def __init__(self, test=False):
cmd.Cmd.__init__(self)
console.clear()
console.white("# argon : dronekit-based flight control console \n")
console.white("connecting to drone")
try:
console.white("... waiting on connection")
if test == True:
self.vehicle = dronekit.connect('tcp:127.0.0.1:5760',
vehicle_class=IRIS,
status_printer=self._status_printer,
wait_ready=True,
heartbeat_timeout=30, # 30 second timeout
)
else:
self.vehicle = dronekit.connect('/dev/cu.usbserial-DJ00DSDS',
baud=57600,
vehicle_class=IRIS,
status_printer=self._status_printer,
wait_ready=True,
heartbeat_timeout=30, # 30 second timeout
)
console.white("... connected \n")
except KeyboardInterrupt:
console.white("... canceling connection attempt \n")
return True
except Exception:
console.white("... unable to connect \n")
return True
def bringup_drone(self, connection_string=None):
"""Connect to a dronekit vehicle or instantiate an sitl simulator.
Call this once everything is set up and you're ready to fly.
This is some deep magic related to running multiple drones at once. We
don't technically need it, since the network architecture I've set up
has the drones all be independant (if you want to simulate multiple
drones with the current setup you run multiple instances of the SITL
simulator). Chris got this all working by talking with the dronekit
devs, so he knows a lot more about it than I do.
connection_string -- Connect to an existing mavlink (SITL or the actual
ArduPilot). Provide None and it'll start its own
simulator.
"""
if not connection_string:
# Start SITL if no connection string specified
print "Starting SITL"
self.sitl = dronekit_sitl.SITL()
self.sitl.download('copter', '3.3', verbose=True)
sitl_args = ['--model', 'quad',
'--home=32.990756,-117.128362,243,0',
'--speedup', str(Pilot.sim_speedup),
'--instance', str(self.instance)]
working_dir = tempfile.mkdtemp()
self.sitl.launch(sitl_args,
verbose=True,
await_ready=True,
restart=True,
wd=working_dir)
time.sleep(6) # Allow time for the parameter to go back to EEPROM
connection_string = "tcp:127.0.0.1:{0}".format(5760 + 10 * self.instance)
#connection_string = "tcp:127.0.0.1:14550")
new_sysid = self.instance + 1
vehicle = dronekit.connect(connection_string, wait_ready=True)
while vehicle.parameters["SYSID_THISMAV"] != new_sysid:
vehicle.parameters["SYSID_THISMAV"] = new_sysid
time.sleep(0.1)
time.sleep(5) # allow eeprom write
vehicle.close()
self.sitl.stop()
# Do it again, and this time SYSID_THISMAV will have changed
self.sitl.launch(sitl_args,
verbose=True,
await_ready=True,
restart=True,
use_saved_data=True,
wd=working_dir)
self.vehicle = dronekit.connect(connection_string, wait_ready=True)
print vehicle
else:
# Connect to existing vehicle
print 'Connecting to vehicle on: %s' % connection_string
print "Connect to {0}, instance {1}".format(connection_string, self.instance)
self.vehicle = dronekit.connect(connection_string, wait_ready=True)
print "Success {0}".format(connection_string)
def initializeDrone(connectionString, isSimulator):
if isSimulator:
sitl = SITL()
sitl.download('copter', '3.3', verbose=True)
sitl_args = [
'-I0', '--model', 'quad', '--home=-35.363261,149.165230,584,353'
]
sitl.launch(sitl_args, await_ready=True, restart=True)
print "Connecting to vehicle on: 'tcp:127.0.0.1:5760'"
vehicle = connect('tcp:127.0.0.1:5760', wait_ready=True)
# print information about vehicle
print "Global Location: %s" % vehicle.location.global_frame
print "Global Location (relative altitude): %s" % vehicle.location.global_relative_frame
print "Local Location: %s" % vehicle.location.local_frame #NED
print "Attitude: %s" % vehicle.attitude
print "Velocity: %s" % vehicle.velocity
print "GPS: %s" % vehicle.gps_0
print "Groundspeed: %s" % vehicle.groundspeed
print "Airspeed: %s" % vehicle.airspeed
print "Battery: %s" % vehicle.battery
print "EKF OK?: %s" % vehicle.ekf_ok
print "Last Heartbeat: %s" % vehicle.last_heartbeat
print "Rangefinder: %s" % vehicle.rangefinder
print "Rangefinder distance: %s" % vehicle.rangefinder.distance
print "Rangefinder voltage: %s" % vehicle.rangefinder.voltage
print "Heading: %s" % vehicle.heading
print "Is Armable?: %s" % vehicle.is_armable
print "System status: %s" % vehicle.system_status.state
print "Mode: %s" % vehicle.mode.name # settable
print "Armed: %s" % vehicle.armed
else:
# Connect to the Vehicle
print 'Connecting to vehicle;'
vehicle = connect(connectionString, wait_ready=True)
# print information about vehicle
print "Global Location: %s" % vehicle.location.global_frame
print "Global Location (relative altitude): %s" % vehicle.location.global_relative_frame
print "Local Location: %s" % vehicle.location.local_frame #NED
print "Attitude: %s" % vehicle.attitude
print "Velocity: %s" % vehicle.velocity
print "GPS: %s" % vehicle.gps_0
print "Groundspeed: %s" % vehicle.groundspeed
print "Airspeed: %s" % vehicle.airspeed
print "Battery: %s" % vehicle.battery
print "EKF OK?: %s" % vehicle.ekf_ok
print "Last Heartbeat: %s" % vehicle.last_heartbeat
print "Rangefinder: %s" % vehicle.rangefinder
print "Rangefinder distance: %s" % vehicle.rangefinder.distance
print "Rangefinder voltage: %s" % vehicle.rangefinder.voltage
print "Heading: %s" % vehicle.heading
print "Is Armable?: %s" % vehicle.is_armable
print "System status: %s" % vehicle.system_status.state
print "Mode: %s" % vehicle.mode.name # settable
print "Armed: %s" % vehicle.armed
def __init__(self , connectionString,mode):
if mode =='r': #run on vihcle
print 'Connecting to vehicle on: %s' % connectionString
self.vehicle = connect(connectionString, baud=57600)
if mode =='s': #run on simultor
self.sitl = SITL()
self.sitl.download('copter', '3.3', verbose=True)
self.sitl_args = ['-I0','--gimbal' ,'--model', 'quad', '--home=31.7396,35.1956,3,-1']
self.sitl.launch(self.sitl_args, await_ready=True, restart=True)
self.vehicle = connect('tcp:127.0.0.1:5760', wait_ready=True)
def test_115(connpath):
v = connect(connpath, await_params=True)
# Dummy callback
def mavlink_callback(*args):
mavlink_callback.count += 1
mavlink_callback.count = 0
# Set the callback.
v.set_mavlink_callback(mavlink_callback)
# Change the vehicle into STABILIZE mode
v.mode = VehicleMode("STABILIZE")
# NOTE wait crudely for ACK on mode update
time.sleep(3)
