Module blueye.sdk.motion
View Source
import threading
from typing import Optional
import blueye.protocol
class Motion:
"""Control the motion of the drone, and set automatic control modes
Motion can be set one degree of freedom at a time by using the 4 motion properties
(surge, sway, heave and yaw) or for all 4 degrees of freedom in one go through the
`send_thruster_setpoint` method.
"""
def __init__(self, parent_drone):
self._parent_drone = parent_drone
self.thruster_lock = threading.Lock()
self._current_thruster_setpoints = {"surge": 0, "sway": 0, "heave": 0, "yaw": 0}
self._current_boost_setpoints = {"slow": 0, "boost": 0}
@property
def current_thruster_setpoints(self):
"""Returns the current setpoints for the thrusters
We maintain this state in the SDK since the drone expects to receive all of the setpoints at
once.
For setting the setpoints you should use the dedicated properties/functions for that, trying
to set them directly with this property will raise an AttributeError.
"""
return self._current_thruster_setpoints
@current_thruster_setpoints.setter
def current_thruster_setpoints(self, *args, **kwargs):
raise AttributeError(
"Do not set the setpoints directly, use the surge, sway, heave, yaw properties or the "
"send_thruster_setpoint function for that."
)
def _send_motion_input_message(self):
"""Small helper function for building argument list to motion_input command"""
thruster_setpoints = self.current_thruster_setpoints.values()
boost_setpoints = self._current_boost_setpoints.values()
self._parent_drone._ctrl_client.set_motion_input(*thruster_setpoints, *boost_setpoints)
@property
def surge(self) -> float:
"""Set force reference for the surge direction
Arguments:
* **surge** (float): Force set point in the surge direction in range <-1, 1>,
a positive set point makes the drone move forward
"""
return self.current_thruster_setpoints["surge"]
@surge.setter
def surge(self, surge_value: float):
with self.thruster_lock:
self._current_thruster_setpoints["surge"] = surge_value
self._send_motion_input_message()
@property
def sway(self) -> float:
"""Set force reference for the sway direction
Arguments:
* **sway** (float): Force set point in the sway direction in range <-1, 1>,
a positive set point makes the drone move to the right
"""
return self.current_thruster_setpoints["sway"]
@sway.setter
def sway(self, sway_value: float):
with self.thruster_lock:
self._current_thruster_setpoints["sway"] = sway_value
self._send_motion_input_message()
@property
def heave(self) -> float:
"""Set force reference for the heave direction
Arguments:
* **heave** (float): Force set point in the heave direction in range <-1, 1>,
a positive set point makes the drone move downwards
"""
return self.current_thruster_setpoints["heave"]
@heave.setter
def heave(self, heave_value: float):
with self.thruster_lock:
self._current_thruster_setpoints["heave"] = heave_value
self._send_motion_input_message()
@property
def yaw(self) -> float:
"""Set force reference for the yaw direction
Arguments:
* **yaw** (float): Moment set point in the sway direction in range <-1, 1>,
a positive set point makes the drone rotate clockwise.
"""
return self.current_thruster_setpoints["yaw"]
@yaw.setter
def yaw(self, yaw_value: float):
with self.thruster_lock:
self._current_thruster_setpoints["yaw"] = yaw_value
self._send_motion_input_message()
def send_thruster_setpoint(self, surge, sway, heave, yaw):
"""Control the thrusters of the drone
Set reference values between -1 and 1 for each controllable degree of freedom on the drone.
The reference values are mapped linearly to a thruster force, a set point of -1 correspons
to maximum negative force and a set point of 1 corresponds to maximum positive force. For
the yaw direction the reference is a moment not a force, as the yaw direction is rotational
not translational.
Arguments:
* **surge** (float): Force set point in the surge direction in range <-1, 1>,
a positive set point makes the drone move forward
* **sway** (float): Force set point in the sway direction in range <-1, 1>,
a positive set point makes the drone move to the right
* **heave** (float): Force set point in the heave direction in range <-1, 1>,
a positive set point makes the drone move down.
* **yaw** (float): Moment set point in the yaw direction in range <-1, 1>,
a positive set point makes the drone rotate clockwise.
"""
with self.thruster_lock:
self._current_thruster_setpoints["surge"] = surge
self._current_thruster_setpoints["sway"] = sway
self._current_thruster_setpoints["heave"] = heave
self._current_thruster_setpoints["yaw"] = yaw
self._send_motion_input_message()
@property
def boost(self) -> float:
"""Get or set the boost gain
Arguments:
* **boost_gain** (float): Range from 0 to 1.
