global target_x global target_y if event != 4: return logger.info("Event: %s Flag: %s", event, flag) target_x = _x target_y = _y win = cv2.namedWindow("Win") cv2.setMouseCallback("Win", mouseCallback) drone = ARDrone(True, True) # logger.info("Battery Level: %s", drone.get_navdata()[0]['battery']) try: is_flying = False kp = 0.2 kd = 0.1 ki = 0.0005 x_pid = PID(Kp=kp, Kd=kd, Ki=ki) y_pid = PID(Kp=kp, Kd=kd, Ki=ki) angle_pid = PID(Kp=1.5, Kd=0.5, Ki=0.05)
import logging from libardrone.libardrone import ARDrone logging.basicConfig(level=logging.INFO) logger = logging.getLogger(__name__) drone = ARDrone(True, True) drone.reset() drone.halt()
import logging from libardrone.libardrone import ARDrone logging.basicConfig(level=logging.INFO) logger = logging.getLogger(__name__) drone = ARDrone(True, True) drone.land() drone.halt() logger.info("Halt")
# ROS imports import roslib; roslib.load_manifest('communication'); import rospy # ROS imports from libardrone.libardrone import ARDrone from libardrone.arcommandergui import ARCommanderGUI from libardrone.rostargetdispatcher import RosTargetDispatcher from libcom.publishlib import Publisher """ BASH COMMANDS """ # to view: rosrun image_view image_view image:=/ardrone_video0/image # to get refreshrate: rostopic hz /ardrone_video0/image """ initialization """ rospy.init_node("ardrone_data_elf") publisher = Publisher(True) drone = ARDrone() x = y = z = 0 SIMPLEDATA_VARS = ('num_frames', 'battery', 'altitude', 'vx', 'vy', 'vz', 'theta', 'phi', 'psi', 'x', 'y', 'z') commander = None """ start commander (optional) """ commander = ARCommanderGUI(drone, draw_vid=True) """ start ros controller (optional) """ rosTargetDispatcher = RosTargetDispatcher(drone, allow_ros_control = lambda: not commander or commander.allow_ros_control) """ main loop """ timestamp = None try: while commander == None or commander.is_alive(): """ calculate time since last iteration """
# ROS imports import roslib roslib.load_manifest('communication') import rospy # ROS imports from libardrone.libardrone import ARDrone from libardrone.arcommandergui import ARCommanderGUI from libardrone.rostargetdispatcher import RosTargetDispatcher from libcom.publishlib import Publisher """ BASH COMMANDS """ # to view: rosrun image_view image_view image:=/ardrone_video0/image # to get refreshrate: rostopic hz /ardrone_video0/image """ initialization """ rospy.init_node("ardrone_data_elf") publisher = Publisher(True) drone = ARDrone() x = y = z = 0 SIMPLEDATA_VARS = ('num_frames', 'battery', 'altitude', 'vx', 'vy', 'vz', 'theta', 'phi', 'psi', 'x', 'y', 'z') commander = None """ start commander (optional) """ commander = ARCommanderGUI(drone, draw_vid=True) """ start ros controller (optional) """ rosTargetDispatcher = RosTargetDispatcher( drone, allow_ros_control=lambda: not commander or commander.allow_ros_control) """ main loop """ timestamp = None try: while commander == None or commander.is_alive(): """ calculate time since last iteration """