def __init__(self):
super().__init__()
# Dronen skal være en tråd, så de ikke hænger i beregninger til reporter
self.bebop = Bebop()
self.yaw_altitude_damper = 0.30
self._movement_vector = Vector()
self.voice = Voice()
self.flight = Flight(self.bebop)
self.threads = [
self.voice,
self.flight
]
try:
self.device = Devices().get_device()
except ControllerNotFound:
self.voice.force_pronounce('Unable to connect to controller.')
exit(0)
self.device.method_listener(self.take_off_landing, 'START')
self.device.method_listener(self.pitch, 'LEFT_STICK')
self.device.method_listener(self.roll, 'LEFT_STICK')
self.device.method_listener(self.yaw, 'RIGHT_STICK')
self.device.method_listener(self.altitude, 'RIGHT_STICK')
self.device.method_listener(self.left_bumper, 'LEFT_BUMPER')
self.device.method_listener(self.right_bumper, 'RIGHT_BUMPER')
self.device.method_listener(self.change_profile, 'SELECT', self.device.Handler.single)
self.device.method_listener(self.do_flat_trim, 'A', self.device.Handler.single)
self.device.method_listener(self.change_geofence, 'Y', self.device.Handler.single)
self.device.abort_function(self.abort)
self.default_profile = 'Default'
self.profiles = []
self.profile_idx = 0
self.load_profiles()
self.profile_idx = self.get_default_profile()
self.running = True
self.debug = False
self.debug_count = 0
self.debug_button = False
self.block_print()
#!/usr/bin/env python
from bebop import Bebop
if __name__ == '__main__':
drone = Bebop(debug=False)
while True:
drone.takeoff()
while not drone.done:
drone.move()
drone.land()
raw_input("Press enter to race again")
def video_end():
print("Ending video...")
cv2.destroyWindow("Drone")
# Have to send waitKey several times on Unix to make window disappear
for i in range(1, 5):
cv2.waitKey(1)
matcher = Matcher([("fau-logo", "../opencv/templates/fau-logo.png"),
("first-logo", "../opencv/templates/first-logo.jpg"),
("nextera-logo", "../opencv/templates/nextera-energy-logo.jpg"),
("techgarage-logo", "../opencv/templates/techgarage-logo.png")
], min_keypoints_pct_match=10)
print("Connecting to drone..")
drone = Bebop()
drone.video_callbacks(video_start, video_end, video_frame)
drone.videoEnable()
print("Connected.")
for i in xrange(10000):
if command is None:
drone.update( );
elif command == "TAKEOFF":
print("Taking offf.........................")
drone.takeoff()
command = None
elif command == "LAND":
print("Landing ...........................")
drone.land()
command = None
drone.trim()
drone.takeoff()
# drone.flyToAltitude( 1.5 )
# for i in xrange(1000):
# print i,
# drone.update( cmd=None )
drone.land()
except ManualControlException, e:
print
print "ManualControlException"
if drone.flyingState is None or drone.flyingState == 1: # taking off
drone.emergency()
drone.land()
if __name__ == "__main__":
if len(sys.argv) < 2:
print __doc__
sys.exit(2)
metalog = None
if len(sys.argv) > 2:
metalog = MetaLog(filename=sys.argv[2])
if len(sys.argv) > 3 and sys.argv[3] == 'F':
disableAsserts()
drone = Bebop(metalog=metalog)
demo(drone)
print "Battery:", drone.battery
# vim: expandtab sw=4 ts=4
g_queueOut = Queue()
g_processor = Process(target=processMain, args=(g_queueOut, ))
g_processor.daemon = True
g_processor.start()
g_queueOut.put_nowait(frame) # H264 compressed video frame
def testCVideo(drone):
drone.videoCbk = videoCallback
drone.videoEnable()
for i in xrange(400):
drone.update()
if g_queueOut is not None:
g_queueOut.put_nowait(None)
g_processor.join()
if __name__ == "__main__":
if len(sys.argv) < 2:
print __doc__
sys.exit(2)
metalog = None
if len(sys.argv) > 2:
metalog = MetaLog(filename=sys.argv[2])
if len(sys.argv) > 3 and sys.argv[3] == 'F':
disableAsserts()
drone = Bebop(metalog=metalog, onlyIFrames=False)
testCVideo(drone)
# vim: expandtab sw=4 ts=4
ret, image = cap.read()
index += 1
else:
key = cv2.waitKey(0)
if __name__ == "__main__":
if len(sys.argv) < 2:
print __doc__
sys.exit(2)
if sys.argv[1] == "--test":
filename = sys.argv[2]
stopAt = None
if len(sys.argv) > 3:
stopAt = int(sys.argv[3])
replayVideoStream(filename=filename, stopAt=stopAt)
sys.exit(0)
metalog = None
if len(sys.argv) > 2:
metalog = MetaLog(filename=sys.argv[2])
if len(sys.argv) > 3 and sys.argv[3] == 'F':
disableAsserts()
drone = Bebop(metalog=metalog, onlyIFrames=True)
# testCamera( drone )
testAutomaticLanding(drone)
print "Battery:", drone.battery, "(%.2f, %.2f, %.2f)" % drone.position
# vim: expandtab sw=4 ts=4
from bebop import Bebop
import logging
logging.basicConfig()
print("Connecting to drone...")
drone = Bebop(loggingLevel=logging.DEBUG)
print("Connected.")
drone.wait(5)
def video2stdout():
drone = Bebop(metalog=None, onlyIFrames=False)
drone.videoCbk = videoCallback
drone.videoEnable()
while True:
drone.update()