def data_received(self, msg):
# print('data received', repr(msg))
try:
if(msg==b'.'):
# heartbeat(drone)
async for pos_vel in drone.conn.telemetry.position_velocity_ned():
s[0] = pos_vel.position.north_m
s[1] = pos_vel.position.east_m
s[2] = -pos_vel.position.down_m
s[3] = pos_vel.velocity.north_m_s
s[4] = pos_vel.velocity.east_m_s
s[5] = -pos_vel.velocity.down_m_s
if(((msg)[:2])==(b'OA')):
# print((msg)[2])
if(((msg)[2])==49):#1
drone.add_action(Arm())
print('arm')
if(((msg)[2])==50):#2
drone.add_action(Disarm())
print('disarm')
if(((msg)[2])==51):#3
drone.add_action(FlyToPoint(np.array([0, 0, -1]), tolerance=2.5))
print('ftp0,0,-1')
if(((msg)[2])==52):#4
drone.add_action(land())
print('land')
if(((msg)[2])==53):#5
drone.add_action( PercisionLand( 1.0, np.array([1, 1]) ) )
print('percision_land')
if(((msg)[2])==54):#6
drone.add_action(FlyToPoint(np.array([0,0,-10]),tolerance =1))
print('FlyToPoint0,0,-10')
if(((msg)[2])==55):#7
drone.add_action(Circle(velocity=2.0,radius=8.0,angle=0.0))
print('circle')
if(((msg)[2])==56):#8
drone.add_action(Spin())
print('Spin')
if(((msg)[2])==57):#9
drone.override_action(Killing())
print('Killing!')
except Exception as E:
print(E)
def status(drone):
print('s')
drone.add_action(FlyToPoint(np.array([0, 0, -5]), tolerance=1))
drone.add_action(land)
def actions(drone):
drone.add_action(FlyToPoint(np.array([0, 0, -10]), tolerance=1))
drone.add_action(land)
from mavfleetcontrol.craft import Craft
from mavfleetcontrol.actions.point import FlyToPoint
from mavfleetcontrol.actions.land import land
if __name__ == "__main__":
drone1 = Craft("drone1", "udp://:14540")
drone2 = Craft("drone2", "udp://:14541")
drone1.start()
drone2.start()
drone1.add_action(FlyToPoint(np.array([0,0,-2]),tolerance = 0.25))
drone1.add_action(FlyToPoint(np.array([2,0,-2]),tolerance = 0.25))
drone2.add_action(FlyToPoint(np.array([0,0,-2]),tolerance = 0.25))
drone2.add_action(FlyToPoint(np.array([2,0,-2]),tolerance = 0.25))
drone1.add_action(land)
drone2.add_action(land)
# drone.override_action(land)
drone1.close_conn()#will run after FLYTOPOINT IS DONE)
drone2.close_conn()#will run after FLYTOPOINT IS DONE)
async def actions(drone, session):
while True:
os.system('clear')
print("1: Arm")
print("2: Disarm")
print("3: Take off")
print("4: Land")
print("5: Precision Land [1,1,0] NED")
print("6: Go to [0,0,10] NED")
print("7: Circle")
print("8: Spin")
print("9: Emergency Cut Off")
print("0: Back to Main")
print()
if drone == 'serial':
serial = 0
else:
serial = 0
# session = PromptSession()
with patch_stdout():
text = await session.prompt_async('actions> ')
# text = await prompt_async('actions> ', key_bindings=bindings)
if text == '1':
if serial:
drone.add_action(Arm())
else:
send_message('1')
if text == '2':
if serial:
drone.add_action(Disarm())
else:
send_message('2')
if text == '3':
if serial:
drone.add_action(FlyToPoint(np.array([0, 0, -1]), tolerance=1))
else:
send_message('3')
if text == '4':
if serial:
dront.add_action(land())
else:
send_message('4')
if text == '5':
if serial:
drone.add_action(PercisionLand(1.0, np.array([1, 1])))
else:
send_message('5')
if text == '6':
if serial:
drone.add_action(FlyToPoint(np.array([0, 0, -10]),
tolerance=1))
else:
send_message('6')
if text == '7':
if serial:
drone.add_action(Circle(velocity=5.0, radius=8.0, angle=0.0))
# pass
else:
send_message('7')
if text == '8':
if serial:
drone.override_action(spin())
else:
send_message('8')
if text == '9':
if serial:
drone.override_action(Killing())
else:
send_message('9')
if text == '0':
break
import asyncio
import time
import numpy as np
from mavfleetcontrol.craft import Craft
from mavfleetcontrol.actions.point import FlyToPoint
from mavfleetcontrol.actions.position_velocity_control import PositionVelocityControl
from mavfleetcontrol.actions.land import land
if __name__ == "__main__":
# loop = asyncio.get_event_loop()
drone = Craft("drone1", "udp://:14540")
# loop.run_until_complete(drone.arm(coordinate=[0.0,0.0,0.0],attitude=[0.0,0.0,0.0]))
drone.start()
drone.add_action(FlyToPoint(np.array([0, 0, -5]), tolerance=1))
drone.add_action(
PositionVelocityControl(1,
[np.array([0.0, 0.0]),
np.array([0.0, 100.0])],
tolerance=10))
drone.add_action(land)
# drone.override_action(land)
drone.close_conn() # will run after FLYTOPOINT IS DONE)
drone.join()
import asyncio
import time
import numpy as np
from mavfleetcontrol.craft import Craft
from mavfleetcontrol.actions.point import FlyToPoint
from mavfleetcontrol.actions.percision_land import PercisionLand
from mavfleetcontrol.actions.land import land
if __name__ == "__main__":
# loop = asyncio.get_event_loop()
drone = Craft("drone1", "udp://:14540")
# loop.run_until_complete(drone.arm(coordinate=[0.0,0.0,0.0],attitude=[0.0,0.0,0.0]))
drone.start()
drone.add_action(FlyToPoint(np.array([1, 1, -20]), tolerance=0.5))
drone.add_action( PercisionLand( 1.0, np.array([1, 1]) ) )
drone.add_action(land)
# drone.override_action(land)
drone.close_conn() # will run after FLYTOPOINT IS DONE)
drone.join()
# loop = asyncio.get_event_loop()
drone0 = Craft('drone0', "udp://:14540")
drone1 = Craft('drone1', "udp://:14541")
drone2 = Craft('drone1', "udp://:14542")
drone3 = Craft('drone1', "udp://:14543")
drone4 = Craft('drone1', "udp://:14544")
# loop.run_until_complete(drone.arm(coordinate=[0.0,0.0,0.0],attitude=[0.0,0.0,0.0]))
drone0.start()
drone1.start()
drone2.start()
drone3.start()
drone4.start()
drone0.add_action(FlyToPoint(np.array([0, 0, -15]), tolerance=1))
drone1.add_action(FlyToPoint(np.array([0, 0, -15]), tolerance=1))
drone2.add_action(FlyToPoint(np.array([0, 0, -15]), tolerance=1))
drone3.add_action(FlyToPoint(np.array([0, 0, -15]), tolerance=1))
drone4.add_action(FlyToPoint(np.array([0, 0, -15]), tolerance=1))
drone0.add_action(Flip(tolerance=10))
drone1.add_action(Flip(tolerance=10))
drone2.add_action(Flip(tolerance=10))
drone3.add_action(Flip(tolerance=10))
drone4.add_action(Flip(tolerance=10))
drone0.add_action(land)
drone1.add_action(land)
drone2.add_action(land)
drone3.add_action(land)