# logger.info("Correcting angle: %s", angle) # if abs(angle) > 0.05: # # logger.info("Correcting angle: %s", angle) # distance_x = 0.0 # distance_y = 0.0 rl = x_pid.GenOut(distance_x) fb = y_pid.GenOut(distance_y) aa = angle_pid.GenOut(angle) if math.isnan(aa): aa = 0.0 drone.at_cmd(True, rl, fb, 0, aa) navdata = drone.get_navdata() bat = navdata[0]["battery"] # logger.info("RL: %s FB: %s AA: %s BAT: %s", rl, fb, aa, bat) # logger.info(navdata) cv2.putText(image, "Bat: {}".format(bat), (20, 20), cv2.cv.CV_FONT_HERSHEY_PLAIN, 1.0, (255, 255, 255)) cv2.imshow("Win", image) except Exception, e: logger.warning("Exception %s", e) finally: # drone.reset() drone.land() drone.halt() logger.info("Halt")
# logger.info("Correcting angle: %s", angle) # if abs(angle) > 0.05: # # logger.info("Correcting angle: %s", angle) # distance_x = 0.0 # distance_y = 0.0 rl = x_pid.GenOut(distance_x) fb = y_pid.GenOut(distance_y) aa = angle_pid.GenOut(angle) if math.isnan(aa): aa = 0.0 drone.at_cmd(True, rl, fb, 0, aa) navdata = drone.get_navdata() bat = navdata[0]['battery'] # logger.info("RL: %s FB: %s AA: %s BAT: %s", rl, fb, aa, bat) # logger.info(navdata) cv2.putText(image, "Bat: {}".format(bat), (20, 20), cv2.cv.CV_FONT_HERSHEY_PLAIN, 1.0, (255, 255, 255)) cv2.imshow("Win", image) except Exception, e: logger.warning("Exception %s", e) finally: # drone.reset() drone.land() drone.halt()