"""
return self._current_boost_setpoints["boost"]
@boost.setter
def boost(self, boost_gain: float):
with self.thruster_lock:
self._current_boost_setpoints["boost"] = boost_gain
self._send_motion_input_message()
@property
def slow(self) -> float:
"""Get or set the "slow gain" (inverse of boost)
Arguments:
* **slow_gain** (float): Range from 0 to 1.
"""
return self._current_boost_setpoints["slow"]
@slow.setter
def slow(self, slow_gain: float):
with self.thruster_lock:
self._current_boost_setpoints["slow"] = slow_gain
self._send_motion_input_message()
@property
def auto_depth_active(self) -> Optional[bool]:
"""Enable or disable the auto depth control mode
When auto depth is active, input for the heave direction to the thruster_setpoint function
specifies a speed set point instead of a force set point. A control loop on the drone will
then attempt to maintain the wanted speed in the heave direction as long as auto depth is
active.
*Arguments*:
* Enable (bool): Activate auto depth mode if true, de-activate if false
*Returns*:
* Auto depth state (bool): True if auto depth is active, false if not
"""
control_mode_tel = self._parent_drone.telemetry.get(blueye.protocol.ControlModeTel)
if control_mode_tel is None:
return None
else:
return control_mode_tel.state.auto_depth
@auto_depth_active.setter
def auto_depth_active(self, enable: bool):
self._parent_drone._ctrl_client.set_auto_depth_state(enable)
@property
def auto_heading_active(self) -> Optional[bool]:
"""Enable or disable the auto heading control mode
When auto heading is active, input for the yaw direction to the thruster_setpoint function
specifies a angular speed set point instead of a moment set point. A control loop on the
drone will then attempt to maintain the wanted angular velocity in the yaw direction as
long as auto heading is active.
*Arguments*:
* Enable (bool): Activate auto heading mode if true, de-activate if false
*Returns*:
* Auto heading state (bool): True if auto heading mode is active, false if not
"""
control_mode_tel = self._parent_drone.telemetry.get(blueye.protocol.ControlModeTel)
if control_mode_tel is None:
return None
else:
return control_mode_tel.state.auto_heading
@auto_heading_active.setter
def auto_heading_active(self, enable: bool):
self._parent_drone._ctrl_client.set_auto_heading_state(enable)
Classes
Motion
class Motion(
parent_drone
)
Control the motion of the drone, and set automatic control modes
Motion can be set one degree of freedom at a time by using the 4 motion properties
(surge, sway, heave and yaw) or for all 4 degrees of freedom in one go through the
send_thruster_setpoint method.
View Source
class Motion:
"""Control the motion of the drone, and set automatic control modes
Motion can be set one degree of freedom at a time by using the 4 motion properties
(surge, sway, heave and yaw) or for all 4 degrees of freedom in one go through the
`send_thruster_setpoint` method.
"""
def __init__(self, parent_drone):
self._parent_drone = parent_drone
self.thruster_lock = threading.Lock()
self._current_thruster_setpoints = {"surge": 0, "sway": 0, "heave": 0, "yaw": 0}
self._current_boost_setpoints = {"slow": 0, "boost": 0}
@property
def current_thruster_setpoints(self):
"""Returns the current setpoints for the thrusters
We maintain this state in the SDK since the drone expects to receive all of the setpoints at
once.
For setting the setpoints you should use the dedicated properties/functions for that, trying
to set them directly with this property will raise an AttributeError.
"""
return self._current_thruster_setpoints
@current_thruster_setpoints.setter
def current_thruster_setpoints(self, *args, **kwargs):
raise AttributeError(
"Do not set the setpoints directly, use the surge, sway, heave, yaw properties or the "
"send_thruster_setpoint function for that."