# Expect the callback to have been called
assert mavlink_callback.count > 0
# Unset the callback.
v.unset_mavlink_callback()
savecount = mavlink_callback.count
# Disarm. A callback of None should not throw errors
v.armed = False
# NOTE wait crudely for ACK on mode update
time.sleep(3)
# Expect the callback to have been called
assert_equals(savecount, mavlink_callback.count)
# Re-arm should not throw errors.
v.armed = True
# NOTE wait crudely for ACK on mode update
time.sleep(3)
def connection(self,args):
args=str(args)
if args is 'sitl' or args is None:
self._log("Starting copter simulator (SITL)")
from dronekit_sitl import SITL
sitl = SITL()
self.sitl=sitl
sitl.download('copter', '3.3', verbose=True)
sitl_args = ['-I0', '--model', 'quad', '--home=-35.363261,149.165230,584,0']
sitl.launch(sitl_args, await_ready=True, restart=True)
connection_string='tcp:127.0.0.1:5760'
elif args=='0':
connection_string='/dev/ttyACM0'
elif args=='1':
connection_string='/dev/ttyACM1'
else:
connection_string=str(args)
self._log('Connecting to vehicle on: %s' % connection_string)
vehicle = connect(connection_string, wait_ready=True)
# Register observers
vehicle.add_attribute_listener('location',self.location_callback)
#vehicle.add_attribute_listener('battery',self.battery_callback)
#vehicle.add_attribute_listener('heading',self.heading_callback)
return vehicle
def main():
configureLogger("agent")
ListenMQTTThread()
registerAgent() # Call the register endpoint and register Device I
print "\nConnecting to vehicle on: %s" % CONNECTION_TARGET
print "----------------------------------------------------------------------"
vehicle = connect(CONNECTION_TARGET, wait_ready=True, baud=BAUD)
while (True):
if(iotUtils.IS_REGISTERED):
currentTime = calendar.timegm(time.gmtime())
PUSH_DATA = iotUtils.SENSOR_STATS + '"time":'+str(currentTime)+'},"payloadData":{"quatanium_val_q1":'+0\
+',"quatanium_val_q2":'+0+',"quatanium_val_q3":'+0+',"quatanium_val_q4":'+0+',"velocity_x":'\
+str(vehicle.velocity[0])+',"velocity_y":'+str(vehicle.velocity[1])+',"velocity_z":'\
+str(vehicle.velocity[2])+',"global_location_lat":'+str(vehicle.location.global_relative_frame.lat)\
+',"global_location_alt":'+str(vehicle.location.global_relative_frame.alt)\
+',"global_location_lon":'+str(vehicle.location.global_relative_frame.lon)+',"battery_level":'\
+str(vehicle.battery.level)+',"battery_voltage":'+str(vehicle.battery.voltage)+',"pitch":'\
+str(vehicle.attitude.pitch)+',"roll":'+str(vehicle.attitude.roll)+',"yaw":'\
+str(vehicle.attitude.yaw)+',"deviceType":"IRIS_DRONE"}}}';
mqttHandler.sendSensorValue(PUSH_DATA)
print '~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Publishing Device-Data ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~'
print ('PUBLISHED DATA: ' + PUSH_DATA)
time.sleep(PUSH_INTERVAL)
else:
registerAgent()
time.sleep(PUSH_INTERVAL)
print "-------------------------------------------------------------------------------------------------"
def __init__(self):
self.vehicle = connect('udpin:0.0.0.0:14550', await_params=False)
self.vehicle.add_attribute_observer('local_position', self.location_callback)
if not self.vehicle.armed:
self.start_vehicle(5)
self.x = 0
self.y = 0
def test_parameter(connpath):
# Connect to the Vehicle
vehicle = connect(connpath, await_params=True)
# Initial
cmds = vehicle.commands
cmds.download()
cmds.wait_valid()
assert_equals(len(cmds), 1)
# After clearing
cmds.clear()
vehicle.flush()
cmds.download()
cmds.wait_valid()
assert_equals(len(cmds), 1)
# Upload
for command in [
Command(0, 0, 0, 0, 16, 1, 1, 0.0, 0.0, 0.0, 0.0, -35.3605, 149.172363, 747.0),
Command(0, 0, 0, 3, 22, 0, 1, 0.0, 0.0, 0.0, 0.0, -35.359831, 149.166334, 100.0),
Command(0, 0, 0, 3, 16, 0, 1, 0.0, 0.0, 0.0, 0.0, -35.363489, 149.167213, 100.0),
Command(0, 0, 0, 3, 16, 0, 1, 0.0, 0.0, 0.0, 0.0, -35.355491, 149.169595, 100.0),
Command(0, 0, 0, 3, 16, 0, 1, 0.0, 0.0, 0.0, 0.0, -35.355071, 149.175839, 100.0),
Command(0, 0, 0, 3, 113, 0, 1, 0.0, 0.0, 0.0, 0.0, -35.362666, 149.178715, 22222.0),
Command(0, 0, 0, 3, 115, 0, 1, 2.0, 22.0, 1.0, 3.0, 0.0, 0.0, 0.0),
Command(0, 0, 0, 3, 16, 0, 1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0),
]:
cmds.add(command)
vehicle.flush()
# After upload
cmds.download()
cmds.wait_valid()
assert_equals(len(cmds), 9)
def main():
global vehicle
parser = argparse.ArgumentParser(description='Commands vehicle using vehicle.simple_goto.')
parser.add_argument('--connect',
help="Vehicle connection target string. If not specified, SITL automatically started and used.")
