pennair2 package

Submodules

pennair2.PID module

Ivmech PID Controller is simple implementation of a Proportional-Integral-Derivative (PID) Controller in the Python Programming Language. More information about PID Controller: http://en.wikipedia.org/wiki/PID_controller

class pennair2.PID.PID(P=0.2, I=0.0, D=0.0)

PID Controller

clear()

Clears PID computations and coefficients

setKd(derivative_gain)

Determines how aggressively the PID reacts to the current error with setting Derivative Gain

setKi(integral_gain)

Determines how aggressively the PID reacts to the current error with setting Integral Gain

setKp(proportional_gain)

Determines how aggressively the PID reacts to the current error with setting Proportional Gain

setSampleTime(sample_time)

PID that should be updated at a regular interval. Based on a pre-determined sampe time, the PID decides if it should compute or return immediately.

setWindup(windup)

Integral windup, also known as integrator windup or reset windup, refers to the situation in a PID feedback controller where a large change in setpoint occurs (say a positive change) and the integral terms accumulates a significant error during the rise (windup), thus overshooting and continuing to increase as this accumulated error is unwound (offset by errors in the other direction). The specific problem is the excess overshooting.

update(feedback_value)

Calculates PID value for given reference feedback

u(t)=Kpe(t)+Ki∫t0e(t)dt+Kdde/dt
_modules/images/pid_1.png

Test PID with Kp=1.2, Ki=1, Kd=0.001 (test_pid.py)

pennair2.actuation module

class pennair2.actuation.RCOverride(mavros_prefix='/mavros')
set_pwm(val, channel)

pennair2.autopilot module

class pennair2.autopilot.Autopilot

Bases: object

global_global

The global position as a GPS coordinate. :return: GPS position. :rtype: NavSatFix

global_local

The global position in UTM coordinates. UTM coordinates are used to define position on Earth using a Euclidean coordinate system. :return: Global position in local frame :rtype: PoseWithCovarianceStamped

global_velocity_raw

The raw GPS velocity. :return: GPS velocity :rtype: TwistStamped

gps_raw

Raw GPS position data. :return: raw GPS data :rtype: NavSatFix

gps_twist_raw

Raw GPS velocity data. :return: raw GPS velocity :rtype: TwistStamped

heading
Returns:The heading.
Return type:float
imu_data
Returns:Imu data, orientation computed by FCU
Return type:Imu
imu_raw
Returns:Raw IMU data without orientation
Return type:Imu
is_connected()
local_pose

Fused position in local reference frame, as defined in ~local_position/frame_id :return: Local position :rtype: PoseStamped

local_twist

Fused linear and angular velocity from the FCU. :return: velocity :rtype: TwistStamped

relative_altitude
Returns:The relative altitude to home.
Return type:float
class pennair2.autopilot.Mavros(mavros_prefix='/mavros')

Bases: pennair2.autopilot.Autopilot

battery

The status of the battery. This has to be properly configured in QGroundControl to be reliable. :return: Battery status :rtype: BatteryState

is_connected()
launch_node(fcu_url='udp://:14540@127.0.0.1:14557', gcs_url='udp://@10.42.0.1', **kwargs)

Launch a mavros node corresponding to the appropriate :param fcu_url: The url of the flight control unit. :type fcu_url: str :param gcs_url: The url of the ground station (qGroundControl) for passthrough. :type gcs_url: str :param kwargs: Any other remap arguments.

send_command_long(cmd, params)

Send a raw MAVLINK command. :param cmd: The command number. :type cmd: int :param params: A list of parameters to send in the command. :type params: int list :return: A boolean that specifies success and an integer specifying the result. :rtype: (bool, int)

state

The state of the autopilot. Includes things like current mode. :return: Mavros state :rtype: State

pennair2.controller module

class pennair2.controller.Controller(quad)

Bases: threading.Thread

run()

Method representing the thread’s activity.

You may override this method in a subclass. The standard run() method invokes the callable object passed to the object’s constructor as the target argument, if any, with sequential and keyword arguments taken from the args and kwargs arguments, respectively.

pennair2.conversions module

pennair2.conversions.NavSatFix_to_PoseStamped(gps, force_utm_zone=None)

Convert GPS to UTM position.

Parameters:
  • gps – A gps position. If list/tuple given then (longitude, latitude, altitude). Altitude in WSG84.
  • force_utm_zone – If not None, then will force utm zone as specified.
pennair2.conversions.feet_to_meters(feet)
pennair2.conversions.gps_to_utm(gps, force_utm_zone=None)

Convert GPS to UTM position. Use NavSatFix_to_PoseStamped for converting between such messages.

Parameters:
  • gps – List of [latitude, longitude, altitude]
  • force_utm_zone – If not None, then will force utm zone as specified.
Returns:

UTM position in ENU and the zone number.
pennair2.conversions.knots_to_mets(knots)
pennair2.conversions.meters_to_feet(meters)
pennair2.conversions.meters_to_miles(meters)
pennair2.conversions.mets_to_knots(mets)
pennair2.conversions.miles_to_meters(miles)
pennair2.conversions.to_numpy(position)

Create a numpy array (as a column vector) representation of a geometry_msgs position. :param position: :type position: PoseStamped | PointStamped | Pose | Point | Vector3

pennair2.conversions.to_pose_stamped(value, frame_id=None, heading=None)

Converts a python list / tuple into a PoseStamped message. Specify frame_id and heading if necessary.

