引言：为了提高识别效果，采用递推+均值滤波的算法对图像返回的识别准确度和位置信息进行处理，在实际应用过程中有着不错的表现。本小节内容是在52小节的基础上进行优化，可以先参考52小节，在此基础上再参考此处代码即可。由于摄像头没有增加云台，因此无人机的俯仰角度变化会导致识别的位置有抖动，代码中添加了补偿效果，最好还是使用云台，保持稳定的识别效果，可以改善跟随效果
链接: 实机识别跟随效果
注：室外版对GPS和气压计的初始化漂移进行了补偿，可以用于室内，室内版的代码不能用于室外，切忌切忌切忌
室内版代码如下：
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#define MAX_ERROR 0.20
#define VEL_SET 0.10
#define ALTITUDE 0.40
using namespace std;
float target_x_angle = 0;
float target_distance = 1500;
float target_hgt = 0;
float linear_x_p = 0.6;
float linear_x_d = 0.22;
float yaw_rate_p = 0.8;
float yaw_rate_d = 0.5;
float x_angle_threshold = 0.1;
float distance_threshold = 300;
float linear_z_p = 0.5;
float linear_z_d = 0.33;
float hgt_threshold = 100;
float max_velocity_z = 0.3;
float max_raw_velocity_x = 2.0;
float max_raw_yaw_rate = 1.0;
geometry_msgs::PointStamped object_pos;
tf::Quaternion quat;
double roll, pitch, yaw;
float init_position_x_take_off =0;
float init_position_y_take_off =0;
float init_position_z_take_off =0;
bool flag_init_position = false;
nav_msgs::Odometry local_pos;
mavros_msgs::State current_state;
mavros_msgs::PositionTarget setpoint_raw;
//检测到的物体坐标值
string current_frame_id = "no_object";
double current_position_x = 0;
double current_position_y = 0;
double current_distance = 0;
double current_position_z = 0;
int tmp_flag_frame = 0;
//1、订阅无人机状态话题
ros::Subscriber state_sub;
//2、订阅无人机实时位置信息
ros::Subscriber local_pos_sub;
//3、订阅实时位置信息
ros::Subscriber object_pos_sub;
//4、发布无人机多维控制话题
ros::Publisher mavros_setpoint_pos_pub;
//5、请求无人机解锁服务
ros::ServiceClient arming_client;
//6、请求无人机设置飞行模式，本代码请求进入offboard
ros::ServiceClient set_mode_client;
bool flag_no_object = false;
bool temp_flag_no_object = true;
bool temp_flag = true;
float current_x_record = 0;
float current_y_record = 0;
float current_z_record = 0;
bool temp_flag_hgt = true;
bool temp_flag_distance = true;
bool temp_flag_hgt_distance = true;
float temp_distance_threshold = 0;
float temp_hgt_threshold = 0;
void pid_control()
{
static float last_error_x_angle = 0;
static float last_error_distance = 0;
static float last_error_hgt = 0;
float x_angle;
float distance;
float hgt;
if(current_position_x == 0 && current_position_y == 0 && current_distance == 0)
{
flag_no_object = true;
x_angle = target_x_angle;
distance = target_distance;
hgt = target_hgt;
}
else
{
flag_no_object = false;
x_angle = current_position_x / current_distance;
distance = current_distance;
hgt = current_position_y;
}
float error_x_angle = x_angle - target_x_angle;
float error_distance = distance - target_distance;
float error_hgt = hgt - target_hgt;
//角度控制
if(error_x_angle > -x_angle_threshold && error_x_angle < x_angle_threshold)
{
error_x_angle = 0;
}
//距离控制
if(error_distance > -distance_threshold && error_distance < distance_threshold)
{
error_distance = 0;
}
//高度控制
if (error_hgt > -hgt_threshold && error_hgt < hgt_threshold)
{
error_hgt = 0;