args = parser.parse_args()
connection_string = args.connect
sitl = None
#connection_string = '/dev/serial/by-id/usb-Arduino__www.arduino.cc__Arduino_Mega_2560_740313032373515082D1-if00' #for serial
connection_string = 'udp:127.0.0.1:14550'
# Connect to the Vehicle
print 'Connecting to vehicle on: %s' % connection_string
vehicle = connect(connection_string, wait_ready=True) #for udp
#vehicle = connect(connection_string, baud=115200, wait_ready=True) #for serial
print "kpx,kix,kdx"
kpx = float(input())
kix = float(input())
kdx = float(input())
print "kpy,kiy,kdy"
kpy = float(input())
kiy = float(input())
kdy = float(input())
_pid_values = (kpx, kix, kdx, kpy, kiy, kdy)
print _land
takeoff(_pid_values)
arm_and_takeoff(1, _pid_values)
def test_timeout(connpath):
v = connect(connpath, vehicle_class=DummyVehicle)
while not v.success:
time.sleep(0.1)
v.close()
def test_115(connpath):
v = connect(connpath, wait_ready=True)
time.sleep(5)
assert_false(v.capabilities.ftp)
# versions of ArduCopter prior to v3.3 will send out capabilities
# flags before they are initialised. Vehicle attempts to refetch
# until capabilities are non-zero, but we may need to wait:
start_time = time.time()
nonzero_capabilities = True
slept = False
while v.capabilities.mission_float == 0:
if time.time() > start_time + 30:
nonzero_capabilities = False
break
time.sleep(0.1)
slept = True
if v.capabilities.mission_float:
if slept:
assert_true(v.version.major <= 3)
assert_true(v.version_minor <= 3)
else:
# fail it
assert_true(v.capabilities.mission_float)
assert_true(v.version.major is not None)
assert_true(len(v.version.release_type()) >= 2)
assert_true(v.version.release_version() is not None)
def connectToDrone(dkip, dkport):
#Dronekit connection
global vehicle
#connect to vehicle at ip:port
print("Attempting To Connect to Dronekit")
vehicle = connect(dkip+':'+dkport, wait_ready=True)
#set connected bool to True
global connected
connected = True
#initialize globals associated with the vehicle
#Throttle PWM fail safe value
global THR_FS_VAL
THR_FS_VAL = vehicle.parameters['THR_FS_VALUE']
#Battery capacity failsafe value
global FS_BATT_MAH
FS_BATT_MAH = vehicle.parameters['FS_BATT_MAH']
#ID of the ground control station
global SYSID_MYGCS
SYSID_MYGCS = vehicle.parameters['SYSID_MYGCS']
# create thread to update readout information in real time
thread.start_new_thread(updateVehicleStatus, (vehicle,))
def test_parameter(connpath):
v = connect(connpath, wait_ready=True)
# Perform a simple parameter check
assert_equals(type(v.parameters['THR_MIN']), float)
v.close()
def test_can_arm():
sitl = SITL()
sitl.download('copter', '3.3')
sitl.launch(copter_args, verbose=True, await_ready=True)
vehicle = dronekit.connect("tcp:127.0.0.1:5760", wait_ready=True)
# Wait for vehicle to be armable
timeout = time.time() + 10
while not vehicle.is_armable and time.time() < timeout:
time.sleep(0.35)
timed_out = time.time() >= timeout
if timed_out:
sitl.stop()
assert_false(timed_out, "Vehicle init timed out")
# Arm it
vehicle.mode = dronekit.VehicleMode("GUIDED")
vehicle.armed = True
# Confirm that it armed
timeout = time.time() + 10
while not vehicle.armed and time.time() < timeout:
time.sleep(0.35)
timed_out = time.time() >= timeout
vehicle.close()
sitl.stop()
assert_false(timed_out, "Vehicle arming timed out")
def connect(self):
self.disconnect()
print 'Connecting to vehicle on: %s' % self.dronekit_device
self.vehicle = dronekit.connect(self.dronekit_device, wait_ready=False)
print "Vehicle Connected!"
def test_mode(connpath):
v = connect(connpath, wait_ready=True)
# Ensure Mode is an instance of VehicleMode
assert isinstance(v.mode, VehicleMode)
v.close()
def main():
target = "udpin:0.0.0.0:14550"
vehicle = dronekit.connect(target,wait_ready=True)
vehicle.mode = dronekit.VehicleMode("GUIDED")
time.sleep(2)
condition_yaw(vehicle,180);
vehicle.close()
def main():
target = "udpin:0.0.0.0:14550"
vehicle = dronekit.connect(target,wait_ready=True)
vehicle.mode = dronekit.VehicleMode("GUIDED")
a_location = dronekit.LocationGlobal(35.80004274469795, -78.77133535151027, 154.3443094818955)
vehicle.simple_goto(a_location,groundspeed=2.0)
vehicle.close()
def test_state(connpath):
vehicle = connect(connpath, wait_ready=['system_status'])
assert_equals(type(vehicle.system_status), SystemStatus)
assert_equals(type(vehicle.system_status.state), str)
vehicle.close()
def __init__(self, port):
self.running = True
# Initialize server
self.rece_queue = Queue()
self.send_queue = Queue()
self.server = server(port, self.rece_queue, self.send_queue)
# Initialize perception device
self.dete_queue = Queue()
self.video_queue = Queue()
self.detector = Detector(self.dete_queue, self.video_queue)
self.videoserver = videoserver(port+1, self.video_queue)
# Initialize vehicle
#self.vehicle = connect('/dev/ttyACM0', wait_ready=True)
self.vehicle = connect('tcp:127.0.0.1:5760', wait_ready=True)
#self.vehicle.home_location = self.vehicle.location.global_frame
self.vehicle.airspeed = 1.2
self.vehicle.groundspeed = 2
self.vehicle.commands.clear()
# Initialize waypoint
self.waypoints = []
# Initialize time variable
self.last_gps = time()
def test_modes_set(connpath):
vehicle = connect(connpath)
def listener(self, name, m):
assert_equals('STABILIZE', self._flightmode)
vehicle.add_message_listener('HEARTBEAT', listener)
def test_empty_clear(connpath):
vehicle = connect(connpath)
# Calling clear() on an empty object should not crash.
vehicle.commands.clear()
vehicle.commands.upload()
assert_equals(len(vehicle.commands), 0)
def main(): target = "udpin:0.0.0.0:14550" vehicle = dronekit.connect(target,wait_ready=True) time.sleep(2) vehicle.gimbal.rotate(0,0,0) time.sleep(2) vehicle.close() time.sleep(2)
def quadCopter_create_handle(master_ip):
"""
connect to vehicle device
"""
print 'Connecting to vehicle on: %s' % master_ip
vehicle = connect(master_ip, wait_ready=True)
vehicle.groundspeed = 3
return vehicle
def connect_to_vehicle():
log(gcs_logger_name, "Connecting to UAV on: %s" % GCSSettings.UAV_CONNECTION_STRING)
vehicle = dronekit.connect(GCSSettings.UAV_CONNECTION_STRING, wait_ready=True)
vehicle.wait_ready('autopilot_version')
log(gcs_logger_name, "Connected to UAV on: %s" % GCSSettings.UAV_CONNECTION_STRING)
SUASSystem.suas_logging.log_vehicle_state(vehicle, gcs_logger_name)
return vehicle
def __init__(self):
super(BaseDrone, self).__init__()
self.commands_queque = deque()
self.debug = True
self.gps_lock = False
self.vehicle = connect('/dev/tty.usbserial-DN00BMDJ,57600', await_params = True)
self.vehicle.add_attribute_observer('gps_0', self.gps_callback)
self._log("Drone gotten")
def test_110(connpath):
vehicle = connect(connpath, wait_ready=True)
# NOTE these are *very inappropriate settings*
# to make on a real vehicle. They are leveraged
# exclusively for simulation. Take heed!!!
vehicle.parameters['FS_GCS_ENABLE'] = 0
vehicle.parameters['FS_EKF_THRESH'] = 100
# Await armability.
while not vehicle.is_armable:
time.sleep(.1)
# Change the vehicle into STABILIZE mode
vehicle.mode = VehicleMode("GUIDED")
# NOTE wait crudely for ACK on mode update
time.sleep(3)
# Define example callback for mode
def armed_callback(vehicle, attribute, value):
armed_callback.called += 1
armed_callback.called = 0
# When the same (event, callback) pair is passed to add_attribute_listener,
# only one instance of the observer callback should be added.
vehicle.add_attribute_listener('armed', armed_callback)
vehicle.add_attribute_listener('armed', armed_callback)
vehicle.add_attribute_listener('armed', armed_callback)
vehicle.add_attribute_listener('armed', armed_callback)
vehicle.add_attribute_listener('armed', armed_callback)
# arm and see update.
vehicle.armed = True
# Wait for ACK.
time.sleep(3)
# Ensure the callback was called.
assert armed_callback.called > 0, "Callback should have been called."
