def getCameraImage(image_num=0):
responses = client.simGetImages([
airsim.ImageRequest(0, airsim.ImageType.Scene),
airsim.ImageRequest(0, airsim.ImageType.DepthPerspective, True, False),
airsim.ImageRequest(3, airsim.ImageType.Scene)
])
return responses[image_num]
import sys
import msvcrt
import time
import threading
client = airsim.VehicleClient(ip="192.168.1.100")
client.confirmConnection()
client.enableApiControl(True)
client.armDisarm(True)
#client.takeoff()
#print("takeoff over!")
t1=time.time()
responses = client.simGetImages([airsim.ImageRequest(0, airsim.ImageType.DepthPerspective,True,False)])
t2=time.time()
t=t2-t1
print(t)
class PID:
def __init__(self):
self.dest=0
self.Kp=0.8
self.Ki=0.002
self.Kd=0.04
self.preerror=0
self.prederror=0
self.out=0
self.buf=[0,0,0,0,0]