def __init__(self, drone_state_dict, pipe):
self.pipe = pipe
self.drone = ps_drone.Drone()
self.modem = ec25_modem.Modem("/dev/ttyUSB2")
self.gps = AGPS3mechanism()
self.control_state = ControlState()
self.drone_state = DroneState()
self.drone_state_dict = drone_state_dict
self.prev_data_count = 0
self.app_connected = False
self.app_disconnected_timer = None
self.drone_connected = False
self.drone_calibrated = False
self.returning = False
self.modem_connected = False
self.gps_l80 = True
self.autonomous_sigs = None
self.running = True
i = 0
while os.path.exists(os.path.expanduser("~/dronelog/log_%s.csv") % i):
i += 1
self.logfile = open(
os.path.expanduser("~/dronelog/log_%s.csv") % i, "w")
self.logwriter = csv.writer(self.logfile)
def init_drone():
# Connect
drone = ps_drone.Drone()
drone.startup()
# Reset
drone.reset()
while drone.getBattery()[0] == -1:
time.sleep(0.1)
time.sleep(0.5)
# Calibrate
drone.trim()
drone.getSelfRotation(5)
# Configure video
cdc0 = drone.ConfigDataCount
drone.setConfigAllID()
drone.hdVideo()
drone.frontCam()
while drone.ConfigDataCount == cdc0:
time.sleep(0.1)
drone.startVideo()
return drone, (drone.getBattery()[1] != 'empty')
def __init__(self):
self.drone = ps_drone.Drone()
self.connected = False
self.altitude = 0
self.speed = 0
self.accel = 0
self.battery = 0
def main(**kwargs):
options = {'smooth': False, 'time_lim': 30}
options.update(kwargs)
drone = ps_drone.Drone()
drone.startup()
drone.reset()
while (drone.getBattery()[0] == -1):
time.sleep(.01)
print "Battery: " + str(drone.getBattery()[0]) + "% " + str(
drone.getBattery()[1]) # Gives a battery-status
if drone.getBattery()[1] == "empty":
return
print('Initialized')
if options['smooth']:
smooth_flying(drone, options['time_lim'])
else:
rough_flying(drone, options['time_lim'])
print('Finished Flying')
return
def main():
drone = ps_drone.Drone() #Drone object
fdrone__init(drone)
root = tk.Tk()
root.geometry("900x600") #GUI window dimensions
drone_GUI = DCMainApp(root, drone)
#root.protocol("WM_DELETE_WINDOW", drone_GUI.quit)
root.mainloop()
def attack_drone(payload):
zombie = ps_drone.Drone()
if zombie.startup() is False:
return
zombie.useDemoMode(False)
if payload == 'land':
zombie.shutdown()
elif payload == 'demon':
demon_drone(zombie)
def __init__(self):
self.drone = ps_drone.Drone()
self.drone.startup()
self.drone.reset()
while (self.drone.getBattery()[0] == -1):
time.sleep(0.1)
self.drone.useDemoMode(True)
self.drone.getNDpackage(["demo", "altitude", "vision_detect", "time"])
self.configure()
def initialize_drone():
drone = ps_drone.Drone()
drone.startup()
drone.reset()
#Wait for reset to complete
while (drone.getBattery()[0] == -1):
time.sleep(.01)
return drone
def start_drone():
#Cresting drone instance and starting drone
drone = ps_drone.Drone()
drone.startup()
# Start drone
drone.trim()
time.sleep(1)
drone.takeoff()
time.sleep(3)
def initDrone(drone):
drone = ARDrone.Drone()
drone.startup()
drone.reset()
time.sleep(1)
drone.trim()
drone.useDemoMode(False)
# **FIX ME: Get time working
# drone.getNDpackage(["demo","time"])
drone.getNDpackage(["demo"])
is_drone_flying = drone.NavData["demo"][0][2]
return drone
def start_up_drone():
drone = ps_drone.Drone() # Start using drone
drone.startup() # Connects to drone and starts subprocesses
drone.reset() # Always good, at start
drone.useDemoMode(True)
while drone.getBattery()[0] == -1:
time.sleep(0.1) # Waits until the drone has done its reset
time.sleep(0.5) # Give it some time to fully awake
drone.printBlue("Battery: " + str(drone.getBattery()[0]) + "% " +
str(drone.getBattery()[1])) # Gives a battery-status
return drone
def get_drone(defaultSpeed=OPTIMAL_MVSPEED, videoOn=True):
drone = ps_drone.Drone()
drone.startup()
drone.reset()
# Wait till the drone fully resets
time.sleep(2)
# getBattery() returns (batValue percent), batStatus(OK or empty))
while drone.getBattery()[0] == -1:
time.sleep(0.1)
# Give the drone some time to fully awake
time.sleep(0.5)
# "demo", "vision detect" and "chksum" packages of Navdata
# are available 15 times per second
drone.useDemoMode(True)
# Recalibrate sensors
drone.trim()
drone.mtrim()
# Set the speed of the drone
drone.setSpeed(defaultSpeed)
print_battery(drone)
# Initialize the drone's video function
if videoOn:
# Need to switch drone to multi-configuration mode before using video
drone.setConfigAllID()
# Use lower resolution
drone.sdVideo()
# Use front camera
drone.frontCam()
# Activate the drone's video function
drone.printYellow('Loading Video Function...')