}
printf("hgt = %f\r\n",hgt);
printf("error_hgt = %f\r\n",error_hgt);
printf("error_x_angle = %f\r\n",error_x_angle);
//距离跟随控制
setpoint_raw.velocity.x = error_distance*linear_x_p/1000 + (error_distance - last_error_distance)*linear_x_d/1000;
if(setpoint_raw.velocity.x < -max_raw_velocity_x)
{
setpoint_raw.velocity.x = -max_raw_velocity_x;
}
else if(setpoint_raw.velocity.x > max_raw_velocity_x)
{
setpoint_raw.velocity.x = max_raw_velocity_x;
}
//高度跟随控制
setpoint_raw.velocity.z = error_hgt * linear_z_p/1000 + (error_hgt - last_error_hgt) * linear_z_d/1000;
if (setpoint_raw.velocity.z < -max_velocity_z)
{
setpoint_raw.velocity.z = -max_velocity_z;
}
else if (setpoint_raw.velocity.z > max_velocity_z)
{
setpoint_raw.velocity.z = max_velocity_z;
}
//角度跟随控制
setpoint_raw.yaw_rate = error_x_angle*yaw_rate_p + (error_x_angle - last_error_x_angle)*yaw_rate_d;
if(setpoint_raw.yaw_rate < -max_raw_yaw_rate)
{
setpoint_raw.yaw_rate = -max_raw_yaw_rate;
}
else if(setpoint_raw.yaw_rate > max_raw_yaw_rate)
{
setpoint_raw.yaw_rate = max_raw_yaw_rate;
}
if(fabs(setpoint_raw.yaw_rate) < 0.1)
{
setpoint_raw.yaw_rate = 0;
}
//没检测到目标的时候，直接保持原地不动即可，后续可能会改称旋转寻找目标
if(flag_no_object)
{
//hgt_threshold = temp_hgt_threshold;
//distance_threshold = temp_distance_threshold;
setpoint_raw.type_mask = /*1 + 2 + 4 + 8 + 16 + 32*/ + 64 + 128 + 256 + 512 + 1024 /*+ 2048*/;
if(temp_flag_no_object)
{
temp_flag_no_object = false;
current_x_record = local_pos.pose.pose.position.x;
current_y_record = local_pos.pose.pose.position.y;
current_z_record = local_pos.pose.pose.position.z;
}
setpoint_raw.position.x = current_x_record;
setpoint_raw.position.y = current_y_record;
setpoint_raw.position.z = current_z_record;
setpoint_raw.coordinate_frame = 1;
}
else
{
temp_flag_no_object = true;
if(fabs(error_hgt)<=hgt_threshold)
{
//hgt_threshold = temp_hgt_threshold + 300;
//distance_threshold = temp_distance_threshold;
if(temp_flag_hgt)
{
temp_flag_hgt = false;
current_z_record = local_pos.pose.pose.position.z;
}
//error_hgt大于等于0，表明此时无人机在目标物的下方
if(error_hgt>=0)
{
setpoint_raw.position.z = current_z_record + 0.4*hgt_threshold*0.001;
}
else
{
setpoint_raw.position.z = current_z_record - 0.4*hgt_threshold*0.001;
}
setpoint_raw.type_mask = 1 + 2 /*+ 4 + 8 + 16 + 32*/ + 64 + 128 + 256 + 512 + 1024 /*+ 2048*/;
setpoint_raw.coordinate_frame = 8;
}
else
{
//hgt_threshold = temp_hgt_threshold;
//distance_threshold = temp_distance_threshold;
temp_flag_hgt = true;
setpoint_raw.type_mask = 1 + 2 + 4 /*+ 8 + 16 + 32*/ + 64 + 128 + 256 + 512 + 1024 /*+ 2048*/;
setpoint_raw.coordinate_frame = 8;
}
//if(fabs(error_hgt)<=hgt_threshold)
//if(error_x_angle)
}
mavros_setpoint_pos_pub.publish(setpoint_raw);
last_error_x_angle = error_x_angle;
last_error_distance = error_distance;
last_error_hgt = error_hgt;
}
void state_cb(const mavros_msgs::State::ConstPtr& msg)
{
current_state = *msg;
}