# Rmove all listeners. The first call should remove all listeners
# we've added; the second call should be ignored and not throw.
# NOTE: We test if armed_callback were treating adding each additional callback
# and remove_attribute_listener were removing them one at a time; in this
# case, there would be three callbacks still attached.
vehicle.remove_attribute_listener('armed', armed_callback)
vehicle.remove_attribute_listener('armed', armed_callback)
callcount = armed_callback.called
# Disarm and see update.
vehicle.armed = False
# Wait for ack
time.sleep(3)
# Ensure the callback was called zero times.
assert_equals(armed_callback.called, callcount, "Callback should not have been called once removed.")
vehicle.close()
def main():
print 'starting up'
global vehicle, IP_adr, number_of_client, client_handler, OBP_tab
if not internet_on():
print 'no internet connection'
exit()
IP_adr = getIpAdress()
number_of_client = 0
client_handler = ClientWebPlugin(cherrypy.engine).subscribe()
cherrypy.tools.websocket = WebSocketTool()
cherrypy.config.update({'server.socket_host': IP_adr,
'server.socket_port': 8080})
print 'waiting for drone'
vehicle = dronekit.connect("udp:localhost:14550", rate=200, heartbeat_timeout=0) # for local simulated drone
# vehicle = dronekit.connect('/dev/ttyUSB0', baud=57600, rate=20) # for real drone
print 'drone found, waiting ready'
# vehicle.parameters['COM_RC_IN_MODE'] = 2;
# listening on the arm message
vehicle.add_attribute_listener('armed', arm_callback)
# listening on all message (the call back is msg_handler)
vehicle.add_message_listener('*', msg_handler)
# getting OnBoard parameters
OBP_tab = sorted(vehicle.parameters.keys())
threading.Timer(5, send_plot_message).start() # start in 5 seconds
conf = {
'/':
{
'tools.sessions.on': True,
'tools.staticdir.root': os.path.abspath(os.getcwd())
},
'/ws':
{
'tools.websocket.on': True,
'tools.websocket.handler_cls': WebSocketHandler
},
'/static':
{
'tools.staticdir.on': True,
'tools.staticdir.dir': './public'
}
}
cherrypy.quickstart(Cherrypy_server(), '/', conf)
def test_mavlink(connpath):
vehicle = connect(connpath)
out = MAVConnection('udpin:localhost:15668')
vehicle._handler.pipe(out)
out.start()
vehicle2 = connect('udpout:localhost:15668')
result = {'success': False}
@vehicle2.on_attribute('location')
def callback(*args):
result['success'] = True
i = 20
while not result['success'] and i > 0:
time.sleep(1)
assert result['success']
#!/usr/bin/env python
# -*- coding: utf-8 -*-
import rospy as rp
from dronekit import connect, VehicleMode
import time
from geometry_msgs.msg import Twist, PoseStamped, TwistStamped, Vector3Stamped
# Connect to the Vehicle.
print("\nConnecting to vehicle ")
vehicle = connect('/dev/serial0', wait_ready=True, baud=57600)
while True:
roll = vehicle.attitude.roll
pitch = vehicle.attitude.pitch
yaw = vehicle.attitude.yaw
print(roll, pitch, yaw)
)
parser.add_argument('--id')
args = parser.parse_args()
connection_string = args.connect
vehicleid = float(args.id)
sitl = None
if not connection_string:
import dronekit_sitl
sitl = dronekit_sitl.start_default()
connection_string = sitl.connection_string()
print('Connecting to vehicle on: %s' % connection_string)
#vehicle = connect(connection_string, wait_ready=True)
vehicle = connect(connection_string, wait_ready=False)
print " Type: %s" % vehicle._vehicle_type
print " Armed: %s" % vehicle.armed
print " System status: %s" % vehicle.system_status.state
print " GPS: %s" % vehicle.gps_0
print " Alt: %s" % vehicle.location.global_relative_frame.alt
vehicle.add_attribute_listener('location', location_callback)
while not vehicle.home_location:
cmds = vehicle.commands
cmds.download()
cmds.wait_ready()
if not vehicle.home_location:
print " Waiting for home location ..."
print "Start simulator (SITL)"
import dronekit_sitl
sitl = dronekit_sitl.start_default()
connection_string = sitl.connection_string()
# Import DroneKit-Python
from dronekit import connect, VehicleMode
# Connect to the Vehicle.
print("Connecting to vehicle on: %s" % (connection_string, ))
vehicle = connect(connection_string, wait_ready=True, baud=115200)
# Get some vehicle attributes (state)
print "Get some vehicle attribute values:"
print " GPS: %s" % vehicle.gps_0
print " Battery: %s" % vehicle.battery
print " Last Heartbeat: %s" % vehicle.last_heartbeat
print " Is Armable?: %s" % vehicle.is_armable
print " System status: %s" % vehicle.system_status.state
print " Mode: %s" % vehicle.mode.name # settable
# Close vehicle object before exiting script
vehicle.close()
# Shut down simulator
sitl.stop()
print("Completed")
)
args = parser.parse_args()
connection_string = args.connect
sitl = None
#Start SITL if no connection string specified
if not connection_string:
import dronekit_sitl
sitl = dronekit_sitl.start_default()
connection_string = sitl.connection_string()
# Connect to the Vehicle.
# Set `wait_ready=True` to ensure default attributes are populated before `connect()` returns.
print("\nConnecting to vehicle on: %s" % connection_string)
vehicle = connect(connection_string, wait_ready=True)
vehicle.wait_ready('autopilot_version')
#os.system('iwconfig wlx9cefd5ff0bcd --connect udpin:0.0.0.14550')
''' else:
os.system('iwconfig wlx9cefd5ff0e3f --connect udpin:0.0.0.14550')
connectionString = 'udpin:0.0.0.14550'
print("\nConnecting to vehicle on: %s" % connectionString)
vehicle = connect(connectionString, wait_ready=True)
#serial_port = serial.Serial('/dev/ttyUSB0', 9600)
'''
def print_data(data):
print(data)
import time
from dronekit import connect, VehicleMode, LocationGlobalRelative, Command, LocationGlobal
from pymavlink import mavutil
import tkinter as tk
print('Connecting...')
vehicle = connect('udp:127.0.0.1:14551')
gnd_speed = 5 # [m/s]
def arm_and_takeoff(altitude):
while not vehicle.is_armable:
print("waiting to be armable")
time.sleep(1)
print("Arming motors")
vehicle.mode = VehicleMode("GUIDED")
vehicle.armed = True
while not vehicle.armed:
time.sleep(1)
print("Taking Off")
vehicle.simple_takeoff(altitude)
while True:
v_alt = vehicle.location.global_relative_frame.alt
print(">> Altitude = %.1f m" % v_alt)
# keep sending this message for `duration` seconds
for x in range(0, int(duration * freq)):
vehicle.send_mavlink(msg)
time.sleep(1 / freq)
# disable dronekit logging first
print_log(
"Warning: Annoying \"wx index out of bounds\" value is disabled. Mind this if you want to see log from dronekit."
