# logger.info("Correcting angle: %s", angle)
# if abs(angle) > 0.05:
# # logger.info("Correcting angle: %s", angle)
# distance_x = 0.0
# distance_y = 0.0
rl = x_pid.GenOut(distance_x)
fb = y_pid.GenOut(distance_y)
aa = angle_pid.GenOut(angle)
if math.isnan(aa):
aa = 0.0
drone.at_cmd(True, rl, fb, 0, aa)
navdata = drone.get_navdata()
bat = navdata[0]["battery"]
# logger.info("RL: %s FB: %s AA: %s BAT: %s", rl, fb, aa, bat)
# logger.info(navdata)
cv2.putText(image, "Bat: {}".format(bat), (20, 20), cv2.cv.CV_FONT_HERSHEY_PLAIN, 1.0, (255, 255, 255))
cv2.imshow("Win", image)
except Exception, e:
logger.warning("Exception %s", e)
finally:
# drone.reset()
drone.land()
drone.halt()
logger.info("Halt")
# logger.info("Correcting angle: %s", angle)
# if abs(angle) > 0.05:
# # logger.info("Correcting angle: %s", angle)
# distance_x = 0.0
# distance_y = 0.0
rl = x_pid.GenOut(distance_x)
fb = y_pid.GenOut(distance_y)
aa = angle_pid.GenOut(angle)
if math.isnan(aa):
aa = 0.0
drone.at_cmd(True, rl, fb, 0, aa)
navdata = drone.get_navdata()
bat = navdata[0]['battery']
# logger.info("RL: %s FB: %s AA: %s BAT: %s", rl, fb, aa, bat)
# logger.info(navdata)
cv2.putText(image, "Bat: {}".format(bat), (20, 20),
cv2.cv.CV_FONT_HERSHEY_PLAIN, 1.0, (255, 255, 255))
cv2.imshow("Win", image)
except Exception, e:
logger.warning("Exception %s", e)
finally:
# drone.reset()
drone.land()
drone.halt()