drone.startVideo()
VIC = drone.VideoImageCount
while VIC == drone.VideoImageCount:
time.sleep(0.5)
drone.showVideo()
drone.printGreen('Video Function Loaded')
return drone
def __init__(self, *args, **kwargs):
self.drone = ps_drone.Drone()
drone = self.drone
drone.startup()
drone.reset()
#time.sleep(20)
while (drone.getBattery()[0] == -1):
time.sleep(0.1)
print "Battery: " + str(drone.getBattery()[0]) + "% " + str(
drone.getBattery()[1])
drone.useDemoMode(False)
drone.setConfigAllID()
drone.setMConfig("video:video_channel", "1")
drone.setMConfig("video:video_codec", "128")
drone.setMConfig("video:bitrate", 5000)
drone.setMConfig("video:codec_fps", 5)
CDC = drone.ConfigDataCount
while CDC == drone.ConfigDataCount:
time.sleep(0.0001)
drone.startVideo()
drone.showVideo()
self.IMC = drone.VideoImageCount
self.stop = False
self.ground = True
self.takeOff = False
self.processingImage = False
self.mostGreen = 1
self.previousGreen = 0
self.previousTally = 0
self.currentTally = 0
self.videoProcessing()
self.startProcessing = False
self.lostGreen = False
self.red = 0
# It shows the usage of the video-function of a Parrot AR.Drone 2.0 using the PS-Drone-API.
# The drone will stay on the ground.
# Dependencies: a POSIX OS, openCV2, PS-Drone-API 2.0 beta or higher.
# (w) J. Philipp de Graaff, www.playsheep.de, 2016
##########
# LICENCE:
# Artistic License 2.0 as seen on http://opensource.org/licenses/artistic-license-2.0 (retrieved December 2014)
# Visit www.playsheep.de/drone or see the PS-Drone-API-documentation for an abstract from the Artistic License 2.0.
###########
##### Suggested clean drone startup sequence #####
import time, sys
import ps_drone # Import PS-Drone-API
import cv2 # Import OpenCV
drone = ps_drone.Drone() # Start using drone
drone.startup() # Connects to drone and starts subprocesses
drone.reset() # Sets drone's status to good (LEDs turn green when red)
while (drone.getBattery()[0] == -1):
time.sleep(0.1) # Waits until drone has done its reset
print "Battery: " + str(drone.getBattery()[0]) + "% " + str(
drone.getBattery()[1]) # Gives a battery-status
drone.useDemoMode(
True) # Just give me 15 basic dataset per second (is default anyway)
##### Mainprogram begin #####
drone.setConfigAllID() # Go to multiconfiguration-mode
drone.sdVideo() # Choose lower resolution (hdVideo() for...well, guess it)
drone.frontCam() # Choose front view
CDC = drone.ConfigDataCount
drone.sdVideo()
drone.groundCam()
CDC = drone.ConfigDataCount
while CDC == drone.ConfigDataCount:
time.sleep(0.0001)
print "Taking off..."
#drone.takeoff()
time.sleep(5)
#basic_movements()
drone.startVideo()
drone.getNDpackage(["demo"])
root.title("Autonomous Flight Control Center")
root.geometry("650x365")
drone = ps_drone.Drone()
root = tk.Tk()
setup(drone)
lmain = tk.Label(root)
lmain.pack()
IMC = drone.VideoImageCount
centered = False
average = 0
counter = 0
prevAngle = 0
centeredOverRedCircle = True
def show_frame():
global y
global ySeconds
print('\n Rotation\n ')
#read the serial data first
deg = data()
if deg > 0.0:
drone.turnLeft() # Drone moves full speed to the left...