void local_pos_cb(const nav_msgs::Odometry::ConstPtr& msg)
{
local_pos = *msg;
if (flag_init_position==false && (local_pos.pose.pose.position.z!=0))
{
init_position_x_take_off = local_pos.pose.pose.position.x;
init_position_y_take_off = local_pos.pose.pose.position.y;
init_position_z_take_off = local_pos.pose.pose.position.z;
flag_init_position = true;
}
}
double positon_x_table[5]={};
double positon_y_table[5]={};
double distance_table[5] ={};
int count_positon_x = 0;
int count_positon_y = 0;
int count_distance = 0;
void object_pos_cb(const geometry_msgs::PointStamped::ConstPtr& msg)
{
//ROS_INFO("current_position_x = %f");
double temp_current_position_x;
double temp_current_position_y;
double temp_current_distance;
int count_target_lost = 0;
object_pos = *msg;
current_frame_id = object_pos.header.frame_id;
//获取最新的rpy值
tf::quaternionMsgToTF(local_pos.pose.pose.orientation, quat);
tf::Matrix3x3(quat).getRPY(roll, pitch, yaw);
printf("pitch = %f\r\n",pitch);
//此处将距离由单位米改称毫米，方便提高控制精度
temp_current_position_x = object_pos.point.x*(-1000);
temp_current_position_y = object_pos.point.y*(-1000);
temp_current_distance = object_pos.point.z*(1000)/cos(pitch);
printf("temp_current_distance = %f\r\n",temp_current_distance);
//获取五次X方向数据
positon_x_table[count_positon_x] = temp_current_position_x;
count_positon_x++;
if(count_positon_x>=5)
{
count_positon_x = 0;
}
//获取五次Y方向数据
positon_y_table[count_positon_y] = temp_current_position_y;
count_positon_y++;
if(count_positon_y>=5)
{
count_positon_y = 0;
}
//获取五次距离数据
distance_table[count_distance] = temp_current_distance;
count_distance++;
if(count_distance>=5)
{
count_distance = 0;
}
double temp_positon_x_table[5]={};
double temp_positon_y_table[5]={};
double temp_distance_table[5] ={};
//遍历数据查找是否有丢失目标的情况，每丢失一次，则计数器+1
int temp_i = 0;
for(int i=0;i<=4;i++)
{
//所有数据为0，可以判定没有识别到目标
if(positon_x_table[i]==0 && positon_y_table[i]==0 && distance_table[i]==0)
{
count_target_lost++;
ROS_INFO("count_target_lost = %d",count_target_lost);
}
else
{
temp_positon_x_table[temp_i] = positon_x_table[i];
temp_positon_y_table[temp_i] = positon_y_table[i];
temp_distance_table[temp_i] = distance_table[i];
temp_i++;
}
}
//如果5次里面丢失超过3次，直接判定为识别到目标，可能是其他干扰导致的误识别或者本身就是没有识别到目标
if(count_target_lost>3)
{
current_position_x = 0;
current_position_y = 0;
current_distance = 0;
}
//如果认定数组里的数据有3个以上是有效的，那么应该除去最高与最低后采用均值滤波算法
else
{
current_position_x = (temp_positon_x_table[0]+temp_positon_x_table[1]+temp_positon_x_table[2])/3;
current_position_y = (temp_positon_y_table[0]+temp_positon_y_table[1]+temp_positon_y_table[2])/3;
current_distance = (temp_distance_table[0] +temp_distance_table[1] +temp_distance_table[2])/3;
}
if(tmp_flag_frame == 1)
{
pid_control();
}
}
int main(int argc, char *argv[])
{
ros::init(argc, argv, "follow_pid");
ros::NodeHandle nh;
state_sub = nh.subscribe
local_pos_sub = nh.subscribe
object_pos_sub = nh.subscribe
