Merge pull request #515 from bitcraze/Aris/Single_Drone_Reset_Estimator

Replaced reset estimator in single drone examples

cflib/utils/reset_estimator.py

@@ -0,0 +1,56 @@
+import time
+
+from cflib.crazyflie.log import LogConfig
+from cflib.crazyflie.syncCrazyflie import SyncCrazyflie
+from cflib.crazyflie.syncLogger import SyncLogger
+
+
+def reset_estimator(crazyflie):
+    if isinstance(crazyflie, SyncCrazyflie):
+        cf = crazyflie.cf
+    else:
+        cf = crazyflie
+    cf.param.set_value('kalman.resetEstimation', '1')
+    time.sleep(0.1)
+    cf.param.set_value('kalman.resetEstimation', '0')
+
+    _wait_for_position_estimator(cf)
+
+
+def _wait_for_position_estimator(cf):
+    print('Waiting for estimator to find position...', end='\r')
+
+    log_config = LogConfig(name='Kalman Variance', period_in_ms=500)
+    log_config.add_variable('kalman.varPX', 'float')
+    log_config.add_variable('kalman.varPY', 'float')
+    log_config.add_variable('kalman.varPZ', 'float')
+
+    var_y_history = [1000] * 10
+    var_x_history = [1000] * 10
+    var_z_history = [1000] * 10
+
+    threshold = 0.001
+
+    with SyncLogger(cf, log_config) as logger:
+        for log_entry in logger:
+            data = log_entry[1]
+
+            var_x_history.append(data['kalman.varPX'])
+            var_x_history.pop(0)
+            var_y_history.append(data['kalman.varPY'])
+            var_y_history.pop(0)
+            var_z_history.append(data['kalman.varPZ'])
+            var_z_history.pop(0)
+
+            min_x = min(var_x_history)
+            max_x = max(var_x_history)
+            min_y = min(var_y_history)
+            max_y = max(var_y_history)
+            min_z = min(var_z_history)
+            max_z = max(var_z_history)
+
+            if (max_x - min_x) < threshold and (
+                    max_y - min_y) < threshold and (
+                    max_z - min_z) < threshold:
+                print('Waiting for estimator to find position...success!')
+                break

examples/autonomy/autonomousSequence.py

@@ -36,8 +36,8 @@
 from cflib.crazyflie import Crazyflie
 from cflib.crazyflie.log import LogConfig
 from cflib.crazyflie.syncCrazyflie import SyncCrazyflie
-from cflib.crazyflie.syncLogger import SyncLogger
 from cflib.utils import uri_helper
+from cflib.utils.reset_estimator import reset_estimator
 
 # URI to the Crazyflie to connect to
 uri = uri_helper.uri_from_env(default='radio://0/80/2M/E7E7E7E7E7')
@@ -56,56 +56,6 @@
 ]
 
 
-def wait_for_position_estimator(scf):
-    print('Waiting for estimator to find position...')
-
-    log_config = LogConfig(name='Kalman Variance', period_in_ms=500)
-    log_config.add_variable('kalman.varPX', 'float')
-    log_config.add_variable('kalman.varPY', 'float')
-    log_config.add_variable('kalman.varPZ', 'float')
-
-    var_y_history = [1000] * 10
-    var_x_history = [1000] * 10
-    var_z_history = [1000] * 10
-
-    threshold = 0.001
-
-    with SyncLogger(scf, log_config) as logger:
-        for log_entry in logger:
-            data = log_entry[1]
-
-            var_x_history.append(data['kalman.varPX'])
-            var_x_history.pop(0)
-            var_y_history.append(data['kalman.varPY'])
-            var_y_history.pop(0)
-            var_z_history.append(data['kalman.varPZ'])
-            var_z_history.pop(0)
-
-            min_x = min(var_x_history)
-            max_x = max(var_x_history)
-            min_y = min(var_y_history)
-            max_y = max(var_y_history)
-            min_z = min(var_z_history)
-            max_z = max(var_z_history)
-
-            # print("{} {} {}".
-            #       format(max_x - min_x, max_y - min_y, max_z - min_z))
-
-            if (max_x - min_x) < threshold and (
-                    max_y - min_y) < threshold and (
-                    max_z - min_z) < threshold:
-                break
-
-
-def reset_estimator(scf):
-    cf = scf.cf
-    cf.param.set_value('kalman.resetEstimation', '1')
-    time.sleep(0.1)
-    cf.param.set_value('kalman.resetEstimation', '0')
-
-    wait_for_position_estimator(cf)
-
-
 def position_callback(timestamp, data, logconf):
     x = data['kalman.stateX']
     y = data['kalman.stateY']
@@ -154,5 +104,5 @@ def run_sequence(scf, sequence):
 