time.sleep(3) # ... for two seconds
drone.stop() # Drone stops
time.sleep(2)
else:
drone.turnRight() # Drone moves full speed to the left...
time.sleep(3) # ... for two seconds
drone.stop() # Drone stops
time.sleep(2)
drone = ps_drone.Drone() # Initializes the PS-Drone-API
drone.startup() # Connects to the drone and starts subprocesses
try:
GPIO.setmode(GPIO.BCM)
GPIO.setup(6, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
GPIO.add_event_detect(6, GPIO.RISING, callback=my_callback)
GPIO.setup(23, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
GPIO.add_event_detect(23, GPIO.RISING, callback=my_callback)
GPIO.setup(24, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
GPIO.add_event_detect(24, GPIO.RISING, callback=my_callback)
message = raw_input('\nPress any key to exit.\n')
finally:
GPIO.cleanup()
import time
import ps_drone as ARDrone
drone = ARDrone.Drone()
drone.startup()
drone.reset()
time.sleep(1)
print "Battery: " + str(drone.getBattery()[0]) + "% " + str(
drone.getBattery()[1])
def main():
#path = [(0.3,0.3),(0.6,0),(0.9,0.3),(1.2,0.3),(1.2,0.6),(1.5,0.6),-1]
path = [(0.3, 0.3), (1.5, 0.3), -1]
# tag id with positions
tags = {
"0": (0, 0),
"1": (0.3, 0),
"2": (0.6, 0),
"3": (0.9, 0),
"4": (1.2, 0),
"5": (1.5, 0),
"6": (1.8, 0),
"7": (0, 0.3),
"8": (0.3, 0.3),
"9": (0.6, 0.3),
"10": (0.9, 0.3),
"11": (1.2, 0.3),
"12": (1.5, 0.3),
"13": (1.8, 0.3),
"14": (0, 0.6),
"15": (0.3, 0.6),
"16": (0.6, 0.6),
"17": (0.9, 0.6),
"18": (1.2, 0.6),
"19": (1.5, 0.6),
"20": (1.8, 0.6),
"21": (0, 0.9),
"22": (0.3, 0.9),
"23": (0.6, 0.9),
"24": (0.9, 0.9),
"25": (1.2, 0.9),
"26": (1.5, 0.9),
"27": (1.8, 0.9)
}
# drone's current position, point count, target point, and detection
curPos = (0.0, 0.0)
pointCount = 0
targetPoint = path[0]
detection = {'tags': []}
# init drone
drone = ps_drone.Drone()
drone.startup()
drone.reset()
while (drone.getBattery()[0] == -1):
time.sleep(0.1)
print("Battery: " + str(drone.getBattery()[0]) + "% " +
str(drone.getBattery()[1]))
drone.useDemoMode(True)
drone.setConfigAllID()
drone.sdVideo()
drone.groundCam()
drone.stopVideo()
ON_POSIX = 'posix' in sys.builtin_module_names
video = Popen(
['apriltags/build/bin/drone_demo', '-D', '-1', '-c', '-s', '3'],
stdout=PIPE,
bufsize=1,
close_fds=ON_POSIX)
q = Queue()
t = Thread(target=enqueue_output, args=(video.stdout, q))
t.daemon = True
t.start()
detection = {'tags': []}
# show frame
image = numpy.zeros((360, 640))
cv2.namedWindow('image', cv2.WINDOW_AUTOSIZE)
cv2.imshow('image', image)
# take off
print("taking off...")
