def Setup_Photo_mode(drone):
drone(stop_recording(cam_id=0)).wait()
drone(set_autorecord(cam_id=0, state="inactive")).wait()
drone(set_camera_mode(cam_id=0, value="photo")).wait()
# For the file_format: jpeg is the only available option
# dng is not supported in burst mode
drone(
set_exposure_settings(
cam_id=0,
mode="automatic_prefer_iso_sensitivity",
shutter_speed="shutter_1_over_10000",
iso_sensitivity="iso_1200",
max_iso_sensitivity="iso_1200",
)
).wait()
drone(
set_photo_mode(
cam_id=0,
mode="single",
format="rectilinear",
file_format="jpeg",
burst="burst_14_over_4s",
bracketing="preset_1ev",
capture_interval=0.0,
)
).wait()
def __init__(self, D_IP, nm, lr):
self.name = nm
loc = "/home/spacetrex/code/Logs/"
tck = str(round(time.time()))
lf_nm = loc + nm + tck
self.D_IP = D_IP
#self.drone = olympe.Drone(self.D_IP, loglevel=7, logfile=open(lf_nm, "a+"))
self.drone = olympe.Drone(self.D_IP, loglevel=0)
self.drone.connection()
self.drone(stop_recording(cam_id=0)).wait()
self.drone(set_camera_mode(cam_id=0, value="recording")).wait()
self.loop_rate = lr # Set loop rate (Hz)
self.X_tol = 0.5 # Position tolerance (m)
self.V_tol = 0.1 # Velocity tolerance(m/s)
self.yw_tol = 2.0 * pi / 180.0 # Yaw rate tolerance (rads)
self.Tt_MX = 10 # Max tilt setting for yaw and pitch (deg)
self.Tl_Mx = 4 # Max vertical speed (m/s)
self.YR_MX = 22 # Max yaw rate (deg/s)
self.GB_MX = 50 # Max gimbal rate (deg/s)
self.thr_vec = [self.Tt_MX, self.Tt_MX, self.Tl_Mx,
self.YR_MX] # Drone settings
self.gn_mat = [3.6, 18.0, 3.6, 18.0, 5.0, 9.0, 2.0] # Controller Gains
#self.gn_mat = [6, 18, 4, 5, 11, 2]
self.ANAFI_IP = D_IP # Real Drone
# Drone web server URL
self.ANAFI_URL = "http://{}/".format(self.ANAFI_IP)
self.ANAFI_MEDIA_API_URL = self.ANAFI_URL + "api/v1/media/medias/"
# Set Rotation Speed
maxYawRate = self.drone(MaxRotationSpeed(self.YR_MX)).wait()
if maxYawRate.success():
print(colored(("Max Yaw rate set to: ", self.YR_MX), "green"))
elif maxYawRate.timedout():
print(colored(("Yaw rate action failed"), "green"))
else:
print(colored(("Yaw rate action in progress"), "green"))
# Set Gimbal Speed
max_GMB_Rate = self.drone(
set_max_speed(gimbal_id=0,
yaw=self.GB_MX / 5,
pitch=self.GB_MX,
roll=self.GB_MX / 5)).wait()
if max_GMB_Rate.success():
print(
colored(("Max gimbal pitch rate set to: ", self.GB_MX),
"green"))
elif max_GMB_Rate.timedout():
print(colored(("gimbal rate action failed"), "green"))
else:
print(colored(("gimbal rate action in progress"), "green"))
def setup_photo_mode(self):
self.drone(set_camera_mode(cam_id=0, value="photo")).wait()
# For the file_format: jpeg is the only available option
self.drone(
set_photo_mode(
cam_id=0,
mode="single",
format="rectilinear",
file_format="jpeg",
burst="burst_14_over_1s",
bracketing="preset_1ev",
capture_interval=0.0,
)).wait()
def setup_photo_burst_mode(drone):
drone(set_camera_mode(cam_id=0, value="photo")).wait()
# For the file_format: jpeg is the only available option
# dng is not supported in burst mode
drone(
set_photo_mode(
cam_id=0,
mode="burst",
format="rectilinear",
file_format="jpeg",
burst="burst_14_over_1s",
bracketing="preset_1ev",
capture_interval=0.0,
)).wait()
def Setup_Video_mode(drone):
drone(stop_recording(cam_id=0)).wait()
drone(set_camera_mode(cam_id=0, value="recording")).wait()
drone(set_autorecord(cam_id=0, state="inactive")).wait()
drone(
set_recording_mode(
cam_id=0,
mode="standard",
resolution="res_uhd_4k",
framerate="fps_30",
hyperlapse="ratio_15",
)
).wait(_timeout=2.).success()
def setup_photo_burst_mode(drone):
drone(set_camera_mode(cam_id=0, value="photo")).wait()
# For the file_format: jpeg is the only available option
# dng is not supported in burst mode
drone(
set_photo_mode(
cam_id=0,
mode="burst",
format="rectilinear",
file_format="jpeg",
burst="burst_14_over_1s",
# the following parameters are ignored in photo burst mode but we
# must provide valid values for them anyway
bracketing="preset_1ev",
capture_interval=5.0,
)).wait()
print("*******************************************************************************************************")
print("AIMING CAMERA")
print("*******************************************************************************************************")
drone(set_target(
gimbal_id=0,
control_mode="position",
yaw_frame_of_reference="absolute", # None instead of absolute
yaw=0.0,
pitch_frame_of_reference="absolute",
pitch=-90.0,
roll_frame_of_reference="absolute", # None instead of absolute
roll=0.0,
)).wait()
#Set camera mode
drone(
set_camera_mode(cam_id=0, value=1)
).wait()
#Set photo mode
drone(
set_photo_mode(cam_id=0, mode=0, format=0, file_format=0, burst=0, bracketing=0, capture_interval=0)
).wait()
# #Take picture
# drone(
# take_photo(cam_id=0)
# ).wait()
print("*******************************************************************************************************")
print("TAKING PICTURE")
print("*******************************************************************************************************")
photo_saved = drone(photo_progress(result="photo_saved", _policy="wait"))
drone(take_photo(cam_id=0)).wait()
photo_saved.wait()