mavros_setpoint_pos_pub = nh.advertise
arming_client = nh.serviceClient
set_mode_client = nh.serviceClient
ros::Rate rate(20.0);
ros::param::get("linear_x_p",linear_x_p);
ros::param::get("linear_x_d",linear_x_d);
ros::param::get("yaw_rate_p",yaw_rate_p);
ros::param::get("yaw_rate_d",yaw_rate_d);
ros::param::get("target_x_angle", target_x_angle);
ros::param::get("target_distance",target_distance);
ros::param::get("x_angle_threshold", x_angle_threshold);
ros::param::get("distance_threshold", distance_threshold);
ros::param::get("linear_z_p", linear_z_d);
ros::param::get("target_hgt", target_hgt);
ros::param::get("hgt_threshold", hgt_threshold);
ros::param::get("max_velocity_z",max_velocity_z);
ros::param::get("max_raw_velocity_x",max_raw_velocity_x);
ros::param::get("max_raw_yaw_rate",max_raw_yaw_rate);
temp_distance_threshold = distance_threshold;
temp_hgt_threshold = hgt_threshold;
printf("temp_distance_threshold = %f\r\n",temp_distance_threshold);
printf("temp_hgt_threshold = %f\r\n", temp_hgt_threshold);
//等待连接到PX4无人机
while(ros::ok() && current_state.connected)
{
ros::spinOnce();
rate.sleep();
}
setpoint_raw.type_mask = /*1 + 2 + 4 + 8 + 16 + 32*/ + 64 + 128 + 256 + 512 /*+ 1024 + 2048*/;
setpoint_raw.coordinate_frame = 1;
setpoint_raw.position.x = 0;
setpoint_raw.position.y = 0;
setpoint_raw.position.z = 0 + ALTITUDE;
mavros_setpoint_pos_pub.publish(setpoint_raw);
for(int i = 100; ros::ok() && i > 0; --i)
{
mavros_setpoint_pos_pub.publish(setpoint_raw);
ros::spinOnce();
rate.sleep();
}
//请求offboard模式变量
mavros_msgs::SetMode offb_set_mode;
offb_set_mode.request.custom_mode = "OFFBOARD";
//请求解锁变量
mavros_msgs::CommandBool arm_cmd;
arm_cmd.request.value = true;
ros::Time last_request = ros::Time::now();
//请求进入offboard模式并且解锁无人机，15秒后退出，防止重复请求
while(ros::ok())
{
//请求进入OFFBOARD模式
if( current_state.mode != "OFFBOARD" && (ros::Time::now() - last_request > ros::Duration(5.0)))
{
if( set_mode_client.call(offb_set_mode) && offb_set_mode.response.mode_sent)
{
ROS_INFO("Offboard enabled");
}
last_request = ros::Time::now();
}
else
{
//请求解锁
if( !current_state.armed && (ros::Time::now() - last_request > ros::Duration(5.0)))
{
if( arming_client.call(arm_cmd) && arm_cmd.response.success)
{
ROS_INFO("Vehicle armed");
}
last_request = ros::Time::now();
}
}
if(fabs(local_pos.pose.pose.position.z-ALTITUDE)<0.1)
{
if(ros::Time::now() - last_request > ros::Duration(1.0))
{
tmp_flag_frame= 1;
break;
}
}
mavros_setpoint_pos_pub.publish(setpoint_raw);
ros::spinOnce();
rate.sleep();
}
while(ros::ok())
{
mavros_setpoint_pos_pub.publish(setpoint_raw);
ros::spinOnce();
rate.sleep();
}
}
室外版代码
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#define MAX_ERROR 0.20
#define VEL_SET 0.10
#define ALTITUDE 1.0
using namespace std;
float target_x_angle = 0;
float target_distance = 1500;
float target_hgt = 0;
float linear_x_p = 0.6;
float linear_x_d = 0.22;