)
dronekit_logger = logging.getLogger("autopilot")
dronekit_logger.disabled = True
# connect to vehicle
vehicle = dronekit.connect('/dev/ttyACM0', wait_ready=True, baud=921600)
print_log("Connection established.")
time.sleep(1)
print_status(vehicle)
try:
# arm the vehicle
print_log("Trying to arm vehicle...")
vehicle.arm(timeout=5)
# set to guided mode first
vehicle.mode = dronekit.VehicleMode("GUIDED")
# take off
take_off(vehicle, 20)
def main():
vehicle = connect("udp:localhost:14551", wait_ready=True)
arm_and_takeoff(vehicle, 10)
executeMission(vehicle)
vehicle.mode = VehicleMode("LAND")
#arm2
from dronekit import connect, Command, LocationGlobal
#from pymavlink import mavutil
import time, sys, argparse, math
startime = time.time()
print("Connecting")
#connection_string = '127.0.0.1:14540'
connection_string = '/dev/ttyACM0'
arglist = [
'parameters', 'gps_0', 'armed', 'mode', 'attitude', 'system_status',
'location'
]
vehicle = connect(connection_string,
wait_ready=arglist,
heartbeat_timeout=300,
baud=57600)
print("Time to connection: %s" % str(time.time() - startime))
print(" Type: %s" % vehicle._vehicle_type)
print(" Armed: %s" % vehicle.armed)
print(" System status: %s" % vehicle.system_status.state)
print(" GPS: %s" % vehicle.gps_0)
print(" Alt: %s" % vehicle.location.global_relative_frame.alt)
print("GPS coordinates %s" % vehicle.location.global_frame)
print("Armed: %s" % vehicle.armed)
print("isarmable: %s" % vehicle.is_armable)
vehicle.armed = True
print("Armed after: %s" % vehicle.armed)
# note:
# 0 = Quit program
# 1 = Disarm
# 2 = Arm
# setting up modules used in the program
from dronekit import connect
import exceptions
import socket
import time
import os
# clear screen
os.system("clear")
# establish connection to the vehicle
vehicle = connect("/dev/ttyS0", heartbeat_timeout=30, baud=57600)
# print action to be carried
print("Set vehicle state to disarm")
# for safety, disarm the vehicle before doing anything
vehicle.armed = False
print("Armed: %s\n" % vehicle.armed)
time.sleep(5)
# clear screen
os.system("clear")
# initialization
a = 1
while (a > 0):
# print the current vehicle state
# import dronekit_sitl
# sitl = dronekit_sitl.start_default()
# connection_string = sitl.connection_string()
# Import DroneKit-Python
from dronekit import connect, VehicleMode
# Connect to the Vehicle.
# print("Connecting to vehicle on: %s" % (connection_string,))
# vehicle = connect(connection_string, wait_ready=True)
# Connect to the Vehicle.
redleader='udpin:0.0.0.0:14550'
solo=redleader
print("Connecting to solo: %s" % (solo))
vehicle = connect(solo, wait_ready=True)
# Get some vehicle attributes (state)
print "Get some vehicle attribute values:"
print " GPS: %s" % vehicle.gps_0
print " Battery: %s" % vehicle.battery
print " Last Heartbeat: %s" % vehicle.last_heartbeat
print " Is Armable?: %s" % vehicle.is_armable
print " System status: %s" % vehicle.system_status.state
print " Mode: %s" % vehicle.mode.name # settable
# Close vehicle object before exiting script
vehicle.close()
# Shut down simulator
# sitl.stop()
value_lower = 60
value_upper = 180
min_contour_area = 500 # piksel terkecil pada kontur sebelum itu terdaftar sebagai target
#kamera
horizontal_resolution = 1280
vertical_resolution = 720
camera = cv2.VideoCapture(0)
#koneksi ke wahana
connection_string = "/dev/ttyS0"
baud_rate = 57600
print('connecting..')
vehicle = connect(connection_string, baud=baud_rate, wait_ready=True)
print('start visual landing')
def send_land_message(x, y):
msg = vehicle.message_factory.landing_target_encode(
0,
0,
0,
(x-horizontal_resolution/2)*horizontal_fov/horizontal_resolution,
(y-vertical_resolution/2)*vertical_fov/vertical_resolution,
0,
0,0)
vehicle.send_mavlink(msg)
vehicle.flush()
def main():
global rollpitchyaw
#listener = GestureListener()
try:
yaw_on_entry = 0
left_coming_back = False
right_coming_back = False
first_frame = None
controller = Leap.Controller()
time.sleep(1)
roll = 0
pitch = 0
yaw = 0
height = 0
alpha = 0.2
print "Leap connected"
# start_time = time.time()
rpc_mapper = interp1d([ROLL_PITCH_YAW_MIN, ROLL_PITCH_YAW_MAX],
[ROLL_PITCH_YAW_MIN_MAP, ROLL_PITCH_YAW_MAX_MAP])
throttle_mapper_takeoff = interp1d(
[THROTTLE_MIN_TAKEOFF, THROTTLE_MAX_TAKEOFF],
[THROTTLE_MIN_TAKEOFF_MAP, THROTTLE_MAX_TAKEOFF_MAP])
throttle_mapper_flight = interp1d(
[THROTTLE_MIN_FLIGHT, THROTTLE_MAX_FLIGHT],
[THROTTLE_MIN_FLIGHT_MAP, THROTTLE_MAX_FLIGHT_MAP])
vehicle = connect('com3', wait_ready=True, baud=57600)
print "Connected"
vehicle.mode = VehicleMode('STABILIZE')
vehicle.armed = True
print "Armed"
vehicle.add_attribute_listener('attitude', attitude_callback)
time.sleep(3)
#controller.add_listener(listener)
while True:
#print "inside loop"
# if time.time() - start_time > 0.01:
#start_time = time.time()
#$print(controller.is_paused)
if controller.is_connected: #and vehicle.location.global_relative_frame.alt > 0.3:
frame = controller.frame()
if len(frame.hands) == 2:
if left_coming_back:
height = 0
left_coming_back = False
#if not first_frame:
print "After coming back"
first_frame = hand_stable(frame, controller)
frame = controller.frame()
if right_coming_back:
right_coming_back = False
roll = 0
pitch = 0
yaw = 0
if not first_frame:
print "First time"
first_frame = hand_stable(frame, controller)
frame = controller.frame()
time.sleep(0.1)
yaw_on_entry = rollpitchyaw.yaw
#print "Set throttle to 1500"
left_hand, right_hand = get_left_right_hands(frame)
#for hand in frame.hands:
#print str(hand.is_valid)
#if hand.is_left:
if height < 0:
height = 0
elif height > 150:
height = 150
height = low_pass_filter(
height,
left_hand.translation(first_frame).y, alpha)