)
def _send_motion_input_message(self):
"""Small helper function for building argument list to motion_input command"""
thruster_setpoints = self.current_thruster_setpoints.values()
boost_setpoints = self._current_boost_setpoints.values()
self._parent_drone._ctrl_client.set_motion_input(*thruster_setpoints, *boost_setpoints)
@property
def surge(self) -> float:
"""Set force reference for the surge direction
Arguments:
* **surge** (float): Force set point in the surge direction in range <-1, 1>,
a positive set point makes the drone move forward
"""
return self.current_thruster_setpoints["surge"]
@surge.setter
def surge(self, surge_value: float):
with self.thruster_lock:
self._current_thruster_setpoints["surge"] = surge_value
self._send_motion_input_message()
@property
def sway(self) -> float:
"""Set force reference for the sway direction
Arguments:
* **sway** (float): Force set point in the sway direction in range <-1, 1>,
a positive set point makes the drone move to the right
"""
return self.current_thruster_setpoints["sway"]
@sway.setter
def sway(self, sway_value: float):
with self.thruster_lock:
self._current_thruster_setpoints["sway"] = sway_value
self._send_motion_input_message()
@property
def heave(self) -> float:
"""Set force reference for the heave direction
Arguments:
* **heave** (float): Force set point in the heave direction in range <-1, 1>,
a positive set point makes the drone move downwards
"""
return self.current_thruster_setpoints["heave"]
@heave.setter
def heave(self, heave_value: float):
with self.thruster_lock:
self._current_thruster_setpoints["heave"] = heave_value
self._send_motion_input_message()
@property
def yaw(self) -> float:
"""Set force reference for the yaw direction
Arguments:
* **yaw** (float): Moment set point in the sway direction in range <-1, 1>,
a positive set point makes the drone rotate clockwise.
"""
return self.current_thruster_setpoints["yaw"]
@yaw.setter
def yaw(self, yaw_value: float):
with self.thruster_lock:
self._current_thruster_setpoints["yaw"] = yaw_value
self._send_motion_input_message()
def send_thruster_setpoint(self, surge, sway, heave, yaw):
"""Control the thrusters of the drone
Set reference values between -1 and 1 for each controllable degree of freedom on the drone.
The reference values are mapped linearly to a thruster force, a set point of -1 correspons
to maximum negative force and a set point of 1 corresponds to maximum positive force. For
the yaw direction the reference is a moment not a force, as the yaw direction is rotational
not translational.
Arguments:
* **surge** (float): Force set point in the surge direction in range <-1, 1>,
a positive set point makes the drone move forward
* **sway** (float): Force set point in the sway direction in range <-1, 1>,
a positive set point makes the drone move to the right
* **heave** (float): Force set point in the heave direction in range <-1, 1>,
a positive set point makes the drone move down.
* **yaw** (float): Moment set point in the yaw direction in range <-1, 1>,
a positive set point makes the drone rotate clockwise.
"""
with self.thruster_lock:
self._current_thruster_setpoints["surge"] = surge
self._current_thruster_setpoints["sway"] = sway
self._current_thruster_setpoints["heave"] = heave
self._current_thruster_setpoints["yaw"] = yaw
self._send_motion_input_message()
@property
def boost(self) -> float:
"""Get or set the boost gain
Arguments:
* **boost_gain** (float): Range from 0 to 1.
"""
return self._current_boost_setpoints["boost"]
@boost.setter
def boost(self, boost_gain: float):
with self.thruster_lock:
self._current_boost_setpoints["boost"] = boost_gain
self._send_motion_input_message()
@property
def slow(self) -> float:
"""Get or set the "slow gain" (inverse of boost)
Arguments:
* **slow_gain** (float): Range from 0 to 1.
"""
return self._current_boost_setpoints["slow"]
@slow.setter
def slow(self, slow_gain: float):
with self.thruster_lock:
self._current_boost_setpoints["slow"] = slow_gain
self._send_motion_input_message()
@property
def auto_depth_active(self) -> Optional[bool]:
"""Enable or disable the auto depth control mode
When auto depth is active, input for the heave direction to the thruster_setpoint function
specifies a speed set point instead of a force set point. A control loop on the drone will
then attempt to maintain the wanted speed in the heave direction as long as auto depth is
active.
*Arguments*:
* Enable (bool): Activate auto depth mode if true, de-activate if false
*Returns*:
* Auto depth state (bool): True if auto depth is active, false if not
"""
control_mode_tel = self._parent_drone.telemetry.get(blueye.protocol.ControlModeTel)
if control_mode_tel is None:
return None
else:
return control_mode_tel.state.auto_depth
@auto_depth_active.setter
def auto_depth_active(self, enable: bool):
self._parent_drone._ctrl_client.set_auto_depth_state(enable)
@property
def auto_heading_active(self) -> Optional[bool]:
"""Enable or disable the auto heading control mode
When auto heading is active, input for the yaw direction to the thruster_setpoint function
specifies a angular speed set point instead of a moment set point. A control loop on the
drone will then attempt to maintain the wanted angular velocity in the yaw direction as
long as auto heading is active.