float yaw_rate_p = 0.8;
float yaw_rate_d = 0.5;
float x_angle_threshold = 0.1;
float distance_threshold = 300;
float linear_z_p = 0.5;
float linear_z_d = 0.33;
float hgt_threshold = 100;
float max_velocity_z = 0.3;
float max_raw_velocity_x = 2.0;
float max_raw_yaw_rate = 1.0;
geometry_msgs::PointStamped object_pos;
tf::Quaternion quat;
double roll, pitch, yaw;
float init_position_x_take_off =0;
float init_position_y_take_off =0;
float init_position_z_take_off =0;
bool flag_init_position = false;
nav_msgs::Odometry local_pos;
mavros_msgs::State current_state;
mavros_msgs::PositionTarget setpoint_raw;
//检测到的物体坐标值
string current_frame_id = "no_object";
double current_position_x = 0;
double current_position_y = 0;
double current_distance = 0;
double current_position_z = 0;
int tmp_flag_frame = 0;
//1、订阅无人机状态话题
ros::Subscriber state_sub;
//2、订阅无人机实时位置信息
ros::Subscriber local_pos_sub;
//3、订阅实时位置信息
ros::Subscriber object_pos_sub;
//4、发布无人机多维控制话题
ros::Publisher mavros_setpoint_pos_pub;
//5、请求无人机解锁服务
ros::ServiceClient arming_client;
//6、请求无人机设置飞行模式，本代码请求进入offboard
ros::ServiceClient set_mode_client;
bool flag_no_object = false;
bool temp_flag_no_object = true;
bool temp_flag = true;
float current_x_record = 0;
float current_y_record = 0;
float current_z_record = 0;
bool temp_flag_hgt = true;
//bool temp_flag_distance = true;
//bool temp_flag_hgt_distance = true;
float temp_distance_threshold = 0;
float temp_hgt_threshold = 0;
void pid_control()
{
static float last_error_x_angle = 0;
static float last_error_distance = 0;
static float last_error_hgt = 0;
float x_angle;
float distance;
float hgt;
if(current_position_x == 0 && current_position_y == 0 && current_distance == 0)
{
flag_no_object = true;
x_angle = target_x_angle;
distance = target_distance;
hgt = target_hgt;
}
else
{
flag_no_object = false;
x_angle = current_position_x / current_distance;
distance = current_distance;
hgt = current_position_y;
}
float error_x_angle = x_angle - target_x_angle;
float error_distance = distance - target_distance;
float error_hgt = hgt - target_hgt;
//角度控制
if(error_x_angle > -x_angle_threshold && error_x_angle < x_angle_threshold)
{
error_x_angle = 0;
}
//距离控制
if(error_distance > -distance_threshold && error_distance < distance_threshold)
{
error_distance = 0;
}
//高度控制
if (error_hgt > -hgt_threshold && error_hgt < hgt_threshold)
{
error_hgt = 0;
}
printf("hgt = %f\r\n",hgt);
printf("error_hgt = %f\r\n",error_hgt);
printf("error_x_angle = %f\r\n",error_x_angle);
//距离跟随控制
setpoint_raw.velocity.x = error_distance*linear_x_p/1000 + (error_distance - last_error_distance)*linear_x_d/1000;
if(setpoint_raw.velocity.x < -max_raw_velocity_x)
{
setpoint_raw.velocity.x = -max_raw_velocity_x;
}
else if(setpoint_raw.velocity.x > max_raw_velocity_x)
{
setpoint_raw.velocity.x = max_raw_velocity_x;
}
//高度跟随控制
setpoint_raw.velocity.z = error_hgt * linear_z_p/1000 + (error_hgt - last_error_hgt) * linear_z_d/1000;
