit: %s\n", __FUNCTION__ );
+}
+
+int CTOC::elementIDinBlock(int nBlockID, int nElementIndex) {
+ if( ALL_THE_DEBUG ) printf( "%s\n", __FUNCTION__);
+ bool bFound;
+
+ struct LoggingBlock lbCurrent = this->loggingBlockForID(nBlockID, bFound);
+ if (bFound) {
+ if (nElementIndex < (int) lbCurrent.lstElementIDs.size()) {
+ std::list<int>::iterator itID = lbCurrent.lstElementIDs.begin();
+ advance(itID, nElementIndex);
+ return *itID;
+ }
+ }
+
+ return -1;
+}
+
+bool CTOC::setFloatValueForElementID(int nElementID, float fValue) {
+ if( ALL_THE_DEBUG ) printf( "%s\n", __FUNCTION__);
+ int nIndex = 0;
+ for (std::list<struct TOCElement>::iterator itElement =
+ m_lstTOCElements.begin(); itElement != m_lstTOCElements.end();
+ itElement++, nIndex++) {
+ struct TOCElement teCurrent = *itElement;
+
+ if (teCurrent.nID == nElementID) {
+ teCurrent.dValue = fValue; // We store floats as doubles
+ (*itElement) = teCurrent;
+ // std::cout << fValue << std::endl;
+ return true;
+ }
+ }
+
+ return false;
+}
+
+/*
+ * Open a log file for the quadcopter
+ *
+ * @param baseFileName The base filename for the logfile
+ */
+void CTOC::openParamTOCFile(char *baseFileName) {
+ char logFileName[40];
+
+ char timeString[40];
+ time_t rawtime;
+ time( &rawtime );
+ struct tm *timeinfo = localtime( &rawtime );
+ strftime(timeString, 40, "%Y_%m_%d_%H:%M:%S", timeinfo);
+
+ // Create the log file name (including date)
+ sprintf(logFileName, "%s_%s.txt", baseFileName, timeString);
+
+ printf("Opening param toc file %s for quadcopter %d...", logFileName, (this->m_crazyflie->getQuadcopterNumber() + 1));
+
+ try {
+ param_toc_file.open(logFileName, std::ios_base::out);
+ } catch (...) {
+ std::cout << "Error opening logfile for quadcopter " << this->m_crazyflie->getQuadcopterNumber();
+ exit(-1);
+ }
+
+ // Place the header information into the log file
+ param_toc_file << "#Crazyflie" << std::endl;
+
+ // Add the controller type to the logfile
+ param_toc_file << param_header << std::endl;
+ std::cout << " Complete" << std::endl;
+}
+
+/*
+ * Open a log file for the quadcopter
+ *
+ * @param baseFileName The base filename for the logfile
+ */
+void CTOC::openLogTOCFile(char *baseFileName) {
+ char logFileName[40];
+
+ char timeString[40];
+ time_t rawtime;
+ time( &rawtime );
+ struct tm *timeinfo = localtime( &rawtime );
+ strftime(timeString, 40, "%Y_%m_%d_%H:%M:%S", timeinfo);
+
+ // Create the log file name (including date)
+ sprintf(logFileName, "%s_%s.txt", baseFileName, timeString);
+
+ printf("Opening param toc file %s for quadcopter %d...", logFileName, (this->m_crazyflie->getQuadcopterNumber() + 1));
+
+ try {
+ log_toc_file.open(logFileName, std::ios_base::out);
+ } catch (...) {
+ std::cout << "Error opening logfile for quadcopter " << this->m_crazyflie->getQuadcopterNumber();
+ exit(-1);
+ }
+
+ // Place the header information into the log file
+ log_toc_file << "#Crazyflie" << std::endl;
+
+ // Add the controller type to the logfile
+ log_toc_file << log_header << std::endl;
+ std::cout << " Complete" << std::endl;
+}
diff --git a/crazyflie_groundstation/src/callbacks.cpp b/crazyflie_groundstation/src/callbacks.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..bc8380aff56b47757dac35932a792a296cc534b4
--- /dev/null
+++ b/crazyflie_groundstation/src/callbacks.cpp
@@ -0,0 +1,613 @@
+#include "crazyflieGroundStation.h"
+#include "quadcopterData.h"
+#include "callbacks.h"
+#include "vrpn_Tracker.h"
+#include <quat.h>
+
+#include "helperFunctions.h"
+
+using namespace std;
+
+void processTrackableCallback(int crazyflieNum, int radioNum,
+ CONTROLLER_DATA_t *controllerData,
+ CCrazyflie *cflieCopter,
+ const vrpn_TRACKERCB t);
+
+/**
+ * The VRPN callback for the 1st quadcopter
+ */
+/*
+void VRPN_CALLBACK handle_pos(void*, const vrpn_TRACKERCB t) {
+ // Variables needed for the mirror mode
+ static double lastTime = crazyflie_info[0].cflieCopter->currentTime();
+
+ // Temp variables for the landing on a bridge
+ float landingX = 0;
+ float landingY = 0;
+ float landingZ = 0;
+
+ // Pull out the X, Y, Z, Yaw position of the quadcopter
+ EXTRACT_POSITION(0, t);
+
+ // Get the battery and act accordingly
+// CHECK_BATTERY(0);
+
+ // Don't reset the controller by default
+ crazyflie_info[0].controllerData.resetController = 0;
+ crazyflie_info[0].controllerData.baseThrust = 0;
+
+ // Just make yaw 0
+// crazyflie_info[0].controllerData.yawSetpoint = 0;
+
+ // Figure out the setpoint for x and y based upon flight mode
+ switch (crazyflie_info[0].cflieCopter->m_enumFlightMode) {
+ case BRIDGE_HOVER_MODE:
+ // Hover over the bridge
+ if (bridge1.isSet == 0 || bridge2.isSet == 0) {
+ // Bridge trackable isn't set right now, just skip it
+ break;
+ }
+
+ crazyflie_info[0].controllerData.baseThrust = BASE_THRUST;
+ break;
+ case BRIDGE_LANDING_MODE:
+ if (bridge1.isSet == 0 || bridge2.isSet == 0) {
+ // Bridge trackable isn't set right now, just skip it
+ break;
+ }
+
+ // The quad is above the bridge coordinates, change the Z coordinate
+ crazyflie_info[0].controllerData.baseThrust = BASE_THRUST;
+
+ COMPUTE_BRIDGE_COORDINATE(crazyflie_info[0].controllerData.bridgePos,
+ landingX, landingY, landingZ);
+
+ if ( abs( crazyflie_info[0].controllerData.zPosition - landingZ ) < 0.05 ) {
+ bridge1.landingState = LANDED;
+ crazyflie_info[0].cflieCopter->m_enumFlightMode = GROUNDED_MODE;
+ cout << "Landed on bridge\r\n";
+ }
+
+ // Land on the bridge
+ break;
+ case BRIDGE_TAKEOFF_MODE:
+ // Take off from the bridge
+ if ( !crazyflie_info[0].controllerData.resetSent ) {
+ crazyflie_info[0].controllerData.resetController = 1;
+ crazyflie_info[0].controllerData.resetSent = true;
+ }
+
+ crazyflie_info[0].controllerData.zSetpoint -= 0.5;
+ crazyflie_info[0].controllerData.baseThrust = HOVER_THRUST( crazyflie_info[0].takeoff );
+ crazyflie_info[0].cflieCopter->m_enumFlightMode = HOVER_MODE;
+
+ break;
+ case LANDING_MODE:
+ // The quadcopter should land
+ // Set only z, leave x and y the same
+ crazyflie_info[0].controllerData.zSetpoint = 0.0;
+ crazyflie_info[0].controllerData.baseThrust = HOVER_THRUST( crazyflie_info[0].takeoff );
+
+ break;
+ case MIRROR_MODE:
+ // This quadcopter is the first quad, so it is going to do steps that the others will follow
+ if (crazyflie_info[0].cflieCopter->currentTime() - lastTime > 4.0) {
+ cout << "Stepping Crazyflies" << endl;
+ // Change the setpoint
+ crazyflie_info[0].controllerData.xSetpoint = -0.012;
+ crazyflie_info[0].controllerData.ySetpoint = -0.200;
+ crazyflie_info[0].controllerData.zSetpoint = -0.750;
+ lastTime = crazyflie_info[0].cflieCopter->currentTime();
+ } else {
+ // Change the setpoint back
+ cout << "Stepping Crazyflies" << endl;
+ crazyflie_info[0].controllerData.xSetpoint = -0.012 + 0.65;
+ crazyflie_info[0].controllerData.ySetpoint = -0.200 + 0.65;
+ crazyflie_info[0].controllerData.zSetpoint = -0.750;
+ lastTime = crazyflie_info[0].cflieCopter->currentTime();
+ }
+ crazyflie_info[0].controllerData.baseThrust = HOVER_THRUST( crazyflie_info[0].takeoff );
+
+ break;
+ case TAKEOFF_MODE:
+ // The quadcopter should takeoff
+ if ( !crazyflie_info[0].controllerData.resetSent ) {
+ crazyflie_info[0].controllerData.resetController = 1;
+ crazyflie_info[0].controllerData.resetSent = true;
+ }
+
+ // This function will figure out the appropriate steps for the takeoff routine
+ takeoffRoutine(0,
+ &(crazyflie_info[0].controllerData),
+ crazyflie_info[0].cflieCopter,
+ &(crazyflie_info[0].takeoff));
+
+ break;
+ case IDLE_MODE:
+ crazyflie_info[0].controllerData.baseThrust = 20000;
+ break;
+ case HOVER_MODE:
+ crazyflie_info[0].controllerData.baseThrust = HOVER_THRUST( crazyflie_info[0].takeoff );
+
+ break;
+ case HAND_MODE:
+ crazyflie_info[0].controllerData.xSetpoint = hand.xPosition + handOffsets[0][0];
+ crazyflie_info[0].controllerData.ySetpoint = hand.yPosition + handOffsets[0][1];
+ crazyflie_info[0].controllerData.baseThrust = HOVER_THRUST( crazyflie_info[0].takeoff );
+
+ break;
+ case GROUNDED_MODE:
+ crazyflie_info[0].controllerData.baseThrust = 0;
+ break;
+ default:
+ cout << "HELP!!!!" << endl;
+ break;
+ }
+
+ // Do the main control loop
+ processTrackableCallback(0,
+ crazyflie_info[0].radioNumber,
+ &(crazyflie_info[0].controllerData),
+ crazyflie_info[0].cflieCopter,
+ t);
+}*/
+
+/**
+ * The VRPN callback for the 2nd quadcopter
+ */
+/*void VRPN_CALLBACK handle_Crazyflie2(void*, const vrpn_TRACKERCB t) {
+ // Pull out the X, Y, Z, Yaw position of the quadcopter
+ EXTRACT_POSITION(1, t);
+
+ // Temp variables for the landing on a bridge
+ float landingX = 0;
+ float landingY = 0;
+ float landingZ = 0;
+
+ // Get the battery and act accordingly
+ CHECK_BATTERY(1);
+
+ // Don't reset the controller by default
+ crazyflie_info[1].controllerData.resetController = 0;
+ crazyflie_info[1].controllerData.baseThrust = 0;
+
+ // Just make yaw 0
+ crazyflie_info[1].controllerData.yawSetpoint = 0;
+
+ // Figure out the setpoint for x and y based upon flight mode
+ switch (crazyflie_info[1].cflieCopter->m_enumFlightMode) {
+ case BRIDGE_HOVER_MODE:
+ // Hover over the bridge
+ if (bridge1.isSet == 0 || bridge2.isSet == 0) {
+ // Bridge trackable isn't set right now, just skip it
+ break;
+ }
+
+ crazyflie_info[1].controllerData.baseThrust = BASE_THRUST;
+ break;
+ case BRIDGE_LANDING_MODE:
+ if (bridge1.isSet == 0 || bridge2.isSet == 0) {
+ // Bridge trackable isn't set right now, just skip it
+ break;
+ }
+
+ // The quad is above the bridge coordinates, change the Z coordinate
+ crazyflie_info[1].controllerData.baseThrust = BASE_THRUST;
+
+ COMPUTE_BRIDGE_COORDINATE(crazyflie_info[1].controllerData.bridgePos,
+ landingX, landingY, landingZ);
+
+ if ( abs( crazyflie_info[1].controllerData.zPosition - landingZ ) < 0.05 ) {
+ bridge1.landingState = LANDED;
+ crazyflie_info[1].cflieCopter->m_enumFlightMode = GROUNDED_MODE;
+ cout << "Landed on bridge\r\n";
+ }
+
+ // Land on the bridge
+ break;
+ case BRIDGE_TAKEOFF_MODE:
+ // Take off from the bridge
+ crazyflie_info[1].controllerData.zSetpoint -= 0.5;
+ crazyflie_info[1].controllerData.baseThrust = BASE_THRUST;
+ crazyflie_info[1].controllerData.resetController = 1;
+ crazyflie_info[1].cflieCopter->m_enumFlightMode = HOVER_MODE;
+ break;
+ case LANDING_MODE:
+ // The quadcopter should land
+ // Set only z, leave x and y the same
+ crazyflie_info[1].controllerData.zSetpoint = 0;
+ crazyflie_info[1].controllerData.baseThrust = BASE_THRUST;
+ break;
+ case MIRROR_MODE:
+ // The quadcopter should mirror the first quadcopter
+ crazyflie_info[1].controllerData.xSetpoint = crazyflie_info[0].controllerData.xSetpoint + mirrorOffsets[1][0];
+ crazyflie_info[1].controllerData.ySetpoint = crazyflie_info[0].controllerData.ySetpoint + mirrorOffsets[1][1];
+ crazyflie_info[1].controllerData.baseThrust = BASE_THRUST;
+ break;
+ case TAKEOFF_MODE:
+ // The quadcopter should takeoff
+ // The default setpoints are ok for this
+ static uint16_t throttle = 0;
+
+ if ( !crazyflie_info[1].controllerData.resetSent ) {
+ crazyflie_info[1].controllerData.resetController = 1;
+ crazyflie_info[1].controllerData.resetSent = true;
+ }
+
+ if (throttle < BASE_THRUST) {
+ throttle++;
+ }
+
+ //crazyflie_info[1].controllerData.baseThrust = BASE_THRUST + 10000;
+
+ if ( crazyflie_info[1].controllerData.zPosition < -0.3 ) {
+ crazyflie_info[1].cflieCopter->m_enumFlightMode = HOVER_MODE;
+ }
+ break;
+ case IDLE_MODE:
+ crazyflie_info[1].controllerData.baseThrust = 20000;
+ break;
+ case HOVER_MODE:
+ crazyflie_info[1].controllerData.baseThrust = BASE_THRUST + 10000;
+ break;
+ case HAND_MODE:
+ crazyflie_info[1].controllerData.xSetpoint = hand.xPosition + handOffsets[1][0];
+ crazyflie_info[1].controllerData.ySetpoint = hand.yPosition + handOffsets[1][1];
+ crazyflie_info[1].controllerData.baseThrust = BASE_THRUST;
+ break;
+ case GROUNDED_MODE:
+ crazyflie_info[1].controllerData.baseThrust = 0;
+ break;
+ default:
+ cout << "HELP!!!!" << endl;
+ break;
+ }
+
+ // Do the main control loop
+// processTrackableCallback(1, crazyflie_info[1].radioNumber, &(crazyflie_info[1].controllerData), crazyflie_info[1].cflieCopter, t);
+ // Do the main control loop
+ processTrackableCallback(1,
+ crazyflie_info[1].radioNumber,
+ &(crazyflie_info[1].controllerData),
+ crazyflie_info[1].cflieCopter,
+ t);
+}
+*/
+/**
+ * The VRPN callback for the 2nd quadcopter
+ */
+/*void VRPN_CALLBACK handle_Crazyflie3(void*, const vrpn_TRACKERCB t) {
+ // Pull out the X, Y, Z, Yaw position of the quadcopter
+ EXTRACT_POSITION(2, t);
+
+ // Get the battery and act accordingly
+ CHECK_BATTERY(2);
+
+ // Don't reset the controller by default
+ crazyflie_info[2].controllerData.resetController = 0;
+ crazyflie_info[2].controllerData.baseThrust = 0;
+
+ // Just make yaw 0
+ crazyflie_info[2].controllerData.yawSetpoint = 0;
+
+ // Figure out the setpoint for x and y based upon flight mode
+ switch (crazyflie_info[2].cflieCopter->m_enumFlightMode) {
+ case LANDING_MODE:
+ // The quadcopter should land
+ // Set only z, leave x and y the same
+ crazyflie_info[2].controllerData.zSetpoint = 0;
+ crazyflie_info[2].controllerData.baseThrust = BASE_THRUST;
+ break;
+ case MIRROR_MODE:
+ // The quadcopter should mirror the first quadcopter
+ crazyflie_info[2].controllerData.xSetpoint = crazyflie_info[0].controllerData.xSetpoint + mirrorOffsets[2][0];
+ crazyflie_info[2].controllerData.ySetpoint = crazyflie_info[0].controllerData.ySetpoint + mirrorOffsets[2][1];
+ crazyflie_info[2].controllerData.baseThrust = BASE_THRUST;
+ break;
+ case TAKEOFF_MODE:
+ // The quadcopter should takeoff
+ // The default setpoints are ok for this
+ crazyflie_info[2].controllerData.baseThrust = BASE_THRUST;
+ crazyflie_info[2].controllerData.baseThrust = BASE_THRUST;
+ crazyflie_info[2].cflieCopter->m_enumFlightMode = HOVER_MODE;
+ break;
+ case HOVER_MODE:
+ crazyflie_info[2].controllerData.baseThrust = BASE_THRUST;
+ break;
+ case HAND_MODE:
+ crazyflie_info[2].controllerData.xSetpoint = hand.xPosition + handOffsets[2][0];
+ crazyflie_info[2].controllerData.ySetpoint = hand.yPosition + handOffsets[2][1];
+ crazyflie_info[2].controllerData.baseThrust = BASE_THRUST;
+ break;
+ case GROUNDED_MODE:
+ crazyflie_info[2].controllerData.baseThrust = 0;
+ break;
+ default:
+ cout << "HELP!!!!" << endl;
+ break;
+ }
+
+ // Do the main control loop
+ processTrackableCallback(2, crazyflie_info[2].radioNumber, &(crazyflie_info[2].controllerData), crazyflie_info[2].cflieCopter, t);
+}
+*/
+/**
+ * The VRPN callback for the 2nd quadcopter
+ */
+/*void VRPN_CALLBACK handle_Crazyflie4(void*, const vrpn_TRACKERCB t) {
+ // Pull out the X, Y, Z, Yaw position of the quadcopter
+ EXTRACT_POSITION(3, t);
+
+ // Get the battery and act accordingly
+ CHECK_BATTERY(3);
+
+ // Don't reset the controller by default
+ crazyflie_info[3].controllerData.resetController = 0;
+ crazyflie_info[3].controllerData.baseThrust = 0;
+
+ // Just make yaw 0
+ crazyflie_info[3].controllerData.yawSetpoint = 0;
+
+ // Figure out the setpoint for x and y based upon flight mode
+ switch (crazyflie_info[3].cflieCopter->m_enumFlightMode) {
+ case LANDING_MODE:
+ // The quadcopter should land
+ // Set only z, leave x and y the same
+ crazyflie_info[3].controllerData.zSetpoint = 0;
+ crazyflie_info[3].controllerData.baseThrust = BASE_THRUST;
+ break;
+ case MIRROR_MODE:
+ // The quadcopter should mirror the first quadcopter
+ crazyflie_info[3].controllerData.xSetpoint = crazyflie_info[0].controllerData.xSetpoint + mirrorOffsets[3][0];
+ crazyflie_info[3].controllerData.ySetpoint = crazyflie_info[0].controllerData.ySetpoint + mirrorOffsets[3][1];
+ crazyflie_info[3].controllerData.baseThrust = BASE_THRUST;
+ break;
+ case TAKEOFF_MODE:
+ // The quadcopter should takeoff
+ // The default setpoints are ok for this
+ crazyflie_info[3].controllerData.baseThrust = BASE_THRUST;
+ crazyflie_info[3].controllerData.baseThrust = BASE_THRUST;
+ crazyflie_info[3].cflieCopter->m_enumFlightMode = HOVER_MODE;
+ break;
+ case HOVER_MODE:
+ crazyflie_info[3].controllerData.baseThrust = BASE_THRUST;
+ break;
+ case HAND_MODE:
+ crazyflie_info[3].controllerData.xSetpoint = hand.xPosition + handOffsets[3][0];
+ crazyflie_info[3].controllerData.ySetpoint = hand.yPosition + handOffsets[3][1];
+ crazyflie_info[3].controllerData.baseThrust = BASE_THRUST;
+ break;
+ case GROUNDED_MODE:
+ crazyflie_info[3].controllerData.baseThrust = 0;
+ break;
+ default:
+ cout << "HELP!!!!" << endl;
+ break;
+ }
+
+ // Do the main control loop
+ processTrackableCallback(3, crazyflie_info[3].radioNumber, &(crazyflie_info[3].controllerData), crazyflie_info[3].cflieCopter, t);
+}
+
+*/
+#if USE_HAND
+/**
+ * VRPN callback for the hand trackable
+ */
+void VRPN_CALLBACK handle_hand(void*, const vrpn_TRACKERCB t) {
+
+ if(hand.vrpnPacketQueueLen < 2) //If VRPN Buffer does NOT have old packets stored up, run main code
+ {
+ double loopTimeHandStart = crazyflie_info[0].cflieCopter->currentTime() - crazyflie_info[0].initTime;
+ double loopTimeHandDelta = loopTimeHandStart - hand.loopTimeStartPrevious; //Calculates time difference between each loop start
+ hand.loopTimeStartPrevious = loopTimeHandStart;
+
+ double vrpnPacketTimeHand = t.msg_time.tv_sec + (t.msg_time.tv_usec / 1000000.0);
+ double vrpnPacketDeltaHand= vrpnPacketTimeHand - hand.vrpnTimePrevious; //Calculates time between VRPN Data Packets (almost always 0.01 sec)
+ hand.vrpnTimePrevious = vrpnPacketTimeHand;
+
+ hand.vrpnPacketQueueLen = ceil(loopTimeHandDelta/vrpnPacketDeltaHand); //Calculates estimated # of packets built up in VRPN buffer.
+
+ // Get the euler angles
+ q_vec_type euler;
+ q_to_euler(euler, t.quat);
+
+ hand.xPosition = t.pos[0];
+ hand.yPosition = t.pos[1];
+ hand.zPosition = -t.pos[2] + 0.05;
+
+ hand.yawAngle = Q_RAD_TO_DEG(euler[0]);
+ hand.rollAngle = Q_RAD_TO_DEG(euler[1]);
+ hand.pitchAngle = Q_RAD_TO_DEG(euler[2]);
+
+ double loopTimeHandEnd = crazyflie_info[0].cflieCopter->currentTime() - crazyflie_info[0].initTime;
+ hand.loopTime = loopTimeHandEnd - loopTimeHandStart;
+
+#if USE_LOGGING
+ fprintf(hand.logfile, "%.6f\t\t", cflieCopter1->currentTime() - initTime1 );
+ fprintf(hand.logfile, "%.3f\t\t%.3f\t\t%.3f\t\t%.3f\t\t%.3f\t\t%.3f\t\t%.6f\t\t%.6f",
+ euler[1],
+ euler[2],
+ euler[0],
+ t.pos[0],
+ t.pos[1],
+ -t.pos[2],
+ loopTimeHand,
+ loopTimeHandDelta); //
+ fprintf(hand.logfile, "\n");
+#endif
+
+ }
+ else if(hand.vrpnPacketQueueLen < 0){ //Failsafe so can't go below 0 (should never happen) | || (vrpnPacketBackup4 > 20)?
+ hand.vrpnPacketQueueLen = 0;
+ }
+ else if(hand.vrpnPacketQueueLen >= 2){
+ hand.vrpnPacketQueueLen --;
+ }
+}
+#endif // END USE_HAND
+
+/**
+ * This function will process the controller callback for every quadcopter using the
+ * data passed into from the VRPM callback for the quadcopter.
+ *
+ * @param crazyflieNum The number of the crazyflie (in the quadcopter information array)
+ * @param radioNum The number of the radio the crazyflie uses (in the radio array)
+ * @param controllerData The data structure containing information about the controller
+ * @param vrpn_TRACKERCB The VRPN data structure
+ */
+/*void processTrackableCallback(int crazyflieNum, int radioNum,
+ CONTROLLER_DATA_t *controllerData,
+ CCrazyflie *cflieCopter,
+ const vrpn_TRACKERCB t) {
+
+ if(controllerData->vrpnPacketQueueLen < 2) {
+ //If VRPN Buffer does NOT have old packets stored up, run main code
+
+ // Calculate the delta in the control loop time
+ double loopStartTime = cflieCopter->currentTime() - crazyflie_info[crazyflieNum].initTime;
+ double loopTimeDelta = loopStartTime - controllerData->loopTimeStartPrevious;
+ controllerData->timeBetweenLoop = loopTimeDelta;
+ controllerData->loopTimeStartPrevious = loopStartTime;
+
+ // Calculate the delta in the VRPN packet time
+ double vrpnPacketTime = t.msg_time.tv_sec + (t.msg_time.tv_usec / 1000000.0);
+ double vrpnPacketDelta = vrpnPacketTime - controllerData->vrpnTimePrevious;
+ controllerData->vrpnTimePrevious = vrpnPacketTime;
+
+ // Calculates estimated # of packets built up in VRPN buffer.
+ controllerData->vrpnPacketQueueLen = ceil(loopTimeDelta/vrpnPacketDelta);
+
+ // Debug statement to say what controller is running
+#if USE_PRINTOUT
+ // Get the current flightmode
+ enum FlightMode flightMode = cflieCopter->m_enumFlightMode;
+
+ if (flightMode != GROUNDED_MODE) {
+ cout << endl << "Controller " << crazyflieNum << endl;
+ cout << "Battery: " << cflieCopter->batteryLevel() << endl;
+
+ // Output the X, Y, Z position onto the terminal
+ cout << "X: " << controllerData->xPosition << endl;
+ cout << "Y: " << controllerData->yPosition << endl;
+ cout << "Z: " << controllerData->zPosition << endl;
+ cout << "Yaw: " << controllerData->yawPosition << endl;
+ cout << "Thrust: " << controllerData->baseThrust << endl;
+ }
+#endif // END USE_PRINTOUT
+
+ // This is the meat of the controller stuff
+ cflieCopter->setXYZYawSetpoint(controllerData->xSetpoint,
+ controllerData->ySetpoint,
+ controllerData->zSetpoint,
+ controllerData->yawSetpoint,
+ controllerData->baseThrust,
+ controllerData->resetController);
+
+ cflieCopter->setXYZYawPosition(controllerData->xPosition,
+ controllerData->yPosition,
+ controllerData->zPosition,
+ controllerData->yawPosition);
+
+ cflieCopter->setSendSetpoints(true);
+
+//-
+ // Safety check the crazyflie, if Crazyflie is vertical kill motors, Crash Imminent
+ if (cflieCopter->roll() > 90) {
+ thrustControlOutput = 10000;
+ } else if (cflieCopter->roll() < -90) {
+ thrustControlOutput = 10000;
+ } else if (cflieCopter->pitch() > 90) {
+ thrustControlOutput = 10000;
+ } else if (cflieCopter->pitch() < -90) {
+ thrustControlOutput = 10000;
+ }
+*//*
+#if USE_PRINTOUT
+ if (cflieCopter->m_enumFlightMode != GROUNDED_MODE) {
+ cout << "Roll: " << cflieCopter->roll() << endl;
+ cout << "Pitch: " << cflieCopter->pitch() << endl;
+ cout << "Yaw: " << cflieCopter->yaw() << endl;
+ cout << "Thrust: " << cflieCopter->thrust() << endl;
+ cout << "PID: " << endl;
+ }
+#endif // END USE_PRINTOUT
+
+
+#if USE_LOGGING
+#if USE_BASIC_LOGGING
+ fprintf(crazyflie_info[crazyflieNum].logfile, "%.6f\t\t", crazyflie_info[crazyflieNum].cflieCopter->currentTime() - crazyflie_info[crazyflieNum].initTime );
+ fprintf(crazyflie_info[crazyflieNum].logfile,
+ "%.3f\t\t%.3f\t\t%.3f\t\t%.3f\t\t%.3f\t\t%.3f\t\t%.3f\t\t%.3f\t\t%.6f\t\t%.6f\t\t%.6f\t\t%.6f\t\t%.6f\t\t%.6f\t\t%d\t\t%d",
+ cflieCopter->roll(),
+ cflieCopter->pitch(),
+ quadYaw,
+ t.pos[0],
+ t.pos[1],
+ -t.pos[2],
+ camYawDeg,
+ correctedYaw,
+ loopTimeTotal,
+ loopTimeTotalDelta,
+ loopTime,
+ loopTimeDelta,
+ vrpnPacketDelta,
+ vrpnPacketTime,
+ vrpnPacketBackup,
+ cflieCopter->radioRSSI()); //
+ fprintf(crazyflie_info[crazyflieNum].logfile, "\n");
+
+#else
+ fprintf(crazyflie_info[crazyflieNum].logfile, "%.6f\t\t", cflieCopter->currentTime() - crazyflie_info[crazyflieNum].initTime );
+ fprintf(crazyflie_info[crazyflieNum].logfile,
+ "%.3f\t\t%.3f\t\t%.3f\t\t%.3f\t\t%.3f\t\t%.3f\t\t%.3f\t\t%.3f\t\t%.6f\t\t%.6f\t\t%.6f\t\t%.6f\t\t%.6f\t\t%.6f\t\t%d\t\t%.3f\t\t%.3f\t\t%.3f\t\t%.3f\t\t%.3f\t\t%.3f\t\t%.3f\t\t%.3f\t\t%d\t\t%.3f\t\t%.3f\t\t%.3f\t\t%lu\t\t%lu\t\t%lu\t\t%lu\t\t%.3f\t\t%.3f\t\t%.3f",
+ cflieCopter->roll(),
+ cflieCopter->pitch(),
+ quadYaw1,
+ t.pos[0],
+ t.pos[1],
+ -t.pos[2],
+ camYawDeg,
+ correctedYaw,
+ loopTimeTotal,
+ loopTimeTotalDelta,
+ loopTime,
+ loopTimeDelta,
+ vrpnPacketDelta,
+ vrpnPacketTime,
+ vrpnPacketBackup,
+ xPositionDesired,
+ yPositionDesired,
+ zPositionDesired,
+ yawDesired,
+ pitchControlOutput,
+ rollControlOutput,
+ yawControlOutput,
+ thrustControlOutput,
+ crazyflie_info[crazyflieNum].cflieCopter->radioRSSI(),
+ euler[0],
+ euler[1],
+ euler[2],
+ cflieCopter->motor1(),
+ cflieCopter->motor2(),
+ cflieCopter->motor3(),
+ cflieCopter->motor4(),
+ cflieCopter->gyroX(),
+ cflieCopter->gyroY(),
+ cflieCopter->gyroZ());
+ fprintf(crazyflie_info[crazyflieNum].logfile, "\n");
+#endif
+#endif // END: USE_LOGGING
+
+ double loopTimeEnd = cflieCopter->currentTime() - crazyflie_info[crazyflieNum].initTime;
+ controllerData->loopTime = loopTimeEnd - loopStartTime;
+ } else if(controllerData->vrpnPacketQueueLen >= 2) {
+ // If the VRPN buffer has more than 2, then skip the packet
+ controllerData->vrpnPacketQueueLen --;
+ return;
+ } else if(controllerData->vrpnPacketQueueLen < 0) {
+ // Failsafe so can't go below 0 (should never happen)
+ controllerData->vrpnPacketQueueLen = 0;
+ return;
+ }
+}*/
diff --git a/crazyflie_groundstation/src/ccrazyflie/CCrazyflie.cpp b/crazyflie_groundstation/src/ccrazyflie/CCrazyflie.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..b93882a4f52921a7f18c7f0e5409f8c831ac11f3
--- /dev/null
+++ b/crazyflie_groundstation/src/ccrazyflie/CCrazyflie.cpp
@@ -0,0 +1,398 @@
+// Copyright (c) 2013, Jan Winkler <winkler@cs.uni-bremen.de>
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright
+// notice, this list of conditions and the following disclaimer in the
+// documentation and/or other materials provided with the distribution.
