def testSpotLockSE(self):
""" Test spot loc SE """
loc = LocationGlobalRelative(34.5, -20.8, 100)
pitch = -70
yaw = 135
newloc = location_helpers.getSpotLock(loc, pitch, yaw)
self.assertTrue(abs(newloc.lat - 34.499769) < ERROR_LOC)
self.assertTrue(abs(newloc.lon - -20.799719) < ERROR_LOC)
self.assertTrue(newloc.alt == 0.0)
def testSpotLockW(self):
""" Test spot loc W at Shallow angle threshold """
loc = LocationGlobalRelative(34.5, -20.8, 100)
pitch = -6
yaw = 270
newloc = location_helpers.getSpotLock(loc, pitch, yaw)
self.assertTrue(abs(newloc.lat - 34.5) < ERROR_LOC)
self.assertTrue(abs(newloc.lon - -20.810382) < ERROR_LOC)
self.assertTrue(newloc.alt == 0.0)
def testSpotLockN(self):
""" Test spot loc North """
loc = LocationGlobalRelative(34.5, -20.8, 100)
pitch = -45
yaw = 0
newloc = location_helpers.getSpotLock(loc, pitch, yaw)
self.assertTrue(abs(newloc.lat - 34.500899) < ERROR_LOC)
self.assertTrue(abs(newloc.lon - -20.8) < ERROR_LOC)
self.assertTrue(newloc.alt == 0.0)
def spotLock(self):
'''take the angle of the copter and lock onto a ground level target'''
logger.log("[Orbit] spotLock")
# don't use a shallow angle resulting in massively distant ROIs
pitch = min(camera.getPitch(self.vehicle), SHALLOW_ANGLE_THRESHOLD)
# Get ROI for the vehicle to look at
spotLock = location_helpers.getSpotLock(
self.vehicle.location.global_relative_frame, pitch,
camera.getYaw(self.vehicle))
self.addLocation(spotLock)
def spotLock(self):
'''take the angle of the copter and lock onto a ground level target'''
if self.camPointing == SPOT_LOCK:
return
self.needsUpdate = True
# don't use a shallow angle resulting in massively distant ROIs
pitch = min(camera.getPitch(self.vehicle), SHALLOW_ANGLE_THRESHOLD)
# Get ROI for the vehicle to look at
spotLock = location_helpers.getSpotLock(
self.vehicle.location.global_relative_frame, pitch,
camera.getYaw(self.vehicle))
self.addLocation(spotLock)