if (setpoint_raw.velocity.z < -max_velocity_z)
{
setpoint_raw.velocity.z = -max_velocity_z;
}
else if (setpoint_raw.velocity.z > max_velocity_z)
{
setpoint_raw.velocity.z = max_velocity_z;
}
//角度跟随控制
setpoint_raw.yaw_rate = error_x_angle*yaw_rate_p + (error_x_angle - last_error_x_angle)*yaw_rate_d;
if(setpoint_raw.yaw_rate < -max_raw_yaw_rate)
{
setpoint_raw.yaw_rate = -max_raw_yaw_rate;
}
else if(setpoint_raw.yaw_rate > max_raw_yaw_rate)
{
setpoint_raw.yaw_rate = max_raw_yaw_rate;
}
if(fabs(setpoint_raw.yaw_rate) < 0.1)
{
setpoint_raw.yaw_rate = 0;
}
//没检测到目标的时候，直接保持原地不动即可，后续可能会改称旋转寻找目标
if(flag_no_object)
{
printf("no_object\r\n");
setpoint_raw.type_mask = /*1 + 2 + 4 + 8 + 16 + 32*/ + 64 + 128 + 256 + 512 + 1024 /*+ 2048*/;
if(temp_flag_no_object)
{
temp_flag_no_object = false;
current_x_record = local_pos.pose.pose.position.x;
current_y_record = local_pos.pose.pose.position.y;
current_z_record = local_pos.pose.pose.position.z;
}
setpoint_raw.position.x = current_x_record;
setpoint_raw.position.y = current_y_record;
setpoint_raw.position.z = current_z_record;
setpoint_raw.coordinate_frame = 1;
}
else
{
printf("yes_object\r\n");
temp_flag_no_object = true;
if(fabs(error_hgt)<=hgt_threshold)
{
//hgt_threshold = temp_hgt_threshold + 300;
//distance_threshold = temp_distance_threshold;
if(temp_flag_hgt)
{
temp_flag_hgt = false;
current_z_record = local_pos.pose.pose.position.z;
}
//error_hgt大于等于0，表明此时无人机在目标物的下方
if(error_hgt>0)
{
setpoint_raw.position.z = current_z_record + 0.4*hgt_threshold*0.001;
}
else
{
setpoint_raw.position.z = current_z_record - 0.4*hgt_threshold*0.001;
}
setpoint_raw.type_mask = 1 + 2 /*+ 4 + 8 + 16 + 32*/ + 64 + 128 + 256 + 512 + 1024 /*+ 2048*/;
setpoint_raw.coordinate_frame = 8;
}
else
{
//hgt_threshold = temp_hgt_threshold;
//distance_threshold = temp_distance_threshold;
temp_flag_hgt = true;
setpoint_raw.type_mask = 1 + 2 + 4 /*+ 8 + 16 + 32*/ + 64 + 128 + 256 + 512 + 1024 /*+ 2048*/;
setpoint_raw.coordinate_frame = 8;
}
//if(fabs(error_hgt)<=hgt_threshold)
//if(error_x_angle)
}
printf("error_hgt = %f\r\n",error_hgt);
printf("current_x_record = %f\r\n",current_x_record);
printf("current_y_record = %f\r\n",current_y_record);
printf("current_z_record = %f\r\n",current_z_record);
printf("setpoint_raw.position.x = %f\r\n",setpoint_raw.position.x);
printf("setpoint_raw.position.y = %f\r\n",setpoint_raw.position.y);
printf("setpoint_raw.position.z = %f\r\n",setpoint_raw.position.z);
mavros_setpoint_pos_pub.publish(setpoint_raw);
last_error_x_angle = error_x_angle;
last_error_distance = error_distance;
last_error_hgt = error_hgt;
}
void state_cb(const mavros_msgs::State::ConstPtr& msg)
{
current_state = *msg;
}
void local_pos_cb(const nav_msgs::Odometry::ConstPtr& msg)
{
local_pos = *msg;
if(flag_init_position==false && (local_pos.pose.pose.position.z!=0))