+// * Neither the name of Universität Bremen nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+#include <time.h>
+#include <stdbool.h>
+#include <iostream>
+#include <fstream>
+#include <pthread.h>
+#include "CCrazyflie.h"
+#include "CCrazyRadio.h"
+
+CCrazyflie::CCrazyflie(CCrazyRadio *crRadio, int nRadioChannel, XferRate dataRate, int quadNum, double startTime) {
+ m_quadNum = quadNum;
+ m_crRadio = crRadio;
+ m_nRadioChannel = nRadioChannel;
+ m_radioDataRate = dataRate;
+
+ m_network = NULL;
+ computationStarted = false;
+
+ // Review these values
+ m_fMaxAbsRoll = 45.0f;
+ m_fMaxAbsPitch = m_fMaxAbsRoll;
+ m_fMaxYaw = 180.0f;
+ m_nMaxThrust = 60000;
+ m_nMinThrust = 0; //15000;
+
+ m_fRoll = 0;
+ m_fPitch = 0;
+ m_fYaw = 0;
+ m_nThrust = 0;
+
+ // Initialize the sending stuff
+ m_sendSetpoints = false;
+ m_sendPosition = false;
+
+ // Initialize the log and parameters
+ m_tocParameters = new CTOC(m_crRadio, this, nRadioChannel, 2);
+ m_tocParameters->downloadTOC();
+ m_tocLogs = new CTOC(m_crRadio, this, nRadioChannel, 5);
+ m_tocLogs->downloadTOC();
+
+ // Initialize the ACK miss stuff
+ m_nAckMissCounter = 0;
+ m_nAckMissTolerance = 0;
+
+ // Initalize the cycle state
+ m_enumState = STATE_ZERO;
+
+ m_dSendSetpointPeriod = 0.01; // Seconds
+ m_dSetpointLastSent = 0;
+
+ // Initialize the positions
+ m_currentCameraPosition.x = 0;
+ m_currentCameraPosition.y = 0;
+ m_currentCameraPosition.z = 0;
+ m_currentCameraAngle.roll = 0;
+ m_currentCameraAngle.pitch = 0;
+ m_currentCameraAngle.yaw = 0;
+ m_currentCameraQuat.q0 = 0;
+ m_currentCameraQuat.q1 = 0;
+ m_currentCameraQuat.q2 = 0;
+ m_currentCameraQuat.q3 = 1;
+ m_currentLocalPosition.x = 0;
+ m_currentLocalPosition.y = 0;
+ m_currentLocalPosition.z = 0;
+
+ // Initialize the setpoints
+ m_desiredPositionGlobal.x = 0;
+ m_desiredPositionGlobal.y = 0;
+ m_desiredPositionGlobal.z = 0;
+ m_desiredYaw = 0;
+ m_baseThrust = 0;
+ m_desiredPositionLocal.x = 0;
+ m_desiredPositionLocal.y = 0;
+ m_desiredPositionLocal.z = 0;
+
+
+ // Default to the global coordinate system
+ m_systemToUse = coor_global;
+
+ // Default the local to be the same as the global, and some default extents
+ m_localOrigin.x = 0;
+ m_localOrigin.y = 0;
+ m_localOrigin.z = 0;
+
+ m_localXlim.min = -2;
+ m_localXlim.min = 2;
+
+ m_localYlim.min = -2;
+ m_localYlim.min = 2;
+
+ m_localZlim.min = -2.5;
+ m_localZlim.min = 0.5;
+
+ // Set the default flight mode to grounded
+ m_enumFlightMode = GROUNDED_MODE;
+
+ // Initialize the takeoff stuff
+ takeoffProfile = NULL;
+ numTakeoffSteps = 0;
+ currentStep = 0;
+ lastStepTime = 0;
+
+ m_startTime = startTime;
+
+ // Variables used to compute the sampling time of position information
+ lastPositionTime = 0;
+ positionTimeDelta = 0;
+
+ // Initialize the mutexes
+ pthread_mutex_init( &(this->userCommandsMutex), NULL);
+ pthread_mutex_init( &(this->cameraDataMutex), NULL);
+
+ // Open the file
+ try {
+ char fileName[255];
+ sprintf(fileName, "console_cflie%d", m_quadNum+1);
+ this->file_console.open(fileName, std::ios_base::out);
+ } catch (...) {
+ std::cout << "Error opening console file for " << +(m_quadNum+1);
+ exit(-1);
+ }
+
+ this->queryControllerType();
+ this->queryComputationType();
+
+ // Open the log file
+ char fileName[255];
+ sprintf(fileName, "logs/cflie%d", m_quadNum+1);
+ this->openLogFile(fileName);
+}
+
+CCrazyflie::~CCrazyflie() {
+ if (file_log) {
+ file_log.close();
+ }
+
+ if (file_console) {
+ file_console.close();
+ }
+
+ delete m_tocParameters;
+ delete m_tocLogs;
+}
+
+bool CCrazyflie::sendSetpoint(float fRoll, float fPitch, float fYaw,
+ short sThrust) {
+ if( ALL_THE_DEBUG ) printf( "Enter: %s\n", __FUNCTION__ );
+
+ fPitch = -fPitch;
+
+ int nSize = 3 * sizeof(float) + sizeof(short);
+ char cBuffer[nSize];
+ memcpy(&cBuffer[0 * sizeof(float)], &fRoll, sizeof(float));
+ memcpy(&cBuffer[1 * sizeof(float)], &fPitch, sizeof(float));
+ memcpy(&cBuffer[2 * sizeof(float)], &fYaw, sizeof(float));
+ memcpy(&cBuffer[3 * sizeof(float)], &sThrust, sizeof(short));
+
+ if( ALL_THE_DEBUG ) printf( "sending setpoint, thrust %d\n", (int)sThrust );
+
+ CCRTPPacket *crtpPacket = new CCRTPPacket(cBuffer, nSize, 3);
+ CCRTPPacket *crtpReceived = m_crRadio->sendPacket(m_nRadioChannel, crtpPacket, this);
+
+ delete crtpPacket;
+ if (crtpReceived != NULL) {
+ delete crtpReceived;
+ if( ALL_THE_DEBUG ) printf( "Exit: %s\n", __FUNCTION__ );
+ return true;
+ } else {
+ if( ALL_THE_DEBUG ) printf( "Exit: %s\n", __FUNCTION__ );
+ return false;
+ }
+}
+
+bool CCrazyflie::cycle() {
+// double dTimeNow = this->currentTime();
+ if( ALL_THE_DEBUG ) printf( "Enter: %s\n", __FUNCTION__ );
+ bool usbStat;
+
+ if( ALL_THE_DEBUG ) printf( "cycle: \n" );
+ switch (m_enumState) {
+ case STATE_ZERO: {
+ if( ALL_THE_DEBUG ) printf( " STATE_ZERO\n" );
+ m_enumState = STATE_READ_PARAMETERS_TOC;
+ }
+ break;
+
+ case STATE_READ_PARAMETERS_TOC: {
+ if( ALL_THE_DEBUG ) printf( " STATE_READ_PARAMETERS_TOC\n" );
+ //if (this->readTOCParameters()) {
+ m_enumState = STATE_READ_LOGS_TOC;
+ //}
+ }
+ break;
+
+ case STATE_READ_LOGS_TOC: {
+ if( ALL_THE_DEBUG ) printf( " STATE_READ_LOGS_TOC\n" );
+ //if (this->readTOCLogs()) {
+ m_enumState = STATE_START_LOGGING;
+ //}
+ }
+ break;
+
+ case STATE_START_LOGGING: {
+ if( ALL_THE_DEBUG ) printf( " STATE_START_LOGGING\n" );
+ //if (this->startLogging()) {
+ m_enumState = STATE_ZERO_MEASUREMENTS;
+ //}
+ }
+ break;
+
+ case STATE_ZERO_MEASUREMENTS: {
+ if( ALL_THE_DEBUG ) printf( " STATE_ZERO_MEASUREMENTS\n" );
+// m_tocLogs->processPackets( m_lstLoggingPackets );
+
+ // NOTE(winkler): Here, we can do measurement zero'ing. This is
+ // not done at the moment, though. Reason: No readings to zero at
+ // the moment. This might change when altitude becomes available.
+
+ m_enumState = STATE_NORMAL_OPERATION;
+ }
+ break;
+
+ case STATE_NORMAL_OPERATION: {
+ if( ALL_THE_DEBUG ) printf( " STATE_NORMAL_OPERATION\n" );
+
+ switch (this->m_enumFlightMode) {
+ case TAKEOFF_MODE:
+ // If the quad is taking off, run the takeoff routine
+ this->takeoffCycle();
+ break;
+ case LANDING_MODE:
+ // If the quad is landing, check for ground contact
+ if ( fabs(this->getPositionZ( coor_global )) < 0.05) {
+ std::cout << "Low enough at: " << fabs(this->getPositionZ( coor_global )) << std::endl;
+ this->setFlightMode(GROUNDED_MODE);
+ }
+ break;
+ default:
+ break;
+ }
+
+
+ //int port = -1;
+ //int channel = -1;
+ /*while(port != 5 && channel != 2) {
+ CCRTPPacket * logData = this->m_crRadio->waitForPacket(m_nRadioChannel, this);
+ port = logData->port();
+ channel = logData->channel();
+ if(logData->port() == 5 && logData->channel() == 2) {
+ this->m_tocLogs->processPackets(logData);
+ }
+ }*/
+
+
+
+ // If there is a packet from the computation network to send, send it
+ // Place a timeout of 5 packets on the sending
+ int count = 0;
+ CCRTPPacket *pk = new CCRTPPacket(0);
+ while( m_network->retrievePacket(m_quadNum, pk) && (count < 5) ) {
+ this->m_crRadio->sendPacket( m_nRadioChannel, pk, this);
+ count++;
+ }
+ delete pk;
+
+ // If there are commands, process them
+ count = 0;
+ while ( this->parseReceivedUserCommand() && (count < 5) ) {
+ count++;
+ }
+
+ // If there are PID parameters, send them
+ if ( this->pidToSend.size() > 0 ) {
+ PID_ControllerParams param = this->pidToSend.front();
+ std::string pidStr = "";
+ switch(param.controllerID) {
+ case PID_X:
+ pidStr = "X";
+ break;
+ case PID_Y:
+ pidStr = "Y";
+ break;
+ case PID_Z:
+ pidStr = "Z";
+ break;
+ case PID_ROLL:
+ pidStr = "ROLL";
+ break;
+ case PID_PITCH:
+ pidStr = "PITCH";
+ break;
+ case PID_YAW:
+ pidStr = "YAW";
+ break;
+ case PID_ROLL_RATE:
+ pidStr = "ROLLRATE";
+ break;
+ case PID_PITCH_RATE:
+ pidStr = "PITCHRATE";
+ break;
+ case PID_YAW_RATE:
+ pidStr = "YAWRATE";
+ break;
+ default:
+ break;
+ }
+ this->pidToSend.pop();
+ this->sendPID_Constants(param, "");
+ }
+
+ // If the setpoints are new, send them
+ if (this->m_sendSetpoints) {
+ this->sendPositionSetpoint();
+ this->m_sendSetpoints = false;
+
+ // Reset the flag to reset the controllers
+ this->m_resetController = false;
+ }
+
+ // If the position is new, send it
+ if (this->m_sendPosition) {
+ this->sendCameraData();
+ this->m_sendPosition = false;
+ } else {
+ // Send a dummy packet for keepalive otherwise
+ m_crRadio->sendDummyPacket(m_nRadioChannel, this);
+ }
+ }
+ break;
+
+ default: {
+ }
+ break;
+ }
+
+ if (m_crRadio->ackReceived()) {
+ if( ALL_THE_DEBUG ) printf( " received ACK\n" );
+ m_nAckMissCounter = 0;
+ } else {
+ m_nAckMissCounter++;
+ if( ALL_THE_DEBUG ) printf( " no ACK, counter now %d\n", m_nAckMissCounter );
+ }
+
+ usbStat = m_crRadio->usbOK();
+
+ if( ALL_THE_DEBUG ) printf( " usbStat: %d\n", usbStat );
+
+ if( ALL_THE_DEBUG ) printf( "Exit: %s\n", __FUNCTION__ );
+
+ return usbStat;
+}
+
+bool CCrazyflie::copterInRange() {
+ return m_nAckMissCounter < m_nAckMissTolerance;
+}
+
+double CCrazyflie::currentTime() {
+ if( ALL_THE_DEBUG ) printf( "Enter: %s\n", __FUNCTION__ );
+ struct timespec tsTime;
+ clock_gettime(CLOCK_MONOTONIC, &tsTime);
+
+ return( (tsTime.tv_sec + double(tsTime.tv_nsec) / NSEC_PER_SEC) - m_startTime);
+}
+
+bool CCrazyflie::isInitialized() {
+ return m_enumState == STATE_NORMAL_OPERATION;
+}
+
+enum State CCrazyflie::getCurrentState() {
+ return this->m_enumState;
+}
+
diff --git a/crazyflie_groundstation/src/ccrazyflie/CCrazyflie_callbacks.cpp b/crazyflie_groundstation/src/ccrazyflie/CCrazyflie_callbacks.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..c1e59fdef6a9d4a810210edf8297eebc984d601a
--- /dev/null
+++ b/crazyflie_groundstation/src/ccrazyflie/CCrazyflie_callbacks.cpp
@@ -0,0 +1,135 @@
+/**
+ * This file contains the callback functions for the CCrazyflie class.
+ *
+ */
+#include "CCrazyflie.h"
+#include <quat.h>
+
+/*
+ * Callback called whenever there is a new VRPN position packet.
+ * Note: This function is static in the class.
+ *
+ * @param crazyflie Pointer to the crazyflie object (cast as a void *)
+ * @param t The tracker results
+ */
+void VRPN_CALLBACK CCrazyflie::vrpnTrackerCallback(void *crazyflie, const vrpn_TRACKERCB t) {
+ // Make a new variable so the methods can be called
+ CCrazyflie *crazy = (CCrazyflie *) crazyflie;
+
+ // Temp structs to pass inside the function
+ angularPosition angles;
+ lateralPosition lat;
+ quaternionPosition quat;
+
+ // Pull out the lateral position into the struct
+ lat.x = t.pos[0];
+ lat.y = t.pos[1];
+ lat.z = t.pos[2];
+
+ // Pull out the angular position
+ q_vec_type euler;
+ q_to_euler(euler, t.quat);
+ angles.yaw = Q_RAD_TO_DEG(euler[0]);
+ angles.pitch = Q_RAD_TO_DEG(euler[1]);
+ angles.roll = Q_RAD_TO_DEG(euler[2]);
+
+ // Pull out the quaternion position
+ quat.q0 = t.quat[0];
+ quat.q1 = t.quat[1];
+ quat.q2 = t.quat[2];
+ quat.q3 = t.quat[3];
+
+ // Actually call the set routines
+ crazy->setCameraQuat(quat);
+ crazy->setCameraAngle(angles);
+ crazy->setCameraPosition(lat);
+}
+
+/**
+ * This callback is called by the radio whenever a packet is received
+ * from the Crazyflie.
+ *
+ * @param crtpPacket The packet received
+ */
+void CCrazyflie::callback_Packet(CCRTPPacket *crtpPacket) {
+ if( ALL_THE_DEBUG ) printf( "Enter: %s\n", __FUNCTION__ );
+ char *cData = crtpPacket->data();
+ int nLength = crtpPacket->dataLength();
+
+
+
+ switch ( crtpPacket->port() ) {
+ case CRTP_PORT_CONSOLE:
+ {
+ // Console
+ if ( nLength < 1) {
+ // See if the length is 0, if it is leave
+ break;
+ }
+
+ // Allocate space for the text array and a null terminator
+ char *cText;
+ cText = (char*) std::malloc(nLength + 1);
+ if (cText == NULL) {
+ // Memory allocation failed
+ break;
+ }
+
+ // Copy the data and add a null terminator
+ std::memcpy(cText, &cData[0], nLength);
+ cText[nLength] = '\0';
+
+ // Print it and flush the console
+ this->file_console << cText;
+ this->file_console.flush();
+
+ std::free(cText);
+ }
+ break;
+
+ case CRTP_PORT_LOG:
+ // Logging
+ if (crtpPacket->channel() == 2) {
+ CCRTPPacket *crtpLog = new CCRTPPacket(cData, nLength,
+ crtpPacket->channel());
+ crtpLog->setChannel(crtpPacket->channel());
+ crtpLog->setPort(crtpPacket->port());
+ //printf("Packet Process");
+ m_tocLogs->processPackets(crtpLog);
+
+ delete crtpLog;
+ }
+ break;
+
+ // OUTDATED
+ case CRTP_PORT_COMPUTATION:
+ // The computation port
+ {
+ if (crtpPacket->channel() == COMP_CHAN_COMPUTE_DATA) {
+ // This is the channel that contains data to pass along the network
+ if (m_network == NULL) {
+ // The network hasn't been enabled, so just ignore the packet
+ break;
+ }
+
+ if ( nLength < 1) {
+ // See if the length is 0, if it is leave
+ break;
+ }
+
+ // Pass the packet into the network so it can be processed
+ CCRTPPacket *crtpComp = new CCRTPPacket(cData, nLength,
+ crtpPacket->channel());
+ crtpComp->setChannel(crtpPacket->channel());
+ crtpComp->setPort(crtpPacket->port());
+
+ m_network->packetReceived(m_quadNum, crtpComp);
+
+ delete crtpComp;
+ }
+ }
+ break;
+ }
+
+ if( ALL_THE_DEBUG ) printf( "Exit: %s\n", __FUNCTION__ );
+}
\ No newline at end of file
diff --git a/crazyflie_groundstation/src/ccrazyflie/CCrazyflie_commands.cpp b/crazyflie_groundstation/src/ccrazyflie/CCrazyflie_commands.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..d00e4d5e704c91f270c95b016c8ad258183273bd
--- /dev/null
+++ b/crazyflie_groundstation/src/ccrazyflie/CCrazyflie_commands.cpp
@@ -0,0 +1,290 @@
+#include <chrono>
+
+#include "CCrazyflie.h"
+#include "structures.h"
+#include "userInput.h"
+
+#include "quadcopterData.h"
+#include "crazyflieGroundStation.h"
+
+float build_float(uint8_t* buf);
+
+/**
+ * Pass a command from the user into this Crazyflie
+ *
+ * @param command The command to pass in
+ */
+void CCrazyflie::passUserCommand(userCommands_t command) {
+ pthread_mutex_lock( &(this->userCommandsMutex) );
+
+ userCommands.push(command);
+
+ pthread_mutex_unlock( &(this->userCommandsMutex) );
+}
+
+/**
+ * Parse the commands that are sitting in the queue.
+ * Each call will only parse one command.
+ *
+ * @return True if command parsed, false otherwise
+ */
+bool CCrazyflie::parseReceivedUserCommand() {
+ // Get the mutex
+ pthread_mutex_lock( &(userCommandsMutex) );
+
+ // If there are no commands, then return
+ if (userCommands.size() == 0) {
+ pthread_mutex_unlock( &(userCommandsMutex) );
+ return (false);
+ }
+
+ // Get the next command from the queue and release the mutex
+ userCommands_t command = userCommands.front();
+ userCommands.pop();
+ pthread_mutex_unlock( &(userCommandsMutex) );
+
+
+ // Parse the command
+ switch ( command.type ) {
+ case CMD_KILL:
+ this->setFlightMode( GROUNDED_MODE );
+
+ std::cout << "Crazyflie " << (m_quadNum+1) << " Killed" << std::endl;
+ break;
+
+ case CMD_TAKEOFF:
+ this->setCoordinateSystem( coor_global );
+
+ // Configure the setpoints
+ this->setSetpointX( this->getPositionX( coor_global ), coor_global );
+ this->setSetpointY( this->getPositionY( coor_global ), coor_global );
+ this->setSetpointZ( defaultSetpoints[m_quadNum-1][2], coor_global );
+
+ // Get the quad ready to takeoff
+ this->setTakeoffProfile( quad1_takeoffSteps, quad1_numTakeoffSteps );
+ this->disableThrustController();
+ this->resetController();
+
+ // Actually takeoff
+ this->setFlightMode( TAKEOFF_MODE );
+ std::cout << "Crazyflie " << (m_quadNum+1) << " Taking off" << std::endl;
+ break;
+
+ case CMD_GOTO_DEFAULT:
+ this->setSetpointX( defaultSetpoints[m_quadNum-1][0], coor_global );
+ this->setSetpointY( defaultSetpoints[m_quadNum-1][1], coor_global );
+ this->setSetpointZ( defaultSetpoints[m_quadNum-1][2], coor_global );
+
+ std::cout << "Crazyflie " << (m_quadNum+1) << " Going to default coordinates" << std::endl;
+ break;
+
+ case CMD_LAND:
+ this->setFlightMode( LANDING_MODE );
+ std::cout << "Crazyflie " << (m_quadNum+1) << " Landing" << std::endl;
+ break;
+
+ case CMD_SET_X:
+ //this->setSetpointX( command.payload, this->m_systemToUse );
+ std::cout << "Crazyflie " << (m_quadNum+1) << " X Setpoint = " << command.payload << std::endl;
+ break;
+
+ case CMD_SET_Y:
+ //this->setSetpointY( command.payload, this->m_systemToUse );
+ std::cout << "Crazyflie " << (m_quadNum+1) << " Y Setpoint = " << command.payload << std::endl;
+ break;
+
+ case CMD_SET_Z:
+ //this->setSetpointZ( command.payload, this->m_systemToUse );
+ std::cout << "Crazyflie " << (m_quadNum+1) << " Z Setpoint = " << command.payload << std::endl;
+ break;
+
+ case CMD_SET_YAW:
+ //this->setSetpointYaw( command.payload );
+ std::cout << "Crazyflie " << (m_quadNum+1) << " Yaw Setpoint = " << command.payload << std::endl;
+ break;
+
+ case CMD_ALL_MOTORS:
+ /*this->setSetpointX( command.payload, coor_global );
+ this->setSetpointY( command.payload, coor_global );
+ this->setSetpointZ( command.payload, coor_global );
+ this->setSetpointYaw( command.payload );
+ */
+ std::cout << "Crazyflie " << (m_quadNum+1) << " Setting motors to = " << command.payload << std::endl;
+ break;
+
+ case CMD_BRIDGE_HOVER:
+ // Determine where on the bridge to land
+ lateralPosition bridgePos;
+ /*
+ if ( bridge->getInterpolatedPosition(&bridgePos, command.payload) ) {
+ // The position is valid
+ this->setSetpointX( bridgePos.x, coor_global);
+ this->setSetpointY( bridgePos.y, coor_global);
+ this->setSetpointZ( bridgePos.z - 0.5, coor_global);
+ this->setFlightMode( BRIDGE_HOVER_MODE );
+ std::cout << "Crazyflie " << (m_quadNum+1) << " Hover over bridge" << std::endl;
+ } else {
+ std::cout << "Bridge is not valid" << std::endl;
+ }
+ */
+ break;
+
+ case CMD_BRIDGE_LAND:
+ // Land on the bridge by just changing the Z setpoint
+ this->setSetpointZ( this->getSetpointZ(this->m_systemToUse) + 0.7, this->m_systemToUse );
+ this->setFlightMode( BRIDGE_LANDING_MODE );
+
+ std::cout << "Crazyflie " << (m_quadNum+1) << " Land on bridge" << std::endl;
+ break;
+
+ case CMD_BRIDGE_TAKEOFF:
+ this->setFlightMode( BRIDGE_TAKEOFF_MODE );
+ std::cout << "Crazyflie " << (m_quadNum+1) << " Take off from bridge" << std::endl;
+ break;
+
+ case CMD_TOGGLE_COOR:
+ // Toggle the coordinate system
+ if (this->m_systemToUse == coor_local) {
+ this->m_systemToUse = coor_global;
+
+ // Remap the setpoints so there is no jump
+ this->setSetpointX( this->getSetpointX(coor_local) + this->m_localOrigin.x , coor_global);
+ this->setSetpointY( this->getSetpointY(coor_local) + this->m_localOrigin.y , coor_global);
+ this->setSetpointZ( this->getSetpointZ(coor_local) + this->m_localOrigin.z , coor_global);
+
+ std::cout << "Crazyflie " << (m_quadNum+1) << " Using global system" << std::endl;
+ } else {
+ this->m_systemToUse = coor_local;
+
+ // Remap the setpoints so there is no jump
+ this->setSetpointX( this->getSetpointX(coor_global) - this->m_localOrigin.x , coor_local);
+ this->setSetpointY( this->getSetpointY(coor_global) - this->m_localOrigin.y , coor_local);
+ this->setSetpointZ( this->getSetpointZ(coor_global) - this->m_localOrigin.z , coor_local);
+
+
+ std::cout << "Crazyflie " << (m_quadNum+1) << " Using local system" << std::endl;
+ }
+ break;
+
+ case CMD_TOGGLE_COMP:
+ // Toggle the computation on and off
+ if (this->computationStarted) {
+ this->disableComputation();
+ std::cout << "Crazyflie " << (m_quadNum+1) << " Disabling computation" << std::endl;
+ } else {
+ this->enableComputation();
+ std::cout << "Crazyflie " << (m_quadNum+1) << " Enabling computation" << std::endl;
+ }
+ break;
+
+ case ACMD_GETPARAM:
+ {
+ int nSize = 1;
+ char cBuffer[nSize];
+
+ CCRTPPacket *crtpPacket = new CCRTPPacket(cBuffer, nSize, CRTP_PORT_PARAM);
+ crtpPacket->setChannel(0x01); // The PID update is on channel 1
+ CCRTPPacket *crtpReceived;
+
+ //int id = (char) command.payload;
+ char id = (char) command.payload[2];
+ //float fvalue = build_float(&command.payload[4]);
+ //uint16_t pvalue = (uint16_t) fvalue;
+
+ cBuffer[0] = id;
+ //memcpy(&cBuffer[1 * sizeof(uint16_t)], &pvalue, sizeof(uint16_t));
+ crtpPacket->setData(cBuffer, nSize);
+ crtpReceived = m_crRadio->sendAndReceive(crtpPacket, m_nRadioChannel, this);
+
+ send(command.fd, crtpReceived->sendableData(), crtpReceived->sendableDataLength(), 0);
+
+ break;
+ }
+
+
+ case ACMD_SETPARAM:
+ {
+ int nSize = sizeof(float) + 1;
+ char cBuffer[nSize];
+
+ CCRTPPacket *crtpPacket = new CCRTPPacket(cBuffer, nSize, CRTP_PORT_PARAM);
+ crtpPacket->setChannel(0x02); // The PID update is on channel 1
+ CCRTPPacket *crtpReceived;
+
+ //int id = (char) command.payload;
+ char pid = (char) command.payload[2];
+ float fvalue = build_float(&command.payload[4]);
+ uint16_t pvalue = (uint16_t) fvalue;
+
+ cBuffer[0] = pid;
+ memcpy(&cBuffer[1 * sizeof(uint16_t)], &pvalue, sizeof(uint16_t));
+ crtpPacket->setData(cBuffer, nSize);
+ crtpReceived = m_crRadio->sendAndReceive(crtpPacket, m_nRadioChannel, this);
+
+ break;
+ }
+
+ case ACMD_SETPOINT:
+ {
+ float roll = build_float(&command.payload[13]);
+ float pitch = build_float(&command.payload[9]);
+ float yaw = build_float(&command.payload[17]);
+ float fthrust = build_float(&command.payload[5]);
+ float ftime = build_float(&command.payload[1]);
+ if(command.payload[0] == 1) {
+ short thrust = (short) fthrust;
+ this->sendSetpoint(roll, pitch, yaw, thrust);
+ }
+ else if(command.payload[0] == 2) {
+ int nSize = 4 * sizeof(float) + sizeof(char);
+ char cBuffer[nSize];
+ cBuffer[0] = 8;
+ memcpy(&cBuffer[0 * sizeof(float) + 1], &roll, sizeof(float));
+ memcpy(&cBuffer[1 * sizeof(float) + 1], &pitch, sizeof(float));
+ memcpy(&cBuffer[2 * sizeof(float) + 1], &yaw, sizeof(float));
+ memcpy(&cBuffer[3 * sizeof(float) + 1], &fthrust, sizeof(float));
+
+ CCRTPPacket *crtpPacket = new CCRTPPacket(cBuffer, nSize, 7);
+ crtpPacket->setChannel(0x00);
+ int milliseconds = ftime*1000;
+ CCRTPPacket *crtpReceived = NULL;
+ if(ftime == 0) {
+ crtpReceived = m_crRadio->sendPacket(m_nRadioChannel, crtpPacket, this);
+ }
+ else {
+ auto start = std::chrono::high_resolution_clock::now();
+ auto timeNow = std::chrono::high_resolution_clock::now();
+ auto duration = std::chrono::duration_cast<std::chrono::milliseconds>(timeNow-start);
+ while(duration.count() < milliseconds) {
+ usleep(10);
+ crtpReceived = m_crRadio->sendPacket(m_nRadioChannel, crtpPacket, this);
+ timeNow = std::chrono::high_resolution_clock::now();
+ duration = std::chrono::duration_cast<std::chrono::milliseconds>(timeNow-start);
+ }
+ }
+
+
+ delete crtpPacket;
+ }
+ break;
+ }
+
+ }
+
+ // A command was parsed
+ return( true );
+}
+
+float build_float(uint8_t* buf) {
+ union {
+ float f;
+ int i;
+ } x;
+
+ x.i = buf[3] << 24
+ | buf[2] << 16
+ | buf[1] << 8
+ | buf[0];
+
+ return x.f;
+}
\ No newline at end of file
diff --git a/crazyflie_groundstation/src/ccrazyflie/CCrazyflie_commsFuncs.cpp b/crazyflie_groundstation/src/ccrazyflie/CCrazyflie_commsFuncs.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..e166a50fb1363b2fddaa76913408d0371311f31e
--- /dev/null
+++ b/crazyflie_groundstation/src/ccrazyflie/CCrazyflie_commsFuncs.cpp
@@ -0,0 +1,304 @@
+#include "CCrazyflie.h"
+
+/**
+ * Query the type of controller that the Crazyflie is using
+ *
+ * @return Controller type
+ */
+int CCrazyflie::queryControllerType() {
+ if( ALL_THE_DEBUG ) printf( "Enter: %s\n", __FUNCTION__ );
+
+ // Create just random data to send (Unsure how the packet behaves if there is no data)
+ int nSize = 1;
+ char cBuffer[1];
+ int controllerId = this->m_tocParameters->idForName("CONTROLLER");
+ cBuffer[0] = controllerId;
+
+ // Controller update is on port 8
+ // OUTDATED
+ CCRTPPacket *crtpPacket = new CCRTPPacket(cBuffer, nSize, CRTP_PORT_PARAM);
+ crtpPacket->setChannel(0x01); // Query is on channel 0
+
+ // Send the packet and wait for a response
+ CCRTPPacket *crtpReceived = m_crRadio->sendAndReceive(crtpPacket, m_nRadioChannel, this);
+
+ // Parse the response
+ int dataLength = crtpReceived->dataLength();
+
+ int retVal = -1;
+ if (dataLength >= 1) {
+ // Parse the one data byte to get controller type
+ char *cData = crtpReceived->data();
+ controllerType = cData[0];
+ retVal = controllerType;
+ } else {
+ // This isn't good...
