def GPS_Route(drone):
"Do a route in GPS"
route = (
(48.764304, 2.289237),
(48.764374, 2.289180),
(48.764448, 2.289080),
(48.764502, 2.288952),
(48.764529, 2.288794),
(48.764532, 2.288639),
(48.764521, 2.288507),
(48.764489, 2.288392),
(48.764435, 2.288288),
(48.764368, 2.288213),
(48.764300, 2.288173),
(48.764325, 2.288438),
(48.764360, 2.288691),
(48.764324, 2.288999),
) # That's a big one : petit parcours decoupé en tranche de 10m environ
ARDroneConfig.outdoor(drone)
ARDroneConfig.nervosity_level(drone, 100)
wait = raw_input("Press enter to take off...")
drone.takeoff()
delay = 15 # Variable à régler pour correspondre au temps de parcours entre chaque point
for i in range(len(route)):
# wait = raw_input("Press enter to go to point " + str(i+1) + "...")
while delay > 0:
time.sleep(1)
delay = delay - 1
print "Going to point " + str(i + 1) + " in " + str(delay) + " secs !"
ARDroneConfig.goto_gps_point(drone, route[i][0], route[i][1])
wait = raw_input("Press enter to land...")
drone.land()
print "Done !"
def GPS_Route(drone):
"Do a route in GPS"
route = (48.764304, 2.289237), (48.764374, 2.289180), (
48.764448, 2.289080
), (48.764502, 2.288952), (48.764529, 2.288794), (48.764532, 2.288639), (
48.764521, 2.288507), (48.764489, 2.288392), (48.764435, 2.288288), (
48.764368, 2.288213
), (48.764300, 2.288173), (48.764325, 2.288438), (
48.764360, 2.288691
), (
48.764324, 2.288999
) #That's a big one : petit parcours decoupé en tranche de 10m environ
ARDroneConfig.outdoor(drone)
ARDroneConfig.nervosity_level(drone, 100)
wait = raw_input("Press enter to take off...")
drone.takeoff()
delay = 15 #Variable à régler pour correspondre au temps de parcours entre chaque point
for i in range(len(route)):
#wait = raw_input("Press enter to go to point " + str(i+1) + "...")
while (delay > 0):
time.sleep(1)
delay = delay - 1
print "Going to point " + str(i +
1) + " in " + str(delay) + " secs !"
ARDroneConfig.goto_gps_point(drone, route[i][0], route[i][1])
wait = raw_input("Press enter to land...")
drone.land()
print "Done !"
def command_GUI(drone):
"Create a GUI to command the drone"
global gui
ARDroneConfig.outdoor(drone)
ARDroneConfig.nervosity_level(drone, 100)
gui = ARDroneGUI.ControlWindow(default_action=drone.hover)
# Add command
gui.add_action("<Up>", drone.forward)
gui.add_action("<Down>", drone.backward)
gui.add_action("<Left>", drone.left)
gui.add_action("<Right>", drone.right)
gui.add_action("<z>", drone.up)
gui.add_action("<s>", drone.down)
gui.add_action("<q>", drone.rotate_left)
gui.add_action("<d>", drone.rotate_right)
gui.add_action("<a>", drone.takeoff)
gui.add_action("<space>", drone.land)
gui.add_action("<Return>", drone.emergency)
gui.add_action("<t>", drone.reset)
gui.add_action("<y>", drone.calibrate)
gui.add_action("<o>", lambda arg=drone: ARDroneConfig.activate_tag(drone))
gui.add_action("<e>", lambda arg=drone: ARDroneConfig.flip(drone))
print "-> Press o to start tag detection..."
# Add info
gui.add_printable_data("Battery", ("navdata_demo", "battery_percentage"))
gui.add_printable_data("Number of tags", ("vision_detect", "nb_detected"))
gui.add_printable_data("X position", ("vision_detect", "xc"))
gui.add_printable_data("Y position", ("vision_detect", "yc"))
gui.add_printable_data("Width", ("vision_detect", "width"))
gui.add_printable_data("Height", ("vision_detect", "height"))
gui.add_printable_data("Distance", ("vision_detect", "distance"))
drone.change_callback(gui.callback) # Enable the GUI to receive data from the drone
drone.start_navdata()
gui.start()
def command_GUI(drone):
"Create a GUI to command the drone"
global gui
ARDroneConfig.outdoor(drone)
ARDroneConfig.nervosity_level(drone, 100)
gui = ARDroneGUI.ControlWindow(default_action=drone.hover)
# Add command
gui.add_action("<Up>", drone.forward)
gui.add_action("<Down>", drone.backward)
gui.add_action("<Left>", drone.left)
gui.add_action("<Right>", drone.right)
gui.add_action("<z>", drone.up)
gui.add_action("<s>", drone.down)
gui.add_action("<q>", drone.rotate_left)
gui.add_action("<d>", drone.rotate_right)
gui.add_action("<a>", drone.takeoff)
gui.add_action("<space>", drone.land)
gui.add_action("<Return>", drone.emergency)
gui.add_action("<t>", drone.reset)
gui.add_action("<y>", drone.calibrate)
gui.add_action("<o>", lambda arg=drone: ARDroneConfig.activate_tag(drone))
gui.add_action("<e>", lambda arg=drone: ARDroneConfig.flip(drone))
print "-> Press o to start tag detection..."
# Add info
gui.add_printable_data("Battery", ("navdata_demo", "battery_percentage"))
gui.add_printable_data("Number of tags", ("vision_detect", "nb_detected"))
gui.add_printable_data("X position", ("vision_detect", "xc"))
gui.add_printable_data("Y position", ("vision_detect", "yc"))
gui.add_printable_data("Width", ("vision_detect", "width"))
gui.add_printable_data("Height", ("vision_detect", "height"))
gui.add_printable_data("Distance", ("vision_detect", "distance"))
drone.change_callback(
gui.callback) # Enable the GUI to receive data from the drone
drone.start_navdata()
gui.start()