drone.takeoff()
time.sleep(15)
# loop
for count in range(10000):
# manual control of landing for safety
key = drone.getKey()
if key == " ":
drone.land()
if video.poll() is None:
try:
raw = q.get_nowait()
except Empty:
print('no output yet')
else:
if raw.startswith('#'):
detection = json.loads(raw[1:])
else:
video = Popen([
'apriltags/build/bin/drone_demo', '-D', '-1', '-c', '-s', '3'
],
stdout=PIPE,
bufsize=1,
close_fds=ON_POSIX)
detection = {'tags': []}
drone.hover()
# calculate current position from detected tags
if 'image' in detection and len(detection['tags']):
curPos = getCurPosfromTags(detection, tags)
#pprint(curPos)
else:
drone.stop()
#cv2.waitKey(500)
# move to the target point
path, curPos, pointCount, targetPoint = moveToTargetPoint(
drone, path, curPos, pointCount, targetPoint)
def originalDroneController(video=False):
#import time
import ps_drone
drone = ps_drone.Drone() # Start using drone
drone.printBlue("Battery: ")
drone.startup() # Connects to drone and starts subprocesses
drone.reset() # Always good, at start
while drone.getBattery()[0] == -1:
tme.sleep(0.1) # Waits until the drone has done its reset
tme.sleep(0.5) # Give it some time to fully awake
drone.printBlue("Battery: " + str(drone.getBattery()[0]) + "% " +
str(drone.getBattery()[1])) # Gives a battery-status
drone.setSpeed(0.05)
'''
if video:
##### Video begin #####
drone.setConfigAllID() # Go to multiconfiguration-mode
drone.sdVideo() # Choose lower resolution (try hdVideo())
drone.frontCam() # Choose front view
CDC = drone.ConfigDataCount
while CDC==drone.ConfigDataCount: tme.sleep(0.001) # Wait until it is done (after resync)
drone.startVideo() # Start video-function
drone.showVideo() # Display the video
IMC = drone.VideoImageCount # Number of encoded videoframes
'''
##### Controller variables ######
opposite = {2: 8, 4: 6, 6: 4, 8: 2, 0: 0}
otherkey = {2: [4, 6], 4: [2, 8], 6: [2, 8], 8: [4, 6], 0: [2, 4, 6, 8]}
pressedKey = None
keypress = False
previousPrediction = 0
prevPreviousPrediction = 0
gotfive = 0
gotopposite = 0
gotother = 0
#gotfive = 0
blinks = 0
lastTime = datetime.now()
brainz = True
print("Setup finished")
stop = False
#keyboard.hook(print_pressed_keys)
while not stop:
'''
if video:
while drone.VideoImageCount==IMC: tme.sleep(0.01) # Wait until the next video-frame
IMC = drone.VideoImageCount
'''
key = drone.getKey()
if (key == " ") or (blinks >= 3):
if drone.NavData["demo"][0][2] and not drone.NavData["demo"][0][3]:
drone.takeoff()
else:
drone.land()
blinks = 0
elif key == "z":
if brainz:
brainz = False
print("No longer flying with brainz")
#drone.land()
else:
brainz = True
print("Flying by brain, GO!")
blinks = 0
print("waiting for lock")
with glb.predictionslock:
print("got lock")
#del glb.predictions[:]
try:
glb.predictionsQueue.queue.clear()
except:
pass
print("Finished clearing predictions queue")
elif key == "0":
drone.hover()
elif key == "w":
drone.moveForward()
elif key == "s":
drone.moveBackward()
elif key == "a":
drone.moveLeft()
elif key == "d":
drone.moveRight()
elif key == "q":
drone.turnLeft()
elif key == "e":
drone.turnRight()
elif key == "7":
drone.turnAngle(-10, 1)
elif key == "9":
drone.turnAngle(10, 1)
elif key == "4":
drone.turnAngle(-45, 1)
elif key == "6":
drone.turnAngle(45, 1)
elif key == "1":
drone.turnAngle(-90, 1)
elif key == "3":
drone.turnAngle(90, 1)
elif key == "8":
drone.moveUp()
elif key == "2":
drone.moveDown()
elif key == "*":
drone.doggyHop()
elif key == "+":
drone.doggyNod()
elif key == "-":
drone.doggyWag()
elif key != "":
stop = True
print("Exiting")
#elif key == "other": stop = True
if brainz:
blinks, opposite, otherkey, pressedKey, keypress, previousPrediction, prevPreviousPrediction, gotfive, gotother, gotopposite, lastTime\
= stateMachine(blinks, opposite, otherkey, pressedKey, keypress, previousPrediction, prevPreviousPrediction, gotfive, gotother, gotopposite, lastTime, drone)
tme.sleep(0.01)
print "Batterie: " + str(drone.getBattery()[0]) + "% " + str(
drone.getBattery()[1]) # Gives a battery-status
import ps_drone
drone1 = ps_drone.Drone()
drone2 = ps_drone.Drone()
print "1"
drone1.DroneIP = "192.168.1.101"
drone2.DroneIP = "192.168.1.102"
print "2"
drone1.startup()
print "3"
drone2.startup()
print "4"
drone1.reset()
drone2.reset()
print "5"
while (drone1.getBattery()[0] == -1):
time.sleep(0.1) #Reset completed?
while (drone2.getBattery()[0] == -1):
time.sleep(0.1) #Reset completed?
print "6"
print "Drone1 battery: " + str(drone1.getBattery()[0]) + "% " + str(
drone1.getBattery()[1])
print "Drone2 battery: " + str(drone2.getBattery()[0]) + "%" + str(
drone2.getBattery()[1])
print "7"