+ retVal = -1;
+ }
+
+ // Clear variables and return
+ delete crtpPacket;
+ delete crtpReceived;
+ if( ALL_THE_DEBUG ) printf( "Exit: %s\n", __FUNCTION__ );
+ return( retVal );
+}
+
+
+bool CCrazyflie::sendSGSF_Gains( CONTROLLER_SGSF_GAINS gains) {
+ if( ALL_THE_DEBUG ) printf( "Enter: %s\n", __FUNCTION__ );
+
+ if (this->getControllerType() != 4) {
+ std::cout << "SGSF not enabled, ignoring constants" << std::endl;
+ return false;
+ }
+
+ int nSize = 1 + sizeof(CONTROLLER_SGSF_GAINS);
+ char cBuffer[nSize];
+ cBuffer[0] = CONT_SGSF_UPDATE_GAINS;
+ memcpy(&(cBuffer[1]), &gains, sizeof(CONTROLLER_SGSF_GAINS) );
+
+ printf( "sending SGSF Gains (%d, %5.3f, %5.3f, %5.3f, %4.1f)\n",
+ gains.state, gains.ut, gains.ua, gains.ue, gains.ur);
+
+ // The PID update is on port 8
+ // OUTDATED
+ CCRTPPacket *crtpPacket = new CCRTPPacket(cBuffer, nSize, CRTP_PORT_PARAM);
+ crtpPacket->setChannel(0x02); // The PID update is on channel 1
+ CCRTPPacket *crtpReceived = m_crRadio->sendAndReceive(crtpPacket, m_nRadioChannel, this);
+
+ bool retVal = false;
+ if (crtpReceived != NULL) {
+ retVal = true;
+ } else {
+ retVal = false;
+ }
+
+
+ // Clear variables and return
+ delete crtpPacket;
+ delete crtpReceived;
+ if( ALL_THE_DEBUG ) printf( "Exit: %s\n", __FUNCTION__ );
+ return( retVal );
+}
+
+bool CCrazyflie::sendPID_Constants( PID_ControllerParams params, std::string str ) {
+ if( ALL_THE_DEBUG ) printf( "Enter: %s\n", __FUNCTION__ );
+
+ if (this->getControllerType() != 1) {
+ std::cout << "PID not enabled, ignoring constants" << std::endl;
+ return false;
+ }
+
+ int nSize = sizeof(float) + 1;
+ char cBuffer[nSize];
+ /*
+ memcpy(&cBuffer[0 * sizeof(float)], ¶ms.Kp, sizeof(float));
+ memcpy(&cBuffer[1 * sizeof(float)], ¶ms.Ki, sizeof(float));
+ memcpy(&cBuffer[2 * sizeof(float)], ¶ms.Kd, sizeof(float));
+ memcpy(&cBuffer[3 * sizeof(float)], ¶ms.iLimit, sizeof(float));
+ memcpy(&cBuffer[4 * sizeof(float)], ¶ms.controllerID, sizeof(uint8_t));
+ */
+
+ printf( "sending PID Values (%d, %5.3f, %5.3f, %5.3f, %4.1f)\n",
+ params.controllerID, params.Kp, params.Ki, params.Kd, params.iLimit);
+
+ // The PID update is on port 8
+ // OUTDATED
+ CCRTPPacket *crtpPacket = new CCRTPPacket(cBuffer, nSize, CRTP_PORT_PARAM);
+ crtpPacket->setChannel(0x02); // The PID update is on channel 1
+ CCRTPPacket *crtpReceived;
+
+ std::string name = "";
+ int id = -1;
+
+ for(int i = 0; i < 3; i++) {
+ name = str;
+ switch(i) {
+ case 0:
+ if(str.compare("X") == 0 || str.compare("Y") == 0 || str.compare("Z") == 0) {
+ name = str.append("p");
+ }
+ else {
+ name = str.append("P");
+ }
+ id = this->m_tocParameters->idForName(name);
+ cBuffer[0] = id;
+ memcpy(&cBuffer[1 * sizeof(float)], ¶ms.Kp, sizeof(float));
+ crtpPacket->setData(cBuffer, nSize);
+ crtpReceived = m_crRadio->sendAndReceive(crtpPacket, m_nRadioChannel, this);
+ break;
+ case 1:
+ if(str.compare("X") == 0 || str.compare("Y") == 0 || str.compare("Z") == 0) {
+ name = str.append("i");
+ }
+ else {
+ name = str.append("I");
+ }
+ id = this->m_tocParameters->idForName(name);
+ cBuffer[0] = id;
+ memcpy(&cBuffer[1 * sizeof(float)], ¶ms.Kd, sizeof(float));
+ crtpPacket->setData(cBuffer, nSize);
+ crtpReceived = m_crRadio->sendAndReceive(crtpPacket, m_nRadioChannel, this);
+ break;
+ case 2:
+ if(str.compare("X") == 0 || str.compare("Y") == 0 || str.compare("Z") == 0) {
+ name = str.append("d");
+ }
+ else {
+ name = str.append("D");
+ }
+ id = this->m_tocParameters->idForName(name);
+ cBuffer[0] = id;
+ memcpy(&cBuffer[1 * sizeof(float)], ¶ms.Ki, sizeof(float));
+ crtpPacket->setData(cBuffer, nSize);
+ crtpReceived = m_crRadio->sendAndReceive(crtpPacket, m_nRadioChannel, this);
+ break;
+ case 3:
+ name = str.append("iLimit");
+ id = this->m_tocParameters->idForName(name);
+ cBuffer[0] = id;
+ memcpy(&cBuffer[1 * sizeof(float)], ¶ms.iLimit, sizeof(float));
+ crtpPacket->setData(cBuffer, nSize);
+ crtpReceived = m_crRadio->sendAndReceive(crtpPacket, m_nRadioChannel, this);
+ break;
+ default:
+ break;
+ }
+ }
+
+ bool retVal = false;
+ if (crtpReceived != NULL) {
+ retVal = true;
+ } else {
+ retVal = false;
+ }
+
+
+ // Clear variables and return
+ delete crtpPacket;
+ delete crtpReceived;
+ if( ALL_THE_DEBUG ) printf( "Exit: %s\n", __FUNCTION__ );
+ return( retVal );
+}
+
+/**
+ * Modify if the thrust controller is active or not.
+ *
+ * @param enabled True to enable controller, false to disable
+ * @return True if packet received successfully
+ */
+bool CCrazyflie::modifyThrustController(bool enabled) {
+ if( ALL_THE_DEBUG ) printf( "Enter: %s\n", __FUNCTION__ );
+
+ // Create just random data to send (Unsure how the packet behaves if there is no data)
+ int nSize = 1;
+ char cBuffer[1];
+ if (enabled) {
+ cBuffer[0] = 2;
+ } else {
+ cBuffer[0] = 1;
+ }
+
+ // Controller update is on port 8
+ // OUTDATED
+ CCRTPPacket *crtpPacket = new CCRTPPacket(cBuffer, nSize, CRTP_PORT_CONTROLLER_UPDATE);
+ crtpPacket->setChannel(CONTROLLER_SWITCH_THROTTLE_CTRL); // Query is on channel 0
+
+ // Send the packet and wait for a response
+ CCRTPPacket *crtpReceived = m_crRadio->sendAndReceive(crtpPacket, m_nRadioChannel, this);
+
+ // See if something was received
+ bool retVal = false;
+ if (crtpReceived != NULL) {
+ retVal = true;
+ } else {
+ retVal = false;
+ }
+
+ // Clear variables and return
+ delete crtpPacket;
+ delete crtpReceived;
+ if( ALL_THE_DEBUG ) printf( "Exit: %s\n", __FUNCTION__ );
+ return( retVal );
+}
+
+bool CCrazyflie::sendCameraData() {
+ if( ALL_THE_DEBUG ) printf( "Enter: %s\n", __FUNCTION__ );
+
+ // Prepare the buffer for data
+ int nSize = 4 * sizeof(float);
+ char cBuffer[nSize];
+
+ float xPosition = this->getPositionX(this->m_systemToUse);
+ float yPosition = this->getPositionY(this->m_systemToUse);
+ float zPosition = this->getPositionZ(this->m_systemToUse);
+
+ // Copy the data into a send buffer
+ memcpy(&cBuffer[0 * sizeof(float)], &(xPosition), sizeof(float));
+ memcpy(&cBuffer[1 * sizeof(float)], &(yPosition), sizeof(float));
+ memcpy(&cBuffer[2 * sizeof(float)], &(zPosition), sizeof(float));
+ memcpy(&cBuffer[3 * sizeof(float)], &(this->m_currentCameraAngle.yaw), sizeof(float));
+
+ if( ALL_THE_DEBUG ) printf( "sending position (%5.3f, %5.3f, %5.3f, %4.1f)\n",
+ xPosition, yPosition, zPosition, this->m_currentCameraAngle.yaw);
+
+
+ // The XYZ current position is on port 7
+ CCRTPPacket *crtpPacket = new CCRTPPacket(cBuffer, nSize, CRTP_PORT_XYZ_POS);
+ CCRTPPacket *crtpReceived = m_crRadio->sendPacket(m_nRadioChannel, crtpPacket, this);
+
+ delete crtpPacket;
+ if (crtpReceived != NULL) {
+ delete crtpReceived;
+ if( ALL_THE_DEBUG ) printf( "Exit: %s\n", __FUNCTION__ );
+ return true;
+ } else {
+ if( ALL_THE_DEBUG ) printf( "Exit: %s\n", __FUNCTION__ );
+ return false;
+ }
+}
+
+
+bool CCrazyflie::sendPositionSetpoint() {
+ if( ALL_THE_DEBUG ) printf( "Enter: %s\n", __FUNCTION__ );
+
+ uint8_t resetValue;
+ if (this->m_resetController) {
+ resetValue = 1;
+ } else {
+ resetValue = 0;
+ }
+
+ float xSetpoint = this->getSetpointX(this->m_systemToUse);
+ float ySetpoint = this->getSetpointY(this->m_systemToUse);
+ float zSetpoint = this->getSetpointZ(this->m_systemToUse);
+
+ int nSize = 4 * sizeof(float) + 1*sizeof(uint16_t) + 1*sizeof(uint8_t);
+ char cBuffer[nSize];
+
+ memcpy(&cBuffer[0 * sizeof(float)], &(xSetpoint), sizeof(float));
+ memcpy(&cBuffer[1 * sizeof(float)], &(ySetpoint), sizeof(float));
+ memcpy(&cBuffer[2 * sizeof(float)], &(zSetpoint), sizeof(float));
+ memcpy(&cBuffer[3 * sizeof(float)], &(this->m_desiredYaw), sizeof(float));
+ memcpy(&cBuffer[4 * sizeof(float)], &(this->m_baseThrust), sizeof(uint16_t));
+ memcpy(&cBuffer[4 * sizeof(float) + sizeof(uint16_t)], &resetValue, sizeof(uint8_t));
+
+ if( ALL_THE_DEBUG ) printf( "sending setpoint (%5.3f, %5.3f, %5.3f, %4.1f)\n",
+ xSetpoint, ySetpoint, zSetpoint, this->m_desiredYaw);
+
+
+
+ // The XYZ setpoint is on port 6
+ CCRTPPacket *crtpPacket = new CCRTPPacket(cBuffer, nSize, CRTP_PORT_XYZ_SET);
+ CCRTPPacket *crtpReceived = m_crRadio->sendPacket(m_nRadioChannel, crtpPacket, this);
+
+ delete crtpPacket;
+ if (crtpReceived != NULL) {
+ delete crtpReceived;
+ if( ALL_THE_DEBUG ) printf( "Exit: %s\n", __FUNCTION__ );
+ return true;
+ } else {
+ if( ALL_THE_DEBUG ) printf( "Exit: %s\n", __FUNCTION__ );
+ return false;
+ }
+}
\ No newline at end of file
diff --git a/crazyflie_groundstation/src/ccrazyflie/CCrazyflie_computationFuncs.cpp b/crazyflie_groundstation/src/ccrazyflie/CCrazyflie_computationFuncs.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..1c9e0d308e64746e847789461bfc259db8062bd4
--- /dev/null
+++ b/crazyflie_groundstation/src/ccrazyflie/CCrazyflie_computationFuncs.cpp
@@ -0,0 +1,122 @@
+#include "CCrazyflie.h"
+#include "CCRTPPacket.h"
+
+
+
+int CCrazyflie::queryComputationType() {
+ // Create just random data to send (Unsure how the packet behaves if there is no data)
+ int nSize = 1;
+ char cBuffer[1];
+ int computationId = this->m_tocParameters->idForName("mode");
+ cBuffer[0] = computationId;
+
+ // Create the packet to send
+ // OUTDATED
+ CCRTPPacket *crtpPacket = new CCRTPPacket(cBuffer, nSize, CRTP_PORT_PARAM);
+ crtpPacket->setChannel(0x01);
+ CCRTPPacket *crtpReceived = m_crRadio->sendAndReceive(crtpPacket, m_nRadioChannel, this);
+
+ // Parse the response
+ int dataLength = crtpReceived->dataLength();
+
+ int retVal = -1;
+ if (dataLength >= 1) {
+ // Parse the one data byte to get controller type
+ char *cData = crtpReceived->data();
+ this->computationType = cData[0];
+ retVal = this->computationType;
+ } else {
+ // This isn't good...
+ retVal = -1;
+ }
+
+ // Clear variables and return
+ delete crtpPacket;
+ delete crtpReceived;
+
+ return( retVal );
+}
+
+void CCrazyflie::enableComputation() {
+ // Populate the packet
+ int nSize = 2;
+ char cBuffer[2];
+ cBuffer[0] = COMP_CONFIG_ENABLE;
+ cBuffer[1] = 1;
+
+ // Create the packet to send
+ // OUTDATED
+ CCRTPPacket *crtpPacket = new CCRTPPacket(cBuffer, nSize, CRTP_PORT_COMPUTATION);
+ crtpPacket->setChannel(COMP_CHAN_CONFIG);
+ CCRTPPacket *crtpReceived = m_crRadio->sendAndReceive(crtpPacket, m_nRadioChannel, this);
+
+ // Clear variables and return
+ delete crtpPacket;
+ delete crtpReceived;
+
+ this->computationStarted = true;
+}
+
+void CCrazyflie::disableComputation() {
+ // Populate the packet
+ int nSize = 2;
+ char cBuffer[2];
+ cBuffer[0] = COMP_CONFIG_ENABLE;
+ cBuffer[1] = 0;
+
+ // Create the packet to send
+ // OUTDATED
+ CCRTPPacket *crtpPacket = new CCRTPPacket(cBuffer, nSize, CRTP_PORT_COMPUTATION);
+ crtpPacket->setChannel(COMP_CHAN_CONFIG);
+ CCRTPPacket *crtpReceived = m_crRadio->sendAndReceive(crtpPacket, m_nRadioChannel, this);
+
+ // Clear variables and return
+ delete crtpPacket;
+ delete crtpReceived;
+
+ this->computationStarted = false;
+}
+
+/**
+ * Set the computation data rate in Hz.
+ * Note: Maximum rate of 1000 Hz.
+ *
+ * @param rate The computation rate in Hz
+ */
+void CCrazyflie::setComputationRate(uint16_t rate) {
+ // Populate the packet
+ int nSize = 3;
+ char cBuffer[3];
+ cBuffer[0] = COMP_CONFIG_RATE;
+
+ memcpy( &(cBuffer[1]), &rate, sizeof(uint16_t) );
+
+ // Create the packet to send
+ // OUTDATED
+ CCRTPPacket *crtpPacket = new CCRTPPacket(cBuffer, nSize, CRTP_PORT_COMPUTATION);
+ crtpPacket->setChannel(COMP_CHAN_CONFIG);
+ CCRTPPacket *crtpReceived = m_crRadio->sendAndReceive(crtpPacket, m_nRadioChannel, this);
+
+ // Clear variables and return
+ delete crtpPacket;
+ delete crtpReceived;
+}
+
+void CCrazyflie::configureComputation( void *config, uint8_t length) {
+ // Populate the packet
+ int nSize = length+1;
+ char *cBuffer;
+ cBuffer = (char*) malloc(nSize);
+ cBuffer[0] = COMP_CONFIG_FUNC; // Add the appropriate opcode
+ memcpy(&cBuffer[1], config, length);
+
+ // Create the packet to send
+ // OUTDATED
+ CCRTPPacket *crtpPacket = new CCRTPPacket(cBuffer, nSize, CRTP_PORT_COMPUTATION);
+ crtpPacket->setChannel(COMP_CHAN_CONFIG);
+ CCRTPPacket *crtpReceived = m_crRadio->sendAndReceive(crtpPacket, m_nRadioChannel, this);
+
+ // Clear variables and return
+ delete crtpPacket;
+ delete crtpReceived;
+}
\ No newline at end of file
diff --git a/crazyflie_groundstation/src/ccrazyflie/CCrazyflie_controllerFuncs.cpp b/crazyflie_groundstation/src/ccrazyflie/CCrazyflie_controllerFuncs.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..65ad1088b22ecc37b9a2c9f499f718c03a2e15e2
--- /dev/null
+++ b/crazyflie_groundstation/src/ccrazyflie/CCrazyflie_controllerFuncs.cpp
@@ -0,0 +1,104 @@
+/*
+ * This file contains functions for interacting with the controller
+ * on the Crazyflie quadcopter. These are part of the CCrazyflie class.
+ */
+#include "CCrazyflie.h"
+#include <ostream>
+
+
+/*
+ * This function will cycle through the takeoff profile for the Crazyflie.
+ */
+void CCrazyflie::takeoffCycle() {
+ // The current time
+ double time = this->currentTime();
+
+ // Make sure the takeoff profile is initialized
+ if (this->takeoffProfile == NULL) {
+ // The takeoff profile hasn't been initialized, return and don't do anything
+ return;
+ }
+
+ // Check if the next step uses time or altitude
+ switch ( this->takeoffProfile[this->currentStep].type ) {
+ case step_time:
+ // The next step is time based
+ if ( abs( time - this->lastStepTime ) > this->takeoffProfile[this->currentStep].condition ) {
+ // The step has ended, move to the next one
+ this->currentStep++;
+ if (this->currentStep > this->numTakeoffSteps) {
+ this->currentStep = this->numTakeoffSteps;
+ }
+ }
+ break;
+ case step_height:
+ // The next step is height based
+ if ( this->getPositionZ( coor_global ) < this->takeoffProfile[this->currentStep].condition ) {
+ // The step has ended, move to the next one
+ this->currentStep++;
+ if (this->currentStep > this->numTakeoffSteps) {
+ this->currentStep = this->numTakeoffSteps;
+ }
+ }
+ break;
+ case step_final:
+ default:
+ // Renable the Z controller
+ this->enableThrustController();
+
+ // If it is the final step, then put it into hover mode
+ this->setFlightMode(HOVER_MODE);
+
+ std::cout << "Takeoff complete" << std::endl;
+ }
+
+ // Set the base thrust
+ this->setBaseThrust( this->takeoffProfile[this->currentStep].thrust );
+}
+
+/**
+ * Enable the thrust controller.
+ */
+bool CCrazyflie::enableThrustController() {
+ if( ALL_THE_DEBUG ) printf( "Enter: %s\n", __FUNCTION__ );
+
+ std::cout << "Enabling thrust controller" << std::endl;
+ bool retVal = this->modifyThrustController(true);
+
+ if( ALL_THE_DEBUG ) printf( "Exit: %s\n", __FUNCTION__ );
+ return( retVal );
+}
+
+/**
+ * Reset the controller on the quadcopter
+ */
+void CCrazyflie::resetController() {
+ if( ALL_THE_DEBUG ) printf( "Enter: %s\n", __FUNCTION__ );
+
+ this->m_resetController = true;
+
+ if( ALL_THE_DEBUG ) printf( "Exit: %s\n", __FUNCTION__ );
+}
+
+/**
+ * Disable the thrust controller.
+ */
+bool CCrazyflie::disableThrustController() {
+ if( ALL_THE_DEBUG ) printf( "Enter: %s\n", __FUNCTION__ );
+
+ std::cout << "Disabling thrust controller" << std::endl;
+ bool retVal = this->modifyThrustController(false);
+
+ if( ALL_THE_DEBUG ) printf( "Exit: %s\n", __FUNCTION__ );
+ return( retVal );
+}
+
+
+void CCrazyflie::setPID_Constants( PID_ControllerParams params ) {
+ if( ALL_THE_DEBUG ) printf( "Enter: %s\n", __FUNCTION__ );
+
+ // Add the PID parameters to the buffer to send
+ pidToSend.push(params);
+
+ if( ALL_THE_DEBUG ) printf( "Exit: %s\n", __FUNCTION__ );
+}
diff --git a/crazyflie_groundstation/src/ccrazyflie/CCrazyflie_getFuncs.cpp b/crazyflie_groundstation/src/ccrazyflie/CCrazyflie_getFuncs.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..37082849614e85031988c4c0463aad0b5a249cd2
--- /dev/null
+++ b/crazyflie_groundstation/src/ccrazyflie/CCrazyflie_getFuncs.cpp
@@ -0,0 +1,207 @@
+#include "CCrazyflie.h"
+#include "CCrazyRadio.h"
+
+int CCrazyflie::getControllerType() {
+ return this->controllerType;
+}
+
+int CCrazyflie::getComputationType() {
+ return this->computationType;
+}
+
+std::string CCrazyflie::getComputationTypeString() {
+ switch ( this->getComputationType() ) {
+ case 0:
+ return( "Computation:None" );
+ break;
+ case 1:
+ return( "Computation:Localization" );
+ break;
+ }
+ return( "Computation:Unknown" );
+}
+
+std::string CCrazyflie::getControllerTypeString() {
+ switch (this->getControllerType() ) {
+ case 0:
+ return( "Controller:Bypassed" );
+ break;
+ case 1:
+ return( "Controller:PID" );
+ break;
+ case 2:
+ return( "Controller:LQR" );
+ break;
+ case 3:
+ return( "Controller:LQI" );
+ break;
+ case 4:
+ return( "Controller:SGSF" );
+ }
+ return( "Controller:Unknown" );
+}
+
+double CCrazyflie::batteryLevel() {
+ return this->sensorDoubleValue("pm.vbat");
+}
+
+float CCrazyflie::batteryState() {
+ return this->sensorDoubleValue("pm.state");
+}
+
+int CCrazyflie::getRadioChannel() {
+ return m_nRadioChannel;
+}
+
+XferRate CCrazyflie::getRadioDataRate() {
+ return m_radioDataRate;
+}
+
+int CCrazyflie::getQuadcopterNumber() {
+ return this->m_quadNum;
+}
+
+/*
+ * These functions will return the current quadcopter
+ * lateral position as reported by the camera system.
+ */
+float CCrazyflie::getPositionX(coordinateSystem coor) {
+ float retVal = 0;
+ pthread_mutex_lock( &(this->cameraDataMutex) );
+
+ if (coor == coor_local) {
+ retVal = this->m_currentLocalPosition.x;
+ } else {
+ retVal = this->m_currentCameraPosition.x;
+ }
+
+ pthread_mutex_unlock( &(this->cameraDataMutex) );
+ return(retVal);
+}
+
+float CCrazyflie::getPositionY(coordinateSystem coor) {
+ float retVal = 0;
+ pthread_mutex_lock( &(this->cameraDataMutex) );
+
+ if (coor == coor_local) {
+ retVal = this->m_currentLocalPosition.y;
+ } else {
+ retVal = this->m_currentCameraPosition.y;
+ }
+
+ pthread_mutex_unlock( &(this->cameraDataMutex) );
+ return(retVal);
+}
+
+float CCrazyflie::getPositionZ(coordinateSystem coor) {
+ float retVal = 0;
+ pthread_mutex_lock( &(this->cameraDataMutex) );
+
+ if (coor == coor_local) {
+ retVal = this->m_currentLocalPosition.z;
+ } else {
+ retVal = this->m_currentCameraPosition.z;
+ }
+
+ pthread_mutex_unlock( &(this->cameraDataMutex) );
+ return(retVal);
+}
+
+
+/*
+ * These functions will return the current quadcopter
+ * angular position as reported by the quadcopter sensors.
+ */
+float CCrazyflie::getQuadRoll() {
+ return this->sensorDoubleValue("stabilizer.roll");
+}
+
+float CCrazyflie::getQuadPitch() {
+ return this->sensorDoubleValue("stabilizer.pitch");
+}
+
+float CCrazyflie::getQuadYaw() {
+ return this->sensorDoubleValue("stabilizer.yaw");
+}
+
+
+/*
+ * These functions will return the current quadcopter
+ * angular position as reported by the camera system.
+ */
+float CCrazyflie::getCameraRoll() {
+ pthread_mutex_lock( &(this->cameraDataMutex) );
+ float retVal = this->m_currentCameraAngle.roll;
+ pthread_mutex_unlock( &(this->cameraDataMutex) );
+ return(retVal);
+}
+
+float CCrazyflie::getCameraPitch() {
+ pthread_mutex_lock( &(this->cameraDataMutex) );
+ float retVal = this->m_currentCameraAngle.pitch;
+ pthread_mutex_unlock( &(this->cameraDataMutex) );
+ return(retVal);
+}
+
+float CCrazyflie::getCameraYaw() {
+ pthread_mutex_lock( &(this->cameraDataMutex) );
+ float retVal = this->m_currentCameraAngle.yaw;
+ pthread_mutex_unlock( &(this->cameraDataMutex) );
+ return(retVal);
+}
+
+
+/*
+ * These functions will return the current controller setpoints.
+ */
+float CCrazyflie::getSetpointX(coordinateSystem coor) {
+ float retVal = 0;
+
+ if (coor == coor_local) {
+ retVal = this->m_desiredPositionLocal.x;
+ } else {
+ retVal = this->m_desiredPositionGlobal.x;
+ }
+
+ return retVal;
+}
+
+float CCrazyflie::getSetpointY(coordinateSystem coor) {
+ float retVal = 0;
+
+ if (coor == coor_local) {
+ retVal = this->m_desiredPositionLocal.y;
+ } else {
+ retVal = this->m_desiredPositionGlobal.y;
+ }
+
+ return retVal;
+}
+
+float CCrazyflie::getSetpointZ(coordinateSystem coor) {
+ float retVal = 0;
+
+ if (coor == coor_local) {
+ retVal = this->m_desiredPositionLocal.z;
+ } else {
+ retVal = this->m_desiredPositionGlobal.z;
+ }
+
+ return retVal;
+}
+
+float CCrazyflie::getSetpointYaw() {
+ return this->m_desiredYaw;
+}
+
+uint16_t CCrazyflie::getBaseThrust() {
+ return this->m_baseThrust;
+}
+
+double CCrazyflie::getPositionTimeDelta() {
+ return this->positionTimeDelta;
+}
+
+coordinateSystem CCrazyflie::getCoordinateSystem() {
+ return this->m_systemToUse;
+}
\ No newline at end of file
diff --git a/crazyflie_groundstation/src/ccrazyflie/CCrazyflie_loggingFuncs.cpp b/crazyflie_groundstation/src/ccrazyflie/CCrazyflie_loggingFuncs.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..85eaaff5734ce9967fd70c67795f7f52a0207c6a
--- /dev/null
+++ b/crazyflie_groundstation/src/ccrazyflie/CCrazyflie_loggingFuncs.cpp
@@ -0,0 +1,164 @@
+/**
+ * This file contains the functions associated with the logging and parameter tables
+ * of contents for the CCrazyflie class.
+ *
+ */
+#include "CCrazyflie.h"
+#include "CTOC.h"
+
+#include <time.h>
+#include <iostream>
+#include <stdio.h>
+#include <errno.h>
+#include <string.h>
+
+// Various headers for the files
+static const char *variables = "%Time\t\tMarker\t\tMotor_1\t\t"
+ "Motor_2\t\tMotor_3\t\t"
+ "Motor_4\t\tPitch\t\t"
+ "Pitch_err\t\tPitch_pid_p\t\t"
+ "Pitch_pid_d\t\t"
+ "Roll\t\tRoll_err\t\t"
+ "Roll_pid_p\t\tRoll_pid_d\t\t";
+
+static const char *units = "&sec\t\tMarker\t\t%thrust\t\t"
+ "%thrust\t\t%thrust\t\t"
+ "%thrust\t\tdegrees\t\t"
+ "degrees\t\tdegrees\t\t"
+ "degrees\t\t"
+ "degrees\t\tdegrees\t\t"
+ "degrees\t\tdegrees\t\t";
+
+/*
+ * Open a log file for the quadcopter
+ *
+ * @param baseFileName The base filename for the logfile
+ */
+void CCrazyflie::openLogFile(char *baseFileName) {
+ char logFileName[40];
+
+ char timeString[40];
+ time_t rawtime;
+ time( &rawtime );
+ struct tm *timeinfo = localtime( &rawtime );
+ strftime(timeString, 40, "%Y_%m_%d_%H:%M:%S", timeinfo);
+
+ // Create the log file name (including date)
+ sprintf(logFileName, "%s_%s.txt", baseFileName, timeString);
+
+ printf("Opening log file %s for quadcopter %d...", logFileName, (m_quadNum + 1));
+
+ try {
+ file_log.open(logFileName, std::ios_base::out);
+ } catch (...) {
+ std::cout << "Error opening logfile for quadcopter " << m_quadNum;
+ exit(-1);
+ }
+
+ // Place the header information into the log file
+ file_log << "#Crazyflie" << std::endl;
+
+ // Add the controller type to the logfile
+ file_log << "#" << this->getControllerTypeString() << std::endl;
+ file_log << variables << std::endl;
+ file_log << units << std::endl;
+
+ std::cout << " Complete" << std::endl;
+}
+
+/*
+ * Write data to the log file
+ */
+void CCrazyflie::writeLogData() {
+ // Make a new line
+ file_log << std::endl;
+
+ // Print the time
+ file_log << this->currentTime();
+
+ // Print the marker and motors
+ file_log << "\t\t" << 0;
+
+ file_log << "\t\t" << this->sensorDoubleValue("pwm.m1_pwm");
+ file_log << "\t\t" << this->sensorDoubleValue("pwm.m2_pwm");
+ file_log << "\t\t" << this->sensorDoubleValue("pwm.m3_pwm");
+ file_log << "\t\t" << this->sensorDoubleValue("pwm.m4_pwm");
+
+ // Print pitch and roll data
+ float pitch = this->getQuadPitch();
+ file_log << "\t\t" << pitch;
+ file_log << "\t\t" << -pitch;
+
+ file_log << "\t\t" << this->sensorDoubleValue("pid_attitude.pitch_outP");
+ file_log << "\t\t" << this->sensorDoubleValue("pid_attitude.pitch_outD");
+
+ float roll = this->getQuadRoll();
+ file_log << "\t\t" << roll;
+ file_log << "\t\t" << -roll;
+
+ file_log << "\t\t" << this->sensorDoubleValue("pid_attitude.roll_outP");
+ file_log << "\t\t" << this->sensorDoubleValue("pid_attitude.roll_outD");
+ file_log << "\t\t" << this->sensorDoubleValue("ctrlStdnt.rollRate");
+}
+
+
+bool CCrazyflie::readTOCParameters() {
+ if( ALL_THE_DEBUG ) printf( "Enter: %s\n", __FUNCTION__ );
+ printf( " readTocParameters requestMetaData\n" );
+ if (m_tocParameters->requestMetaData()) {
+ printf( " requestItems\n" );
+ if (m_tocParameters->requestItems()) {
+ printf( " return true\n" );
+ return true;
+ }
+ }
+
+ if( ALL_THE_DEBUG ) printf( "Exit: %s\n", __FUNCTION__ );
+ return false;
+}
+
+bool CCrazyflie::readTOCLogs() {
+ if( ALL_THE_DEBUG ) printf( "Enter: %s\n", __FUNCTION__ );
+ if (m_tocLogs->requestMetaData()) {
+ if (m_tocLogs->requestItems()) {
+ return true;
+ }
+ }
+
+ if( ALL_THE_DEBUG ) printf( "Exit: %s\n", __FUNCTION__ );
+ return false;
+}
+
+void CCrazyflie::displayLoggingBlocksInitialized() {
+ if( ALL_THE_DEBUG ) printf( "Enter: %s\n", __FUNCTION__ );
+ m_tocLogs->printLoggingBlocksInitialized();
+ if( ALL_THE_DEBUG ) printf( "Exit: %s\n", __FUNCTION__ );
+}
+
+double CCrazyflie::sensorDoubleValue(std::string strName) {
+ return m_tocLogs->doubleValue(strName);
+}
+
+bool CCrazyflie::addLoggingBlock(const char *name, uint16_t frequency) {
+ bool retval = m_tocLogs->registerLoggingBlock(name, frequency);
+ return(retval);
+}
+
+void CCrazyflie::removeLoggingBlock(const char *name) {
+ if( ALL_THE_DEBUG ) printf( "Enter: %s\n", __FUNCTION__ );
+ m_tocLogs->unregisterLoggingBlock(name);
+
+ if( ALL_THE_DEBUG ) printf( "Exit: %s\n", __FUNCTION__ );
+}
+
+bool CCrazyflie::addLoggingEntry(const char *blockName, const char *entryName) {
+ if( ALL_THE_DEBUG ) printf( "Enter: %s\n", __FUNCTION__ );
+ bool retval = m_tocLogs->startLogging(entryName, blockName);
+
+ if (!retval) {
+ std::cout << "Error starting logging entry " << entryName << " in block " << blockName << std::endl;
+ }
+
+ if( ALL_THE_DEBUG ) printf( "Exit: %s\n", __FUNCTION__ );
+ return ( retval );
+}
\ No newline at end of file
diff --git a/crazyflie_groundstation/src/ccrazyflie/CCrazyflie_setFuncs.cpp b/crazyflie_groundstation/src/ccrazyflie/CCrazyflie_setFuncs.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..f0d606a619a1f37ebb11784616c53d62982cb30e
--- /dev/null
+++ b/crazyflie_groundstation/src/ccrazyflie/CCrazyflie_setFuncs.cpp
@@ -0,0 +1,189 @@
+#include "CCrazyflie.h"
+
+/*
+ * This function will set the takeoff profile to use.
