def decide(self, img_arr):
st = self.gamepad._state
if int(st[2]) == 1:
self.throttle = -0.095 - st[4] / 255.
elif int(st[2]) == 2:
self.throttle = 0.095 + st[4] / 255.
else:
self.throttle = 0
self.throttle -= (float(st[12]) - 128.0) / 128.0
self.yaw = (float(st[10]) - 128.0) / 128.0
return methods.yaw_to_angle(self.yaw), self.throttle
def decide(self, img_arr):
st = self.gamepad._state
direction = int(st[2])
if direction == 1: # forward
self.throttle = -0.095 - st[4] / 255.
elif direction == 2: # reverse
self.throttle = 0.095 + st[4] / 255.
else:
self.throttle = 0
#self.throttle -= (float(st[12]) - 128.0) / 128.0
self.yaw = (float(st[10]) - 128.0) / 128.0
return methods.yaw_to_angle(self.yaw), self.throttle
def decide(self, img_arr):
st = self.gamepad._state
direction = int(st[8]) #se ha sustituido st[2] por st[8]
if direction == 1: # forward ; se han cambiado los valores de 1 por 255
self.throttle = -0.130 - st[4] / 255.
elif direction == -1: # reverse ; se han cambiado los valores de 2 por 0
self.throttle = 0.250 + st[4] / 255.
else:
self.throttle = 0
self.throttle = -(
float(st[8]) - 128.0
) / 128.0 #se ha descomentado y sustituido -= por =- ; también st12 por st8
self.yaw = (float(st[10]) - 128.0) / 128.0
return methods.yaw_to_angle(self.yaw), self.throttle
async def decide(self):
if float(self.rcin.read(config.rc.arm_channel)) > 1490:
if not self.calibrated:
await self.calibrate_rc(self.rcin)
rc_pos_throttle = float(self.rcin.read(config.rc.throttle_channel))
rc_pos_yaw = float(self.rcin.read(config.rc.yaw_channel))
throttle = (rc_pos_throttle - self.throttle_center) / 500.0
yaw = (rc_pos_yaw - self.yaw_center) / 500.0
else:
throttle = 0
yaw = 0
self.calibrated = False
return methods.yaw_to_angle(yaw), throttle, time.time()
def decide(self, img_arr):
if float(self.rcin.read(config.ARM_CHANNEL)) > 1490:
if not self.calibrated:
self.calibrate_rc(self.rcin)
rc_pos_throttle = float(self.rcin.read(config.THROTTLE_CHANNEL))
rc_pos_yaw = float(self.rcin.read(config.YAW_CHANNEL))
throttle = (rc_pos_throttle - self.throttle_center) / 500.0
yaw = (rc_pos_yaw - self.yaw_center) / 500.0
else:
throttle = 0
yaw = 0
self.calibrated = False
return methods.yaw_to_angle(yaw), throttle
def decide(self, img_arr):
img_arr = np.interp(img_arr, config.CAMERA_OUTPUT_RANGE,
config.MODEL_INPUT_RANGE)
img_arr = np.expand_dims(img_arr, axis=0)
prediction = self.model.predict(img_arr)
if len(prediction) == 2:
yaw_binned = prediction[0]
throttle = prediction[1][0][0]
else:
yaw_binned = prediction
throttle = 0
yaw_certainty = max(yaw_binned[0])
yaw_unbinned = methods.unbin_Y(yaw_binned)
yaw = yaw_unbinned[0]
avf = config.KERAS_AVERAGE_FACTOR
yaw = avf * self.yaw + (1.0 - avf) * yaw
self.yaw = yaw
return methods.yaw_to_angle(yaw), throttle * 0.15
def decide(self, img_arr):
if config.camera.crop_top or config.camera.crop_bottom:
h, w, _ = img_arr.shape
t = config.camera.crop_top
l = h - config.camera.crop_bottom
img_arr = img_arr[t:l, :]
img_arr = np.interp(img_arr, config.camera.output_range,
config.model.input_range)
img_arr = np.expand_dims(img_arr, axis=0)
prediction = self.model.predict(img_arr)
if len(prediction) == 2:
yaw = methods.angle_to_yaw(prediction[0][0])
throttle = prediction[1][0]
else:
yaw = methods.angle_to_yaw(prediction[0][0])
throttle = 0
avf = config.model.yaw_average_factor
yaw = avf * self.yaw + (1.0 - avf) * yaw
self.yaw = yaw
return methods.yaw_to_angle(yaw), throttle
def decide(self, img_arr):
if config.camera.crop_top or config.camera.crop_bottom:
h, w, _ = img_arr.shape
t = config.camera.crop_top
l = h - config.camera.crop_bottom
img_arr = img_arr[t:l, :]
img_arr = np.interp(img_arr, config.camera.output_range,
config.model.input_range)
img_arr = np.expand_dims(img_arr, axis=0)
prediction = self.model.predict(img_arr)
if len(prediction) == 2:
yaw_binned = prediction[0]
else:
yaw_binned = prediction
yaw = methods.from_one_hot(yaw_binned)
yaw_step = config.model.yaw_step
if abs(yaw - self.yaw) < yaw_step:
self.yaw = yaw
elif yaw < self.yaw:
yaw = self.yaw - yaw_step
elif yaw > self.yaw:
yaw = self.yaw + yaw_step
self.yaw = yaw
if len(prediction) == 2:
throttle = prediction[1][0]
else:
throttle = (0.07 + np.amax(yaw_binned) *
(1 - abs(yaw)) * config.model.throttle_mult)
avf_t = config.model.throttle_average_factor
throttle = avf_t * self.throttle + (1.0 - avf_t) * throttle
self.throttle = throttle
return methods.yaw_to_angle(yaw), throttle * -1
async def decide(self):
return methods.yaw_to_angle(self.yaw), self.throttle, self.frame_time
def test_angle_conversion(self):
for yaw in np.arange(-1, 1, 0.1):
test_yaw = yaw_to_angle(angle_to_yaw(yaw))
self.assertAlmostEqual(yaw, test_yaw, places=8)