# print "Filtered Height: " + str(height) + " Original: " + str(left_hand.translation(first_frame).y)
#else:
direction = right_hand.direction
normal = right_hand.palm_normal
yaw = direction.yaw * Leap.RAD_TO_DEG
pitch = low_pass_filter(pitch,
direction.pitch * Leap.RAD_TO_DEG,
alpha)
roll_error = -clip((normal.roll * Leap.RAD_TO_DEG) / 4, -7,
7) - rollpitchyaw.roll
pitch_error = clip((normal.pitch * Leap.RAD_TO_DEG) / 4,
-7, 7) - rollpitchyaw.pitch
yaw_error = clip((normal.yaw * Leap.RAD_TO_DEG) / 4, -10,
10) + yaw_on_entry - rollpitchyaw.yaw
#roll = low_pass_filter(roll, normal.roll * Leap.RAD_TO_DEG, alpha)
roll = normal.roll * Leap.RAD_TO_DEG
# yaw = low_pass_filter(yaw, direction.yaw * Leap.RAD_TO_DEG, alpha)
# pitch, roll, yaw = direction.pitch * Leap.RAD_TO_DEG
# normal.roll * Leap.RAD_TO_DEG
# direction.yaw * Leap.RAD_TO_DEG
# print "Pitch: " + str(pitch) + " Roll: " + str(roll) + " Yaw: " + str(yaw)
#print "Sending roll: " + str(roll) + ' mapped to: ' + str(int(rpc_mapper(roll)))
vehicle.channels.overrides['1'] = clip(
1498 + 12 * int(roll_error), 989, 2007)
# vehicle.channels.overrides['2'] = clip(1501 - 10*int(pitch_error), 992 , 2010)
# vehicle.channels.overrides['4'] = clip(1500 - 10*int(yaw_error), 990 , 2010)
print " Roll: " + str(roll) + " PWM: " + str(
vehicle.channels['1']) + " roll eror: " + str(
roll_error) + " drone roll: " + str(
rollpitchyaw.roll)
# vehicle.channels.overrides['2'] = int(rpc_mapper(pitch))
# vehicle.channels.overrides['4'] = int(rpc_mapper(yaw))
# vehicle.channels.overrides['3'] = int(throttle_mapper_takeoff(height))
time.sleep(0.028)
elif len(frame.hands) == 1:
frame = controller.frame()
if frame.hands[0].is_left:
left_coming_back = False
#if not right_coming_back:
#height = 0
#right_coming_back = True
if not first_frame:
height = 0
print "After coming back"
first_frame = hand_stable(frame, controller)
frame = controller.frame()
#right_coming_back = True
#import pdb; pdb.set_trace()
if height < 0:
height = 0
elif height > 150:
height = 150
height = low_pass_filter(
height, frame.hands[0].translation(first_frame).y,
alpha)
print "Filtered Height: " + str(
height) + " Original: " + str(
frame.hands[0].translation(first_frame).y)
# vehicle.channels.overrides['3'] = int(throttle_mapper_takeoff(height))
else:
#right_coming_back = False
if not left_coming_back:
#left_coming_back = True
first_frame = None
roll = 0
pitch = 0
yaw = 0
for hand in frame.hands:
right_coming_back = False
direction = hand.direction
normal = hand.palm_normal
yaw = direction.yaw * Leap.RAD_TO_DEG
pitch = low_pass_filter(
pitch, direction.pitch * Leap.RAD_TO_DEG,
alpha)
roll = low_pass_filter(
roll, normal.roll * Leap.RAD_TO_DEG, alpha)
yaw = low_pass_filter(
yaw, direction.yaw * Leap.RAD_TO_DEG, alpha)
print "Pitch: " + str(pitch) + " Roll: " + str(
roll) + " Yaw: " + str(yaw)
vehicle.channels.overrides['1'] = int(
rpc_mapper(roll))
# vehicle.channels.overrides['2'] = int(rpc_mapper(pitch))
# vehicle.channels.overrides['4'] = int(rpc_mapper(yaw))
time.sleep(0.028)
else:
if not left_coming_back and not right_coming_back:
# print "Relinquishing control"
# vehicle.channels.overrides['3'] = 1300
# print "Slowing down motor"
# time.sleep(0.1)
# vehicle.channels.overrides['1'] = None
# vehicle.channels.overrides['2'] = None
# vehicle.channels.overrides['3'] = None
# vehicle.channels.overrides['4'] = None
vehicle.channels.overrides = {}
# print "Release channels"
time.sleep(0.1)
first_frame = None
roll = 0
pitch = 0
yaw = 0
height = 0
left_coming_back = True
right_coming_back = True
else:
# print "Relinquishing control"
# vehicle.channels.overrides['3'] = 1300
# print "Slowing down motor"
# time.sleep(0.1)
# vehicle.channels.overrides['1'] = None
# vehicle.channels.overrides['2'] = None
# vehicle.channels.overrides['3'] = None
# vehicle.channels.overrides['4'] = None
vehicle.channels.overrides = {}
# print "Release channels"
#vehicle.close()
# print "Close telemetry connection"
time.sleep(.028)
#break
except KeyboardInterrupt, ValueError:
# print "Relinquishing control"
# vehicle.channels.overrides['1'] = None
# vehicle.channels.overrides['2'] = None
# vehicle.channels.overrides['3'] = None
# vehicle.channels.overrides['4'] = None
# time.sleep(1)
# vehicle.armed = False
# while vehicle.armed:
# print "Disarming"
# time.sleep(1)
# vehicle.close()
# print "Interrupted"
return
if distance < 220:
condition_yaw(drone, 90)
set_velocity_body(drone, 0, .005, 0)
time.sleep(10)
distance = getdistance()
print("90")
if distance < 220:
condition_yaw(drone, 315)
set_velocity_body(drone, .005, -.005, 0)
time.sleep(10)
distance = getdistance()
print("315")
if distance < 220:
condition_yaw(drone, 270)
set_velocity_body(drone, 0, -.005, 0)
time.sleep(10)
distance = getdistance()
print("270")
if distance < 220:
drone.mode = VehicleMode("LAND")
set_velocity_body(drone, 0.5, 0, 0)
time.sleep(1)
drone = connect('127.0.0.1:14551', wait_ready=True)
arm_and_takeoff(2)
drone.airspeed = .5
scan()
from dronekit import connect, VehicleMode, time
import dronekit
import os
vehicle = dronekit.connect("/dev/ttyUSB0", baud=57600, wait_ready=True)
vehicle.wait_ready(timeout=120)
while not vehicle.is_armable:
print(" Waiting for vehicle to initialise...")
time.sleep(3)
print("Arming motors")
vehicle.mode = VehicleMode("GUIDED")
vehicle.armed = True
# Author : Akshit Gandhi #
# #
#by running this code, drone will go point A to point B autonomously. #
# #
# Requrinment: Refer Tutorial Folder #
#########################################################################################################################
from dronekit import connect, VehicleMode, LocationGlobalRelative
import time
print "connecting to vehicle...."