{
init_position_x_take_off = local_pos.pose.pose.position.x;
init_position_y_take_off = local_pos.pose.pose.position.y;
init_position_z_take_off = local_pos.pose.pose.position.z;
flag_init_position = true;
}
}
double positon_x_table[5]={};
double positon_y_table[5]={};
double distance_table[5] ={};
int count_positon_x = 0;
int count_positon_y = 0;
int count_distance = 0;
void object_pos_cb(const geometry_msgs::PointStamped::ConstPtr& msg)
{
//ROS_INFO("current_position_x = %f");
double temp_current_position_x;
double temp_current_position_y;
double temp_current_distance;
int count_target_lost = 0;
object_pos = *msg;
current_frame_id = object_pos.header.frame_id;
//获取最新的rpy值
tf::quaternionMsgToTF(local_pos.pose.pose.orientation, quat);
tf::Matrix3x3(quat).getRPY(roll, pitch, yaw);
//printf("pitch = %f\r\n",pitch);
//此处将距离由单位米改称毫米，方便提高控制精度
temp_current_position_x = object_pos.point.x*(-1000);
temp_current_position_y = object_pos.point.y*(-1000);
temp_current_distance = object_pos.point.z*(1000)/cos(pitch);
//printf("temp_current_distance = %f\r\n",temp_current_distance);
//获取五次X方向数据
positon_x_table[count_positon_x] = temp_current_position_x;
count_positon_x++;
if(count_positon_x>=5)
{
count_positon_x = 0;
}
//获取五次Y方向数据
positon_y_table[count_positon_y] = temp_current_position_y;
count_positon_y++;
if(count_positon_y>=5)
{
count_positon_y = 0;
}
//获取五次距离数据
distance_table[count_distance] = temp_current_distance;
count_distance++;
if(count_distance>=5)
{
count_distance = 0;
}
double temp_positon_x_table[5]={};
double temp_positon_y_table[5]={};
double temp_distance_table[5] ={};
//遍历数据查找是否有丢失目标的情况，每丢失一次，则计数器+1
int temp_i = 0;
for(int i=0;i<=4;i++)
{
//所有数据为0，可以判定没有识别到目标
if(positon_x_table[i]==0 && positon_y_table[i]==0 && distance_table[i]==0)
{
count_target_lost++;
ROS_INFO("count_target_lost = %d",count_target_lost);
}
else
{
temp_positon_x_table[temp_i] = positon_x_table[i];
temp_positon_y_table[temp_i] = positon_y_table[i];
temp_distance_table[temp_i] = distance_table[i];
temp_i++;
}
}
//如果5次里面丢失超过3次，直接判定为识别到目标，可能是其他干扰导致的误识别或者本身就是没有识别到目标
if(count_target_lost>3)
{
current_position_x = 0;
current_position_y = 0;
current_distance = 0;
}
//如果认定数组里的数据有3个以上是有效的，那么应该除去最高与最低后采用均值滤波算法
else
{
current_position_x = (temp_positon_x_table[0]+temp_positon_x_table[1]+temp_positon_x_table[2])/3;
current_position_y = (temp_positon_y_table[0]+temp_positon_y_table[1]+temp_positon_y_table[2])/3;
current_distance = (temp_distance_table[0] +temp_distance_table[1] +temp_distance_table[2])/3;
}
if(tmp_flag_frame == 1)
{
pid_control();
}
}
int main(int argc, char *argv[])
{
ros::init(argc, argv, "follow_pid");
ros::NodeHandle nh;
state_sub = nh.subscribe
local_pos_sub = nh.subscribe
object_pos_sub = nh.subscribe
mavros_setpoint_pos_pub = nh.advertise
arming_client = nh.serviceClient
set_mode_client = nh.serviceClient
ros::Rate rate(20.0);