+ *
+ * @param profile Pointer to the takeoff profile to use
+ * @param numSteps The number of steps in the takeoff profile
+ *
+ */
+void CCrazyflie::setTakeoffProfile( takeoffProfileStep *profile, int numSteps ) {
+ size_t length = sizeof(takeoffProfileStep) * numSteps;
+
+ // Allocate the memory for the takeoff profile
+ this->takeoffProfile = (takeoffProfileStep*) realloc( this->takeoffProfile, length);
+ if ( this->takeoffProfile == NULL ) {
+ // This is an error...
+ std::cout << "Memory allocation for takeoff routine failed" << std::endl;
+ exit(-1);
+ }
+
+ this->numTakeoffSteps = numSteps;
+ memcpy(this->takeoffProfile, profile, length);
+}
+
+/**
+ * This function will set the flight mode of the Crazyflie
+ */
+void CCrazyflie::setFlightMode( enum FlightMode mode) {
+ this->m_enumFlightMode = mode;
+
+ // Configure certain aspects when a mode is entered
+ switch (mode) {
+ case TAKEOFF_MODE:
+ this->currentStep = 0;
+ break;
+ case GROUNDED_MODE:
+ this->setBaseThrust( 0 );
+ break;
+ case LANDING_MODE:
+ this->setCoordinateSystem( coor_global );
+ this->setSetpointZ( 0, coor_global );
+ break;
+ default:
+ // Do nothing
+ break;
+ }
+}
+
+/**
+ * These functions will set the setpoints of the quadcopter
+ */
+void CCrazyflie::setSetpointX(float setpoint, coordinateSystem coor) {
+ if (coor == coor_local) {
+ // The given coordinate is in the local system
+ this->m_desiredPositionLocal.x = setpoint;
+ this->m_desiredPositionGlobal.x = setpoint + this->m_localOrigin.x;
+ } else {
+ //
+ this->m_desiredPositionGlobal.x = setpoint;
+ this->m_desiredPositionLocal.x = setpoint - this->m_localOrigin.x;
+ }
+
+ this->m_sendSetpoints = true;
+}
+
+void CCrazyflie::setSetpointY(float setpoint, coordinateSystem coor) {
+ if (coor == coor_local) {
+ // The given coordinate is in the local system
+ this->m_desiredPositionLocal.y = setpoint;
+ this->m_desiredPositionGlobal.y = setpoint + this->m_localOrigin.y;
+ } else {
+ //
+ this->m_desiredPositionGlobal.y = setpoint;
+ this->m_desiredPositionLocal.y = setpoint - this->m_localOrigin.y;
+ }
+
+ this->m_sendSetpoints = true;
+}
+
+void CCrazyflie::setSetpointZ(float setpoint, coordinateSystem coor) {
+ if (coor == coor_local) {
+ // The given coordinate is in the local system
+ this->m_desiredPositionLocal.z = setpoint;
+ this->m_desiredPositionGlobal.z = setpoint + this->m_localOrigin.z;
+ } else {
+ //
+ this->m_desiredPositionGlobal.z = setpoint;
+ this->m_desiredPositionLocal.z = setpoint - this->m_localOrigin.z;
+ }
+
+ this->m_sendSetpoints = true;
+}
+
+void CCrazyflie::setSetpointYaw(float setpoint) {
+ this->m_desiredYaw = setpoint;
+ this->m_sendSetpoints = true;
+}
+
+void CCrazyflie::setBaseThrust(uint16_t thrust) {
+ this->m_baseThrust = thrust;
+ this->m_sendSetpoints = true;
+}
+/*
+void CCrazyflie::setXYZYawSetpoint(float xSetpoint, float ySetpoint, float zSetpoint,
+ float yawSetpoint, uint16_t baseThrust,
+ uint8_t resetController) {
+ if( ALL_THE_DEBUG ) printf( "Enter: %s\n", __FUNCTION__ );
+
+ this->m_desiredPosition.x = xSetpoint;
+ this->m_desiredPosition.y = ySetpoint;
+ this->m_desiredPosition.z = zSetpoint;
+ this->m_desiredYaw = yawSetpoint;
+ this->m_baseThrust = baseThrust;
+ this->resetController = resetController;
+
+ this->m_sendSetpoints = true;
+
+ if( ALL_THE_DEBUG ) printf( "Exit: %s\n", __FUNCTION__ );
+}
+
+void CCrazyflie::setXYZYawPosition(float xPosition, float yPosition, float zPosition,
+ float yawPosition) {
+ if( ALL_THE_DEBUG ) printf( "Enter: %s\n", __FUNCTION__ );
+
+ this->xPosition = xPosition;
+ this->yPosition = yPosition;
+ this->zPosition = zPosition;
+ this->yawPosition = yawPosition;
+
+ if( ALL_THE_DEBUG ) printf( "Exit: %s\n", __FUNCTION__ );
+}
+*/
+void CCrazyflie::setCameraPosition(lateralPosition cameraPosition) {
+ pthread_mutex_lock( &(this->cameraDataMutex) );
+
+ // Compute the VRPN sample time
+ double currentTime = this->currentTime();
+ if (this->lastPositionTime == 0) {
+ // First sample, just ignore
+ this->positionTimeDelta = 0;
+ } else {
+ this->positionTimeDelta = currentTime - this->lastPositionTime;
+ }
+ this->lastPositionTime = currentTime;
+
+ // Set the global position
+ this->m_currentCameraPosition = cameraPosition;
+
+ // Set the local position as well
+ this->m_currentLocalPosition.x = cameraPosition.x - this->m_localOrigin.x;
+ this->m_currentLocalPosition.y = cameraPosition.y - this->m_localOrigin.y;
+ this->m_currentLocalPosition.z = cameraPosition.z - this->m_localOrigin.z;
+
+ // Update the position in the network logger
+ this->m_network->getNetworkLogger()->setAgentPosition(this->m_quadNum,
+ cameraPosition.x,
+ cameraPosition.y,
+ cameraPosition.z);
+
+ this->m_sendPosition = true;
+ pthread_mutex_unlock( &(this->cameraDataMutex) );
+}
+
+void CCrazyflie::setCameraAngle(angularPosition cameraAngle) {
+ pthread_mutex_lock( &(this->cameraDataMutex) );
+ this->m_currentCameraAngle = cameraAngle;
+ this->m_sendPosition = true;
+ pthread_mutex_unlock( &(this->cameraDataMutex) );
+}
+
+void CCrazyflie::setCameraQuat(quaternionPosition cameraQuat) {
+ pthread_mutex_lock( &(this->cameraDataMutex) );
+ this->m_currentCameraQuat = cameraQuat;
+ pthread_mutex_unlock( &(this->cameraDataMutex) );
+}
+
+void CCrazyflie::setNetworkForwarding(NetworkForwarding *network) {
+ this->m_network = network;
+}
+
+void CCrazyflie::setLocalOrigin(lateralPosition newOrigin) {
+ this->m_localOrigin = newOrigin;
+}
+
+void CCrazyflie::setCoordinateSystem(coordinateSystem coor) {
+ this->m_systemToUse = coor;
+ this->m_sendSetpoints = true;
+ this->m_sendPosition = true;
+}
\ No newline at end of file
diff --git a/crazyflie_groundstation/src/ccrazyradio/CCrazyRadio.cpp b/crazyflie_groundstation/src/ccrazyradio/CCrazyRadio.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..7a10072adbf8bf9a0bcabde2bd2a616f5f323f69
--- /dev/null
+++ b/crazyflie_groundstation/src/ccrazyradio/CCrazyRadio.cpp
@@ -0,0 +1,135 @@
+// Copyright (c) 2013, Jan Winkler <winkler@cs.uni-bremen.de>
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright
+// notice, this list of conditions and the following disclaimer in the
+// documentation and/or other materials provided with the distribution.
+// * Neither the name of Universität Bremen nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+#include "CCrazyRadio.h"
+#include "CCrazyflie.h"
+
+CCrazyRadio::CCrazyRadio(int dongleNumber) {
+ if( ALL_THE_DEBUG ) printf( "Enter: %s\n", __FUNCTION__ );
+ //m_strRadioIdentifier = strRadioIdentifier; -- multi flie support
+ m_enumPower = P_M18DBM;
+ m_nDongleNumber = dongleNumber;
+ m_ctxContext = NULL;
+ m_hndlDevice = NULL;
+
+ m_bAckReceived = false;
+
+ m_exitThread = false;
+
+ /*int nReturn = */libusb_init(&m_ctxContext);
+
+ // Do error checking here.
+ if( ALL_THE_DEBUG ) printf( "Exit: %s\n", __FUNCTION__ );
+}
+
+CCrazyRadio::~CCrazyRadio() {
+ if( ALL_THE_DEBUG ) printf( "Enter: %s\n", __FUNCTION__ );
+ this->closeDevice();
+
+ if (m_ctxContext) {
+ libusb_exit(m_ctxContext);
+ }
+
+ if( ALL_THE_DEBUG ) printf( "Exit: %s\n", __FUNCTION__ );
+}
+
+// returns true if successfully started, else false on error
+bool CCrazyRadio::startRadio() {
+ if( ALL_THE_DEBUG ) printf( "Enter: %s\n", __FUNCTION__ );
+ if (this->openUSBDongle()) {
+ std::stringstream sts;
+
+ // Read device version
+ libusb_device_descriptor ddDescriptor;
+ libusb_get_device_descriptor(m_devDevice, &ddDescriptor);
+ sts.clear();
+ sts.str(std::string());
+ sts << (ddDescriptor.bcdDevice >> 8);
+ sts << ".";
+ sts << (ddDescriptor.bcdDevice & 0x0ff);
+ std::sscanf(sts.str().c_str(), "%f", &m_fDeviceVersion);
+
+ std::cout << "Got device version " << m_fDeviceVersion << std::endl;
+ if (m_fDeviceVersion < 0.3) {
+ if( ALL_THE_DEBUG ) printf( "Exit: %s\n", __FUNCTION__ );
+ return false;
+ }
+
+ // Set active configuration to 1
+ libusb_set_configuration(m_hndlDevice, 1);
+
+ std::cout << "Attempt Interface Claim" << std::endl;
+
+ // Claim interface
+ if (this->claimInterface(0)) {
+ // Set power-up settings for dongle (>= v0.4)
+
+ std::cout << "Interface Claim Success" << std::endl;
+
+ if( ALL_THE_DEBUG ) printf( "setting channel to 2\n" );
+ this->setDataRate(XFER_2M);
+ this->setChannel(2);
+
+ if (m_fDeviceVersion >= 0.4) {
+
+ std::cout << "Device Version > 0.4" << std::endl;
+
+ this->setContCarrier(false);
+ char cAddress[5];
+ cAddress[0] = 0xe7;
+ cAddress[1] = 0xe7;
+ cAddress[2] = 0xe7;
+ cAddress[3] = 0xe7;
+ cAddress[4] = 0xe7;
+ this->setAddress(cAddress);
+ this->setPower(P_0DBM);
+ this->setARC(3);
+ this->setARDBytes(32);
+ }
+
+ // Initialize device
+ if (m_fDeviceVersion >= 0.4) {
+ this->setARC(10);
+ }
+
+ if( ALL_THE_DEBUG ) printf( "*HACK* hardcoding channel to 60\n" );
+ this->setChannel(60);
+ this->setDataRate(XFER_2M);
+
+ if( ALL_THE_DEBUG ) printf( "Exit: %s\n", __FUNCTION__ );
+ return true;
+ }
+ }
+
+ if( ALL_THE_DEBUG ) printf( "Exit: %s\n", __FUNCTION__ );
+ return false;
+}
+
+bool CCrazyRadio::ackReceived() {
+ if( ALL_THE_DEBUG ) printf( "Enter: %s\n", __FUNCTION__ );
+ return m_bAckReceived;
+}
diff --git a/crazyflie_groundstation/src/ccrazyradio/CCrazyRadio_loopFuncs.cpp b/crazyflie_groundstation/src/ccrazyradio/CCrazyRadio_loopFuncs.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..0b6830a2cdd62a57a0cf27c9cfdb7648359c84e4
--- /dev/null
+++ b/crazyflie_groundstation/src/ccrazyradio/CCrazyRadio_loopFuncs.cpp
@@ -0,0 +1,52 @@
+#include "CCrazyRadio.h"
+#include "CCrazyflie.h"
+
+#include <vector>
+
+/**
+ * Main loop for the thread running the radio
+ */
+void CCrazyRadio::mainLoop() {
+ std::cout << "Spawning thread for radio " << this->m_nDongleNumber << std::endl;
+
+ // Loop indefinitely until told to exit
+ while(1) {
+ for ( std::vector<CCrazyflie*>::iterator it = crazyflies.begin(); it != crazyflies.end(); ++it) {
+ // Set the channel for the next Crazyflie
+ this->setChannel( (*it)->getRadioChannel() );
+ this->setDataRate( (*it)->getRadioDataRate() );
+
+ // Run the mainloop for the crazyflie
+ (*it)->cycle();
+
+ // Write the log information for the crazyflie
+ (*it)->writeLogData();
+ }
+
+ usleep(200);
+
+ // Check if the thread has been told to terminate
+ if (this->m_exitThread) {
+ std::cout << "Stopping thread for radio " << this->m_nDongleNumber << std::endl;
+ return;
+ }
+ }
+
+}
+
+/**
+ * Static function to use to start the thread for the radio
+ */
+void* CCrazyRadio::startThread(void* args) {
+ CCrazyRadio *radio = (CCrazyRadio*) args;
+ radio->mainLoop();
+
+ return(NULL);
+}
+
+/**
+ * Stop the thread from running
+ */
+void CCrazyRadio::stopThread() {
+ this->m_exitThread = true;
+}
\ No newline at end of file
diff --git a/crazyflie_groundstation/src/ccrazyradio/CCrazyRadio_lowLevelFuncs.cpp b/crazyflie_groundstation/src/ccrazyradio/CCrazyRadio_lowLevelFuncs.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..858d108c4e4c233b2a90a40806a6595cbdf43f5d
--- /dev/null
+++ b/crazyflie_groundstation/src/ccrazyradio/CCrazyRadio_lowLevelFuncs.cpp
@@ -0,0 +1,162 @@
+#include "CCrazyRadio.h"
+#include "CCrazyflie.h"
+
+
+void CCrazyRadio::closeDevice() {
+ if( ALL_THE_DEBUG ) printf( "Enter: %s\n", __FUNCTION__ );
+ if (m_hndlDevice) {
+ libusb_close(m_hndlDevice);
+ libusb_unref_device(m_devDevice);
+
+ m_hndlDevice = NULL;
+ m_devDevice = NULL;
+ }
+
+ if( ALL_THE_DEBUG ) printf( "Exit: %s\n", __FUNCTION__ );
+}
+
+std::list<libusb_device*> CCrazyRadio::listDevices(int nVendorID,
+ int nProductID) {
+ if( ALL_THE_DEBUG ) printf( "Enter: %s\n", __FUNCTION__ );
+ std::list<libusb_device*> lstDevices;
+ ssize_t szCount;
+ libusb_device **ptDevices;
+
+ szCount = libusb_get_device_list(m_ctxContext, &ptDevices);
+ for (unsigned int unI = 0; unI < szCount; unI++) {
+ libusb_device *devCurrent = ptDevices[unI];
+ libusb_device_descriptor ddDescriptor;
+
+ libusb_get_device_descriptor(devCurrent, &ddDescriptor);
+
+ if (ddDescriptor.idVendor == nVendorID
+ && ddDescriptor.idProduct == nProductID) {
+ libusb_ref_device(devCurrent);
+ lstDevices.push_back(devCurrent);
+ }
+ }
+
+ if (szCount > 0) {
+ libusb_free_device_list(ptDevices, 1);
+ }
+
+ if( ALL_THE_DEBUG ) printf( "Exit: %s\n", __FUNCTION__ );
+
+ return lstDevices;
+}
+
+bool CCrazyRadio::openUSBDongle() {
+ if( ALL_THE_DEBUG ) printf( "Enter: %s\n", __FUNCTION__ );
+ this->closeDevice(); // JRB: This seems dangerous if we haven't opened yet
+ int popIndex = 0;
+ libusb_device *devFirst;
+
+ std::list<libusb_device*> lstDevices = this->listDevices(0x1915, 0x7777);
+
+ if (lstDevices.size() > 0) {
+ // For now, just take the first device. Give it a second to
+ // initialize the system permissions.
+ sleep(1.0);
+
+ // Iterate through the list of dongles that were returned and save off
+ // the one we're interested
+ while (popIndex <= m_nDongleNumber ) {
+ devFirst = lstDevices.front(); // this will keep getting overwritten until we reach the one we're interested in
+ lstDevices.pop_front();
+ popIndex++;
+ }
+ // devFirst now contains the one we're interested in
+ int nError = libusb_open(devFirst, &m_hndlDevice);
+
+ if (nError == 0) {
+ // Opening device OK. Don't free the first device just yet.
+
+ m_devDevice = devFirst;
+ }
+
+ for (std::list<libusb_device*>::iterator itDevice = lstDevices.begin();
+ itDevice != lstDevices.end(); itDevice++) {
+ libusb_device *devCurrent = *itDevice;
+
+ libusb_unref_device(devCurrent); // JRB: Not sure why we are unreferencing all devices... must be a reason?
+ }
+
+ if( ALL_THE_DEBUG ) printf( "Exit: %s\n", __FUNCTION__ );
+ return !nError;
+ }
+ std::cout << "No USB Devices Found" << std::endl;
+
+ if( ALL_THE_DEBUG ) printf( "Exit: %s\n", __FUNCTION__ );
+
+ return false;
+}
+
+
+CCRTPPacket *CCrazyRadio::writeData(void *vdData, int nLength) {
+ if( ALL_THE_DEBUG ) printf( "Enter: %s(vdData:0x%016lx, nLength:%d)\n", __FUNCTION__, (unsigned long)vdData, nLength );
+ CCRTPPacket *crtpPacket = NULL;
+
+ int nActuallyWritten;
+ int nReturn = libusb_bulk_transfer(m_hndlDevice,
+ (0x01 | LIBUSB_ENDPOINT_OUT), (unsigned char*) vdData, nLength,
+ &nActuallyWritten, 1000);
+
+ if (nReturn == 0 && nActuallyWritten == nLength) {
+ crtpPacket = this->readACK();
+ }
+
+ if( ALL_THE_DEBUG ) printf( "Exit: %s\n", __FUNCTION__ );
+ return crtpPacket;
+}
+
+bool CCrazyRadio::readData(void *vdData, int &nMaxLength) {
+ if( ALL_THE_DEBUG ) printf( "Enter: %s(vdData:0x%016lx, nMaxLength:%d)\n", __FUNCTION__, (unsigned long)vdData, nMaxLength );
+ int nActuallyRead;
+ int nReturn = libusb_bulk_transfer(m_hndlDevice,
+ (0x81 | LIBUSB_ENDPOINT_IN), (unsigned char*) vdData, nMaxLength,
+ &nActuallyRead, 50);
+
+ if (nReturn == 0) {
+ nMaxLength = nActuallyRead;
+
+ return true;
+ } else {
+ switch (nReturn) {
+ case LIBUSB_ERROR_TIMEOUT:
+ std::cout << "USB timeout" << std::endl;
+ break;
+
+ default:
+ break;
+ }
+ }
+
+ if( ALL_THE_DEBUG ) printf( "Exit: %s\n", __FUNCTION__ );
+ return false;
+}
+
+bool CCrazyRadio::writeControl(void *vdData, int nLength, uint8_t u8Request,
+ uint16_t u16Value, uint16_t u16Index) {
+ if( ALL_THE_DEBUG ) printf( "Enter: %s(vdData:0x%016lx, nLength:%d, u8Request:0x%02x, u16Value:0x%04x, u16Index:0x%04x)\n",
+ __FUNCTION__, (unsigned long)vdData, nLength, u8Request, u16Value, u16Index );
+ int nTimeout = 1000;
+
+ /*int nReturn = */libusb_control_transfer(m_hndlDevice,
+ LIBUSB_REQUEST_TYPE_VENDOR, u8Request, u16Value, u16Index,
+ (unsigned char*) vdData, nLength, nTimeout);
+
+ // Hack. // JRB: Why was this hacked in?
+ if( ALL_THE_DEBUG ) printf( "Exit: %s\n", __FUNCTION__ );
+ return true;
+}
+
+bool CCrazyRadio::claimInterface(int nInterface) {
+ if( ALL_THE_DEBUG ) printf( "Enter: %s\n", __FUNCTION__ );
+ return libusb_claim_interface(m_hndlDevice, nInterface) == 0;
+}
+
+bool CCrazyRadio::usbOK() {
+ if( ALL_THE_DEBUG ) printf( "Enter: %s\n", __FUNCTION__ );
+ libusb_device_descriptor ddDescriptor;
+ return (libusb_get_device_descriptor(m_devDevice, &ddDescriptor) == 0);
+}
\ No newline at end of file
diff --git a/crazyflie_groundstation/src/ccrazyradio/CCrazyRadio_packetFunctions.cpp b/crazyflie_groundstation/src/ccrazyradio/CCrazyRadio_packetFunctions.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..d6e1b4691bfbd3d9fd885f203859cb3f3ea0ca5d
--- /dev/null
+++ b/crazyflie_groundstation/src/ccrazyradio/CCrazyRadio_packetFunctions.cpp
@@ -0,0 +1,187 @@
+#include "CCrazyRadio.h"
+#include "CCrazyflie.h"
+
+
+CCRTPPacket *CCrazyRadio::sendAndReceive(CCRTPPacket *crtpSend, int nRadioChannel, CCrazyflie *crazyflie)
+{
+ if( ALL_THE_DEBUG ) printf( "Enter: %s\n", __FUNCTION__ );
+ return this->sendAndReceive(crtpSend, nRadioChannel, crtpSend->port(), crtpSend->channel(), crazyflie);
+}
+
+CCRTPPacket *CCrazyRadio::sendAndReceive(CCRTPPacket *crtpSend,
+ int nRadioChannel,
+ int nPort,
+ int nChannel, // the message itself has a separate, nested channel unrelated to the radio channel
+ CCrazyflie *crazyflie,
+ int nRetries,
+ int nMicrosecondsWait)
+{
+ if( ALL_THE_DEBUG ) printf( "Enter: %s(crtpSend:0x%08lx,nRadioChannel:%d,nPort:%d,nChannel:%d,...)\n", __FUNCTION__, (unsigned long) crtpSend, nRadioChannel, nPort, nChannel );
+ bool bGoon = true;
+ int nResendCounter = 0;
+// CCRTPPacket *crtpReturnvalue = NULL;
+ CCRTPPacket *crtpReceived = NULL;
+
+ if( ALL_THE_DEBUG ) printf( "sendAndReceive for port %d, channel %d\n", nPort, nChannel );
+ while (bGoon) {
+ if( ALL_THE_DEBUG ) printf( "iteration\n" );
+ if (nResendCounter == 0) {
+ if( ALL_THE_DEBUG ) printf( "sendPacket\n" );
+ crtpReceived = this->sendPacket(nRadioChannel, crtpSend, crazyflie);
+ nResendCounter = nRetries;
+ } else {
+ nResendCounter--;
+ }
+
+ if (crtpReceived) {
+ if( ALL_THE_DEBUG ) printf( "crtpReceived\n" );
+ if (crtpReceived->port() == nPort
+ && crtpReceived->channel() == nChannel) {
+ if( ALL_THE_DEBUG ) printf( "right port and channel\n" );
+// crtpReturnvalue = crtpReceived;
+ bGoon = false;
+ }
+ else
+ {
+ if( ALL_THE_DEBUG ) printf( "wrong port and channel, expected %d,%d actual %d,%d\n",
+ nPort, nChannel, crtpReceived->port(), crtpReceived->channel() );
+
+ }
+ }
+
+ if (bGoon) {
+ if (crtpReceived) {
+ delete crtpReceived;
+ }
+
+ usleep(nMicrosecondsWait);
+ if( ALL_THE_DEBUG ) printf( "waiting for packet\n" );
+ crtpReceived = this->waitForPacket( nRadioChannel, crazyflie );
+ }
+ }
+
+ if( ALL_THE_DEBUG ) printf( "Exit: %s\n", __FUNCTION__ );
+ //return crtpReturnvalue;
+ return crtpReceived;
+}
+
+CCRTPPacket *CCrazyRadio::sendPacket(int nRadioChannel, CCRTPPacket *crtpSend, CCrazyflie *crazyflie) {
+ if( ALL_THE_DEBUG ) printf( "Enter: %s(channelNumber:%d, crtpSend:0x%016lx, )\n", __FUNCTION__, nRadioChannel, (unsigned long)crtpSend );
+ CCRTPPacket *crtpPacket = NULL;
+#if 0 //TODO Old way of SWITCHING RADIO CHANNELS, NOW DONE IN SIMPLE.CPP
+ // To support multiple crazyflies, we need to set the channel number before each
+ // send, as each crazyflie will be on its own channel.
+ if( ALL_THE_DEBUG ) printf( "switching to radio channel %d\n", nRadioChannel );
+ this->setChannel( nRadioChannel );
+#endif
+ char *cSendable = crtpSend->sendableData();
+ crtpPacket = this->writeData(cSendable, crtpSend->sendableDataLength());
+
+ delete[] cSendable;
+
+ if (crtpPacket) {
+ if ( crtpPacket->dataLength() > 0 ) {
+ crazyflie->callback_Packet(crtpPacket);
+ }
+ }
+
+ if( ALL_THE_DEBUG ) printf( "Exit: %s\n", __FUNCTION__ );
+ return crtpPacket;
+}
+
+CCRTPPacket *CCrazyRadio::waitForPacket(int nChannel, CCrazyflie *crazyflie) { //Sends NULL Packet if ACK Wait and Packet Retries Fail
+ if( ALL_THE_DEBUG ) printf( "Enter: %s\n", __FUNCTION__ );
+ bool bGoon = true;
+ CCRTPPacket *crtpReceived = NULL;
+ CCRTPPacket *crtpDummy = new CCRTPPacket(0);
+ crtpDummy->setIsPingPacket(true);
+
+ while (bGoon) {
+ crtpReceived = this->sendPacket(nChannel, crtpDummy, crazyflie);
+ bGoon = (crtpReceived == NULL);
+ }
+
+ delete crtpDummy;
+
+ if( ALL_THE_DEBUG ) printf( "Exit: %s\n", __FUNCTION__ );
+ return crtpReceived;
+}
+
+CCRTPPacket *CCrazyRadio::readACK() {
+ if( ALL_THE_DEBUG ) printf( "Enter: %s\n", __FUNCTION__ );
+ CCRTPPacket *crtpPacket = NULL;
+
+ int nBufferSize = 64;
+ char cBuffer[nBufferSize];
+ int nBytesRead = nBufferSize;
+
+ if (this->readData(cBuffer, nBytesRead)) {
+ if (nBytesRead > 0) {
+ // Analyse status byte
+ m_bAckReceived = true; //cBuffer[0] & 0x1;
+// bool bPowerDetector = cBuffer[0] & 0x2;
+// int nRetransmissions = cBuffer[0] & 0xf0;
+
+ // TODO(winkler): Do internal stuff with the data received here
+ // (store current link quality, etc.). For now, ignore it.
+
+ crtpPacket = new CCRTPPacket(0);
+
+ /* Packet format for the CRTP packet received
+ 7 6 5 4 3 2 1 0
+ +---+---+---+---+---+---+---+---+
+ | Random bits |
+ +---+---+---+---+---+---+---+---+
+ | Port | Res | Chan. |
+ +---+---+---+---+---+---+---+---+
+ | DATA 0 |
+ +---+---+---+---+---+---+---+---+
+ : : : : : : : : :
+ +---+---+---+---+---+---+---+---+
+ | Cksum |
+ +---+---+---+---+---+---+---+---+
+ */
+
+ if (nBytesRead > 1) {
+ // Parse the header into its fields
+ char headerByte = cBuffer[1];
+
+ short sPort = (headerByte & 0xf0) >> 4;
+ crtpPacket->setPort(sPort);
+ short sChannel = headerByte & 0b00000011;
+ crtpPacket->setChannel(sChannel); // JRB: Why does the packet contain the channel also??
+
+ // There is no length field in the packet... grrr...