Parameters:
  • value (PoseStamped | Pose | Point | list[int,int,int] | (int,int,int) | np.ndarray) – The desired position setpoint, only yaw component of orientation is used. Can be of type PoseStamped, Pose, Point, or an indexable object with 3 integer elements (list, tuple, numpy array etc.)
  • frame_id (str) – The name of the frame to use for the message. Will not override frame_id of PoseStamped.
  • heading (int) – Your desired heading in radians. This is the rotation around the z-axis.

pennair2.core module

class pennair2.core.Multirotor(autopilot, frequency=30)

Bases: pennair2.core.UAV

hover()
land(speed=0.5, target=None)
set_position(position, frame_id='map', heading=None, blocking=False, margin=0.5)

Tells multirotor to fly to maintain given position.

Parameters:
  • position (PoseStamped | Pose | Point | list[int,int,int] | (int,int,int) | np.ndarray) – The setpoint position.
  • frame_id (str) – The frame relative to which the setpoint is set.
  • heading (int) – The heading to maintain.
  • blocking (bool) – Weather or not to block the thread until setpoint reached.
  • margin (float) – The setpoint margin. Only matters if blocking is true.
takeoff(speed=0.5, target_height=10)
class pennair2.core.UAV(autopilot, frequency=30)

Bases: object

class SetpointMode

Bases: enum.Enum

ACCELERATION = 3
POSITION = 1
VELOCITY = 2
displacement_from_target(target=None, current=None, frame_id=None)
distance_to_target(target=None, current=None, frame_id=None)
get_gps()
get_heading()
get_pose(utm=False, fmt='pose')
get_position(utm=False)
get_relative_altitude()
get_twist()
get_velocity()
is_armed
is_offboard
set_position(value, frame_id='map', heading=None)
Parameters:
  • value (PoseStamped | Pose | Point | list[int,int,int] | (int,int,int) | np.ndarray) – The desired position setpoint, only yaw component of orientation is used. Can be of type PoseStamped, Pose, Point, or an indexable object with 3 integer elements (list, tuple, numpy array etc.)
  • frame_id (str) – The name of the frame to use for the message. Will only be applied if value is not already PoseStamped.
  • heading (int) – Your desired heading.
set_velocity(value, frame_id=None)
shutdown()
start()
transform_pose(pose, target, timeout=1.0)
wait(seconds, rate=30)
wait_for(fun, rate=30, wait_val=True)

pennair2.gui module

pennair2.launch module

class pennair2.launch.LaunchFile
add_node(node)
generate()
write(package, name)
class pennair2.launch.Node(name, params)
add_attribute(name, value)
add_param(name, value)
add_remap(old, new)
add_rosparam(name, text)
pennair2.launch.launch(package, name)

API call to roslaunch. Same as command line.

Parameters:
  • package – The package name.
  • name – The name of the launch file
  • kwargs – Not implemented in Kinetic. TODO: Implement in Lunar

pennair2.search module

class pennair2.search.BoxSearch(uav, height=10, radius=None, increment=5)

Bases: pennair2.search.Search

run()
class pennair2.search.FoundAction

Bases: enum.Enum

CONTINUE = 1
STOP = 2
class pennair2.search.Search(uav, height=10)

Bases: object

is_target()
on_target_found()
run()

pennair2.swarm module

class pennair2.swarm.Swarm
add_member(m)
get_swarm_poses(origin)
remove_member(m)
set_position(value, frame_id=None, heading=None)
Parameters:
  • value (PoseStamped | Pose | Point | list[int,int,int] | (int,int,int)) – The desired position setpoint, only yaw component of orientation is used. Can be of type PoseStamped, Pose, Point, or an indexable object with 3 integer elements (list, tuple, numpy array etc.)
  • frame_id (str) – The name of the frame to use for the message.
  • heading (int) – Your desired heading.

Module contents

class pennair2.Controller(quad)

Bases: threading.Thread

run()

Method representing the thread’s activity.

You may override this method in a subclass. The standard run() method invokes the callable object passed to the object’s constructor as the target argument, if any, with sequential and keyword arguments taken from the args and kwargs arguments, respectively.

class pennair2.Multirotor(autopilot, frequency=30)

Bases: pennair2.core.UAV

hover()
land(speed=0.5, target=None)
set_position(position, frame_id='map', heading=None, blocking=False, margin=0.5)

Tells multirotor to fly to maintain given position.

Parameters:
  • position (PoseStamped | Pose | Point | list[int,int,int] | (int,int,int) | np.ndarray) – The setpoint position.
  • frame_id (str) – The frame relative to which the setpoint is set.
  • heading (int) – The heading to maintain.
  • blocking (bool) – Weather or not to block the thread until setpoint reached.
  • margin (float) – The setpoint margin. Only matters if blocking is true.
takeoff(speed=0.5, target_height=10)
class pennair2.Autopilot

Bases: object

global_global

The global position as a GPS coordinate. :return: GPS position. :rtype: NavSatFix

global_local

The global position in UTM coordinates. UTM coordinates are used to define position on Earth using a Euclidean coordinate system. :return: Global position in local frame :rtype: PoseWithCovarianceStamped

global_velocity_raw

The raw GPS velocity. :return: GPS velocity :rtype: TwistStamped

gps_raw

Raw GPS position data. :return: raw GPS data :rtype: NavSatFix

gps_twist_raw

Raw GPS velocity data. :return: raw GPS velocity :rtype: TwistStamped

heading
Returns:The heading.
Return type:float
imu_data
Returns:Imu data, orientation computed by FCU
Return type:Imu
imu_raw
Returns:Raw IMU data without orientation
Return type:Imu
is_connected()
local_pose

Fused position in local reference frame, as defined in ~local_position/frame_id :return: Local position :rtype: PoseStamped

local_twist

Fused linear and angular velocity from the FCU. :return: velocity :rtype: TwistStamped

relative_altitude
Returns:The relative altitude to home.
Return type:float