From 7e71f19b6ccdef59a882f4bc66a2b5f02bbda29f Mon Sep 17 00:00:00 2001
From: abeinder <abeinder@iastate.edu>
Date: Mon, 17 Apr 2023 22:24:33 -0500
Subject: [PATCH] current working version
---
pycrocart/ParameterWindow.py | 13 +++++++++----
pycrocart/SetpointHandler.py | 8 ++++----
pycrocart/SetpointMenu.py | 1 +
pycrocart/logging_variables.json | 9 ++-------
pycrocart/mp4params.json | 26 +++++++++++++-------------
pycrocart/uCartCommander.py | 6 +++---
6 files changed, 32 insertions(+), 31 deletions(-)
diff --git a/pycrocart/ParameterWindow.py b/pycrocart/ParameterWindow.py
index 30a1db407..36356fae9 100644
--- a/pycrocart/ParameterWindow.py
+++ b/pycrocart/ParameterWindow.py
@@ -215,12 +215,15 @@ class ParameterWindow(QWidget):
def on_send(self):
if not self.sending:
- self.sending = True
- self.complete_label.setEnabled(False)
try:
with open('./mp4params.json', 'r') as f:
contents = json.load(f)
+
+ self.sending = True
+ self.complete_label.setEnabled(False)
+ self.complete_label.setText("Complete ✓")
+
for key in contents:
for sub_key in contents[key]:
self.num_to_send += 1
@@ -229,9 +232,11 @@ class ParameterWindow(QWidget):
'value': contents[key][sub_key]})
self.timer.timeout.connect(self.send_callback)
- self.timer.start(100)
+ self.timer.start(300)
except json.decoder.JSONDecodeError:
- print("File open")
+ error_text = "Malformed Json"
+ self.complete_label.setText(
+ "<span style='color: red;'>" + error_text + "</span>")
def send_callback(self):
diff --git a/pycrocart/SetpointHandler.py b/pycrocart/SetpointHandler.py
index 711504189..a16c450fe 100644
--- a/pycrocart/SetpointHandler.py
+++ b/pycrocart/SetpointHandler.py
@@ -94,11 +94,11 @@ class SetpointHandler:
thrust = self.setpoint.thrust * 65000 / 100
print(f"Set attitude: {self.setpoint.yaw}, {self.setpoint.pitch}, "
- f"{self.setpoint.roll}, {self.setpoint.thrust}")
+ f"{self.setpoint.roll}, {thrust}")
self.commander.send_attitude_setpoint(
self.setpoint.yaw, self.setpoint.pitch, self.setpoint.roll,
- int(thrust))
+ thrust)
elif self._flight_mode == FlightMode.ATTITUDE_RATE_TYPE:
@@ -109,7 +109,7 @@ class SetpointHandler:
self.commander.send_attitude_rate_setpoint(
self.setpoint.yaw, self.setpoint.pitch, self.setpoint.roll,
- int(thrust))
+ thrust)
self.setpoint_semaphore.release()
@@ -134,4 +134,4 @@ class SetpointHandler:
self.commander.send_attitude_rate_setpoint(
self.setpoint.yaw, self.setpoint.pitch, self.setpoint.roll,
- int(thrust))
\ No newline at end of file
+ thrust)
diff --git a/pycrocart/SetpointMenu.py b/pycrocart/SetpointMenu.py
index 15a815746..1d36456da 100644
--- a/pycrocart/SetpointMenu.py
+++ b/pycrocart/SetpointMenu.py
@@ -209,5 +209,6 @@ class SetpointMenu(QWidget):
self.roll_box.setText(str(round(self.setpoint.roll, 2)))
self.pitch_box.setText(str(round(self.setpoint.pitch, 2)))
self.thrust_slider.setValue(int(round(self.setpoint.thrust, 2)))
+ self.send_setpoint()
self.setpoint_semaphore.release()
diff --git a/pycrocart/logging_variables.json b/pycrocart/logging_variables.json
index 2f108231a..031cfdfbd 100644
--- a/pycrocart/logging_variables.json
+++ b/pycrocart/logging_variables.json
@@ -1,12 +1,7 @@
{
"group1":
{
- "update_frequency_ms": 21,
- "vars": ["stateEstimate.pitch", "stateEstimate.roll", "stateEstimate.yaw"]
- },
- "group2":
- {
- "update_frequency_ms": 100,
- "vars": ["health.motorVarXM1"]
+ "update_frequency_ms": 50,
+ "vars": ["ctrlStdnt.r_roll", "ctrlStdnt.rollRate", "stateEstimate.roll", "ctrlStdnt.roll"]
}
}
\ No newline at end of file
diff --git a/pycrocart/mp4params.json b/pycrocart/mp4params.json
index 5a470795b..0baf5fd96 100644
--- a/pycrocart/mp4params.json
+++ b/pycrocart/mp4params.json
@@ -5,26 +5,26 @@
},
"s_pid_rate":
{
- "roll_kp" : 0,
- "roll_ki" : 0,
+ "roll_kp" : 300,
+ "roll_ki" : 40,
"roll_kd" : 0,
- "pitch_kp": 0,
- "pitch_ki": 0,
+ "pitch_kp": 200,
+ "pitch_ki": 40,
"pitch_kd": 0,
- "yaw_kp" : 0,
+ "yaw_kp" : 2000,
"yaw_ki" : 0,
"yaw_kd" : 0
},
"s_pid_attitude":
{
- "roll_kp" : 0,
- "roll_ki" : 0,
- "roll_kd" : 0,
- "pitch_kp": 0,
- "pitch_ki": 0,
- "pitch_kd": 0,
- "yaw_kp" : 0,
+ "roll_kp" : 15,
+ "roll_ki" : 10,
+ "roll_kd" : 3,
+ "pitch_kp": 15,
+ "pitch_ki": 10,
+ "pitch_kd": 3,
+ "yaw_kp" : 10,
"yaw_ki" : 0,
- "yaw_kd" : 0,
+ "yaw_kd" : 0
}
}
\ No newline at end of file
diff --git a/pycrocart/uCartCommander.py b/pycrocart/uCartCommander.py
index a5b91ef56..a2f13a078 100644
--- a/pycrocart/uCartCommander.py
+++ b/pycrocart/uCartCommander.py
@@ -208,9 +208,9 @@ class Commander:
pk = CRTPPacket()
pk.port = CRTPPort.COMMANDER_GENERIC
pk.channel = SET_SETPOINT_CHANNEL
- pk.data = struct.pack('<Bffff', ATTITUDE_RATE_TYPE, yawRate,
+ pk.data = struct.pack('<Bffff', ATTITUDE_RATE_TYPE, rollRate,
pitchRate,
- rollRate, thrust) # todo confirm struct is
+ yawRate, thrust) # todo confirm struct is
# right, I tried to format it using H for the int of thrust and f for
# floats otherwise. Kinda looks like what is above
self._cf.send_packet(pk)
@@ -230,7 +230,7 @@ class Commander:
pk = CRTPPacket()
pk.port = CRTPPort.COMMANDER_GENERIC
pk.channel = SET_SETPOINT_CHANNEL
- pk.data = struct.pack('<Bffff', ATTITUDE_TYPE, yaw, pitch, roll,
+ pk.data = struct.pack('<Bffff', ATTITUDE_TYPE, roll, pitch, yaw,
thrust)
self._cf.send_packet(pk) # todo confirm struct is right , I tried to
# format it using H for the int of thrust and f for
--
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