+ // use the length read in instead (minus status and header)
+ short nLength = nBytesRead - 2;
+
+ // The data is the remainder of the fields
+ if (nLength > 0) {
+ crtpPacket->setData(&cBuffer[2], nLength);
+ }
+ }
+ } else {
+ m_bAckReceived = false;
+ }
+ }
+
+
+ if( ALL_THE_DEBUG ) printf( "Exit: %s\n", __FUNCTION__ );
+ return crtpPacket;
+}
+
+bool CCrazyRadio::sendDummyPacket(int nChannel, CCrazyflie *crazyflie) {
+ if( ALL_THE_DEBUG ) printf( "Enter: %s\n", __FUNCTION__ );
+ CCRTPPacket *crtpReceived = NULL;
+ CCRTPPacket *crtpDummy = new CCRTPPacket(0);
+ crtpDummy->setIsPingPacket(true);
+
+ crtpReceived = this->sendPacket(nChannel, crtpDummy, crazyflie);
+ if (crtpReceived) {
+ delete crtpReceived;
+ return true;
+ }
+
+ if( ALL_THE_DEBUG ) printf( "Exit: %s\n", __FUNCTION__ );
+ return false;
+}
\ No newline at end of file
diff --git a/crazyflie_groundstation/src/ccrazyradio/CCrazyRadio_setFuncs.cpp b/crazyflie_groundstation/src/ccrazyradio/CCrazyRadio_setFuncs.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..aa65e4665d0667d6ed60abe7d20f8b49dde8b3fd
--- /dev/null
+++ b/crazyflie_groundstation/src/ccrazyradio/CCrazyRadio_setFuncs.cpp
@@ -0,0 +1,81 @@
+#include "CCrazyRadio.h"
+#include "CCrazyflie.h"
+
+/**
+ * Add a Crazyflie to the radio
+ *
+ * @param flie Pointer to the CCrazyflie object
+ */
+void CCrazyRadio::addCrazyflie(CCrazyflie *flie) {
+ crazyflies.push_back(flie);
+ std::cout << "Added Crazyflie " << flie->getQuadcopterNumber()+1;
+ std::cout << " to radio " << this->m_nDongleNumber << std::endl;
+}
+
+void CCrazyRadio::setARC(int nARC) {
+ if( ALL_THE_DEBUG ) printf( "Enter: %s(nARC:%d)\n", __FUNCTION__, nARC );
+ m_nARC = nARC;
+ this->writeControl(NULL, 0, 0x06, nARC, 0);
+}
+
+void CCrazyRadio::setChannel(int nChannel) {
+ if( ALL_THE_DEBUG ) printf( "Enter: %s(nChannel:%d)\n", __FUNCTION__, nChannel );
+ //m_nChannel = nChannel; -- removing for multi flie support
+ this->writeControl(NULL, 0, 0x01, nChannel, 0);
+}
+
+void CCrazyRadio::setDataRate(XferRate rate) {
+ if( ALL_THE_DEBUG ) printf( "Enter: %s(rate:%d)\n", __FUNCTION__, rate );
+ this->writeControl(NULL, 0, 0x03, (int)rate, 0);
+}
+
+void CCrazyRadio::setARDTime(int nARDTime) { // in uSec
+ if( ALL_THE_DEBUG ) printf( "Enter: %s(nARDTime:%d)\n", __FUNCTION__, nARDTime );
+ m_nARDTime = nARDTime;
+
+ int nT = int((nARDTime / 250) - 1);
+ if (nT < 0) {
+ nT = 0;
+ } else if (nT > 0xf) {
+ nT = 0xf;
+ }
+
+ this->writeControl(NULL, 0, 0x05, nT, 0);
+ if( ALL_THE_DEBUG ) printf( "Exit: %s\n", __FUNCTION__ );
+}
+
+void CCrazyRadio::setARDBytes(int nARDBytes) {
+ if( ALL_THE_DEBUG ) printf( "Enter: %s(nARDBytes:%d)\n", __FUNCTION__, nARDBytes );
+ m_nARDBytes = nARDBytes;
+
+ this->writeControl(NULL, 0, 0x05, 0x80 | nARDBytes, 0);
+ if( ALL_THE_DEBUG ) printf( "Exit: %s\n", __FUNCTION__ );
+}
+
+enum Power CCrazyRadio::power() {
+ return m_enumPower;
+}
+
+void CCrazyRadio::setPower(enum Power enumPower) {
+ if( ALL_THE_DEBUG ) printf( "Enter: %s(enumPower:%d)\n", __FUNCTION__, enumPower );
+ m_enumPower = enumPower;
+
+ this->writeControl(NULL, 0, 0x04, enumPower, 0);
+ if( ALL_THE_DEBUG ) printf( "Exit: %s\n", __FUNCTION__ );
+}
+
+void CCrazyRadio::setAddress(char *cAddress) {
+ if( ALL_THE_DEBUG ) printf( "Enter: %s(cAddress:0x%016lx)\n", __FUNCTION__, (unsigned long)cAddress );
+ m_cAddress = cAddress;
+
+ this->writeControl(cAddress, 5, 0x02, 0, 0);
+ if( ALL_THE_DEBUG ) printf( "Exit: %s\n", __FUNCTION__ );
+}
+
+void CCrazyRadio::setContCarrier(bool bContCarrier) {
+ if( ALL_THE_DEBUG ) printf( "Enter: %s(bContCarrier:%d)\n", __FUNCTION__, bContCarrier );
+ m_bContCarrier = bContCarrier;
+
+ this->writeControl(NULL, 0, 0x20, (bContCarrier ? 1 : 0), 0);
+ if( ALL_THE_DEBUG ) printf( "Exit: %s\n", __FUNCTION__ );
+}
\ No newline at end of file
diff --git a/crazyflie_groundstation/src/computations/LocalizationLogger.cpp b/crazyflie_groundstation/src/computations/LocalizationLogger.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..36e8bd6ce0365b66bff47491677e7c096fabb7fc
--- /dev/null
+++ b/crazyflie_groundstation/src/computations/LocalizationLogger.cpp
@@ -0,0 +1,273 @@
+#include <iostream>
+#include <fstream>
+#include <string.h>
+#include <time.h>
+#include <stdlib.h>
+
+#include "vrpn.h"
+
+#include "computations/LocalizationLogger.h"
+#include "CCRTPPacket.h"
+
+#define NSEC_PER_SEC 1000000000L
+
+LocalizationLogger::LocalizationLogger(int numAgents, char* fileName, double logInterval) {
+ this->numAgents = numAgents;
+
+ this->logInterval = logInterval;
+
+ std::cout << "Logging computation at " << this->logInterval << " second intervals" << std::endl;
+
+ // Init the target position to 0
+ this->targetX = 0;
+ this->targetY = 0;
+ this->targetZ = 0;
+
+ // Save the start time
+ struct timespec tsTime;
+ clock_gettime(CLOCK_MONOTONIC, &tsTime);
+
+ this->startTime = (tsTime.tv_sec + double(tsTime.tv_nsec) / NSEC_PER_SEC);
+ this->nextLogTime = this->startTime;
+
+ // Create the arrays to hold the agent position
+ this->agentPositionX = new float[numAgents]();
+ this->agentPositionY = new float[numAgents]();
+ this->agentPositionZ = new float[numAgents]();
+
+ // Create the array to hold the data from the nodes and zero out the data
+ this->nodeData = new computation_localization_node_data[numAgents]();
+ for (int i=0; i < numAgents; i++) {
+ this->nodeData[i].measuredRadius = 0;
+ this->nodeData[i].estimatedX = 0;
+ this->nodeData[i].estimatedY = 0;
+ this->nodeData[i].estimatedZ = 0;
+ this->nodeData[i].alpha = 0;
+ this->nodeData[i].beta = 0;
+ this->nodeData[i].gamma = 0;
+
+ this->agentPositionX[i] = 0;
+ this->agentPositionY[i] = 0;
+ this->agentPositionZ[i] = 0;
+ }
+
+ // Open the file
+ try {
+ char logFileName[255];
+
+ char timeString[40];
+ time_t rawtime;
+ time( &rawtime );
+ struct tm *timeinfo = localtime( &rawtime );
+ strftime(timeString, 40, "%Y_%m_%d_%H:%M:%S", timeinfo);
+
+ // Create the log file name (including date)
+ sprintf(logFileName, "%s_%s.txt", fileName, timeString);
+
+ this->file_log.open(logFileName, std::ios_base::out);
+
+ std::cout << "Opened computation log file: " << logFileName << std::endl;
+ } catch (...) {
+ std::cout << "Error opening log file for localization logger" << std::endl;
+ exit(-1);
+ }
+
+ // Create the header for the logfile
+ this->file_log << "#Computation:Localization" << std::endl;
+
+ // Create the field names
+ this->file_log << "\%Time\t\tTargetX\t\tTargetY\t\tTargetZ";
+ for (int i = 0; i < numAgents; i++) {
+ this->file_log << "\t\tNode" << i << "_positionX";
+ this->file_log << "\t\tNode" << i << "_positionY";
+ this->file_log << "\t\tNode" << i << "_positionZ";
+ this->file_log << "\t\tNode" << i << "_measuredRadius";
+ this->file_log << "\t\tNode" << i << "_estimatedX";
+ this->file_log << "\t\tNode" << i << "_estimatedY";
+ this->file_log << "\t\tNode" << i << "_estimatedZ";
+ this->file_log << "\t\tNode" << i << "_alpha";
+ this->file_log << "\t\tNode" << i << "_beta";
+ this->file_log << "\t\tNode" << i << "_gamma";
+ }
+ this->file_log << std::endl;
+
+ // Create the field units
+ this->file_log << "&sec\t\tmeters\t\tmeters\t\tmeters";
+ for (int i = 0; i < numAgents; i++) {
+ this->file_log << "\t\tmeters";
+ this->file_log << "\t\tmeters";
+ this->file_log << "\t\tmeters";
+ this->file_log << "\t\tmeters";
+ this->file_log << "\t\tmeters";
+ this->file_log << "\t\tmeters";
+ this->file_log << "\t\tmeters";
+ this->file_log << "\t\traw";
+ this->file_log << "\t\traw";
+ this->file_log << "\t\traw";
+ }
+ this->file_log << std::endl;
+
+
+}
+
+LocalizationLogger::~LocalizationLogger() {
+ // Delete the array holding the data
+ delete[] this->nodeData;
+ delete[] this->agentPositionX;
+ delete[] this->agentPositionY;
+ delete[] this->agentPositionZ;
+
+ // Close the logger file
+ this->file_log.close();
+}
+
+void VRPN_CALLBACK LocalizationLogger::vrpnTrackerCallback(void *logger, const vrpn_TRACKERCB t) {
+ // Make a new variable so the methods can be called
+ LocalizationLogger *log = (LocalizationLogger *) logger;
+
+ // Pass the position into the logger
+ float x = t.pos[0];
+ float y = t.pos[1];
+ float z = t.pos[2];
+
+ log->setTargetPosition(x, y, z);
+}
+
+void LocalizationLogger::setAgentPosition(int agent, float x, float y, float z) {
+ // Make sure that the agent actually exists before setting the position
+ if (agent < this->numAgents) {
+ this->agentPositionX[agent] = x;
+ this->agentPositionY[agent] = y;
+ this->agentPositionZ[agent] = z;
+ }
+}
+
+
+void LocalizationLogger::setTargetPosition(float x, float y, float z) {
+ this->targetX = x;
+ this->targetY = y;
+ this->targetZ = z;
+}
+
+void LocalizationLogger::logData() {
+
+ // Get the timestamp to log
+ struct timespec tsTime;
+ clock_gettime(CLOCK_MONOTONIC, &tsTime);
+
+ double currentTime = (tsTime.tv_sec + double(tsTime.tv_nsec) / NSEC_PER_SEC);
+
+ if ( currentTime < this->nextLogTime ) {
+ // Not time to log yet, break out
+ return;
+ }
+
+ double timeSinceStart = currentTime - this->startTime;
+
+ this->nextLogTime = currentTime + this->logInterval;
+
+ // Log the time since start
+ this->file_log << timeSinceStart;
+
+ // Log the target data
+ this->file_log << "\t\t" << this->targetX;
+ this->file_log << "\t\t" << this->targetY;
+ this->file_log << "\t\t" << this->targetZ;
+
+ // Log the agent data
+ for (int i = 0; i < numAgents; i++) {
+ this->file_log << "\t\t" << this->agentPositionX[i];
+ this->file_log << "\t\t" << this->agentPositionY[i];
+ this->file_log << "\t\t" << this->agentPositionZ[i];
+
+ this->file_log << "\t\t" << this->nodeData[i].measuredRadius;
+ this->file_log << "\t\t" << this->nodeData[i].estimatedX;
+ this->file_log << "\t\t" << this->nodeData[i].estimatedY;
+ this->file_log << "\t\t" << this->nodeData[i].estimatedZ;
+ this->file_log << "\t\t" << this->nodeData[i].alpha;
+ this->file_log << "\t\t" << this->nodeData[i].beta;
+ this->file_log << "\t\t" << this->nodeData[i].gamma;
+ }
+
+ // Add the newline
+ this->file_log << std::endl;
+}
+
+float LocalizationLogger::getMeasuredRadius(int agent) {
+ // The agent doesn't exist, return 0
+ if (agent >= this->numAgents) {
+ return (0.0);
+ }
+
+ // Otherwise just return the data
+ return (nodeData[agent].measuredRadius);
+}
+
+float LocalizationLogger::getEstimatedX(int agent) {
+ // The agent doesn't exist, return 0
+ if (agent >= this->numAgents) {
+ return (0.0);
+ }
+
+ // Otherwise just return the data
+ return (nodeData[agent].estimatedX);
+}
+
+float LocalizationLogger::getEstimatedY(int agent) {
+ // The agent doesn't exist, return 0
+ if (agent >= this->numAgents) {
+ return (0.0);
+ }
+
+ // Otherwise just return the data
+ return (nodeData[agent].estimatedY);
+}
+
+float LocalizationLogger::getEstimatedZ(int agent) {
+ // The agent doesn't exist, return 0
+ if (agent >= this->numAgents) {
+ return (0.0);
+ }
+
+ // Otherwise just return the data
+ return (nodeData[agent].estimatedZ);
+}
+
+float LocalizationLogger::getAlpha(int agent) {
+ // The agent doesn't exist, return 0
+ if (agent >= this->numAgents) {
+ return (0.0);
+ }
+
+ // Otherwise just return the data
+ return (nodeData[agent].alpha);
+}
+
+float LocalizationLogger::getBeta(int agent) {
+ // The agent doesn't exist, return 0
+ if (agent >= this->numAgents) {
+ return (0.0);
+ }
+
+ // Otherwise just return the data
+ return (nodeData[agent].beta);
+}
+
+float LocalizationLogger::getGamma(int agent) {
+ // The agent doesn't exist, return 0
+ if (agent >= this->numAgents) {
+ return (0.0);
+ }
+
+ // Otherwise just return the data
+ return (nodeData[agent].gamma);
+}
+
+void LocalizationLogger::packetReceived(CCRTPPacket *packet) {
+ // Retrieve the agent number
+ char* packetData = packet->data();
+ int agent = packetData[0];
+
+ // Copy the data from the packet into the data struct
+ memcpy(&(nodeData[agent]), &(packetData[1]), sizeof(computation_localization_node_data));
+}
\ No newline at end of file
diff --git a/crazyflie_groundstation/src/computations/NetworkForwarding.cpp b/crazyflie_groundstation/src/computations/NetworkForwarding.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..e8e8cff3b8c4b55553df77be22579d1d151ecadd
--- /dev/null
+++ b/crazyflie_groundstation/src/computations/NetworkForwarding.cpp
@@ -0,0 +1,212 @@
+#include "computations/NetworkForwarding.h"
+
+#include <iostream>
+#include <queue>
+#include "CCRTPPacket.h"
+
+NetworkForwarding::NetworkForwarding(int numNodes) {
+ this->numNodes = numNodes;
+
+ this->networkLogger = NULL;
+
+ // Init the mutex
+ pthread_mutex_init( &(this->queueMutex), NULL);
+
+ // Create the queues for the nodes and the vectors for the edges
+ this->packetQueues = (std::queue<CCRTPPacket>**) malloc( sizeof(std::queue<CCRTPPacket>*)*numNodes );
+ this->edges = (std::vector<int>**) malloc( sizeof(std::vector<int>)*numNodes );
+ for (int i=0; i < numNodes; i++) {
+ this->packetQueues[i] = new std::queue<CCRTPPacket>();
+ this->edges[i] = new std::vector<int>();
+ }
+}
+
+NetworkForwarding::NetworkForwarding(int numNodes, edge_t *edges, int numEdges) {
+ // Copy the variables
+ this->numNodes = numNodes;
+
+ // Init the mutex
+ pthread_mutex_init( &(this->queueMutex), NULL);
+
+ // Create the queues for the nodes and the vectors for the edges
+ this->packetQueues = (std::queue<CCRTPPacket>**) malloc( sizeof(std::queue<CCRTPPacket>*)*numNodes );
+ this->edges = (std::vector<int>**) malloc( sizeof(std::vector<int>)*numNodes );
+ for (int i=0; i < numNodes; i++) {
+ this->packetQueues[i] = new std::queue<CCRTPPacket>();
+ this->edges[i] = new std::vector<int>();
+ }
+
+ // Add the edges to the computation graph
+ for (int i=0; i < numEdges; i++) {
+ this->addEdge(edges[i]);
+ }
+}
+
+NetworkForwarding::~NetworkForwarding() {
+ // Delete each queue and then the array holding them
+ for (int i=0; i < this->numNodes; i++) {
+ delete( packetQueues[i] );
+ delete( edges[i] );
+ }
+ delete[] packetQueues;
+ delete[] edges;
+}
+
+void NetworkForwarding::clearAllNetworkQueues() {
+ for (int i=0; i<numNodes; i++) {
+ this->clearNetworkQueue(i);
+ }
+}
+
+void NetworkForwarding::clearNetworkQueue(int node) {
+ pthread_mutex_lock( &(this->queueMutex) );
+
+ // Clear out the queue
+ while (!packetQueues[node]->empty()) {
+ packetQueues[node]->pop();
+ }
+
+ // Release the data mutex
+ pthread_mutex_unlock( &(this->queueMutex) );
+}
+
+void NetworkForwarding::setNetworkLogger(LocalizationLogger *logger) {
+ this->networkLogger = logger;
+}
+
+LocalizationLogger* NetworkForwarding::getNetworkLogger() {
+ return( this->networkLogger );
+}
+
+/*
+ * Add an edge to the graph
+ *
+ * @param edge The edge to add
+ */
+void NetworkForwarding::addEdge(edge_t edge) {
+ int fromNode = edge.node1 - 1;
+ int toNode = edge.node2 - 1;
+
+ // Iterate over the edges already existing to make sure it is not a duplicate
+ for (std::vector<int>::iterator it = edges[fromNode]->begin(); it != edges[fromNode]->end(); ++it) {
+
+ if (*it == toNode) {
+ std::cout << "Edge from " << fromNode+1 << " to " << toNode+1 << " already exists" << std::endl;
+ return;
+ }
+ }
+
+ // Add the edge
+ edges[fromNode]->push_back(toNode);
+ std::cout << "Edge from " << fromNode+1 << " to " << toNode+1 << " added" << std::endl;
+}
+
+/**
+ * Remove an edge from the graph
+ *
+ * @param edge The edge to remove
+ */
+void NetworkForwarding::removeEdge(edge_t edge) {
+ int fromNode = edge.node1 - 1;
+ int toNode = edge.node2 - 1;
+
+ // Iterate over the edges and delete it if it exists
+ for (std::vector<int>::iterator it = edges[fromNode]->begin(); it != edges[fromNode]->end(); ++it) {
+ if (*it == toNode) {
+ edges[fromNode]->erase(it);
+ std::cout << "Edge from " << fromNode+1 << " to " << toNode+1 << " removed" << std::endl;
+ return;
+ }
+ }
+}
+
+/**
+ * List all the edges in the computation graph
+ */
+void NetworkForwarding::listEdges() {
+ std::cout << "Edges in graph" << std::endl;
+ for (int i=0; i < numNodes; i++) {
+ for (std::vector<int>::iterator it = edges[i]->begin(); it != edges[i]->end(); ++it) {
+ std::cout << i+1 << " to " << *it+1 << std::endl;
+ }
+ }
+}
+
+/**
+ * Display the graph adjacency matrix
+ *
+ */
+void NetworkForwarding::displayAdjacency() {
+ std::cout << "Network adjacency matrix" << std::endl;
+
+ for (int i=0; i < numNodes; i++) {
+ int nodeConnection[numNodes];
+ memset(nodeConnection, 0, sizeof(int)*numNodes);
+
+ for (std::vector<int>::iterator it = edges[i]->begin(); it != edges[i]->end(); ++it) {
+ nodeConnection[*it] = 1;
+ }
+
+ for (int j=0; j < numNodes; j++) {
+ if (nodeConnection[j] == 1) {
+ std::cout << " 1";
+ } else {
+ std::cout << " 0";
+ }
+ }
+ std::cout << std::endl;
+ }
+}
+
+/**
+ * Retrieve the next packet to send
+ *
+ * @param quadNum The number of the quadcopter to get the next packet for
+ * @param pk Pointer to the packet object to return the next packet in
+ * @return If there was a packet to send
+ */
+bool NetworkForwarding::retrievePacket(int quadNum, CCRTPPacket *pk) {
+ if ( packetQueues[quadNum]->size() == 0 ) {
+ return(false);
+ }
+
+ // Get the data mutex
+ pthread_mutex_lock( &(this->queueMutex) );
+
+ // Pull the next packet from the queue
+ *pk = packetQueues[quadNum]->front();
+ packetQueues[quadNum]->pop();
+
+ // Release the data mutex
+ pthread_mutex_unlock( &(this->queueMutex) );
+
+ //std::cout << "Sending comp packet to quad " << quadNum << std::endl;
+ return(true);
+}
+
+/**
+ * Callback to be called when a packet is received from a quadcopter
+ *
+ * @param quadNum The number of the quadcopter the packet was received from
+ * @param pk Pointer to the CRTP packet that was received
+ */
+void NetworkForwarding::packetReceived(int quadNum, CCRTPPacket *pk) {
+ //std::cout << "Received comp packet from quad " << quadNum << std::endl;
+
+ // Get the data mutex
+ pthread_mutex_lock( &(this->queueMutex) );
+
+ // Determine the quads to get the packet
+ for (std::vector<int>::iterator it = edges[quadNum]->begin(); it != edges[quadNum]->end(); ++it) {
+ // Add it to the queue of the adjacent quadcopter
+ packetQueues[*it]->push(*pk);
+ }
+
+ // Release the data mutex
+ pthread_mutex_unlock( &(this->queueMutex) );
+
+ // Pass the packet to the logger
+ if (this->networkLogger != NULL) {
+ this->networkLogger->packetReceived(pk);
+ }
+}
diff --git a/crazyflie_groundstation/src/crazyflieGroundStation.cpp b/crazyflie_groundstation/src/crazyflieGroundStation.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..c8161b5496dd25d3d0b41cd1f6030f242729ee8d
--- /dev/null
+++ b/crazyflie_groundstation/src/crazyflieGroundStation.cpp
@@ -0,0 +1,460 @@
+#include "crazyflieGroundStation.h"
+#include "CCrazyflie.h"
+#include "CCrazyRadio.h"
+#include "vrpn.h"
+#include "errno.h"
+#include "userInput.h"
+#include "userOutput.h"
+#include "Bridge.h"
+#include "computations/NetworkForwarding.h"
+#include "computations/LocalizationLogger.h"
+
+#include "quadcopterData.h"
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <arpa/inet.h>
+#include <pthread.h>
+#include <stdio.h>
+#include <unistd.h>
+
+#include <limits>
+
+uint8_t exitProgram = 0;
+
+const std::string erisIP = "192.168.0.196"; //TODO Change to IP of Other Linux Computer***
+const int port = 60551;
+const int buffLen = 8;
+
+// The bridge object
+Bridge *bridge;
+
+// The computation graph
+NetworkForwarding *network;
+
+// The logger for the localization system
+LocalizationLogger *compLogger;
+
+using namespace std;
+
+void initMulticast();
+void sendMulticast();
+void readMulticast();
+
+void closeoutProgram();
+
+double startTime = 0;
+
+float cfliePitch = 0;
+float cflieRoll = 0;
+float cflieYaw = 0;
+float cflieThrust = 0;
+double lastTime = 0;
+double curTime = 0;
+double initTimeVrpn = 0;
+
+int frameCount = 0;
+double takeOffTime1 = 0;
+double takeOffTime2 = 0;
+double takeOffTime3 = 0;
+double takeOffTime4 = 0;
+double endTakeOffTime = 0;
+float takeOffSetpoint = 0.75;
+
+char landingMode = 0;
+char mirrorMode = 0;
+char takeOff1 = 0;
+char takeOff2 = 0;
+char takeOff3 = 0;
+char takeOff4 = 0;
+char handMode = 0;
+char trackHand = 0;
+char tcp_server_ON = 0;
+char tcp_client_ON = 0;
+char flap = 0;
+
+//=========Testing Variables===============
+int j = 0; //Testing Index Variable****
+int dongleNum = 0;
+bool toggle = 0;
+
+double loopTimeTotalStart = 0;
+double loopTimeTotalEnd = 0;
+double loopTimeTotal = 0; //Sum of Callback Time Totals
+double loopTimeTotalPrev = 0;
+double loopTimeTotalDelta = 0;
+
+//========End Testing Variables============
+
+// For keeping track of the threads that are spawned
+pthread_t threads[3+NUM_RADIOS];
+
+#define PI 3.14159265
+
+int main(int argc, char **argv) {
+ sleep(1); //***FOR TESTING PURPOSES*** (REMOVE)
+
+ signal(SIGINT, &ctrlc_handler);
+
+ // Initialize the computation logger
+ char compFileName[] = "logs/comp_localization";
+ compLogger = new LocalizationLogger(networkNumNodes, compFileName, 1.0/100.0);
+
+ // Initialize the computation graph
+ network = new NetworkForwarding(networkNumNodes, networkEdges, networkNumEdges);
+/* network->addEdge({1, 2});
+ network->addEdge({1, 4});
+ network->addEdge({2, 1});
+ network->addEdge({2, 3});
+ network->addEdge({3, 2});
+ network->addEdge({3, 4});
+ network->addEdge({4, 1});
+ network->addEdge({4, 3});
+*/
+ network->setNetworkLogger(compLogger);
+ network->displayAdjacency();
+
+ // Initialize the crazyflie radios
+ for (int i = 0; i < NUM_RADIOS; i++) {
+ cout << "Initializing Radio " << i << endl;
+
+ // Create the radio object
+ radios[i].radio = new CCrazyRadio(i);
+
+ // Start the radio
+ if (radios[i].radio->startRadio() == 0) {
+ // The radio failed to initialize, error out
+ std::cerr << "Error: Radio " << i << " did not initialize." << std::endl;
+ exit(1);
+ }
+ radios[i].radio->setARDTime( radios[i].ARDtime );
+ radios[i].radio->setARC( radios[i].ARC );
+ radios[i].radio->setPower( radios[i].powerLevel );
+ radios[i].radio->setDataRate( radios[i].dataRate );
+ }
+
+
+ struct timespec tsTime;
+ clock_gettime(CLOCK_MONOTONIC, &tsTime);
+
+ startTime = tsTime.tv_sec + double(tsTime.tv_nsec) / NSEC_PER_SEC;
+
+ // Initialize the CrazyFlie quadcopters
+ for (int i = 0; i < NUM_QUADS; i++) {
+ cout << "Initializing Crazyflie " << i+1 << endl;
+
+ // Init the radio
+ radios[crazyflie_info[i].radioNumber].radio->setChannel( crazyflie_info[i].channelNumber );
+
+ // Clear the packets on the network destined for this quadcopter
+ network->clearNetworkQueue(i);
+
+ // Create the crazyflie object
+ crazyflie_info[i].cflieCopter = new CCrazyflie(radios[crazyflie_info[i].radioNumber].radio,
+ crazyflie_info[i].channelNumber,
+ crazyflie_info[i].dataRate,
+ i,
+ startTime);
+ crazyflie_info[i].cflieCopter->setNetworkForwarding(network);
+ crazyflie_info[i].initTime = crazyflie_info[i].cflieCopter->currentTime();
+
+ // Add the Crazyflie to the radio
+ radios[crazyflie_info[i].radioNumber].radio->addCrazyflie( crazyflie_info[i].cflieCopter );
+
+ // Disable the computation (just in case)
+ //crazyflie_info[i].cflieCopter->disableComputation();
+
+ // Check the controller type
+ cout << crazyflie_info[i].cflieCopter->getControllerTypeString() << endl;
+
+ // Check the computation type
+ cout << crazyflie_info[i].cflieCopter->getComputationTypeString() << endl;
+
+ lateralPosition localOrigin;
+ localOrigin.x = -0.5;
+ localOrigin.y = 0.5;
+ localOrigin.z = -1;
+ crazyflie_info[i].cflieCopter->setLocalOrigin( localOrigin);
+
+ cout << "Configuring the computation subsystem" << endl;
+ computation_localization_config_packet config;
+ config.nodeNumber = i;
+ config.numTotalNodes = NUM_QUADS;
+ config.stepSize = 0.01;
+ config.anchor = 0;
+ config.k1 = 1;
+ config.k2 = 1;
+ config.k3 = 1;
+
+ //crazyflie_info[i].cflieCopter->configureComputation( (void*) &config, sizeof(computation_localization_config_packet));
+
+
+ switch (crazyflie_info[i].cflieCopter->getControllerType()) {
+ case 1:
+ // Change the PID controller values
+ cout << "Sending PID Constants" << endl;
+ usleep(1000);
+ crazyflie_info[i].cflieCopter->sendPID_Constants( crazyflie_info[i].pidParams[PID_X], "X" );
+ usleep(1000);
+ crazyflie_info[i].cflieCopter->sendPID_Constants( crazyflie_info[i].pidParams[PID_Y], "Y" );
+ usleep(1000);
+ crazyflie_info[i].cflieCopter->sendPID_Constants( crazyflie_info[i].pidParams[PID_Z], "Z" );
+ usleep(1000);
+ crazyflie_info[i].cflieCopter->sendPID_Constants( crazyflie_info[i].pidParams[PID_ROLL], "roll_out" );
+ usleep(1000);
+ crazyflie_info[i].cflieCopter->sendPID_Constants( crazyflie_info[i].pidParams[PID_PITCH], "pitch_out" );
+ usleep(1000);
+ crazyflie_info[i].cflieCopter->sendPID_Constants( crazyflie_info[i].pidParams[PID_YAW], "yaw_out" );