*Arguments*:
* Enable (bool): Activate auto heading mode if true, de-activate if false
*Returns*:
* Auto heading state (bool): True if auto heading mode is active, false if not
"""
control_mode_tel = self._parent_drone.telemetry.get(blueye.protocol.ControlModeTel)
if control_mode_tel is None:
return None
else:
return control_mode_tel.state.auto_heading
@auto_heading_active.setter
def auto_heading_active(self, enable: bool):
self._parent_drone._ctrl_client.set_auto_heading_state(enable)
Instance variables
auto_depth_active
Enable or disable the auto depth control mode
When auto depth is active, input for the heave direction to the thruster_setpoint function specifies a speed set point instead of a force set point. A control loop on the drone will then attempt to maintain the wanted speed in the heave direction as long as auto depth is active.
Arguments:
- Enable (bool): Activate auto depth mode if true, de-activate if false
Returns:
- Auto depth state (bool): True if auto depth is active, false if not
auto_heading_active
Enable or disable the auto heading control mode
When auto heading is active, input for the yaw direction to the thruster_setpoint function specifies a angular speed set point instead of a moment set point. A control loop on the drone will then attempt to maintain the wanted angular velocity in the yaw direction as long as auto heading is active.
Arguments:
- Enable (bool): Activate auto heading mode if true, de-activate if false
Returns:
- Auto heading state (bool): True if auto heading mode is active, false if not
boost
Get or set the boost gain
Arguments:
- boost_gain (float): Range from 0 to 1.
current_thruster_setpoints
Returns the current setpoints for the thrusters
We maintain this state in the SDK since the drone expects to receive all of the setpoints at once.
For setting the setpoints you should use the dedicated properties/functions for that, trying to set them directly with this property will raise an AttributeError.
heave
Set force reference for the heave direction
Arguments:
- heave (float): Force set point in the heave direction in range <-1, 1>, a positive set point makes the drone move downwards
slow
Get or set the "slow gain" (inverse of boost)
Arguments:
- slow_gain (float): Range from 0 to 1.
surge
Set force reference for the surge direction
Arguments:
- surge (float): Force set point in the surge direction in range <-1, 1>, a positive set point makes the drone move forward
sway
Set force reference for the sway direction
Arguments:
- sway (float): Force set point in the sway direction in range <-1, 1>, a positive set point makes the drone move to the right
yaw
Set force reference for the yaw direction
Arguments:
- yaw (float): Moment set point in the sway direction in range <-1, 1>, a positive set point makes the drone rotate clockwise.
Methods
send_thruster_setpoint
def send_thruster_setpoint(
self,
surge,
sway,
heave,
yaw
)
Control the thrusters of the drone
Set reference values between -1 and 1 for each controllable degree of freedom on the drone. The reference values are mapped linearly to a thruster force, a set point of -1 correspons to maximum negative force and a set point of 1 corresponds to maximum positive force. For the yaw direction the reference is a moment not a force, as the yaw direction is rotational not translational.
Arguments:
- surge (float): Force set point in the surge direction in range <-1, 1>, a positive set point makes the drone move forward
- sway (float): Force set point in the sway direction in range <-1, 1>, a positive set point makes the drone move to the right
- heave (float): Force set point in the heave direction in range <-1, 1>, a positive set point makes the drone move down.
- yaw (float): Moment set point in the yaw direction in range <-1, 1>, a positive set point makes the drone rotate clockwise.
View Source
def send_thruster_setpoint(self, surge, sway, heave, yaw):
"""Control the thrusters of the drone
Set reference values between -1 and 1 for each controllable degree of freedom on the drone.
The reference values are mapped linearly to a thruster force, a set point of -1 correspons
to maximum negative force and a set point of 1 corresponds to maximum positive force. For
the yaw direction the reference is a moment not a force, as the yaw direction is rotational
not translational.
Arguments:
* **surge** (float): Force set point in the surge direction in range <-1, 1>,
a positive set point makes the drone move forward
* **sway** (float): Force set point in the sway direction in range <-1, 1>,
a positive set point makes the drone move to the right
* **heave** (float): Force set point in the heave direction in range <-1, 1>,
a positive set point makes the drone move down.
* **yaw** (float): Moment set point in the yaw direction in range <-1, 1>,
a positive set point makes the drone rotate clockwise.
"""
with self.thruster_lock:
self._current_thruster_setpoints["surge"] = surge
self._current_thruster_setpoints["sway"] = sway
self._current_thruster_setpoints["heave"] = heave
self._current_thruster_setpoints["yaw"] = yaw
self._send_motion_input_message()