     with SyncCrazyflie(uri, cf=Crazyflie(rw_cache='./cache')) as scf:
         reset_estimator(scf)
-        # start_position_printing(scf)
+        start_position_printing(scf)
         run_sequence(scf, sequence)

examples/autonomy/autonomous_sequence_high_level.py

@@ -33,12 +33,11 @@
 
 import cflib.crtp
 from cflib.crazyflie import Crazyflie
-from cflib.crazyflie.log import LogConfig
 from cflib.crazyflie.mem import MemoryElement
 from cflib.crazyflie.mem import Poly4D
 from cflib.crazyflie.syncCrazyflie import SyncCrazyflie
-from cflib.crazyflie.syncLogger import SyncLogger
 from cflib.utils import uri_helper
+from cflib.utils.reset_estimator import reset_estimator
 
 # URI to the Crazyflie to connect to
 uri = uri_helper.uri_from_env(default='radio://0/80/2M/E7E7E7E7E7')
@@ -62,55 +61,6 @@
 ]
 
 
-def wait_for_position_estimator(scf):
-    print('Waiting for estimator to find position...')
-
-    log_config = LogConfig(name='Kalman Variance', period_in_ms=500)
-    log_config.add_variable('kalman.varPX', 'float')
-    log_config.add_variable('kalman.varPY', 'float')
-    log_config.add_variable('kalman.varPZ', 'float')
-
-    var_y_history = [1000] * 10
-    var_x_history = [1000] * 10
-    var_z_history = [1000] * 10
-
-    threshold = 0.001
-
-    with SyncLogger(scf, log_config) as logger:
-        for log_entry in logger:
-            data = log_entry[1]
-
-            var_x_history.append(data['kalman.varPX'])
-            var_x_history.pop(0)
-            var_y_history.append(data['kalman.varPY'])
-            var_y_history.pop(0)
-            var_z_history.append(data['kalman.varPZ'])
-            var_z_history.pop(0)
-
-            min_x = min(var_x_history)
-            max_x = max(var_x_history)
-            min_y = min(var_y_history)
-            max_y = max(var_y_history)
-            min_z = min(var_z_history)
-            max_z = max(var_z_history)
-
-            # print("{} {} {}".
-            #       format(max_x - min_x, max_y - min_y, max_z - min_z))
-
-            if (max_x - min_x) < threshold and (
-                    max_y - min_y) < threshold and (
-                    max_z - min_z) < threshold:
-                break
-
-
-def reset_estimator(cf):
-    cf.param.set_value('kalman.resetEstimation', '1')
-    time.sleep(0.1)
-    cf.param.set_value('kalman.resetEstimation', '0')
-
-    wait_for_position_estimator(cf)
-
-
 def activate_mellinger_controller(cf):
     cf.param.set_value('stabilizer.controller', '2')
 

examples/autonomy/autonomous_sequence_high_level_compressed.py

@@ -34,13 +34,12 @@
 import cflib.crtp
 from cflib.crazyflie import Crazyflie
 from cflib.crazyflie.high_level_commander import HighLevelCommander
-from cflib.crazyflie.log import LogConfig
 from cflib.crazyflie.mem import CompressedSegment
 from cflib.crazyflie.mem import CompressedStart
 from cflib.crazyflie.mem import MemoryElement
 from cflib.crazyflie.syncCrazyflie import SyncCrazyflie
-from cflib.crazyflie.syncLogger import SyncLogger
 from cflib.utils import uri_helper
+from cflib.utils.reset_estimator import reset_estimator
 
 # URI to the Crazyflie to connect to
 uri = uri_helper.uri_from_env(default='radio://0/80/2M/E7E7E7E7E7')
@@ -58,55 +57,6 @@
 ]
 