+ usleep(1000);
+ crazyflie_info[i].cflieCopter->sendPID_Constants( crazyflie_info[i].pidParams[PID_ROLL_RATE], "roll_out" );
+ usleep(1000);
+ crazyflie_info[i].cflieCopter->sendPID_Constants( crazyflie_info[i].pidParams[PID_PITCH_RATE], "pitch_out" );
+ usleep(1000);
+ crazyflie_info[i].cflieCopter->sendPID_Constants( crazyflie_info[i].pidParams[PID_YAW_RATE], "yaw_out" );
+ break;
+ case 4:
+ // Change the state space controller values
+ cout << "Sending state space gains" << endl;
+ for (int j=0; j < STATE_END; j++) {
+ usleep(1000);
+ crazyflie_info[i].cflieCopter->sendSGSF_Gains( ssGains[j] );
+ }
+ break;
+ }
+
+
+ usleep(1000);
+ // Only do this for the RADA motors
+// struct PID_ControllerParams armMotors = {0.0, 0.0, 0.0, 0.0, 9};
+// crazyflie_info[i].cflieCopter->sendPID_Constants( armMotors );
+
+ while( crazyflie_info[i].cflieCopter->getCurrentState() != STATE_NORMAL_OPERATION ) {
+ crazyflie_info[i].cflieCopter->cycle();
+ }
+
+ usleep(100);
+
+
+ // Log the battery information
+ if ( crazyflie_info[i].cflieCopter->addLoggingBlock("battery", 1) ) {
+ crazyflie_info[i].cflieCopter->addLoggingEntry("battery", "pm.vbat");
+ }
+
+ usleep(100);
+
+ // The current information about the quad
+
+ // Log the controller loop time
+ /*
+ if ( crazyflie_info[i].cflieCopter->addLoggingBlock("contStats", 200) ) {
+ crazyflie_info[i].cflieCopter->addLoggingEntry("contStats", "controlStats.estimDur");
+ crazyflie_info[i].cflieCopter->addLoggingEntry("contStats", "controlStats.contDur");
+ }*/
+
+
+ usleep(1000);
+ if ( crazyflie_info[i].cflieCopter->addLoggingBlock("pwm", 100) ) {
+ crazyflie_info[i].cflieCopter->addLoggingEntry("pwm", "pwm.m1_pwm");
+ crazyflie_info[i].cflieCopter->addLoggingEntry("pwm", "pwm.m2_pwm");
+ crazyflie_info[i].cflieCopter->addLoggingEntry("pwm", "pwm.m3_pwm");
+ crazyflie_info[i].cflieCopter->addLoggingEntry("pwm", "pwm.m4_pwm");
+ }
+
+ usleep(1000);
+ if ( crazyflie_info[i].cflieCopter->addLoggingBlock("pitch", 100) ) {
+ crazyflie_info[i].cflieCopter->addLoggingEntry("pitch", "pid_attitude.pitch_outP");
+ crazyflie_info[i].cflieCopter->addLoggingEntry("pitch", "pid_attitude.pitch_outD");
+ crazyflie_info[i].cflieCopter->addLoggingEntry("pitch", "pid_attitude.pitch_outI");
+ }
+
+ usleep(1000);
+ if ( crazyflie_info[i].cflieCopter->addLoggingBlock("roll", 100) ) {
+ crazyflie_info[i].cflieCopter->addLoggingEntry("roll", "pid_attitude.roll_outP");
+ crazyflie_info[i].cflieCopter->addLoggingEntry("roll", "pid_attitude.roll_outD");
+ crazyflie_info[i].cflieCopter->addLoggingEntry("roll", "pid_attitude.roll_outI");
+ }
+
+/* usleep(1000);
+ if ( crazyflie_info[i].cflieCopter->addLoggingBlock("mixer", 100) ) {
+ crazyflie_info[i].cflieCopter->addLoggingEntry("mixer", "mixer.ctr_thrust");
+ crazyflie_info[i].cflieCopter->addLoggingEntry("mixer", "mixer.ctr_roll");
+ crazyflie_info[i].cflieCopter->addLoggingEntry("mixer", "mixer.ctr_pitch");
+ crazyflie_info[i].cflieCopter->addLoggingEntry("mixer", "mixer.ctr_yaw");
+ }
+*/
+ usleep(1000);
+
+ if ( crazyflie_info[i].cflieCopter->addLoggingBlock("stabilizer", 100) ) {
+ crazyflie_info[i].cflieCopter->addLoggingEntry("stabilizer", "stabilizer.roll");
+ crazyflie_info[i].cflieCopter->addLoggingEntry("stabilizer", "stabilizer.pitch");
+ crazyflie_info[i].cflieCopter->addLoggingEntry("stabilizer", "stabilizer.yaw");
+ crazyflie_info[i].cflieCopter->addLoggingEntry("stabilizer", "stabilizer.thrust");
+ }
+
+ usleep(1000);
+ if ( crazyflie_info[i].cflieCopter->addLoggingBlock("gyro", 100) ) {
+ crazyflie_info[i].cflieCopter->addLoggingEntry("gyro", "gyro.x");
+ crazyflie_info[i].cflieCopter->addLoggingEntry("gyro", "gyro.y");
+ crazyflie_info[i].cflieCopter->addLoggingEntry("gyro", "gyro.z");
+ }
+
+/* usleep(1000);
+ if ( crazyflie_info[i].cflieCopter->addLoggingBlock("positionPID", 100) ) {
+ crazyflie_info[i].cflieCopter->addLoggingEntry("positionPID", "posCtlAlt.outx");
+ crazyflie_info[i].cflieCopter->addLoggingEntry("positionPID", "posCtlAlt.outy");
+ crazyflie_info[i].cflieCopter->addLoggingEntry("positionPID", "posCtlAlt.outz");
+ }
+*/
+
+// usleep(1000);
+// if ( crazyflie_info[i].cflieCopter->addLoggingBlock("attitudePID", 100) ) {
+// crazyflie_info[i].cflieCopter->addLoggingEntry("attitudePID", "pitchPID.output");
+// crazyflie_info[i].cflieCopter->addLoggingEntry("attitudePID", "rollPID.output");
+// crazyflie_info[i].cflieCopter->addLoggingEntry("attitudePID", "yawPID.output");
+// }
+
+// usleep(1000);
+// if ( crazyflie_info[i].cflieCopter->addLoggingBlock("ratePID", 100) ) {
+// crazyflie_info[i].cflieCopter->addLoggingEntry("ratePID", "pitchRatePID.output");
+// crazyflie_info[i].cflieCopter->addLoggingEntry("ratePID", "rollRatePID.output");
+// crazyflie_info[i].cflieCopter->addLoggingEntry("ratePID", "yawRatePID.output");
+// }
+
+ usleep(1000);
+ if ( crazyflie_info[i].cflieCopter->addLoggingBlock("acc", 100) ) {
+ crazyflie_info[i].cflieCopter->addLoggingEntry("acc", "acc.x");
+ crazyflie_info[i].cflieCopter->addLoggingEntry("acc", "acc.y");
+ crazyflie_info[i].cflieCopter->addLoggingEntry("acc", "acc.z");
+ }
+
+ /*usleep(1000);
+ if ( crazyflie_info[i].cflieCopter->addLoggingBlock("ctrlStdnt", 100) ) {
+ crazyflie_info[i].cflieCopter->addLoggingEntry("ctrlStdnt", "ctrlStdnt.rollRate");
+ }
+ */
+
+
+
+ crazyflie_info[i].cflieCopter->displayLoggingBlocksInitialized();
+
+ /* The current outputs from the position PIDs
+ if(crazyflie_info[i].cflieCopter->addLoggingBlock("position", 100)) {
+ crazyflie_info[i].cflieCopter->addLoggingEntry("position", "posCtlAlt.outx");
+ crazyflie_info[i].cflieCopter->addLoggingEntry("position", "posCtlAlt.outy");
+ crazyflie_info[i].cflieCopter->addLoggingEntry("position", "posCtlAlt.outz");
+ }*/
+
+ }
+
+ bridge = new Bridge();
+
+ // Initialize the VRPN connections
+#if 1
+ //vrpn_init("192.168.0.120:3883", handle_hand);
+#else
+ vrpn_init("192.168.0.120:3883", NULL);
+// vrpn_init("localhost:3883", NULL);
+#endif // END USE_HAND
+
+ usleep(10000);
+
+#if USE_LOGGING
+//===============Initialize the Logging Files=====================
+ //const char * cols = "Timestamp, Roll, Pitch, Yaw, X, Y, Z";
+#if USE_BASIC_LOGGING
+ const char * logHeaderHand = "#Hand Log File\n\
+%Time\t\tPitch\t\tRoll\t\tYaw\t\tX\t\tY\t\tZ\t\tLoopTime\t\tLoopTimeDelta\n\
+&sec\t\tdegrees\t\tdegrees\t\tdegrees\t\tmeters\t\tmeters\t\tmeters\t\tseconds\t\tseconds\n";
+
+#else
+ const char * logHeaderHand = "#Hand Log File\n\
+%Time\t\tPitch\t\tRoll\t\tYaw\t\tX\t\tY\t\tZ\t\tLoopTime\t\tLoopTimeDelta\n\
+&sec\t\tdegrees\t\tdegrees\t\tdegrees\t\tmeters\t\tmeters\t\tmeters\t\tseconds\t\tseconds\n";
+
+#endif // END: USE_BASIC_LOGGING
+
+#if USE_HAND
+ hand.logfile = fopen(hand.logfileName, "w");
+
+ if(hand.logfile == NULL)
+ {
+ printf("Could not open %s: errno %d\n", hand.logfileName, errno);
+ exit(-1);
+ }
+
+ fprintf(hand.logfile, "%s\n", logHeaderHand);
+#endif // END USE_HAND
+#endif // END USE_LOGGING
+
+//===========End Logfile Init==============
+
+ // Clear all the queues for good measure
+ network->clearAllNetworkQueues();
+
+
+ cout << "The Init has completed, press enter key to continue" << endl;
+ getchar();
+
+
+ void* status;
+
+ int i=0;
+ pthread_create(&threads[i++], NULL, UIThread, (void*)1);
+ //pthread_create(&threads[i++], NULL, vrpn_go, (void*)2);
+
+ pthread_create(&threads[i++], NULL, displayData, (void*)3);
+ for (int j=0; j<NUM_RADIOS; j++) {
+ pthread_create(&threads[i+j], NULL, CCrazyRadio::startThread, (void*) radios[j].radio );
+ }
+ for (int j=0; j < (i+NUM_RADIOS); j++) {
+ pthread_join(threads[j], &status);
+ }
+
+ // End the program
+ cout << "Closing program" << endl;
+ closeoutProgram();
+ return 0;
+}
+
+
+/**
+ * This function is registered as the handler for when Ctrl-C is pressed
+ */
+void ctrlc_handler(int sig) {
+ // Send up a flag for the threads to end
+ //for (int i = 0; i < NUM_RADIOS; i++) {
+ //radios[i].radio->stopThread();
+ //}
+ exitProgram = 0;
+}
+
+
+/**
+ * Function that closes out the program properly and deletes all objects
+ */
+void closeoutProgram() {
+ for (int i = 0; i < NUM_QUADS; i++) {
+ // Turn off the crazyflies
+ cout << "Stopping crazyflie " << (i+1) << endl;
+ crazyflie_info[i].cflieCopter->setBaseThrust( 0 );
+ crazyflie_info[i].cflieCopter->cycle();
+
+ cout << "\tBattery" << ": " << crazyflie_info[i].cflieCopter->batteryLevel() << endl;
+ crazyflie_info[i].cflieCopter->cycle();
+
+ delete crazyflie_info[i].cflieCopter;
+ }
+
+ for (int i = 0; i < NUM_RADIOS; i++) {
+ delete radios[i].radio;
+ }
+
+ delete network;
+ delete compLogger;
+
+ // Close out of the log files
+#if USE_LOGGING
+ #if USE_HAND
+ fclose(outHand);
+ #endif
+#endif
+}
diff --git a/crazyflie_groundstation/src/quadcopterData.cpp b/crazyflie_groundstation/src/quadcopterData.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..c5b1351756c73380788f2703fbb2f0084efea4bc
--- /dev/null
+++ b/crazyflie_groundstation/src/quadcopterData.cpp
@@ -0,0 +1,363 @@
+#include "structures.h"
+#include "CCrazyflie.h"
+#include "quadcopterData.h"
+//#include "eris_vrpn.h"
+#include "callbacks.h"
+#include "computations/NetworkForwarding.h"
+
+// State Space controller gains
+CONTROLLER_SGSF_GAINS ssGains[STATE_END+1] = {
+ {state_u, 0.000, 0.000, -1500.000, 0.000},
+ {state_v, 0.000, 1500.037, 0.000, 0.000},
+ {state_w, -8345.105, 0.000, 0.000, 0.000},
+ {state_p, 0.000, 2400.728, 0.000, 0.000},
+ {state_q, 0.000, 0.000, 2340.517, 0.000},
+ {state_r, 0.000, 0.000, 0.000, 5952.081},
+ {state_x, 0.000, 0.000, -5000.000, 0.000},
+ {state_y, 0.000, 5119.382, 0.000, 0.000},
+ {state_z, -18000.000, 0.000, 0.000, 0.000},
+ {state_phi, 0.000, 8173.638, 0.000, 0.000},
+ {state_theta, 0.000, 0.000, 6825.156, 0.000},
+ {state_psi, 0.000, 0.000, 0.000, 40000.000},
+ {state_u_integ, 0.000, 0.000, 0.000, 0.000},
+ {state_v_integ, 0.000, 0.000, 0.000, 0.000},
+ {state_w_integ, 0.000, 0.000, 0.000, 0.000},
+ {state_p_integ, 0.000, 0.000, 0.000, 0.000},
+ {state_q_integ, 0.000, 0.000, 0.000, 0.000},
+ {state_x_integ, 0.000, 0.000, 1000.000, 0.000},
+ {state_y_integ, 0.000, -1000.000, 0.000, 0.000},
+ {state_z_integ, 5000.000, 0.000, 0.000, 0.000},
+ {state_phi_integ, 0.000, -1000.000, 0.000, 0.000},
+ {state_theta_integ, 0.000, 0.000, -1000.000, 0.000},
+ {state_psi_integ, 0.000, 0.000, 0.000, -500.000},
+};
+
+// Takeoff routine steps
+// First column is the desired base thrust to use
+// Second column is what type of end condition this is
+// Third column is the condition to end the step
+int quad1_numTakeoffSteps = 3;
+takeoffProfileStep quad1_takeoffSteps[] = {
+ {19000, step_time, 1},
+// {54000, step_height, -0.3},
+ {52000, step_height, -0.3},
+// {50000, step_time, 5},
+ {48739, step_final, 0}
+// {50000, step_final, 0}
+};
+
+int networkNumNodes = 4;
+int networkNumEdges = 8;
+edge_t networkEdges[] = {
+ {1, 2},
+ {1, 4},
+ {2, 1},
+ {2, 3},
+ {3, 2},
+ {3, 4},
+ {4, 1},
+ {4, 3}
+};
+
+// Offsets to be used during mirror flight
+float mirrorOffsets[][2] = {
+ { 0.00, 0.00}, // Quadcopter 1 is the master
+ {-0.50, 0.00}, // Quadcopter 2
+ { 0.45, 0.00}, // Quadcopter 3
+ { 0.00, -0.50} // Quadcopter 4
+};
+
+// Offsets to be used during mirror flight
+float handOffsets[][2] = {
+ {-0.50, 0.50}, // Quadcopter 1
+ { 0.50, 0.50}, // Quadcopter 2
+ { 0.50, -0.50}, // Quadcopter 3
+ {-0.50, -0.50} // Quadcopter 4
+};
+
+float defaultSetpoints[][3] = {
+ //{ 0.681, 0.360, -0.600}, // Quadcopter 1
+ { 0.681, 0.360, -0.600}, // Quadcopter 1
+ {-0.475, 0.340, -0.750}, // Quadcopter 2
+ { 0.751, 0.450, -0.500}, // Quadcopter 3
+ {-0.200, -0.600, -0.400} // Quadcopter 4
+};
+
+// Structure for the radio
+RADIOS_t radios[] = {
+ // Radio 0
+ {NULL, // Radio object pointer (initialized by main)
+ 2000,
+ 0,
+ P_0DBM,
+ XFER_2M
+ },
+
+ // Radio 1
+ {NULL,
+ 2000,
+ 0,
+ P_0DBM,
+ XFER_2M
+ }
+};
+
+// Strucuture for the hand data
+HAND_t hand = {
+ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, "hand.txt", NULL
+};
+
+// Initialize the quadcopter data
+QUADCOPTERS_t crazyflie_info[] = {
+/* {"UAV",
+ handle_pos,
+ NULL,
+ NULL,
+ 100,//swapped 1,2
+ 0,
+ 0,
+ // The controller data structure
+ {0, // The loop start time
+ 0, // The previous loop run time
+ 0, // The time between loops
+ 0, // The VRPN packet time
+ 0, // The number of VRPN packets to be processed
+ 0, // The default yaw offset
+ 0.681, // The default x setpoint
+ 0.360, // The default y setpoint
+ -0.600, // The default z setpoint
+ 0, // The default yaw setpoint
+ 0, // Initialize the x position
+ 0, // Initialize the y position
+ 0, // initialize the z position
+ 0, // Initialize the pitch position
+ 0, // Initialize the roll position
+ 0, // initialize the yaw position
+ 0, // The base thrust to use for the quadcopter
+ 0, // The number of frames received
+ 0, // Reset flag for the controllers
+ 0
+ },
+ "cflie1.txt", // The name of the logfile
+ { // The PID values {Kp ,Ki, Kd, iLimit, PID_ID}
+ //{40.0, 2.0, 44.0, 40.0, PID_X},
+ {1.0, 0.0, 0.0, 40.0, PID_X},
+ {1.0, 0.0, 0.0, 40.0, PID_Y},
+ {1.0, 0.0, 0.0, 40.0, PID_Z},
+ //{40.0, 2.0, 44.0, 40.0, PID_Y},
+ //{-10000.0, -2000.0, -15000.0, 10000.0, PID_Z},
+ {251.0, 0.0, 0.0, 20.0, PID_ROLL},
+ {251.0, 0.0, 0.0, 20.0, PID_PITCH},
+ { 6.0, 0.0, 0.0, 360.0, PID_YAW},
+ {0.0043, 0, 0, 33.3, PID_ROLL_RATE},
+ {0.0043, 0, 0, 33.3, PID_PITCH_RATE},
+ {0.0043, 0.00053, 0.0, 166.7, PID_YAW_RATE}
+ }
+ },
+*/
+ // Quadcopter 1
+ /*{"Crazyflie21",
+ NULL,
+ NULL,
+ 25,
+ 0,
+ XFER_2M,
+ 0,
+ // The controller data structure
+ {0, // The loop start time
+ 0, // The previous loop run time
+ 0, // The time between loops
+ 0, // The VRPN packet time
+ 0, // The number of VRPN packets to be processed
+ 0, // The default yaw offset
+// 0.681, // The default x setpoint
+ 0.0,
+ 0.0,
+ -0.3,
+// 0.360, // The default y setpoint
+// -0.600, // The default z setpoint
+ 0, // The default yaw setpoint
+ 0, // Initialize the x position
+ 0, // Initialize the y position
+ 0, // initialize the z position
+ 0, // Initialize the pitch position
+ 0, // Initialize the roll position
+ 0, // initialize the yaw position
+ 0, // The base thrust to use for the quadcopter
+ 0, // The number of frames received
+ 0, // Reset flag for the controllers
+ 0,
+ 0
+ },
+ "logs/cflie1", // The base name of the logfile
+ { // The PID values {Kp ,Ki, Kd, iLimit, PID_ID}
+// RADA PID Values
+// {0.0, 0.0, 0.0, 20.0, PID_X},
+// {0.0, 0.0, 0.0, 20.0, PID_Y},
+// {0.0, 0.0, 0.0, 20.0, PID_Z},
+// {Kp/Kd, Ki/Kd, 0.0, 20.0, PID_ROLL}, //(180/3.14)
+// {Kp/Kd, Ki/Kd, 0.0, 20.0, PID_PITCH}, //(6.0/7.0)
+// {0.0, 0.0, 0.0, 20.0, PID_YAW},
+// {-Kd, 0.0, 0.0, 20.0, PID_ROLL_RATE},
+// {Kd, 0.0, 0.0, 20.0, PID_PITCH_RATE},
+// {0.0, 0.0, 0.0, 20.0, PID_YAW_RATE}
+
+ {-40.0/2, -2.0/2, -44.0/2, 40.0, PID_X},
+ {40.0/2, 2.0/2, 44.0/2, 40.0, PID_Y},
+ {-10000.0, -2000.0, -15000.0, 10000.0, PID_Z},
+// {0.0, 0.0, 0.0, 40.0, PID_X},
+// {0.0, 0.0, 0.0, 40.0, PID_Y},
+// {-10000.0, 0.0, 0.0, 10000.0, PID_Z},
+ //{10000.0, 2000.0, 15000.0, 10000.0, PID_Z},
+// {0.0, 0.0, 0.0, 40.0, PID_X},
+// {0.0, 0.0, 0.0, 40.0, PID_Y},
+// {0.0, 0.0, 0.0, 40.0, PID_Z},
+// {6.0, 0.0, 0.0, 20.0, PID_ROLL},
+// {6.0, 0.0, 0.0, 20.0, PID_PITCH},
+// {6.0, 0.0, 0.35, 360.0, PID_YAW},
+// {250.0, 500.0, 2.5, 33.3, PID_ROLL_RATE},
+// {250.0, 500.0, 2.5, 33.3, PID_PITCH_RATE},
+// {70.0, 16.7, 0.0, 166.7, PID_YAW_RATE}
+ {6.0, 1.0, 0.0, 20.0, PID_ROLL},
+ {6.0, 1.0, 0.0, 20.0, PID_PITCH},
+ {6.0, 2.0, 0.35, 360.0, PID_YAW},
+ {250.0, 500.0, 2.5, 33.3, PID_ROLL_RATE},
+ {250.0, 500.0, 2.5, 33.3, PID_PITCH_RATE},
+ {70.0, 16.7, 0.0, 166.7, PID_YAW_RATE}
+ },
+ },*/
+
+ // Quadcopter 2
+ {"Crazyflie22", // Trackable name
+ NULL, // VRPN tracker object (initialized in VRPNinit)
+ NULL, // CrazyFlie copter object (initialized in main)
+ 75, // The channel number of the crazyflie
+ 0, // The radio to use
+ XFER_2M, // The datarate of the Crazyflie
+ 0, // The init time
+ // The controller data structure
+ {0, // The loop start time
+ 0, // The previous loop run time
+ 0, // The time between loops
+ 0, // The VRPN packet time
+ 0, // The number of VRPN packets to be processed
+ 0, // The default yaw offset
+ -0, // The default x setpoint
+ 0, // The default y setpoint
+ -0.750, // The default z setpoint
+ 0, // The default yaw setpoint
+ 0, // Initialize the x position
+ 0, // Initialize the y position
+ 0, // initialize the z position
+ 0, // Initialize the pitch position
+ 0, // Initialize the roll position
+ 0, // initialize the yaw position
+ 0, // The base thrust to use for the quadcopter
+ 0, // The number of frames received
+ 0, // Reset flag for the controllers
+ 0,
+ 0
+ },
+ "logs/cflie2", // The base name of the logfile
+ { // The PID values {Kp ,Ki, Kd, iLimit, PID_ID}
+ {-40.0/2, -2.0/2, -44.0/2, 40.0, PID_X},
+ {40.0/2, 2.0/2, 44.0/2, 40.0, PID_Y},
+ {-10000.0, -2000.0, -15000.0, 10000.0, PID_Z},
+ {6.0, 1.0, 0.0, 20.0, PID_ROLL},
+ {6.0, 1.0, 0.0, 20.0, PID_PITCH},
+ {6.0, 2.0, 0.35, 360.0, PID_YAW},
+ {250.0, 500.0, 2.5, 33.3, PID_ROLL_RATE},
+ {250.0, 500.0, 2.5, 33.3, PID_PITCH_RATE},
+ {70.0, 16.7, 0.0, 166.7, PID_YAW_RATE}
+ },
+ },
+
+ // Quadcopter 3
+ /*{"Crazyflie23",
+ NULL,
+ NULL,
+ 65, //swapped radio on 1 and 3
+ 1,
+ XFER_2M, // The datarate of the Crazyflie
+ 0,
+ // The controller data structure
+ {0, // The loop start time
+ 0, // The previous loop run time
+ 0, // The time between loops
+ 0, // The VRPN packet time
+ 0, // The number of VRPN packets to be processed
+ 0, // The default yaw offset
+ 0.751, // The default x setpoint
+ -0.450, // The default y setpoint
+ -0.500, // The default z setpoint
+ 0, // The default yaw setpoint
+ 0, // Initialize the x position
+ 0, // Initialize the y position
+ 0, // initialize the z position
+ 0, // Initialize the pitch position
+ 0, // Initialize the roll position
+ 0, // initialize the yaw position
+ 0, // The base thrust to use for the quadcopter
+ 0, // The number of frames received
+ 0, // Reset flag for the controllers
+ 0
+ },
+ "logs/cflie3", // The base name of the logfile
+ { // The PID values {Kp ,Ki, Kd, iLimit, PID_ID}
+ {-40.0/2, -2.0/2, -44.0/2, 40.0, PID_X},
+ {40.0/2, 2.0/2, 44.0/2, 40.0, PID_Y},
+ {-10000.0, -2000.0, -15000.0, 10000.0, PID_Z},
+ {6.0, 1.0, 0.0, 20.0, PID_ROLL},
+ {6.0, 1.0, 0.0, 20.0, PID_PITCH},
+ {6.0, 2.0, 0.35, 360.0, PID_YAW},
+ {250.0, 500.0, 2.5, 33.3, PID_ROLL_RATE},
+ {250.0, 500.0, 2.5, 33.3, PID_PITCH_RATE},
+ {70.0, 16.7, 0.0, 166.7, PID_YAW_RATE}
+ },
+ },
+
+ // Quadcopter 4
+ {"Crazyflie24",
+ NULL,
+ NULL,
+ 85,
+ 1,
+ XFER_2M, // The datarate of the Crazyflie
+ 0,
+ // The controller data structure
+ {0, // The loop start time
+ 0, // The previous loop run time
+ 0, // The time between loops
+ 0, // The VRPN packet time
+ 0, // The number of VRPN packets to be processed
+ 0, // The default yaw offset
+ -0.200, // The default x setpoint
+ -0.600, // The default y setpoint
+ -0.400, // The default z setpoint
+ 0, // The default yaw setpoint
+ 0, // Initialize the x position
+ 0, // Initialize the y position
+ 0, // Initialize the z position
+ 0, // Initialize the pitch position
+ 0, // Initialize the roll position
+ 0, // Initialize the yaw position
+ 0, // The base thrust to use for the quadcopter
+ 0, // The number of frames received
+ 0, // Reset flag for the controllers
+ 0,
+ 0
+ },
+ "logs/cflie4", // The base name of the logfile
+ { // The PID values {Kp ,Ki, Kd, iLimit, PID_ID}
+ {-40.0/2, -2.0/2, -44.0/2, 40.0, PID_X},
+ {40.0/2, 2.0/2, 44.0/2, 40.0, PID_Y},
+ {-10000.0, -2000.0, -15000.0, 10000.0, PID_Z},
+ {6.0, 1.0, 0.0, 20.0, PID_ROLL},
+ {6.0, 1.0, 0.0, 20.0, PID_PITCH},
+ {6.0, 2.0, 0.35, 360.0, PID_YAW},
+ {250.0, 500.0, 2.5, 33.3, PID_ROLL_RATE},
+ {250.0, 500.0, 2.5, 33.3, PID_PITCH_RATE},
+ {70.0, 16.7, 0.0, 166.7, PID_YAW_RATE}
+ },
+ }*/
+};
diff --git a/crazyflie_groundstation/src/userInput.cpp b/crazyflie_groundstation/src/userInput.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..5c6b3c236bb07e04173119e5846a2465f71e9f85
--- /dev/null
+++ b/crazyflie_groundstation/src/userInput.cpp
@@ -0,0 +1,657 @@
+#include <pthread.h>
+#include <stdio.h>
+#include <curses.h>
+#include <string>
+#include <iostream>
+#include <unistd.h>
+#include <pty.h>
+#include <stdint.h>
+#include <err.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <sys/socket.h>
+#include <sys/un.h>
+#include <netinet/in.h>
+#include <arpa/inet.h>
+#include <sys/select.h>
+#include <assert.h>
+#include <errno.h>
+#include <sys/ioctl.h>
+#include <sys/types.h>
+#include <netinet/tcp.h>
+#include <fcntl.h>
+#include <sys/stat.h>
+//#include <cstring>
+
+#include "CCrazyflie.h"
+#include "quadcopterData.h"
+#include "userInput.h"
+#include "callbacks.h"
+#include "crazyflieGroundStation.h"
+#include "helperFunctions.h"
+
+#define BytesTo16(lsb, msb) (((lsb) & 0xff) | (((msb) & 0xff) << 8))
+
+using namespace std;
+
+char * adapter_socket = "./crazyflie_groundstation.socket";
+static int adapterSocket;
+fd_set rfds_master;
+int max_fd = 0;
+
+//static int backendSocket;
+
+#define MAX_CLIENTS 32
+#define CLIENT_BUFFER_SIZE 64
+#define CLIENT_MAX_PENDING_RESPONSES 15
+static struct command* client_buffers[MAX_CLIENTS][CLIENT_BUFFER_SIZE];
+static int client_fds[MAX_CLIENTS];
+static int client_pending_responses[MAX_CLIENTS][CLIENT_MAX_PENDING_RESPONSES];
+
+//static volatile int keepRunning = 1;
+
+int safe_fd_set(int , fd_set* , int* );
+int safe_fd_clr(int , fd_set* , int* );
+
+ssize_t get_buffer_data_size(uint8_t * data);
+
+static int new_client(int fd);
+static ssize_t get_client_index(int fd);
+static int wasDisconnected(int fd);
+static int remove_client(int fd);
+static struct command ** get_client_buffer(int fd);
+static int * get_client_pend_responses(int fd);
+int findNullPointer(struct command** buffer);
+ssize_t DecodePacket(struct metadata * m, uint8_t * data, size_t data_size, const uint8_t * packet, size_t packet_size);
+
+static int client_recv(int fd);
+
+/**
+ * This thread will get user input
+ */
+void* UIThread(void *threadID) {
+ //char tempbuf[255];
+ //uint8_t counter = 0;
+
+ //struct termios ttystate;
+
+ printf("Spawning User Input Thread\n");
+
+ int activity, fd, i, j;
+ FD_ZERO(&rfds_master);
+ /*
+ * Create listening socket
+ */
+ /* Determine socket path */
+ char * adapter_socket_path = adapter_socket;
+
+ /* Unlink if it exists */
+ //unlink(adapter_socket_path);
+
+ /* Create socket */
+ //mode_t old_umask = umask(0111);
+ adapterSocket = socket(AF_UNIX, SOCK_STREAM, 0);
+ if (adapterSocket < 0) {
+ err(-1, "socket");
+ }
+
+ printf("adapterSocket = %d\n", adapterSocket);
+
+ sleep(3);
+
+ /* Create sockaddr and bind */
+ struct sockaddr_un sa;
+ sa.sun_family = AF_UNIX;
+ strcpy(sa.sun_path, adapter_socket_path);
+ //sa.sun_path[107] = '\0';
+ if (bind(adapterSocket, (struct sockaddr *) &sa, sizeof(sa))) {
+ err(-1, "bind");
+ }
+ //umask(old_umask);
+
+ /* Listen */
+ if (listen(adapterSocket, 16) == -1) {
+ err(-1, "listen");
+ }
+
+ /* Add to socket set */
+ safe_fd_set(adapterSocket, &rfds_master, &max_fd);
+
+ /* Initialize client buffers */
+ for (i = 0; i < MAX_CLIENTS; i++) {
+ client_fds[i] = -1;
+ client_buffers[i][0] = NULL;
+ for(j = 0; j < CLIENT_MAX_PENDING_RESPONSES; j++) {
+ client_pending_responses[i][j] = -1;
+ }
+ }
+
+ safe_fd_set(fileno(stdin), &rfds_master, &max_fd);
+
+ struct timeval timeout = {
+ .tv_sec = 1,
+ .tv_usec = 0
+ };
+
+ int exit_program = 0;
+ while (1) {
+ fd_set rfds;
+ rfds = rfds_master;
+ activity = select(max_fd+1, &rfds, NULL, NULL, NULL);
+ if (activity == -1) {
+ perror("select() ");
+ } else if (activity) {
+ for (fd = 0; fd <= max_fd; ++fd) {
+ if (FD_ISSET(fd, &rfds)) {
+ if (wasDisconnected(fd)) {
+ break;
+ }
+ if (fd == fileno(stdin)) {
+ /**
+ * Ignore stdin from the backend
+ */
+ } else if (fd == adapterSocket) {
+ int new_fd = 0;
+ new_fd = accept(adapterSocket, NULL, NULL);
+ if (new_fd < 0) {
+ warn("accept");
+ } else {
+ printf("Connection\n");
+ if (new_client(new_fd)) {
+ printf("Added client\n");
+ safe_fd_set(new_fd, &rfds_master, &max_fd);
+ }
+ }
+ } else if (get_client_index(fd) > -1) {
+ //printf("Message Received\n");
+ exit_program = client_recv(fd);
+ //TODO
+ }
+ }
+ }
+ } else {
+ timeout.tv_sec = 1;
+ timeout.tv_usec = 0;
+ }
+
+ // Check if the program should terminate
+ if (exit_program) {
+ std::cout << "Stopping thread for user input" << endl;
+ return(NULL);
+ }
+
+ }
+
+ //get the terminal state
+ //tcgetattr(STDIN_FILENO, &ttystate);
+
+ //ttystate.c_lflag &= ~ICANON; //turn off canonical mode
+ //ttystate.c_cc[VMIN] = 1; //minimum of number input read
+
+ //set the terminal attributes.
