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Smooth thrusters #200

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Smooth thrusters #200

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58a00f8
Basic smoothing function
benjaminwp18 Jun 21, 2024
dabe736
Slew MORE
benjaminwp18 Jun 21, 2024
618c071
Throttle at .65
Jun 21, 2024
b6a01b1
Merge branch 'main' into smooth_thrusters
benjaminwp18 Jun 21, 2024
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31 changes: 30 additions & 1 deletion src/surface/flight_control/flight_control/manual_control_node.py
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Original file line number Diff line number Diff line change
Expand Up @@ -46,6 +46,9 @@

CONTROLLER_MODE_PARAM = "controller_mode"

NEXT_INSTR_FRAC = 0.05
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more yap less frac

PREV_INSTR_FRAC = 1 - NEXT_INSTR_FRAC


class ControllerMode(IntEnum):
ARM = 0
Expand Down Expand Up @@ -109,6 +112,16 @@ def __init__(self) -> None:
self.seen_right_cam = False
self.valve_manip_state = False

self.previous_pixhawk_instruction = PixhawkInstruction(
forward=float(0),
lateral=float(0),
vertical=float(0),
roll=float(0),
pitch=float(0),
yaw=float(0),
author=PixhawkInstruction.MANUAL_CONTROL
)

def controller_callback(self, msg: Joy) -> None:
self.joystick_to_pixhawk(msg)
self.valve_manip_callback(msg)
Expand All @@ -129,7 +142,23 @@ def joystick_to_pixhawk(self, msg: Joy) -> None:
author=PixhawkInstruction.MANUAL_CONTROL
)

self.rc_pub.publish(instruction)
smoothed_instruction = PixhawkInstruction(
forward=ManualControlNode.smooth(self.previous_pixhawk_instruction.forward, instruction.forward),
lateral=ManualControlNode.smooth(self.previous_pixhawk_instruction.lateral, instruction.lateral),
vertical=ManualControlNode.smooth(self.previous_pixhawk_instruction.vertical, instruction.vertical),
roll=ManualControlNode.smooth(self.previous_pixhawk_instruction.roll, instruction.roll),
pitch=ManualControlNode.smooth(self.previous_pixhawk_instruction.pitch, instruction.pitch),
yaw=ManualControlNode.smooth(self.previous_pixhawk_instruction.yaw, instruction.yaw),
author=PixhawkInstruction.MANUAL_CONTROL
)

self.previous_pixhawk_instruction = smoothed_instruction

self.rc_pub.publish(smoothed_instruction)

@staticmethod
def smooth(prev_value: float, next_value: float) -> float:
return PREV_INSTR_FRAC * prev_value + NEXT_INSTR_FRAC * next_value

def manip_callback(self, msg: Joy) -> None:
buttons: MutableSequence[int] = msg.buttons
Expand Down
2 changes: 1 addition & 1 deletion src/surface/flight_control/flight_control/multiplexer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -10,7 +10,7 @@
from rov_msgs.srv import AutonomousFlight

# Brown out protection
SPEED_THROTTLE = 0.85
SPEED_THROTTLE = 0.65

# Joystick curve
JOYSTICK_EXPONENT = 3
Expand Down