 
-def wait_for_position_estimator(scf):
-    print('Waiting for estimator to find position...')
-
-    log_config = LogConfig(name='Kalman Variance', period_in_ms=500)
-    log_config.add_variable('kalman.varPX', 'float')
-    log_config.add_variable('kalman.varPY', 'float')
-    log_config.add_variable('kalman.varPZ', 'float')
-
-    var_y_history = [1000] * 10
-    var_x_history = [1000] * 10
-    var_z_history = [1000] * 10
-
-    threshold = 0.001
-
-    with SyncLogger(scf, log_config) as logger:
-        for log_entry in logger:
-            data = log_entry[1]
-
-            var_x_history.append(data['kalman.varPX'])
-            var_x_history.pop(0)
-            var_y_history.append(data['kalman.varPY'])
-            var_y_history.pop(0)
-            var_z_history.append(data['kalman.varPZ'])
-            var_z_history.pop(0)
-
-            min_x = min(var_x_history)
-            max_x = max(var_x_history)
-            min_y = min(var_y_history)
-            max_y = max(var_y_history)
-            min_z = min(var_z_history)
-            max_z = max(var_z_history)
-
-            # print("{} {} {}".
-            #       format(max_x - min_x, max_y - min_y, max_z - min_z))
-
-            if (max_x - min_x) < threshold and (
-                    max_y - min_y) < threshold and (
-                    max_z - min_z) < threshold:
-                break
-
-
-def reset_estimator(cf):
-    cf.param.set_value('kalman.resetEstimation', '1')
-    time.sleep(0.1)
-    cf.param.set_value('kalman.resetEstimation', '0')
-
-    wait_for_position_estimator(cf)
-
-
 def activate_mellinger_controller(cf):
     cf.param.set_value('stabilizer.controller', '2')
 

examples/autonomy/circling_square_demo.py

@@ -36,13 +36,11 @@
 
 import cflib.crtp
 from cflib.crazyflie.high_level_commander import HighLevelCommander
-from cflib.crazyflie.log import LogConfig
 from cflib.crazyflie.mem import CompressedSegment
 from cflib.crazyflie.mem import CompressedStart
 from cflib.crazyflie.mem import MemoryElement
 from cflib.crazyflie.swarm import CachedCfFactory
 from cflib.crazyflie.swarm import Swarm
-from cflib.crazyflie.syncLogger import SyncLogger
 
 URI1 = 'radio://0/60/2M/E7E7E7E710'
 URI2 = 'radio://0/60/2M/E7E7E7E711'
@@ -72,55 +70,6 @@ def rotate_beizer_node(xl, yl, alpha):
     return x_rot, y_rot
 
 
-def wait_for_position_estimator(scf):
-    print('Waiting for estimator to find position...')
-
-    log_config = LogConfig(name='Kalman Variance', period_in_ms=500)
-    log_config.add_variable('kalman.varPX', 'float')
-    log_config.add_variable('kalman.varPY', 'float')
-    log_config.add_variable('kalman.varPZ', 'float')
-
-    var_y_history = [1000] * 10
-    var_x_history = [1000] * 10
-    var_z_history = [1000] * 10
-
-    threshold = 0.001
-
-    with SyncLogger(scf, log_config) as logger:
-        for log_entry in logger:
-            data = log_entry[1]
-
-            var_x_history.append(data['kalman.varPX'])
-            var_x_history.pop(0)
-            var_y_history.append(data['kalman.varPY'])
-            var_y_history.pop(0)
-            var_z_history.append(data['kalman.varPZ'])
-            var_z_history.pop(0)
-
-            min_x = min(var_x_history)
-            max_x = max(var_x_history)
-            min_y = min(var_y_history)
-            max_y = max(var_y_history)
-            min_z = min(var_z_history)
-            max_z = max(var_z_history)
-
-            # print("{} {} {}".
-            #       format(max_x - min_x, max_y - min_y, max_z - min_z))
-
-            if (max_x - min_x) < threshold and (
-                    max_y - min_y) < threshold and (
-                    max_z - min_z) < threshold:
-                break
-
-
-def reset_estimator(cf):
-    cf.param.set_value('kalman.resetEstimation', '1')
-    time.sleep(0.1)
-    cf.param.set_value('kalman.resetEstimation', '0')
-
-    wait_for_position_estimator(cf)
-
-
 def activate_high_level_commander(cf):
     cf.param.set_value('commander.enHighLevel', '1')
 
@@ -234,6 +183,7 @@ def upload_trajectories(scf, alpha, r):
 
     factory = CachedCfFactory(rw_cache='./cache')
     with Swarm(uris, factory=factory) as swarm:
+        swarm.reset_estimators()
         swarm.parallel_safe(turn_off_leds)
         swarm.parallel_safe(upload_trajectories, args_dict=position_params)
         time.sleep(5)