+ //tcsetattr(STDIN_FILENO, TCSANOW, &ttystate);
+
+ // Loop forever while getting input
+ /*while (1) {
+
+ // Get a character from the terminal
+ tempbuf[counter] = getchar();
+
+ // If the character is a newline, the command is entered
+ if (tempbuf[counter] == '\n') {
+ // Add a null terminator to the buffer
+ tempbuf[counter] = 0;
+
+ // No command to parse
+ if ( counter == 0 ) {
+ continue;
+ }
+
+ uint8_t commandLength = strlen(tempbuf);
+
+ if ( commandLength < 2) {
+ if (tempbuf[0] == 'q') {
+ // Exit the program
+ ctrlc_handler(1);
+ break;
+ } else {
+ // Invalid command
+ counter = 0;
+ continue;
+ }
+ }
+
+ // Get the quadcopter number
+ char temp[2];
+ temp[0] = tempbuf[0];
+ temp[1] = 0;
+ uint8_t quadcopterNumber = atoi( temp );
+
+ // Get the command type and the payload
+ userCommands_t command;
+ command.type = tempbuf[1];
+ command.payload = atof(&tempbuf[2]);
+
+ // Pass the command to the Crazyflie
+ if (quadcopterNumber == 0) {
+ // This command is for every quadcopter
+ for (int i=0; i < NUM_QUADS; i++) {
+ crazyflie_info[i].cflieCopter->passUserCommand(command);
+ }
+ } else {
+ crazyflie_info[quadcopterNumber-1].cflieCopter->passUserCommand(command);
+ }
+
+ // Print it out and then reset the counter
+ printf("\nReceived command: %s\n", tempbuf);
+ counter = 0;
+
+ } else {
+ counter++;
+ }
+
+ // Check if the program should terminate
+ if (exitProgram) {
+ std::cout << "Stopping thread for user input" << endl;
+ return(NULL);
+ }
+ usleep(1000);
+ }*/
+
+ std::cout << "Stopping thread for user input" << endl;
+ return NULL;
+}
+
+int safe_fd_set(int fd, fd_set* fds, int* max_fd) {
+ assert(max_fd != NULL);
+
+ FD_SET(fd, fds);
+ if (fd > *max_fd) {
+ *max_fd = fd;
+ }
+ return 0;
+}
+
+int safe_fd_clr(int fd, fd_set* fds, int* max_fd) {
+ assert(max_fd != NULL);
+
+ FD_CLR(fd, fds);
+ if (fd == *max_fd) {
+ (*max_fd)--;
+ }
+ return 0;
+}
+
+static int new_client(int fd) {
+ ssize_t new_slot = -1, i;
+ for (i = 0; i < MAX_CLIENTS; i++) {
+ if (client_fds[i] < 0) {
+ new_slot = i;
+ break;
+ }
+ }
+ if (new_slot == -1) {
+ warnx("Ran out of room! Consider increasing MAX_CLIENTS!");
+ return 0;
+ }
+
+ client_fds[new_slot] = fd;
+ client_buffers[new_slot][0] = NULL;
+
+ return 1;
+}
+
+static ssize_t get_client_index(int fd) {
+ ssize_t i;
+ for (i = 0; i < MAX_CLIENTS; i++) {
+ if (client_fds[i] == fd) {
+ return i;
+ }
+ }
+
+ return -1;
+}
+
+static int wasDisconnected(int fd) {
+ char buff;
+ if (recv(fd, &buff, 1, MSG_PEEK | MSG_DONTWAIT) == 0) {
+ remove_client(fd);
+ safe_fd_clr(fd, &rfds_master, &max_fd);
+ printf("fd %d has disconneted and was removed\n", fd);
+ return 1;
+ }
+ return 0;
+}
+
+//TODO: update for command**
+static int remove_client(int fd) {
+ int i;
+ ssize_t slot = get_client_index(fd);
+ if (slot == -1) {
+ return -1;
+ }
+ struct command ** clientBuffer = get_client_buffer(fd);
+ if (clientBuffer == NULL) {
+ return -1;
+ }
+ clientBuffer[0] = NULL;
+ int *pendingResponses = get_client_pend_responses(fd);
+ if (pendingResponses == NULL) {
+ return -1;
+ }
+ for (i = 0; i < CLIENT_MAX_PENDING_RESPONSES; i++) {
+ pendingResponses[i] = -1;
+ }
+ client_fds[slot] = -1;
+ return 0;
+}
+
+static struct command ** get_client_buffer(int fd) {
+ ssize_t slot = get_client_index(fd);
+ if (slot == -1) {
+ return NULL;
+ } else {
+ return client_buffers[slot];
+ }
+}
+
+static int * get_client_pend_responses(int fd) {
+ ssize_t slot = get_client_index(fd);
+ if (slot == -1) {
+ return NULL;
+ } else {
+ return client_pending_responses[slot];
+ }
+}
+
+int findNullPointer(struct command** buffer) {
+ int index = 0;
+ for(int i = 0; i < CLIENT_BUFFER_SIZE; i++) {
+ if(buffer[i] != NULL) {
+ index++;
+ continue;
+ }
+ break;
+ }
+ return index;
+}
+
+enum PacketHeader {
+ BEGIN,
+ MTYPE_L,
+ MTYPE_H,
+ ID_L,
+ ID_H,
+ DLEN_L,
+ DLEN_H,
+ HDR_SIZE
+};
+
+enum ChecksumFormat {
+ CSUM_L,
+ CSUM_SIZE
+};
+
+uint8_t PacketChecksum(const uint8_t * packet, size_t packet_size)
+{
+ uint8_t checkSum = 0;
+ for(size_t i = 0; i < packet_size - CSUM_SIZE; i++){
+ checkSum ^= packet[i];
+ }
+ return checkSum;
+}
+
+ssize_t DecodePacket(
+ struct metadata * m, /* Decoded metadata (includes data_len)*/
+ uint8_t * data, /* Data is copied into this buffer */
+ size_t data_size, /* Max buffer size */
+ const uint8_t * packet, /* Packet to decode */
+ size_t packet_size) /* Size of packet to decode */
+{
+ uint8_t checkSum;
+ if (packet[BEGIN] != 190) {
+ return -1;
+ }
+
+ if (packet_size < ((uint8_t) HDR_SIZE + CSUM_SIZE)) {
+ return -2;
+ }
+
+ m->msg_type = BytesTo16(packet[MTYPE_L], packet[MTYPE_H]);
+ m->msg_id = BytesTo16(packet[ID_L], packet[ID_H]);
+ m->data_len = BytesTo16(packet[DLEN_L], packet[DLEN_H]);
+
+ if (packet_size < (size_t)(HDR_SIZE + CSUM_SIZE + m->data_len)) {
+ return -3;
+ }
+
+ if (data_size < m->data_len) {
+ return -4;
+ }
+
+ checkSum = PacketChecksum(packet, HDR_SIZE + m->data_len + CSUM_SIZE);
+ if (checkSum != packet[HDR_SIZE + m->data_len]) {
+ return -5;
+ }
+
+ memcpy(data, &packet[HDR_SIZE], m->data_len);
+ return m->data_len;
+}
+
+static int client_recv(int fd) {
+ struct command ** buffer;
+ uint8_t temp[100];
+ ssize_t len_pre;
+ //char cmdString[64];
+ //char * cursor;
+ ssize_t r;
+ //int index = 0;
+
+ buffer = get_client_buffer(fd);
+ len_pre = findNullPointer(buffer);
+ //cursor = buffer + len_pre;
+
+ r = read(fd, temp, 100);
+ if (r < 0) {
+ warn("read (fd: %d)", fd);
+ }
+ //buffer[len_pre + r] = '\0';
+
+ struct command * newCmd = (struct command*) malloc(sizeof(struct command));
+ struct metadata * m = (struct metadata*) malloc(sizeof(struct metadata));
+ uint8_t * d = (uint8_t*) malloc(sizeof(uint8_t));
+ newCmd->meta = m;
+ newCmd->data = d;
+ DecodePacket(newCmd->meta, newCmd->data, 100, temp, r);
+ int cmType = (int) newCmd->meta->msg_type;
+ newCmd->type = (commandType) cmType;
+ buffer[len_pre] = newCmd;
+
+ int flags = fcntl(fd, F_GETFL, 0);
+ fcntl(fd, F_SETFL, flags | O_NONBLOCK);
+
+ /* Parse buffer and handle commands */
+ while (1) {
+ /* not using strtok because reasons */
+ ssize_t len = (ssize_t) findNullPointer(buffer);
+ //ssize_t newline = -1;
+
+
+ /* No newline found. End parsing
+ if (newline == -1) {
+ break;
+ }
+ */
+ //buffer[newline] = '\0';
+
+ if ( len == 0 ) {
+ /*
+ if (buffer[0] == 'q') {
+ // Exit the program
+ ctrlc_handler(1);
+ char * rest = &buffer[newline] + 1;
+ size_t restLen = (strlen(rest) == 0) ? 1 : strlen(rest);
+ Delete parsed data and move the rest to the left
+ memmove(buffer, rest, restLen +1);
+ return 1; //break;
+ } else {
+ // Invalid command
+ //counter = 0;
+
+ char * rest = &buffer[newline] + 1;
+ size_t restLen = (strlen(rest) == 0) ? 1 : strlen(rest);
+ Delete parsed data and move the rest to the left
+ memmove(buffer, rest, restLen +1);
+ continue;
+ }
+ */
+ len_pre = findNullPointer(buffer);
+ //cursor = buffer + len_pre;
+
+ r = read(fd, temp, 100);
+ //buffer[len_pre + r] = '\0';
+
+ if(r>0) {
+ newCmd = (struct command*) malloc(sizeof(struct command));
+ m = (metadata*) malloc(sizeof(struct metadata));
+ d = (uint8_t*) malloc(sizeof(uint8_t));
+ newCmd->meta = m;
+ newCmd->data = d;
+ DecodePacket(newCmd->meta, newCmd->data, 100, temp, r);
+ cmType = (int) newCmd->meta->msg_type;
+ newCmd->type = (commandType) cmType;
+ buffer[len_pre] = newCmd;
+ }
+ continue;
+ }
+
+ printf("Client(%d) : '%c'\n",fd, buffer[0]->type);
+
+ /* Get the quadcopter number
+ char temp[2];
+ temp[0] = buffer[0];
+ temp[1] = 0;
+ */
+ uint8_t quadcopterNumber = 0;
+
+
+ // Get the command type and the payload
+ userCommands_t command;
+ command.type = buffer[0]->type;
+ command.payload = buffer[0]->data;
+ command.fd = fd;
+
+ // Pass the command to the Crazyflie
+ if (quadcopterNumber == 0) {
+ // This command is for every quadcopter
+ for (int i=0; i < NUM_QUADS; i++) {
+ crazyflie_info[i].cflieCopter->passUserCommand(command);
+ }
+ //char temp[256];
+ //snprintf(temp, 256, "Got command for quad %d that is %s", quadcopterNumber, buffer);
+ } else {
+ crazyflie_info[quadcopterNumber-1].cflieCopter->passUserCommand(command);
+ }
+
+ // Print it out and then reset the counter
+ printf("\nReceived command: %c\n", buffer[0]->type);
+ //counter = 0;
+ struct command ** rest = &buffer[1];
+ void * dest = buffer;
+ ssize_t restLen = (ssize_t) findNullPointer(buffer);
+ // if(restLen != 0) {
+ // free(buffer[0]->meta);
+ // free(buffer[0]->data);
+ // free(buffer[0]);
+ // }
+
+ /* Delete parsed data and move the rest to the left */
+ memmove(dest, rest, restLen*sizeof(struct command**));
+
+ len_pre = findNullPointer(buffer);
+ //cursor = buffer + len_pre;
+
+ r = read(fd, temp, 100);
+ //buffer[len_pre + r] = '\0';
+
+ if(r>0) {
+ newCmd = (struct command*) malloc(sizeof(struct command));
+ m = (metadata*) malloc(sizeof(struct metadata));
+ d = (uint8_t*) malloc(sizeof(uint8_t));
+ newCmd->meta = m;
+ newCmd->data = d;
+ DecodePacket(newCmd->meta, newCmd->data, 100, temp, r);
+ cmType = (int) newCmd->meta->msg_type;
+ newCmd->type = (commandType) cmType;
+ buffer[len_pre] = newCmd;
+ }
+
+ }
+ return 0;
+}
+
+/* while (1) {
+
+ // Get a character from the terminal
+ tempbuf[counter] = getchar();
+
+ // If the character is a newline, the command is entered
+ if (tempbuf[counter] == '\n') {
+ // Add a null terminator to the buffer
+ tempbuf[counter] = 0;
+
+ // No command to parse
+ if ( counter == 0 ) {
+ continue;
+ }
+
+ uint8_t commandLength = strlen(tempbuf);
+
+ if ( commandLength < 2) {
+ if (tempbuf[0] == 'q') {
+ // Exit the program
+ ctrlc_handler(1);
+ break;
+ } else {
+ // Invalid command
+ counter = 0;
+ continue;
+ }
+ }
+
+ // Get the quadcopter number
+ char temp[2];
+ temp[0] = tempbuf[0];
+ temp[1] = 0;
+ uint8_t quadcopterNumber = atoi( temp );
+
+ // Get the command type and the payload
+ userCommands_t command;
+ command.type = tempbuf[1];
+ command.payload = atof(&tempbuf[2]);
+
+ // Pass the command to the Crazyflie
+ if (quadcopterNumber == 0) {
+ // This command is for every quadcopter
+ for (int i=0; i < NUM_QUADS; i++) {
+ crazyflie_info[i].cflieCopter->passUserCommand(command);
+ }
+ } else {
+ crazyflie_info[quadcopterNumber-1].cflieCopter->passUserCommand(command);
+ }
+
+ // Print it out and then reset the counter
+ printf("\nReceived command: %s\n", tempbuf);
+ counter = 0;
+
+ } else {
+ counter++;
+ }
+
+ // Check if the program should terminate
+ if (exitProgram) {
+ std::cout << "Stopping thread for user input" << endl;
+ return(NULL);
+ }
+ usleep(1000);
+ } */
diff --git a/crazyflie_groundstation/src/userOutput.cpp b/crazyflie_groundstation/src/userOutput.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..9ade83e63029014f58c8531b8ebb5f22d40638c8
--- /dev/null
+++ b/crazyflie_groundstation/src/userOutput.cpp
@@ -0,0 +1,332 @@
+#include "userOutput.h"
+#include "userInput.h"
+#include "quadcopterData.h"
+#include "callbacks.h"
+#include "crazyflieGroundStation.h"
+#include "Bridge.h"
+#include <iostream>
+
+using namespace std;
+
+
+// When sent to cout, this clears the terminal screen
+const string CLEAR = "\033[H\033[J";
+
+/**
+ * Display the data from the quadcopters
+ */
+void* displayData(void* id) {
+
+ printf("Spawning User Output Thread\n");
+
+ lateralPosition bridgePos;
+ targetDistance pos1, pos2, pos3, pos4;
+
+ while (1) {
+
+ for (int i = 0; i < NUM_QUADS; i++) {
+ bool check = false;
+ crazyflie_info[i].cflieCopter->m_currentLocalPosition.x = (float) crazyflie_info[i].cflieCopter->m_tocParameters->elementForName("X", check).dValue;
+ }
+
+ // Clear the display
+ cout << CLEAR;
+
+ // Print out the commands
+ cout << "Command List" << endl;
+ cout << "t = Takeoff" << endl;
+ cout << "l = Land" << endl;
+ cout << "x# = Change X Setpoint to # meters" << endl;
+ cout << "y# = Change Y Setpoint to # meters" << endl;
+ cout << "z# = Change Z Setpoint to # meters" << endl;
+ cout << "w# = Change Yaw setpoint to # degrees" << endl;
+ cout << "r# = Hover over bridge at # between targets" << endl;
+ cout << "h = Land on bridge" << endl;
+ cout << "b = Takeoff from bridge" << endl;
+ cout << "k = Kill all motors" << endl;
+ cout << "m# = Send # to all motors (requires special firmware)" << endl;
+ cout << "d = Goto default setpoint" << endl;
+ cout << endl;
+
+ // Print the headers
+ cout << "\t";
+ for (int i = 0; i < NUM_QUADS; i++) {
+ cout << "Quad " << i+1;
+ cout << "\t\t";
+ }
+ cout << endl;
+
+ // Print out the current mode number
+ cout << "Mode\t";
+ for (int i = 0; i < NUM_QUADS; i++) {
+ switch (crazyflie_info[i].cflieCopter->m_enumFlightMode) {
+ case LANDING_MODE:
+ cout << "Landing";
+ break;
+ case TAKEOFF_MODE:
+ cout << "Takeoff";
+ break;
+ case HOVER_MODE:
+ cout << "Hover";
+ break;
+ case MIRROR_MODE:
+ cout << "Mirror";
+ break;
+ case HAND_MODE:
+ cout << "Hand";
+ break;
+ case GROUNDED_MODE:
+ cout << "Grounded";
+ break;
+ case STEP_MODE:
+ cout << "Step";
+ break;
+ case KILL_MODE:
+ cout << "Kill";
+ break;
+/*
+ case BRIDGE_HOVER_MODE:
+ cout << "Bridge H";
+ break;
+ case BRIDGE_LANDING_MODE:
+ cout << "Bridge L";
+ break;
+ case BRIDGE_TAKEOFF_MODE:
+ cout << "Bridge T";
+ break;
+*/
+ case IDLE_MODE:
+ cout << "Idle";
+ break;
+ default:
+ cout << "?";
+ }
+ cout << "\t\t";
+ }
+ cout << endl << endl;
+
+ // Print the current X position
+ cout << "Coor\t";
+ for (int i = 0; i < NUM_QUADS; i++) {
+ if ( crazyflie_info[i].cflieCopter->getCoordinateSystem() == coor_local ) {
+ cout << "Local";
+ } else {
+ cout << "Global";
+ }
+ cout << "\t\t";
+ }
+ cout << endl << endl;
+
+ // Print the current X position
+ cout << "Cur X\t";
+ for (int i = 0; i < NUM_QUADS; i++) {
+ coordinateSystem coor = crazyflie_info[i].cflieCopter->getCoordinateSystem();
+ printf("%1.3f", crazyflie_info[i].cflieCopter->getPositionX( coor ) );
+ cout << "\t\t";
+ }
+ cout << endl;
+
+ // Print the X setpoint
+ cout << "Set X\t";
+ for (int i = 0; i < NUM_QUADS; i++) {
+ coordinateSystem coor = crazyflie_info[i].cflieCopter->getCoordinateSystem();
+ printf("%1.3f", crazyflie_info[i].cflieCopter->getSetpointX( coor ) );
+ cout << "\t\t";
+ }
+ cout << endl << endl;
+
+ // Print the current Y position
+ cout << "Cur Y\t";
+ for (int i = 0; i < NUM_QUADS; i++) {
+ coordinateSystem coor = crazyflie_info[i].cflieCopter->getCoordinateSystem();
+ printf("%1.3f", crazyflie_info[i].cflieCopter->getPositionY( coor ) );
+ cout << "\t\t";
+ }
+ cout << endl;
+
+ // Print the Y setpoint
+ cout << "Set Y\t";
+ for (int i = 0; i < NUM_QUADS; i++) {
+ coordinateSystem coor = crazyflie_info[i].cflieCopter->getCoordinateSystem();
+ printf("%1.3f", crazyflie_info[i].cflieCopter->getSetpointY( coor ) );
+ cout << "\t\t";
+ }
+ cout << endl << endl;
+
+ // Print the current Z position
+ cout << "Cur Z\t";
+ for (int i = 0; i < NUM_QUADS; i++) {
+ coordinateSystem coor = crazyflie_info[i].cflieCopter->getCoordinateSystem();
+ printf("%1.3f", crazyflie_info[i].cflieCopter->getPositionZ( coor ) );
+ cout << "\t\t";
+ }
+ cout << endl;
+
+ // Print the Z setpoint
+ cout << "Set Z\t";
+ for (int i = 0; i < NUM_QUADS; i++) {
+ coordinateSystem coor = crazyflie_info[i].cflieCopter->getCoordinateSystem();
+ printf("%1.3f", crazyflie_info[i].cflieCopter->getSetpointZ( coor ) );
+ cout << "\t\t";
+ }
+ cout << endl << endl;
+
+ // Print the quad attitude
+ cout << "C Roll\t";
+ for (int i = 0; i < NUM_QUADS; i++) {
+ printf("%1.3f", crazyflie_info[i].cflieCopter->getCameraRoll() );
+ cout << "\t\t";
+ }
+ cout << endl;
+
+ cout << "Q Roll\t";
+ for (int i = 0; i < NUM_QUADS; i++) {
+ printf("%1.3f", crazyflie_info[i].cflieCopter->getQuadRoll() );
+ cout << "\t\t";
+ }
+ cout << endl;
+
+ cout << "C Pitch\t";
+ for (int i = 0; i < NUM_QUADS; i++) {
+ printf("%1.3f", crazyflie_info[i].cflieCopter->getCameraPitch() );
+ cout << "\t\t";
+ }
+ cout << endl;
+
+ cout << "Q Pitch\t";
+ for (int i = 0; i < NUM_QUADS; i++) {
+ printf("%1.3f", crazyflie_info[i].cflieCopter->getQuadPitch() );
+ cout << "\t\t";
+ }
+ cout << endl;
+
+ cout << "C Yaw\t";
+ for (int i = 0; i < NUM_QUADS; i++) {
+ printf("%1.3f", crazyflie_info[i].cflieCopter->getCameraYaw() );
+ cout << "\t\t";
+ }
+ cout << endl;
+
+ cout << "Q Yaw\t";
+ for (int i = 0; i < NUM_QUADS; i++) {
+ printf("%1.3f", crazyflie_info[i].cflieCopter->getQuadYaw() );
+ cout << "\t\t";
+ }
+ cout << endl << endl;
+
+#ifdef USE_BRIDGE
+ if(bridge->endpoint1Valid){
+ if(NUM_QUADS == 1){
+ bridge->getTargetDistance(&bridgePos, &pos1);
+ cout << setprecision(3) << "D T1 X: " << bridge->disToQuad1.x << endl;
+ cout << setprecision(3) << "D T1 Y: " << bridge->disToQuad1.y << endl;
+ cout << setprecision(3) << "D T1 Z: " << bridge->disToQuad1.z << endl;
+ cout << setprecision(3) << "D T1: " << bridge->disToQuad1.dis << endl;
+ }
+ if(NUM_QUADS == 2){
+ bridge->getTargetDistance(&bridgePos, &pos1, &pos2);
+ cout << setprecision(3) << "D T1 X: " << bridge->disToQuad1.x << "\t\t" << bridge->disToQuad2.x << endl;
+ cout << setprecision(3) << "D T1 Y: " << bridge->disToQuad1.y << "\t\t" << bridge->disToQuad2.y << endl;
+ cout << setprecision(3) << "D T1 Z: " << bridge->disToQuad1.z << "\t\t" << bridge->disToQuad2.z << endl;
+ cout << setprecision(3) << "D T1: " << bridge->disToQuad1.dis << "\t\t" << bridge->disToQuad2.dis << endl;
+ }
+ if(NUM_QUADS == 3){
+ bridge->getTargetDistance(&bridgePos, &pos1, &pos2, &pos3);
+ cout << setprecision(3) << "D T1 X: " << bridge->disToQuad1.x << "\t\t" << bridge->disToQuad2.x << "\t\t" << bridge->disToQuad3.x << endl;
+ cout << setprecision(3) << "D T1 Y: " << bridge->disToQuad1.y << "\t\t" << bridge->disToQuad2.y << "\t\t" << bridge->disToQuad3.y << endl;
+ cout << setprecision(3) << "D T1 Z: " << bridge->disToQuad1.z << "\t\t" << bridge->disToQuad2.z << "\t\t" << bridge->disToQuad3.z << endl;
+ cout << setprecision(3) << "D T1: " << bridge->disToQuad1.dis << "\t\t" << bridge->disToQuad2.dis << "\t\t" << bridge->disToQuad3.dis << endl;
+ }
+ if(NUM_QUADS == 4){
+ bridge->getTargetDistance(&bridgePos, &pos1, &pos2, &pos3, &pos4);
+ cout << setprecision(3) << "D T1 X: " << bridge->disToQuad1.x << "\t\t" << bridge->disToQuad2.x << "\t\t" << bridge->disToQuad3.x << "\t\t" << bridge->disToQuad4.x << endl;
+ cout << setprecision(3) << "D T1 Y: " << bridge->disToQuad1.y << "\t\t" << bridge->disToQuad2.y << "\t\t" << bridge->disToQuad3.y << "\t\t" << bridge->disToQuad4.y << endl;
+ cout << setprecision(3) << "D T1 Z: " << bridge->disToQuad1.z << "\t\t" << bridge->disToQuad2.z << "\t\t" << bridge->disToQuad3.z << "\t\t" << bridge->disToQuad4.z << endl;
+ cout << setprecision(3) << "D T1: " << bridge->disToQuad1.dis << "\t\t" << bridge->disToQuad2.dis << "\t\t" << bridge->disToQuad3.dis << "\t\t" << bridge->disToQuad4.dis << endl;
+ }
+ }
+ cout << endl;
+
+#endif
+
+ cout << "Gyro X\t";
+ for (int i = 0; i < NUM_QUADS; i++) {
+ printf("%1.3f", crazyflie_info[i].cflieCopter->sensorDoubleValue("gyro.x"));
+ cout << "\t\t";
+ }
+ cout << endl;
+
+ cout << "Gyro Y\t";
+ for (int i = 0; i < NUM_QUADS; i++) {
+ printf("%1.3f", crazyflie_info[i].cflieCopter->sensorDoubleValue("gyro.y"));
+ cout << "\t\t";
+ }
+ cout << endl;
+
+ cout << "Gyro Z\t";
+ for (int i = 0; i < NUM_QUADS; i++) {
+ printf("%1.3f", crazyflie_info[i].cflieCopter->sensorDoubleValue("gyro.z"));
+ cout << "\t\t";
+ }
+ cout << endl << endl;
+
+ cout << "Accel X\t";
+ for (int i = 0; i < NUM_QUADS; i++) {
+ printf("%1.3f", crazyflie_info[i].cflieCopter->sensorDoubleValue("acc.x"));
+ cout << "\t\t";
+ }
+ cout << endl;
+
+ cout << "Accel Y\t";
+ for (int i = 0; i < NUM_QUADS; i++) {
+ printf("%1.3f", crazyflie_info[i].cflieCopter->sensorDoubleValue("acc.y"));
+ cout << "\t\t";
+ }
+ cout << endl;
+
+ cout << "Accel Z\t";
+ for (int i = 0; i < NUM_QUADS; i++) {
+ printf("%1.3f", crazyflie_info[i].cflieCopter->sensorDoubleValue("acc.z"));
+ cout << "\t\t";
+ }
+ cout << endl << endl;
+
+ cout << "Base Thrust\t";
+ for (int i = 0; i < NUM_QUADS; i++) {
+ printf("%1.2f", crazyflie_info[i].cflieCopter->sensorDoubleValue("mixer.ctr_thrust"));
+ cout << "\t\t";
+ }
+ cout << endl << endl;
+
+ // Print the battery level
+ cout << "Battery\t";
+ for (int i = 0; i < NUM_QUADS; i++) {
+ printf("%1.2f", crazyflie_info[i].cflieCopter->sensorDoubleValue("pm.vbat"));
+ cout << "\t\t";
+ }
+ cout << endl << endl;
+ if(bridge->endpoint1Valid){
+ cout << "Target 1 X: " << bridge->endpoint1.x << "\tY: " << bridge->endpoint1.y << "\tZ: " << bridge->endpoint1.z;
+ cout << endl;
+ }
+ cout << endl << endl;
+
+ // Print the loop time
+ cout << "Loop T\t";
+ for (int i = 0; i < NUM_QUADS; i++) {
+ printf("%1.5f", crazyflie_info[i].cflieCopter->getPositionTimeDelta());
+ cout << "\t\t";
+ }
+ cout << endl << endl;
+
+ // Check if the program should terminate
+ if (exitProgram) {
+ std::cout << "Stopping thread for user output" << endl;
+ return(NULL);
+ }
+
+ usleep(200000);
+ }
+
+ return(NULL);
+}
diff --git a/crazyflie_groundstation/src/vrpn.cpp b/crazyflie_groundstation/src/vrpn.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..79c260d69d51872b8cf580c1ac4189c099ea969a
--- /dev/null
+++ b/crazyflie_groundstation/src/vrpn.cpp
@@ -0,0 +1,236 @@
+
+#include "vrpn.h"
+#include <unistd.h>
+#include "crazyflieGroundStation.h"
+
+#include "quadcopterData.h"
+#include "callbacks.h"
+#include "userInput.h"
+#include "userOutput.h"
+
+#include <iostream>
+using namespace std;
+
+vrpn_Connection *connection;
+vrpn_Tracker_Remote *trackerHand;
+vrpn_Tracker_Remote *trackerBridge1;
+vrpn_Tracker_Remote *trackerBridge2;
+
+vrpn_Tracker_Remote *trackerLocalizationTarget;
+
+char keystroke_now = 0;
+char keystroke_prev = 0;
+int keyPressed = 0;
+int killCount = 0;
+int trackCount = 0;
+
+extern double loopTimeTotalStart;
+extern double loopTimeTotalEnd;
+extern double loopTimeTotal; //Sum of Callback Time Totals
+extern double loopTimeTotalPrev;
+extern double loopTimeTotalDelta;
+
+extern char landingMode;
+extern char mirrorMode;
+extern char takeOff1;
+extern char takeOff2;
+extern char takeOff3;
+extern char takeOff4;
+
+extern char handMode;
+extern char trackHand;
+extern char tcp_server_ON;
+extern char tcp_client_ON;
+extern char flap;
+
+extern double takeOffTime1;
+extern double takeOffTime2;
+extern double takeOffTime3;
+extern double takeOffTime4;
+
+
+/**
+ * Initialize the VRPN subsystem
+ *
+ * @param connectionName The IP address and port number (in a string) for the VRPN server
+ * @param callbackHand Function pointer to the tracker callback function
+ */
+void vrpn_init(std::string connectionName, void (*callbackHand)(void*, const vrpn_TRACKERCB)) {
+ // Get the VRPN connection information
+ connection = vrpn_get_connection_by_name(connectionName.c_str());
+
+ // Initialize the hand trackable
+#if USE_HAND
+ trackerHand = new vrpn_Tracker_Remote("hand", connection);
+ trackerHand->register_change_handler(0, callbackHand);
+#endif
+
+#ifdef USE_BRIDGE
+ trackerBridge1 = new vrpn_Tracker_Remote("Bridge1", connection);
+ trackerBridge1->register_change_handler(bridge, Bridge::end1Callback);
+
+ trackerBridge2 = new vrpn_Tracker_Remote("Bridge2", connection);
+ trackerBridge2->register_change_handler(bridge, Bridge::end2Callback);
+#endif
+
+#ifdef USE_LOCALIZATION
+ trackerLocalizationTarget = new vrpn_Tracker_Remote("Target", connection);
+ trackerLocalizationTarget->register_change_handler(compLogger, LocalizationLogger::vrpnTrackerCallback);
+#endif
+
+ // Initialize all the quadcopter trackables
+ for (int i = 0; i < NUM_QUADS; i++) {
+ crazyflie_info[i].vrpn_tracker = new vrpn_Tracker_Remote(crazyflie_info[i].vrpn_trackableName, connection);
+ crazyflie_info[i].vrpn_tracker->register_change_handler(crazyflie_info[i].cflieCopter,
+ CCrazyflie::vrpnTrackerCallback);
+ }
+
+ usleep(2000);
+}
+
+
+/**
+ * The main VRPN loop
+ */
+void* vrpn_go(void *threadID) {
+ int i = 0; //for ending the while loop
+
+ printf("Spawning VRPN Thread\n");
+
+ while(!i) { //1 replace 'i<20000' when done testing ******
+
+ // This must be done before all other VRPN processing
+ connection->mainloop();
+
+ // Iterate over every single quadcopter
+ for (int j = 0; j < NUM_QUADS; j++) {
+
+ // Go through the main loop for the Crazyflie trackables
+ crazyflie_info[j].vrpn_tracker->mainloop();
+ }
+
+#if USE_HAND
+ updateHand();
+#endif // END USE_HAND
+
+ loopTimeTotalStart = crazyflie_info[0].cflieCopter->currentTime() - crazyflie_info[0].initTime;
+ loopTimeTotalDelta = loopTimeTotalStart - loopTimeTotalPrev;
+ loopTimeTotalPrev = loopTimeTotalStart;
+
+#if USE_HAND
+ // Go through the mainloop for the hand trackable
+ trackerHand->mainloop();
+#endif // END USE_HAND
+
+#ifdef USE_BRIDGE
+ // Main loop the bridge trackable
+ trackerBridge1->mainloop();
+ trackerBridge2->mainloop();
+#endif // END USE_BRIDGE
+
+#ifdef USE_LOCALIZATION
+ trackerLocalizationTarget->mainloop();
+#endif
+
+ usleep(200); //Was 200
+
+ compLogger->logData();
+
+ // Check if the program should exit
+ if (exitProgram) {
+ std::cout << "Stopping thread for vrpn" << endl;
+ return(NULL);
+ }
+
+ }//END WHILE
+
+ loopTimeTotalEnd = crazyflie_info[0].cflieCopter->currentTime() - crazyflie_info[0].initTime;
+ loopTimeTotal = loopTimeTotalEnd - loopTimeTotalStart;
+ return (0);
+} //END VRPN GO
+
+void updateHand() {
+ if(handMode == 1) {
+ // cout << "Hand Roll: " << rollHand << endl;
+ if(killCount > 5) {
+ for (int i = 0; i < NUM_QUADS; i++) {
+ crazyflie_info[i].cflieCopter->m_enumFlightMode = GROUNDED_MODE;
+ }
+ handMode = 0;
+ trackHand = 0;
+ cout << "Hand Mode: Killing Quads" << endl;
+ killCount = 0;
+ } else if(trackCount > 5) {
+ trackHand = 1;
+ for (int i = 0; i < NUM_QUADS; i++) {
+ crazyflie_info[i].cflieCopter->m_enumFlightMode = HAND_MODE;
+ }
+ trackCount = 0;
+ } else if((hand.rollAngle > 70.0) || (hand.rollAngle < -70.0)) {
+ killCount++;
+ } else if( hand.pitchAngle < -70.0 ) { //|| (pitchHand > 70.0)
+ trackCount++;
+ } else{
+ killCount = 0;
+ trackCount = 0;
+ if(hand.zPosition > 1.6) {
+ // trackHand = 0;
+ for (int i = 0; i < NUM_QUADS; i++) {
+ crazyflie_info[i].cflieCopter->m_enumFlightMode = TAKEOFF_MODE;
+ }
+ cout << "Hand Mode: Launching Quads" << endl;
+ } else if(hand.zPosition < 0.4) {
+ trackHand = 0;
+ for (int i = 0; i < NUM_QUADS; i++) {
+ crazyflie_info[i].cflieCopter->m_enumFlightMode = LANDING_MODE;
+ }
+ cout << "Hand Mode: Landing Quads" << endl;
+ }
+ }
+ }
+} //END updateHand();
+
+//////////////////////////////////////////////////
+// kbhit //
+// Descption: used select to do a non blocking //
+// read of stdin. //
+// //
+//////////////////////////////////////////////////
+int kbhit() {
+ struct timeval tv;
+ fd_set fds;
+ tv.tv_sec = 0;
+ tv.tv_usec = 0;
+ FD_ZERO(&fds);
+ FD_SET(STDIN_FILENO, &fds); //STDIN_FILENO is 0
+ select(STDIN_FILENO+1, &fds, NULL, NULL, &tv);
+ return FD_ISSET(STDIN_FILENO, &fds);
+}
+
+
+
+//////////////////////////////////////////////////
+// nonblock //
+// Descption: Turn off connoical mode so the //
+// user does not need to hit enter after //
+// pressing a key //
+// //
+//////////////////////////////////////////////////
+void nonblock(int state) {
+ struct termios ttystate;
+
+ //get the terminal state
+ tcgetattr(STDIN_FILENO, &ttystate);
+
+ if (state==1) {
+ //turn off canonical mode
+ ttystate.c_lflag &= ~ICANON;
+ //minimum of number input read.
