def Drone_land(signal_recieved, frame):
drone.stop_piloting()
time.sleep(3)
Drone_Actn(11, drone)
print("Simulation Exited")
sys.exit(0)
def callback(data):
x0 = data
global drone
Dr_IP = "192.168.42.1" # Real Drone
Dr_cl = Anafi_drone(Dr_IP)
drone = Dr_cl.drone
x0 = 11
# Gains
gn_mat = [3.5, 8.5, 4, 6, 1, 2]
X_Tar = [0, 0, 1.3]
Vran = 1.33
if x0 <= 8:
acn = [
"Take off", "Mapping", "Go to 0,0,1.5", "Go Home and point out",
"Track Center", "Circle Origin", "Gimbal Up +45",
"Gimbal Down -45", "Yaw CW", "Yaw CCW", "Land", "Exit"
]
print(colored(('Starting action: ' + acn[x0 - 1] + '\n'), "green"))
X_Ref = Drone_Actn(x0, drone)
if x0 == 2:
Drone_Map_Opn2(Dr_cl, X_Ref, X_Tar, Vran)
elif x0 == 3:
Drone_Line_Track(Dr_cl, X_Ref)
elif x0 == 4:
Drone_Move_Orient(Dr_cl, X_Ref)
elif x0 == 5:
Drone_Center_Track(Dr_cl, X_Ref)
elif x0 == 6:
Drone_Circle(Dr_cl, X_Ref)
elif x0 == 7:
gimbal_target(drone, 45)
elif x0 == 8:
gimbal_target(drone, -45)
x0, c = Print_Drone_Actns(acn, acn_N)
else:
print(
colored(('Invalid action selected, please select again! \n'),
"red"))
def callback(data):
global Dr_cl
global drone
#rospy.loginfo("DATA RECIEVED:", data)
print("DATA:", data.data)
x0 = data.data
# Gains
gn_mat = [3.5, 8.5, 4, 6, 1, 2]
X_Tar = [0, 0, 1.3]
Vran = 1.33
acn_N = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 20]
acn = ["Take off", "Mapping", "Go to 0,0,1.5", "Go Home and point out", "Track Center","Circle Origin","Gimbal Up +45", "Gimbal Down -45", "Yaw CW", "Yaw CCW", "Land", "Exit" ]
if x0<=20:
print( colored( ('Starting action: ' + acn[x0-1] + '\n'), "green") )
X_Ref = Drone_Actn(x0, drone)
if x0==2:
Drone_Map_Opn2(Dr_cl, X_Ref, X_Tar, Vran)
elif x0==3:
Drone_Line_Track(Dr_cl, X_Ref)
elif x0==4:
Drone_Move_Orient(Dr_cl, X_Ref)
elif x0==5:
Drone_Center_Track(Dr_cl, X_Ref)
elif x0==6:
Drone_Circle(Dr_cl, X_Ref)
elif x0==7:
gimbal_target(drone, 45)
elif x0==8:
gimbal_target(drone, -45)
# x0, c = Print_Drone_Actns(acn, acn_N)
else:
print( colored( ('Invalid action selected, please select again! \n'), "red" ))
acn = [
"Take off", "Mapping", "Go to 0,0,1.5", "Go Home and point out",
"Track Center", "Circle Origin", "Gimbal Up +45",
"Gimbal Down -45", "Yaw CW", "Yaw CCW", "Land", "Exit"
]
n_actn = len(acn)
while (x0 < 20):
if x0 <= n_actn:
print('\x1bc')
print(
colored(('Starting action: ' + acn[x0 - 1] + '\n'),
"green"))
X_Ref = Drone_Actn(x0, drone)
if x0 == 2:
Drone_Map_Opn2(Dr_cl, X_Ref, X_Tar, Vran)
elif x0 == 3:
Drone_Line_Track(Dr_cl, X_Ref)
elif x0 == 4:
Drone_Move_Orient(Dr_cl, X_Ref)
elif x0 == 5:
Drone_Center_Track(Dr_cl, X_Ref)
elif x0 == 6:
Drone_Circle(Dr_cl, X_Ref)
elif x0 == 7:
gimbal_target(drone, 45)
elif x0 == 8:
gimbal_target(drone, -45)