def initialize_drone(self): for drone_name in ["drone_1"]: self.airsim_client.enableApiControl(vehicle_name=drone_name) self.airsim_client.arm(vehicle_name=drone_name) # set default values for trajectory tracker gains self.traj_tracker_gains = airsim.TrajectoryTrackerGains( kp_cross_track=5.0, kd_cross_track=0.0, kp_vel_cross_track=3.0, kd_vel_cross_track=0.0, kp_along_track=0.4, kd_along_track=0.0, kp_vel_along_track=0.04, kd_vel_along_track=0.0, kp_z_track=2.0, kd_z_track=0.0, kp_vel_z=0.4, kd_vel_z=0.0, kp_yaw=3.0, kd_yaw=0.1) self.airsim_client.setTrajectoryTrackerGains( self.traj_tracker_gains, vehicle_name=drone_name) time.sleep(0.2)
def initialize_drone(self): self.airsim_client.enableApiControl(vehicle_name=self.drone_name) self.airsim_client.arm(vehicle_name=self.drone_name) traj_tracker_gains = airsim.TrajectoryTrackerGains(kp_cross_track=11.0, kd_cross_track=4.0, kp_vel_cross_track=3.0, kd_vel_cross_track=0.0, kp_along_track=0.4, kd_along_track=0.0, kp_vel_along_track=0.04, kd_vel_along_track=0.0, kp_z_track=8.3, kd_z_track=3.5, kp_vel_z=3, kd_vel_z=0.8, kp_yaw=3.0, kd_yaw=0.5) self.airsim_client.setTrajectoryTrackerGains(traj_tracker_gains, vehicle_name=self.drone_name) time.sleep(0.2)
def main(args): client = airsim.MultirotorClient() client.confirmConnection() client.enableApiControl() client.arm() traj_tracker_gains = airsim.TrajectoryTrackerGains( kp_cross_track = 5.0, kd_cross_track = 0.0, kp_vel_cross_track = 3.0, kd_vel_cross_track = 0.0, kp_along_track = 0.4, kd_along_track = 0.0, kp_vel_along_track = 0.04, kd_vel_along_track = 0.0, kp_z_track = 2.0, kd_z_track = 0.0, kp_vel_z = 0.4, kd_vel_z = 0.0, kp_yaw = 3.0, kd_yaw = 0.1 ) client.setTrajectoryTrackerGains(traj_tracker_gains) client.takeoffAsync().join()
def initialize_drone(self): self.airsim_client.enableApiControl() self.airsim_client.arm() # set default values for trajectory tracker gains traj_tracker_gains = airsim.TrajectoryTrackerGains( kp_cross_track=5.0, kd_cross_track=0.0, kp_vel_cross_track=3.0, kd_vel_cross_track=0.0, kp_along_track=0.4, kd_along_track=0.0, kp_vel_along_track=0.04, kd_vel_along_track=0.0, kp_z_track=2.0, kd_z_track=0.0, kp_vel_z=0.4, kd_vel_z=0.0, kp_yaw=3.0, kd_yaw=0.1) self.airsim_client.setTrajectoryTrackerGains(traj_tracker_gains) time.sleep(0.2)
client.simLoadLevel(level_name) client.confirmConnection() time.sleep(2.0) # Arm drone client.enableApiControl(vehicle_name=drone_name) client.arm(vehicle_name=drone_name) # Set default values for trajectory tracker gains traj_tracker_gains = airsim.TrajectoryTrackerGains(kp_cross_track=5.0, kd_cross_track=0.0, kp_vel_cross_track=3.0, kd_vel_cross_track=0.0, kp_along_track=0.4, kd_along_track=0.0, kp_vel_along_track=0.04, kd_vel_along_track=0.0, kp_z_track=2.0, kd_z_track=0.0, kp_vel_z=0.4, kd_vel_z=0.0, kp_yaw=3.0, kd_yaw=0.1) client.setTrajectoryTrackerGains(traj_tracker_gains, vehicle_name=drone_name) time.sleep(0.2) # Start race client.simStartRace(tier=tier) # Take off # client.takeoffAsync().join() # client.reset()