testPixhawkDroneKeyboard.cpp

This code shows how to setup keyboard control of a drone equipped with a Pixhawk connected to a Jetson TX2 that runs this test using ViSP. The drone is localized thanks to Qualisys Mocap. Communication between the Jetson and the Pixhawk is based on Mavlink using MAVSDK 3rd party.

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2024 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Test to control from keyboard a drone equipped with a Pixhawk thanks to mavsdk.
 */
 
#include <iostream>
 
#include <visp3/core/vpConfig.h>
 
// Check if std:c++17 or higher
#if defined(VISP_HAVE_MAVSDK) && ((__cplusplus >= 201703L) || (defined(_MSVC_LANG) && (_MSVC_LANG >= 201703L)))
 
#include <visp3/core/vpTime.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpKeyboard.h>
#include <visp3/robot/vpRobotMavsdk.h>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
bool handleKeyboardInput(vpRobotMavsdk &drone, int key, bool &flying, double &lastCommandTime)
{
  bool running = true;
  double currentTime = vpTime::measureTimeMs();
  if (drone.isRunning()) {
    switch (key) {
    case 'q':
      // Quit
      std::cout << "sending command" << std::endl;
      drone.land();
      flying = false;
      running = false;
      lastCommandTime = vpTime::measureTimeMs();
      break;
 
    case 'a':
      // Land
      if (flying == true) {
        std::cout << "sending command" << std::endl;
        drone.land();
        flying = false;
        lastCommandTime = vpTime::measureTimeMs();
      }
      break;
 
    case 'e':
      // Emergency
      std::cout << "sending command" << std::endl;
      drone.kill();
      flying = false;
      running = false;
      lastCommandTime = vpTime::measureTimeMs();
      break;
 
    case 't':
      // Takeoff
      std::cout << "sending command" << std::endl;
      drone.takeOff();
      flying = true;
      lastCommandTime = vpTime::measureTimeMs();
      vpTime::wait(100);
      drone.takeControl();
      break;
 
    case ' ':
      // Down
      if (flying == true) {
        drone.setVerticalSpeed(0.2);
        lastCommandTime = vpTime::measureTimeMs();
      }
      break;
 
    case 'u':
      // Up
      if (flying == true) {
        drone.setVerticalSpeed(-0.2);
        lastCommandTime = vpTime::measureTimeMs();
      }
      break;
 
    case 'd':
      // turn Right
      if (flying == true) {
        drone.setYawSpeed(0.4);
        lastCommandTime = vpTime::measureTimeMs();
      }
      break;
 
    case 'g':
      // turn Left
      if (flying == true) {
        drone.setYawSpeed(-0.4);
        lastCommandTime = vpTime::measureTimeMs();
      }
      break;
 
    case 'i':
      // go Forward
      if (flying == true) {
        drone.setForwardSpeed(0.2);
        lastCommandTime = vpTime::measureTimeMs();
      }
      break;
 
    case 'k':
      // go Backwards
      if (flying == true) {
        drone.setForwardSpeed(-0.2);
        lastCommandTime = vpTime::measureTimeMs();
      }
      break;
 
    case 'j':
      // go Left
      if (flying == true) {
        drone.setLateralSpeed(-0.2);
        lastCommandTime = vpTime::measureTimeMs();
      }
      break;
 
    case 'l':
      // go Right
      if (flying == true) {
        drone.setLateralSpeed(0.2);
        lastCommandTime = vpTime::measureTimeMs();
      }
      break;
 
    default:
      // No inputs -> drone stops moving
      if ((flying == true) && (currentTime - lastCommandTime > 1500.)) { // We stop moving after 1.5s without commands.
        std::cout << "1.5 s without order, sending command : stop moving." << std::endl;
        drone.stopMoving();
        lastCommandTime = vpTime::measureTimeMs();
      }
      break;
    }
    vpTime::wait(40); // We wait 40ms to give the drone the time to process the command
  }
  else {
    running = false;
  }
  return running;
}
 
int main(int argc, char **argv)
{
  try {
    std::string opt_connecting_info = "udp://192.168.30.111:14552";
 
    for (int i = 1; i < argc; i++) {
      if (std::string(argv[i]) == "--co" && i + 1 < argc) {
        opt_connecting_info = std::string(argv[i + 1]);
        i++;
      }
      else if (argc >= 2 && (std::string(argv[1]) == "--help" || std::string(argv[1]) == "-h")) {
        std::cout << "\nUsage:\n"
          << "  " << argv[0] << "[--co <connection information>] [--help] [-h]\n"
          << std::endl
          << "Description:\n"
          << "  --co <connection information>\n"
          << "      - UDP: udp://[host][:port]\n"
          << "      - TCP: tcp://[host][:port]\n"
          << "      - serial: serial://[path][:baudrate]\n"
          << "      - Default: udp://192.168.30.111:14552).\n\n"
          << "      For example, to connect to the simulator use URL: udp://:14552\n"
          << "  --help, -h\n"
          << "      Print help message.\n"
          << std::endl;
        return EXIT_SUCCESS;
      }
      else {
        std::cout << "Error : unknown parameter " << argv[i] << std::endl
          << "See " << argv[0] << " --help" << std::endl;
        return EXIT_SUCCESS;
      }
    }
 
    std::cout << std::endl
      << "WARNING: this program does no sensing or avoiding of obstacles, "
      << "the drone WILL collide with any objects in the way! Make sure the "
      << "drone has approximately 3 meters of free space on all sides." << std::endl
      << std::endl;
 
// Connect to the drone
    vpRobotMavsdk drone(opt_connecting_info);
 
    if (drone.isRunning()) {
      int k = 0;
      bool running = true;
      bool flying = false;
      double lastCommandTime = vpTime::measureTimeMs();
 
      std::cout << "\nConfiguring drone settings ...\n" << std::endl;
 
      drone.setTakeOffAlt(1.0);
 
      vpKeyboard keyboard;
      std::cout << "\n| Control the drone with the keyboard :\n"
        "|   't' to takeoff / 'l' to land / 'e' for emergency stop\n"
        "|   ('space','u','d','g') and ('i','k','j','l') to move\n"
        "|   'q' to quit.\n"
        << std::endl;
 
      while (running && drone.isRunning()) {
 
        k = '0'; // If no key is hit, we send a non-assigned key
        if (keyboard.kbhit()) {
          k = keyboard.getchar();
        }
        running = handleKeyboardInput(drone, k, flying, lastCommandTime);
      }
      std::cout << "\nQuitting ...\n" << std::endl;
 
    }
    else {
      std::cout << "ERROR : failed to setup drone control." << std::endl;
      return EXIT_FAILURE;
    }
  }
  catch (const vpException &e) {
    std::cout << "\nCaught an exception: " << e << std::endl;
    return EXIT_FAILURE;
  }
}
 
#else
 
int main()
{
#ifndef VISP_HAVE_MAVSDK
  std::cout << "\nThis example requires mavsdk library. You should install it, configure and rebuid ViSP.\n"
    << std::endl;
#endif
#if !((__cplusplus >= 201703L) || (defined(_MSVC_LANG) && (_MSVC_LANG >= 201703L)))
  std::cout
    << "\nThis example requires at least cxx17. You should enable cxx17 during ViSP configuration with cmake and "
    "rebuild ViSP.\n"
    << std::endl;
#endif
  return EXIT_SUCCESS;
}
 
#endif // #if defined(VISP_HAVE_MAVSDK)