+ ttystate.c_cc[VMIN] = 1;
+ } else if (state==0) {
+ //turn on canonical mode
+ ttystate.c_lflag |= ICANON;
+ }
+ //set the terminal attributes.
+ tcsetattr(STDIN_FILENO, TCSANOW, &ttystate);
+}
diff --git a/crazyflie_groundstation/test_connection.c b/crazyflie_groundstation/test_connection.c
new file mode 100644
index 0000000000000000000000000000000000000000..d6058add58f64a934e774b5e852792bbd38d035e
--- /dev/null
+++ b/crazyflie_groundstation/test_connection.c
@@ -0,0 +1,106 @@
+#include <stdio.h>
+#include <string.h>
+#include <stdlib.h>
+#include <errno.h>
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <sys/un.h>
+#include <err.h>
+#include <unistd.h>
+
+#define DEFAULT_ADAPTER_SOCKET "/home/bitcraze/projects/crazyflie_groundstation.socket"
+//#define DEFAULT_ADAPTER_SOCKET "./crazyflie_groundstation.socket"
+#define SOCKET_ENV "ADAPTER_SOCKET"
+
+struct backend_conn {
+ FILE * socket;
+ size_t len;
+ char * buf;
+};
+
+int adapterWrite(struct backend_conn *conn, const char * line) {
+ return fputs(line, conn->socket);
+}
+
+int main() {
+ int s;
+ struct sockaddr_un remote;
+ char str[100];
+
+ if ((s = socket(AF_UNIX, SOCK_STREAM, 0)) == -1) {
+ perror("socket");
+ exit(1);
+ }
+
+ struct backend_conn * conn = NULL;
+
+ printf("Trying to connect...");
+
+ remote.sun_family = AF_UNIX;
+ char * sock_env = getenv(SOCKET_ENV);
+ strcpy(remote.sun_path, sock_env ? sock_env : DEFAULT_ADAPTER_SOCKET);
+ if (connect(s, (struct sockaddr *)&remote, sizeof(remote)) == -1) {
+ perror("connect");
+ goto fail_final;
+ }
+
+ conn = malloc(sizeof(struct backend_conn));
+ if (conn == NULL) {
+ perror("malloc");
+ goto fail_sock;
+ }
+
+ conn->len = 0;
+ conn->buf = NULL;
+ conn->socket = fdopen(s, "r+");
+ if (conn->socket == NULL) {
+ perror("fdopen");
+ goto fail_malloc_conn;
+ }
+ if (setvbuf(conn->socket, NULL, _IONBF, 0)) {
+ warn("setvbuf");
+ printf("bad");
+ }
+
+ printf("Success\n");
+ /* success */
+ goto fail_final;
+
+fail_malloc_conn:
+ free(conn);
+ conn = NULL;
+fail_sock:
+ close(s);
+ printf("Failure\n");
+ return 1;
+fail_final: ;
+ //return conn;
+
+ //User input to adapter
+ int userExit;
+ userExit = 0;
+ char buffer[64];
+ char msg[64];
+ while (!userExit) {
+ scanf("%s", buffer);
+ printf("Input: %s\n", buffer);
+ if (strcmp(buffer, "exit") == 0) {
+ userExit = 1;
+ } else {
+ snprintf(msg, 64, "%s\n", buffer);
+ if (adapterWrite(conn, msg) < 0) {
+ userExit = 1;
+ printf("Error writing to adapter\n");
+ }
+ }
+ }
+
+ //Disconnect from socket
+ fclose(conn->socket);
+ if (conn->buf) {
+ free(conn->buf);
+ }
+ free(conn);
+
+ return 0;
+}
diff --git a/groundStation/adapters/crazyflie/Makefile b/groundStation/adapters/crazyflie/Makefile
index e73c02da950946787ddb2c018b72ecea53ea54b1..b9f34f9adb74a5b9871af9606a8be53c262c6bce 100644
--- a/groundStation/adapters/crazyflie/Makefile
+++ b/groundStation/adapters/crazyflie/Makefile
@@ -21,10 +21,10 @@ C = $(foreach sdir,$(SRCDIR),$(wildcard $(sdir)/*.c))
all: inc obj lib
mkdir bin/
- $(CC) obj/*.o -o bin/cf_adapter
+ $(CC) -g obj/*.o -o bin/cf_adapter
obj: inc
- $(CC) -c $(C) $(H) $(CFLAGS)
+ $(CC) -g -c $(C) $(H) $(CFLAGS)
mkdir obj
mv *.o obj
@@ -47,6 +47,8 @@ inc:
ln -s $(QUADINC)/log_data.h $(INC)
ln -s $(BACKEND)/packet.c $(INC)
ln -s $(BACKEND)/packet.h $(INC)
+ ln -s $(BACKEND)/param.c $(INC)
+ ln -s $(BACKEND)/param.h $(INC)
ln -s $(QUADINC)/PID.h $(INC)
ln -s $(QUADINC)/timer.h $(INC)
ln -s $(QUADINC)/type_def.h $(INC)
diff --git a/groundStation/adapters/crazyflie/console_cflie1 b/groundStation/adapters/crazyflie/console_cflie1
new file mode 100644
index 0000000000000000000000000000000000000000..c5820740352735875bf003852cfb9b216ff8b0ce
--- /dev/null
+++ b/groundStation/adapters/crazyflie/console_cflie1
@@ -0,0 +1 @@
+Client uses old param API!
diff --git a/groundStation/adapters/crazyflie/src/cf_adapter.c b/groundStation/adapters/crazyflie/src/cf_adapter.c
index c1b5908751b141dce112f6a5bd68e01ec002bdcc..aaf6d972eb1b897bec5418951e8f8eea141f3dd3 100644
--- a/groundStation/adapters/crazyflie/src/cf_adapter.c
+++ b/groundStation/adapters/crazyflie/src/cf_adapter.c
@@ -1,14 +1,16 @@
#include "cf_adapter.h"
//path to socket that groundstation will read/write
-#define SOCKPATH "../cf_adapter.socket"
+#define SOCKPATH "./cf_adapter.socket"
//socket that the crazyflie groundstation will read from, check the README for information
//on how to setup this path.
-#define DEFAULT_ADAPTER_SOCKET "../../../../test/Custom_CrazyFlie_Software/groundstation-LateralOnQuad/crazyflie_groundstation.socket"
+#define DEFAULT_ADAPTER_SOCKET "/home/bitcraze/projects/crazyflie_groundstation.socket"
+//#define DEFAULT_ADAPTER_SOCKET "./crazyflie_groundstation.socket"
#define SOCKET_ENV "ADAPTER_SOCKET"
struct backend_conn * cfsocketconn = NULL;
+struct backend_conn * mcsocketconn = NULL;
//socket that groundstation will read/write
int adptsockfd;
@@ -20,8 +22,9 @@ int adptsockfd;
* @param line char array to write to socket
* @return 0 on success else error
*/
-int adapterWrite(struct backend_conn *conn, const char * line) {
- return fputs(line, conn->socket);
+ssize_t adapterWrite(struct backend_conn *conn, const char * line, size_t psize) {
+ //return fwrite((const char *) line, sizeof(uint8_t), psize, conn->socket);
+ return send(conn->socketfd, line, psize, 0);
}
/**
@@ -29,53 +32,69 @@ int adapterWrite(struct backend_conn *conn, const char * line) {
* @param conn is the struct that will contain the new connection
* @return 0 if successful else error
*/
-int connectToCrazyflieGroundStation(struct backend_conn ** conn) {
+ struct backend_conn* connectToCrazyflieGroundStation() {
int s;
struct sockaddr_un remote;
char str[100];
if ((s = socket(AF_UNIX, SOCK_STREAM, 0)) == -1) {
- perror("failure to create socket in connectToCrazyflieGroundStation");
- exit(1);
+ perror("socket");
+ return NULL;
}
+ struct backend_conn * conn = NULL;
+
printf("Trying to connect...");
+ memset(&remote, '\000', sizeof(remote));
+
remote.sun_family = AF_UNIX;
char * sock_env = getenv(SOCKET_ENV);
strcpy(remote.sun_path, sock_env ? sock_env : DEFAULT_ADAPTER_SOCKET);
+
+ printf("Path: %s\n", remote.sun_path);
+
if (connect(s, (struct sockaddr *)&remote, sizeof(remote)) == -1) {
- perror("failure to connect in connectToCrazyflieGroundStation");
- return 1;
+ perror("connect");
+ return NULL;
}
- printf("path= %s \n\r", remote.sun_path);
-
- (*conn) = malloc(sizeof(struct backend_conn));
- if ((*conn) == NULL) {
- perror("failure to malloc in connectToCrazyflieGroundStation");
- close(s);
- return 1;
+ conn = malloc(sizeof(struct backend_conn));
+ if (conn == NULL) {
+ perror("malloc");
+ return NULL;
}
- (*conn)->len = 0;
- (*conn)->buf = NULL;
- (*conn)->socket = fdopen(s, "r+");
- if ((*conn)->socket == NULL) {
- perror("failure to fdopen in connectToCrazyflieGroundStation");
- free(*conn);
- conn = NULL;
- close(s);
- return 1;
+ printf("socket: %i\n", s);
+ int check = fcntl(s, F_GETFD);
+ printf("check before: %i\n", check);
+
+ printf("pointer before: %p\n", conn->socket);
+
+ conn->len = 0;
+ conn->buf = NULL;
+ conn->socket = fdopen(s, "r+");
+ conn->socketfd = s;
+ printf("pointer after: %p\n", conn->socket);
+ check = fcntl(s, F_GETFD);
+ printf("check after: %i\n", check);
+ if (conn->socket == NULL) {
+ perror("fdopen");
+ return NULL;
}
- if (setvbuf((*conn)->socket, NULL, _IONBF, 0)) {
+ //TODO: seg faults, no such file or directory
+ /*May be redundant code,
+ if (setvbuf(conn->socket, NULL, _IONBF, 0)) {
warn("setvbuf");
}
-
+ */
+
+
printf("Success\n");
+ fflush(stdout);
/* success */
- return 0;
+ return conn;
}
/**
* @brief handles termination signals and cleans up all socket files
@@ -96,6 +115,14 @@ int main(int argc, char *args[]) {
signal(SIGQUIT, signalHandler);
signal(SIGHUP, signalHandler);
+ cfsocketconn = connectToCrazyflieGroundStation();
+ if (cfsocketconn == NULL) {
+ perror("Failed to connect to cf_groundstation");
+ close(adptsockfd);
+ unlink(SOCKPATH);
+ return 1;
+ }
+
//create socket and bind
printf("Adapter started\n\r");
struct sockaddr_un adptsockinfo;
@@ -142,6 +169,12 @@ int main(int argc, char *args[]) {
printf("received a connection on groundstation socket\n\r");
}
+ mcsocketconn = malloc(sizeof(struct backend_conn));
+ mcsocketconn->len=0;
+ mcsocketconn->buf=NULL;
+ mcsocketconn->socket=NULL;
+ mcsocketconn->socketfd = gssockfd;
+
char recvbuf[1000];
memset(recvbuf,0,1000);
int keepRunning = 1;
@@ -153,12 +186,13 @@ int main(int argc, char *args[]) {
ssize_t packetsize = -1;
int cbreturn = 0;
- if (connectToCrazyflieGroundStation(&cfsocketconn)) {
- perror("Failed to connect to cf_groundstation");
- close(adptsockfd);
- unlink(SOCKPATH);
- return 1;
- }
+ // cfsocketconn = connectToCrazyflieGroundStation();
+ // if (cfsocketconn == NULL) {
+ // perror("Failed to connect to cf_groundstation");
+ // close(adptsockfd);
+ // unlink(SOCKPATH);
+ // return 1;
+ // }
printf("connected to CF groundstation\n");
while(keepRunning){
diff --git a/groundStation/adapters/crazyflie/src/cf_adapter.h b/groundStation/adapters/crazyflie/src/cf_adapter.h
index c775e4262d3d3878769da65921c0863d409cf61e..13f57b10b938a8133ac8da66685a9c168aab4ba6 100644
--- a/groundStation/adapters/crazyflie/src/cf_adapter.h
+++ b/groundStation/adapters/crazyflie/src/cf_adapter.h
@@ -30,18 +30,20 @@
#include "commands.h"
#include "communication.h"
#include "packet.h"
+#include "param.h"
#include "type_def.h"
#include "cf_callbacks.h"
struct backend_conn {
FILE * socket;
+ int socketfd;
size_t len;
char * buf;
};
void signalHandler(int sigNum);
-int adapterWrite(struct backend_conn *conn, const char * line);
+ssize_t adapterWrite(struct backend_conn *conn, const char * line, size_t psize);
int connectToCrazyflieBackend(struct backend_conn ** conn);
diff --git a/groundStation/adapters/crazyflie/src/cf_callbacks.c b/groundStation/adapters/crazyflie/src/cf_callbacks.c
index 40595595f712166cd9a70d584a11ad4cde662ce3..8248141b04c6f8b13edb7713d9d485924e06dd35 100644
--- a/groundStation/adapters/crazyflie/src/cf_callbacks.c
+++ b/groundStation/adapters/crazyflie/src/cf_callbacks.c
@@ -4,6 +4,7 @@
/* Misc. callbacks */
//TODO there should be a better way to do this
extern struct backend_conn * cfsocketconn;
+extern struct backend_conn * mcsocketconn;
/**
* Currently does nothing.
@@ -41,6 +42,35 @@ int cb_beginupdate(struct modular_structs *structs, struct metadata *meta, unsig
return -1;
}
+int cb_overrideoutput(struct modular_structs *structs, struct metadata *meta, unsigned char *data, unsigned short length) {
+ uint8_t cmd[100];
+ memset(cmd, 0, sizeof(cmd));
+ char dimension;
+ ssize_t error;
+
+ //TODO for debugging
+ printf("\t\tchecking setpoint ");
+ for(int i = 0; i<8; i++){
+ printf("%2x ",*(data +i));
+ }
+ printf("\n");
+
+ //check if the connection is initiallized
+ if(cfsocketconn == NULL){
+ perror("\t\tcf groundstation connection not initialized\n");
+ return -2;
+ }
+
+ printf("\t\tabout to write to cf groundstation\n");
+
+ memcpy(cmd, data, meta->data_len);
+ uint8_t packet[64];
+ size_t psize = EncodePacket(packet, 64, meta, cmd);
+ error = adapterWrite(cfsocketconn,packet, psize);
+
+ return error;
+}
+
/*
* -----------------------------------------------
* Callbacks for control network modification/info
@@ -77,12 +107,12 @@ struct node_ids get_node_ids(u8 *data) {
* returns -1 if param not permitted
* returns -2 other type of error
*/
-int cb_setparam(struct modular_structs *structs, struct metadata *meta, unsigned char *data, unsigned short length)
+int cb_setparam(struct modular_structs *structs, struct metadata *meta, uint8_t *data, unsigned short length)
{
- char cmd[100];
+ uint8_t cmd[100];
memset(cmd, 0, sizeof(cmd));
char dimension;
- int error;
+ ssize_t error;
//TODO for debugging
printf("\t\tchecking parameter ");
@@ -98,7 +128,7 @@ int cb_setparam(struct modular_structs *structs, struct metadata *meta, unsigned
}
- //if node is the x, y, or z
+ /*if node is the x, y, or z
if(*(data) == 9){
dimension = 'x';
}
@@ -112,11 +142,13 @@ int cb_setparam(struct modular_structs *structs, struct metadata *meta, unsigned
//not supported node to set
return -1;
}
+ */
printf("\t\tabout to write to cf groundstation\n");
//build float value of the the param value
//send to cf groundstation over socket
//create command string
+ /*
switch(dimension) {
case'x':
//sprintf(cmd, "1x%1.2f",build_float(data+4));
@@ -137,6 +169,12 @@ int cb_setparam(struct modular_structs *structs, struct metadata *meta, unsigned
perror("cb_setparam reached default in switch statement");
return(-2);
}
+ */
+ //sprintf(cmd, "1y%1.2f",build_float(data+4));
+ memcpy(cmd, data, meta->data_len);
+ uint8_t packet[64];
+ size_t psize = EncodePacket(packet, 64, meta, cmd);
+ error = adapterWrite(cfsocketconn,packet, psize);
return error;
}
@@ -165,9 +203,100 @@ int cb_setparam(struct modular_structs *structs, struct metadata *meta, unsigned
* | bytes || 2 | 2 | 4 |
* |--------------------------------------------------------|
*/
-int cb_getparam(struct modular_structs *structs, struct metadata *meta, unsigned char *data, unsigned short length)
+int cb_getparam(struct modular_structs *structs, struct metadata *meta, uint8_t *data, unsigned short length)
{
- return -1;
+ char cmd[100];
+ memset(cmd, 0, sizeof(cmd));
+ char dimension;
+ ssize_t error;
+
+ //TODO for debugging
+ printf("\t\tchecking parameter ");
+ for(int i = 0; i<8; i++){
+ printf("%2x ",*(data +i));
+ }
+ printf("\n");
+
+ //check if the connection is initiallized
+ if(cfsocketconn == NULL){
+ perror("\t\tcf groundstation connection not initialized\n");
+ return -2;
+ }
+
+
+ /*if node is the x, y, or z
+ if(*(data) == 9){
+ dimension = 'x';
+ }
+ else if(*(data)== 10){
+ dimension = 'y';
+ }
+ else if(*(data)== 11){
+ dimension = 'z';
+ }
+ else{
+ //not supported node to set
+ return -1;
+ }
+ */
+
+ printf("\t\tabout to write to cf groundstation\n");
+ //build float value of the the param value
+ //send to cf groundstation over socket
+ //create command string
+ /*
+ switch(dimension) {
+ case'x':
+ //sprintf(cmd, "1x%1.2f",build_float(data+4));
+ sprintf(cmd, "1t\n",build_float(data+4));
+ error = adapterWrite(cfsocketconn,cmd);
+ sprintf(cmd, "1k\n",build_float(data+4));
+ error = adapterWrite(cfsocketconn,cmd);
+ break;
+ case 'y':
+ sprintf(cmd, "1y%1.2f",build_float(data+4));
+ error = adapterWrite(cfsocketconn,cmd);
+ break;
+ case 'z':
+ sprintf(cmd, "1z%1.2f",build_float(data+4));
+ error = adapterWrite(cfsocketconn,cmd);
+ break;
+ default:
+ perror("cb_setparam reached default in switch statement");
+ return(-2);
+ }
+ */
+
+ //sprintf(cmd, "1z%1.2f",build_float(data+4));
+ memcpy(cmd, data, meta->data_len);
+ uint8_t packet[64];
+ size_t psize = EncodePacket(packet, 64, meta, cmd);
+ error = adapterWrite(cfsocketconn,packet, psize);
+
+ char buffer[100];
+ ssize_t r = 0;
+
+ //char * bufferptr = buffer;
+
+ while(r<=0) {
+ r = read(cfsocketconn->socketfd, buffer, 100);
+ }
+
+ //printf("ID: %d", buffer[1]);
+
+ uint8_t packetr[64];
+ struct metadata mr;
+ uint8_t *datar = malloc(sizeof(*data) * 128);
+ //ssize_t resultr;
+ ssize_t psizer;
+
+ EncodeResponseParam(&mr, datar, 128, buffer);
+
+ psizer = EncodePacket(packetr, 64, &mr, datar);
+
+ error = adapterWrite(mcsocketconn, packetr, psizer);
+
+ return error;
}
/**
diff --git a/groundStation/src/backend/backend.c b/groundStation/src/backend/backend.c
index 295b8544208f952efcc3dc27dca4f0ce2e453452..d06f41d8c7e899da8ca4cd1d5cf4f6a09a0212e4 100644
--- a/groundStation/src/backend/backend.c
+++ b/groundStation/src/backend/backend.c
@@ -266,7 +266,7 @@ int main(int argc, char **argv)
}
//Create VRPN trackers if using environment variable not set
- if(!getenv(NOVRPN_ENV)){
+ if(0){
printf("Creating VRPN trackers...\n");
for (i = 0; i < NUM_TRACKABLES; i++) {
//create vrpnTracker instance
diff --git a/groundStation/src/backend/backend_adapter.c b/groundStation/src/backend/backend_adapter.c
index 9fb927f27a3a4ad8f416877643032ab8454e3d7f..ce06f8682d24e4b55a464260fd580df7f9891beb 100644
--- a/groundStation/src/backend/backend_adapter.c
+++ b/groundStation/src/backend/backend_adapter.c
@@ -8,6 +8,7 @@
#include <stdint.h>
#include <unistd.h>
#include <err.h>
+#include <errno.h>
#include "backend_adapter.h"
@@ -27,7 +28,7 @@ int adapterWrite(struct adapter_conn *conn, const char * line, size_t count) {
}
printf("'\n");
#endif
- return fwrite((const uint8_t *) line, sizeof(uint8_t), count, conn->socket);
+ return fwrite((const char *) line, sizeof(uint8_t), count, conn->socket);
}
/**
@@ -50,10 +51,14 @@ int adapterConnect(trackable_t * trackable) {
printf("Trying to connect...");
+ memset(&remote, '\000', sizeof(remote));
+
remote.sun_family = AF_UNIX;
strcpy(remote.sun_path, trackable->socket_path);
if (connect(s, (struct sockaddr *)&remote, sizeof(remote)) == -1) {
+ //printf(stderr, "%s\n", explain_connect(s, (struct sockaddr *)&remote, sizeof(remote)));
+ printf("%s\n", strerror(errno));
perror("connect");
return 1;
}
@@ -81,6 +86,8 @@ int adapterConnect(trackable_t * trackable) {
warn("setvbuf");
}
+ trackable->socket = s;
+
printf("Success\n");
return 0;
diff --git a/groundStation/src/backend/config.c b/groundStation/src/backend/config.c
index a717cbc4030880150b28104e131410b0df23bf6c..a7287220f5130a2abff03cf3e530fb9480bcbc5e 100644
--- a/groundStation/src/backend/config.c
+++ b/groundStation/src/backend/config.c
@@ -19,29 +19,29 @@ trackable_t trackables[] = {
"UAV", //Name
0, //Set to 0, the backend will modify on start
//Wifi Variables
- QUAD_IP_DEFAULT,
- QUAD_PORT_DEFAULT,
- //Adapter Variables
+ NULL,
0,
- NULL,
- NULL,
+ //Adapter Variables
+ 1,
+ "/home/bitcraze/projects/microCART/MicroCART/groundStation/adapters/crazyflie/",
+ "/home/bitcraze/projects/microCART/MicroCART/groundStation/adapters/crazyflie/cf_adapter.socket",
NULL,
//Local Communication Variables
0, //Set to 1 if Intending to use local Fifo
0, //Will be set by Backend
0, //Will be set by Backend
- QUAD_LOCAL_DEFAULT_TX,
- QUAD_LOCAL_DEFAULT_RX,
+ NULL,
+ NULL,
//Bluetooth Variables
0, //Set to 1 if using bluetooth
- QUAD_BT_CHANNEL_DEFAULT,
- QUAD_BT_ADDR_DEFAULT,
+ 0,
+ NULL,
//VRPN Variables
QUAD_SERVER_NAME_DEFAULT,
NULL, //Created by backend
PTHREAD_MUTEX_INITIALIZER
- },
- //Crazyflie 45
+ }
+ /*Crazyflie 45
[1] = {
"cf1",
0,
@@ -62,5 +62,5 @@ trackable_t trackables[] = {
"Crazyflie22@192.168.0.120:3883",
NULL,
PTHREAD_MUTEX_INITIALIZER
- },
+ },*/
};
diff --git a/groundStation/src/backend/config.h b/groundStation/src/backend/config.h
index 85f00492dbd0666e0e4257c9c5a4c73d0b24e192..d1e57a44b62b14b2b7007d9016068f77ed462edb 100644
--- a/groundStation/src/backend/config.h
+++ b/groundStation/src/backend/config.h
@@ -17,9 +17,9 @@
#include <stdint.h>
#define FRONTEND_DEBUG_PRINT 0
-#define ADAPTER_DEBUG_PRINT 0
+#define ADAPTER_DEBUG_PRINT 1
#define VRPN_DEBUG_PRINT 0
-#define BACKEND_DEBUG_PRINT 0
+#define BACKEND_DEBUG_PRINT 1
/**
* Socket used to communicate with the backend.
diff --git a/groundStation/src/backend/override.c b/groundStation/src/backend/override.c
index e51c09496cde94448dcb40619c84486a331139e7..b79cfe1162e622363333e58f91ed8c37495a41a4 100644
--- a/groundStation/src/backend/override.c
+++ b/groundStation/src/backend/override.c
@@ -6,8 +6,8 @@
#include "commands.h"
#include "bitwise.h"
-#define NUM_OUTPUTS 4
-#define DATA_SIZE (1+NUM_OUTPUTS*4)
+#define NUM_OUTPUTS 5
+#define DATA_SIZE (1+NUM_OUTPUTS*5)
/* Creates data and metadata for a overrideoutput packet
* Returns data size.
diff --git a/groundStation/src/backend/packet.c b/groundStation/src/backend/packet.c
index abcb42490b177873964cf0715270a87b7a6087d0..7dcd2a63526ffc0149f4efd6a24c247045da59f1 100644
--- a/groundStation/src/backend/packet.c
+++ b/groundStation/src/backend/packet.c
@@ -4,7 +4,6 @@
#include <string.h>
-
/* Combine metadata and data to form a wire-sendable packet.
* Returns the size of the encoded packet
*/
diff --git a/groundStation/src/backend/param.c b/groundStation/src/backend/param.c
index b5e027b0c0142d7ceddcb44cc9f4042172e008a1..9f1881fe284abd95ad0738d3073942601661d78c 100644
--- a/groundStation/src/backend/param.c
+++ b/groundStation/src/backend/param.c
@@ -5,6 +5,8 @@
#include "commands.h"
#include "bitwise.h"
+#define BytesTo16(lsb, msb) (((lsb) & 0xff) | (((msb) & 0xff) << 8))
+
enum GetparamData {
GP_BLOCK_ID_L,
GP_BLOCK_ID_H,
@@ -90,8 +92,6 @@ ssize_t EncodeSetParam(
return SP_DATA_SIZE;
}
-
-
enum ResponseData {
RESP_BLOCK_ID_L,
RESP_BLOCK_ID_H,
@@ -104,6 +104,44 @@ enum ResponseData {
RESP_DATA_SIZE
};
+/* Creates data and metadata for a setcontrol packet
+ * Returns data size.
+ */
+ssize_t EncodeResponseParam(
+ struct metadata * m, /* data_len and msg_type will be populated*/
+ uint8_t * data, /* Output buffer */
+ size_t data_size, /* Max buffer size */
+ const char * msg) /* Message to encode */
+{
+ m->msg_type = RESPPARAM_ID;
+ m->data_len = RESP_DATA_SIZE;
+
+ if (data_size < RESP_DATA_SIZE) {
+ return -1;
+ }
+
+ //int16_t block, param;
+ //float val;
+
+ //sscanf(msg, "setparam %" SCNd16 " %" SCNd16 " %f", &block, ¶m, &val);
+
+ data[RESP_BLOCK_ID_L] = 0;
+ data[RESP_BLOCK_ID_H] = 0;
+
+ data[RESP_PARAM_ID_L] = msg[1];
+ data[RESP_PARAM_ID_H] = 0;
+
+ uint16_t val16 = BytesTo16(msg[2], msg[3]);
+ float fl = (float) val16;
+
+ data[RESP_VAL_1] = FloatByte1(fl);
+ data[RESP_VAL_2] = FloatByte2(fl);
+ data[RESP_VAL_3] = FloatByte3(fl);
+ data[RESP_VAL_4] = FloatByte4(fl);
+
+ return RESP_DATA_SIZE;
+}
+
/* Decode a metadata and data to populate a controller.
* Returns bytes written to msg, -1 on failure.
*/
diff --git a/groundStation/src/backend/param.h b/groundStation/src/backend/param.h
index b8b03429e391e39b761aca2ddc77b2a41e3a580a..bdead5a0b12f91de0280c3da97aba0fda917434e 100644
--- a/groundStation/src/backend/param.h
+++ b/groundStation/src/backend/param.h
@@ -24,6 +24,15 @@ ssize_t EncodeSetParam(
size_t data_size, /* Max buffer size */
const char * msg); /* Message to encode */
+/* Creates data and metadata for a setcontrol packet
+ * Returns data size.
+ */
+ssize_t EncodeResponseParam(
+ struct metadata * m, /* data_len and msg_type will be populated*/
+ uint8_t * data, /* Output buffer */
+ size_t data_size, /* Max buffer size */
+ const char * msg); /* Message to encode */
+
/* Decode a metadata and data to populate a controller.
* Returns bytes written to msg, -1 on failure.
*/
diff --git a/groundStation/src/cli/cli_override.c b/groundStation/src/cli/cli_override.c
index 8ee4fe283394a79b9534e138c684fa5c7caf5898..e60bd15b440527d77982782cd98597cb5f5b5302 100644
--- a/groundStation/src/cli/cli_override.c
+++ b/groundStation/src/cli/cli_override.c
@@ -12,7 +12,7 @@ int cli_outputoverride(struct backend_conn * conn, int argc, char ** argv) {
if ((needHelp = help_check(argc, argv))) {
printf("outputoverride sets the override state of the hardware platform\n");
- printf("Usage Syntax : \n\t./Cli outputoverride <enable> Throttle Pitch Roll Yaw \n");
+ printf("Usage Syntax : \n\t./Cli outputoverride <enable> Time Throttle Pitch Roll Yaw \n");
return 0;
}
@@ -22,10 +22,11 @@ int cli_outputoverride(struct backend_conn * conn, int argc, char ** argv) {
}
int ena;
sscanf(argv[1], "%d", &ena); values.enable = ena;
- sscanf(argv[2], "%f", &values.throttle);
- sscanf(argv[3], "%f", &values.pitch);
- sscanf(argv[4], "%f", &values.roll);
- sscanf(argv[5], "%f", &values.yaw);
+ sscanf(argv[2], "%f", &values.time);
+ sscanf(argv[3], "%f", &values.throttle);
+ sscanf(argv[4], "%f", &values.pitch);
+ sscanf(argv[5], "%f", &values.roll);
+ sscanf(argv[6], "%f", &values.yaw);
if (frontend_setoutputoverride(conn, &values)) {
return 1;
diff --git a/groundStation/src/frontend/frontend_common.h b/groundStation/src/frontend/frontend_common.h
index 27983cb082dfd725ac7ad788c378d4471f078686..1d77a0b25b6c45b5cd9afa4106f0eb93082eca26 100644
--- a/groundStation/src/frontend/frontend_common.h
+++ b/groundStation/src/frontend/frontend_common.h
@@ -58,6 +58,7 @@ struct frontend_node_data {
struct frontend_override_data {
int8_t enable;
+ float time;
float throttle;
float pitch;
float roll;
diff --git a/groundStation/src/frontend/frontend_override.c b/groundStation/src/frontend/frontend_override.c
index aac819df9677628a275ce73fffd66843007ba2e8..4e334f96e8ca0303cbc893367ef20042e5d8ca9f 100644
--- a/groundStation/src/frontend/frontend_override.c
+++ b/groundStation/src/frontend/frontend_override.c
@@ -14,11 +14,12 @@ int frontend_setoutputoverride(
struct backend_conn * conn,
struct frontend_override_data * values) {
- char msg[64] = "";
+ char msg[70] = "";
int written;
- snprintf(msg, 64, "outputoverride %" PRId8 " %f %f %f %f\n",
+ snprintf(msg, 70, "outputoverride %" PRId8 " %f %f %f %f %f\n",
values->enable,
+ values->time,
values->throttle, values->pitch, values->roll, values->yaw);
if((written = ucart_backendWrite(conn, msg)) < 0) {