ros::param::get("linear_x_p",linear_x_p);
ros::param::get("linear_x_d",linear_x_d);
ros::param::get("yaw_rate_p",yaw_rate_p);
ros::param::get("yaw_rate_d",yaw_rate_d);
ros::param::get("target_x_angle", target_x_angle);
ros::param::get("target_distance",target_distance);
ros::param::get("x_angle_threshold", x_angle_threshold);
ros::param::get("distance_threshold", distance_threshold);
ros::param::get("linear_z_p", linear_z_d);
ros::param::get("target_hgt", target_hgt);
ros::param::get("hgt_threshold", hgt_threshold);
ros::param::get("max_velocity_z",max_velocity_z);
ros::param::get("max_raw_velocity_x",max_raw_velocity_x);
ros::param::get("max_raw_yaw_rate",max_raw_yaw_rate);
temp_distance_threshold = distance_threshold;
temp_hgt_threshold = hgt_threshold;
printf("temp_distance_threshold = %f\r\n",temp_distance_threshold);
printf("temp_hgt_threshold = %f\r\n", temp_hgt_threshold);
//等待连接到PX4无人机
while(ros::ok() && current_state.connected)
{
ros::spinOnce();
rate.sleep();
}
setpoint_raw.type_mask = /*1 + 2 + 4 + 8 + 16 + 32*/ + 64 + 128 + 256 + 512 /*+ 1024 + 2048*/;
setpoint_raw.coordinate_frame = 1;
//float init_position_x_take_off =0;
//float init_position_y_take_off =0;
//float init_position_z_take_off =0;
setpoint_raw.position.x = init_position_x_take_off + 0;
setpoint_raw.position.y = init_position_y_take_off + 0;
setpoint_raw.position.z = init_position_z_take_off + ALTITUDE;
mavros_setpoint_pos_pub.publish(setpoint_raw);
for(int i = 100; ros::ok() && i > 0; --i)
{
mavros_setpoint_pos_pub.publish(setpoint_raw);
ros::spinOnce();
rate.sleep();
}
//请求offboard模式变量
mavros_msgs::SetMode offb_set_mode;
offb_set_mode.request.custom_mode = "OFFBOARD";
//请求解锁变量
mavros_msgs::CommandBool arm_cmd;
arm_cmd.request.value = true;
ros::Time last_request = ros::Time::now();
//请求进入offboard模式并且解锁无人机，15秒后退出，防止重复请求
while(ros::ok())
{
//请求进入OFFBOARD模式
if( current_state.mode != "OFFBOARD" && (ros::Time::now() - last_request > ros::Duration(5.0)))
{
if( set_mode_client.call(offb_set_mode) && offb_set_mode.response.mode_sent)
{
ROS_INFO("Offboard enabled");
}
last_request = ros::Time::now();
}
else
{
//请求解锁
if( !current_state.armed && (ros::Time::now() - last_request > ros::Duration(5.0)))
{
if( arming_client.call(arm_cmd) && arm_cmd.response.success)
{
ROS_INFO("Vehicle armed");
}
last_request = ros::Time::now();
}
}
if(fabs(local_pos.pose.pose.position.z-ALTITUDE)<0.1)
{
if(ros::Time::now() - last_request > ros::Duration(1.0))
{
tmp_flag_frame= 1;
break;
}
}
setpoint_raw.position.x = init_position_x_take_off + 0;
setpoint_raw.position.y = init_position_y_take_off + 0;
setpoint_raw.position.z = init_position_z_take_off + ALTITUDE;
mavros_setpoint_pos_pub.publish(setpoint_raw);
ros::spinOnce();
rate.sleep();
}
while(ros::ok())
{
mavros_setpoint_pos_pub.publish(setpoint_raw);
ros::spinOnce();
rate.sleep();
}
}
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