vehicle = connect('/dev/ttyAMA0', baud = 57600)
print "connected"
#changing vehicle mode to stabilize
print "\nSet Vehicle.mode = (currently: %s)" % vehicle.mode.name
while not vehicle.mode=='GUIDED':
vehicle.mode = VehicleMode('GUIDED')
vehicle.flush()
print "vehicle mode: %s" % vehicle.mode
# ARMING the vehicle
vehicle.armed = True
while not vehicle.armed:
vehicle.armed = True
vehicle.flush()
import argparse
parser = argparse.ArgumentParser(description='Get a flight from droneshare and send as waypoints to a vehicle. Connects to SITL on local PC by default.')
parser.add_argument('--connect', default='127.0.0.1:14550',
help="vehicle connection target. Default '127.0.0.1:14550'")
parser.add_argument('--mission_id', default='101',
help="DroneShare Mission ID to replay. Default is '101'")
parser.add_argument('--api_server', default='https://api.3drobotics.com',
help="API Server. Default is Droneshare API (https://api.3drobotics.com)")
parser.add_argument('--api_key', default='89b511b1.d884d1cb57306e63925fcc07d032f2af',
help="API Server Key (default should be fine!)")
args = parser.parse_args()
# Connect to the Vehicle
print 'Connecting to vehicle on: %s' % args.connect
vehicle = connect(args.connect, wait_ready=True)
def _decode_list(data):
"""A utility function for decoding JSON strings from unicode"""
rv = []
for item in data:
if isinstance(item, unicode):
item = item.encode('utf-8')
elif isinstance(item, list):
item = _decode_list(item)
elif isinstance(item, dict):
item = _decode_dict(item)
rv.append(item)
return rv
print "Here we go!"
# Import DroneKit-Python
from dronekit import connect, VehicleMode, LocationGlobalRelative, LocationGlobal
from pymavlink import mavutil # Needed for command message definitions
import time
import math
import requests
# Connect to the Vehicle.
print("\nConnecting to vehicle")
#vehicle = connect(/dev/ttyACM0, wait_ready=True) # pixhawk usb
#vehicle = connect("/dev/ttyUSB0", wait_ready='armed', baud=57600) # telemetry usb
#vehicle = connect("/dev/ttyUSB0", baud=57600) # telemetry usb
vehicle = connect("/dev/ttyS0", baud=57600) # telemetry usb
# Using the ``wait_ready(True)`` waits on :py:attr:`parameters`, :py:attr:`gps_0`,
# :py:attr:`armed`, :py:attr:`mode`, and :py:attr:`attitude`. In practice this usually
# means that all supported attributes will be populated.
# 'parameters'
#vehicle.wait_ready('gps_0','armed','mode','attitude')
vehicle.wait_ready('gps_0')
# Get some vehicle attributes (state)
print "Get some vehicle attribute values:"
print " GPS: %s" % vehicle.gps_0
print " Battery: %s" % vehicle.battery
print " Last Heartbeat: %s" % vehicle.last_heartbeat
print " Is Armable?: %s" % vehicle.is_armable
print " System status: %s" % vehicle.system_status.state
#!/usr/bin/python
from dronekit import connect, VehicleMode, LocationGlobalRelative
import time
vehicle = connect('tcp:127.0.0.1:5760', wait_ready=True)
print "Arming motors:"
vehicle.mode = VehicleMode("GUIDED")
print "Global Location (relative altitude): %s" % vehicle.location.global_relative_frame
from dronekit import connect, VehicleMode, LocationGlobalRelative
from pymavlink import mavutil
import time
import argparse
parser = argparse.ArgumentParser()
parser.add_argument('--connect', default="/dev/ttyACM2")
#parser.add_argument('--connect', default="tcp:127.0.0.1:5760")
args = parser.parse_args()
# Connect to the Vehicle
print 'Connecting to vehicle on: %s' % args.connect
vehicle = connect("/dev/ttyACM2", baud=57600, wait_ready=True)
#vehicle = connect('tcp:127.0.0.1:5760', wait_ready=True)
print "Checks vehicle's armable state"
# Don't let the user try to arm until autopilot is ready
#vehicle.mode = VehicleMode("STABILIZE")
while not vehicle.is_armable:
print " Waiting for vehicle to initialise..."
time.sleep(1)
#if (mission_start=="yes")
print "Arming motors in 5 seconds from now"
time.sleep(5)
# Copter should arm in GUIDED mode
vehicle.mode = VehicleMode("GUIDED")
vehicle.armed = True
#while not vehicle.armed: time.sleep(1)
while not vehicle.armed:
def connectVehicle(connection_string): global vehicle # Connect to the Vehicle print 'Connecting to vehicle on: %s' % connection_string vehicle = connect(connection_string, wait_ready=True, baud=921600) print 'Connected!'
from dronekit import connect, VehicleMode, LocationGlobalRelative, LocationGlobal, Command
from pymavlink import mavutil
import cv2
import numpy as np
import math
cap = cv2.VideoCapture(0)
#cap.set(3, 640)# width resolution
#cap.set(4, 480)# heigh resolution
# Connect to the Vehicle
vehicle = connect('/dev/ttyUSB0', wait_ready=True,baud=921600)
#vehicle = connect('127.0.0.1:14550', wait_ready=True)
cmds = vehicle.commands
cmds.download()
cmds.wait_ready()
vel_x = 0
vel_y = 0
vel_z = 0
pointauth = 2
settime = 0
mode_changed = 0
count = 0
dropped = False
once = False
settime = 0
def distance_to_current_waypoint():
#!/usr/bin/env python
# -*- coding: utf-8 -*-
from __future__ import print_function
from dronekit import connect, VehicleMode, LocationGlobal
import time
import math
import os
import sys
vehicle = connect('127.0.0.1:14551', wait_ready=True, rate=8)
vehicle.wait_ready('autopilot_version')
print("Basic pre-arm checks")
vehicle.parameters["SR0_EXTRA1"] = 8
print("Setting parameters ...")
for param in sys.argv:
strings = param.split("=")
if len(strings) == 2:
vehicle.parameters[strings[0]] = float(strings[1])
print("\nSet Vehicle.armed=True (currently: %s)" % vehicle.armed)
vehicle.armed = True
if not vehicle.armed:
print(" Waiting for arm")
from __future__ import print_function
from dronekit import connect, VehicleMode
v = connect('/dev/ttyACM0', wait_ready=True, baud=57600)
print(v.gps_0)
print("ekf_ok = ", v.ekf_ok)
print("is_armable = ", v.is_armable)
print(v.location.global_relative_frame)
def main():
path_output_dir = "./raw_image"
create_or_purge_dir(path_output_dir)
vehicle = None
if not DEBUG:
while True:
try:
vehicle = dronekit.connect("/dev/ttyUSB0",
wait_ready=True,
baud=1500000)
except:
print("Connection failed")
time.sleep(3)
else:
print("Connected")
break
while not vehicle.home_location:
cmds = vehicle.commands
cmds.download()
cmds.wait_ready()
if not vehicle.home_location:
print(" Waiting for home location ...")
# We have a home location, so print it!
print("\n Home location: %s" % vehicle.home_location)
while not vehicle.armed:
print("waiting to be armed")
time.sleep(1)
vidcap = cv2.VideoCapture(0)
count = 0
while vidcap.isOpened():
success, image = vidcap.read()
if success:
current_path = os.path.join(path_output_dir, '%d.JPEG') % count
cv2.imwrite(current_path, image)
if DEBUG:
lat = 1
lon = 1
alt = 1
hdg = 1
else:
lat = vehicle.location.global_relative_frame.lat
lon = vehicle.location.global_relative_frame.lon
alt = vehicle.location.global_relative_frame.alt
if alt < 0:
alt = 0.15
hdg = vehicle.heading
print("Current location is at: lat: %f, lon: %f, alt %f, hdg %f" %
(lat, lon, alt, hdg))
geotag.write_geo_tag(current_path, lat, lon, alt, hdg)
count += 1
else:
break
time.sleep(3)
cv2.destroyAllWindows()
vidcap.release()
import time
from dronekit import Vehicle, connect
# vehicle = connect('tcp:127.0.0.1:5760', wait_ready=True, timeout=60)
vehicle = connect('udp:127.0.0.1:14551', wait_ready=True, timeout=60)
#RTL_ALTが変更された際に通知を受け取る
#デコレーターの設定
@vehicle.parameters.on_attribute('RTL_ALT')
def decorated_RTL_ALT_callback(self, attr_name, value):
print("デコレーター: %s が %s に変更されました！" % (attr_name, value))
while True:
time.sleep(1)
#file_name = str(file_name)+".jpg"
#cv.imwrite(file_name, frame)
lat_deg = to_deg(lat, ["S", "N"])
lng_deg = to_deg(lng, ["W", "E"])
exiv_lat = (change_to_rational(lat_deg[0]), change_to_rational(lat_deg[1]),
change_to_rational(lat_deg[2]))
exiv_lng = (change_to_rational(lng_deg[0]), change_to_rational(lng_deg[1]),
change_to_rational(lng_deg[2]))
gps_ifd = {
piexif.GPSIFD.GPSVersionID: (2, 0, 0, 0),
piexif.GPSIFD.GPSAltitudeRef: 1,
piexif.GPSIFD.GPSAltitude: change_to_rational(round(altitude)),
piexif.GPSIFD.GPSLatitudeRef: lat_deg[3],
piexif.GPSIFD.GPSLatitude: exiv_lat,
piexif.GPSIFD.GPSLongitudeRef: lng_deg[3],
piexif.GPSIFD.GPSLongitude: exiv_lng,
}
exif_dict = {"GPS": gps_ifd}
exif_bytes = piexif.dump(exif_dict)
piexif.insert(exif_bytes, file_name)
if __name__ == '__main__':
vehicle = connect("127.0.0.1:14550", wait_ready=True)
print("[INFO] Drone Check Complete")
hello()
print "Start simulator (SITL)"
# import dronekit
# import socket
import exceptions
import dronekit_sitl
sitl = dronekit_sitl.start_default()
connection_string = sitl.connection_string()
from dronekit import connect, VehicleMode, LocationGlobalRelative
import time
# Connect to the Vehicle.
print("Connecting to vehicle on: %s" % (connection_string,))
try:
vehicle = connect(connection_string, wait_ready=True, heartbeat_timeout=15)
# Bad TCP connection
except socket.error:
print 'No server exists!'
# Bad TTY connection
except exceptions.OSError as e:
print 'No serial exists!'
# API Error
except dronekit.APIException:
print 'Timeout!'
# Other error
except:
import time
# Initialization
# Connection string for Ubuntu = /dev/ttyUSB0 | Windows = COMXX | MAVProxy = 127.0.0.1:14551.
connection_string = "127.0.0.1:14551"
gps_save = {} # Create an empty GPS coordinate dictionary.
gps_save["latitude_longitude"] = [
] # Insert the dictionary with latitude_longitude variable.
# Opening Messages
print("\n\n---Welcome to TSUPORT Waypoint Calibration Program---\n\n")
# Connect to The Vehicle
print("Connecting to vehicle on: %s" % connection_string)
vehicle = connect(
connection_string, wait_ready=False, heartbeat_timeout=100, baud=57600
) # wait_ready = False is used to bypass the paramters loading and connecting the vehicle first.
vehicle.wait_ready(True,
timeout=150) # wait_ready = True is to load parameters now.
#while vehicle.gps_0.fix_type < 6 and vehicle.gps_0.eph <= 200: #and vehicle.gps_0.epv < 200:
while vehicle.gps_0.satellites_visible < 6 and vehicle.gps_0.eph <= 200:
# EPH = HDOP * 100 | Ideal HDOP <= 1 | Excellent HDOP <= 2 | Good HDOP <= 5 | Moderate HDOP <= 10.
print "Waiting for GPS...:", vehicle.gps_0.fix_type
time.sleep(1)
print "Satellites Count = ", vehicle.gps_0.satellites_visible
# Main Menu
waypoint_data = int(raw_input("Please input the number of waypoints: "))
loop = 0
while (loop < waypoint_data):
click = raw_input("Click enter to take GPS coordinate {}!".format(loop +
parser = argparse.ArgumentParser(description='commands')
parser.add_argument('--connect')
parser.add_argument('--destinationLat')
parser.add_argument('--destinationLong')
args = parser.parse_args()
# getting connection string from input arguments
#connection_string = args.connect
connection_string = "/dev/ttyS0"
# getting and setting target lat and lon from input arguments
finalLat = 30.6234573
finalLon = -96.3450102
#Connect to the vehicle
print("Connection to the vehicle on %s" % connection_string)
vehicle = connect(connection_string, baud=57600, wait_ready=False)
#----------------------------dronekit functions----------------------------
def arm_and_takeoff():
print("Arming motors--2 sec wait")
time.sleep(2)
# wating for vehicle to be armable
#while not vehicle.is_armable:
#time.sleep(1)
# once armable vehile set to GUIDED mode
vehicle.mode = VehicleMode("GUIDED")
print("--Bot Mode-- %s" % vehicle.mode)
from dronekit import connect, VehicleMode
import time
vehicle = connect('/dev/ttyACM0', wait_ready=False)
def arm_and_takeoff(aTargetAltitude):
"""
Arms vehicle and fly to aTargetAltitude.
"""
print "Basic pre-arm checks"
# Don't try to arm until autopilot is ready
#while not vehicle.is_armable:
#print " Waiting for vehicle to initialise..."
#time.sleep(1)
print "Arming motors"
# Copter should arm in GUIDED mode
vehicle.mode = VehicleMode("GUIDED")
vehicle.armed = True
# Confirm vehicle armed before attempting to take off
while not vehicle.armed:
print " Waiting for arming..."
time.sleep(1)
print "Taking off!"
vehicle.simple_takeoff(aTargetAltitude) # Take off to target altitude
# Wait until the vehicle reaches a safe height before processing the goto (otherwise the command
