def main():
mission_path = None
if len(sys.argv) > 1:
mission_path = sys.argv[1]
frame = '+'
# If we were given a mission, use its first waypoint as home.
if mission_path:
wploader = mavwp.MAVWPLoader()
wploader.load(mission_path)
wp = wploader.wp(0)
home = mavutil.location(wp.x, wp.y, wp.z, 0)
run_mission(mission_path, frame, home)
# fly ArduCopter in SIL
import util, pexpect, sys, time, math, shutil, os
from common import *
import mavutil, mavwp, random
# get location of scripts
testdir = os.path.dirname(os.path.realpath(__file__))
FRAME = '+'
TARGET = 'sitl'
HOME = mavutil.location(-35.362938, 149.165085, 584, 270)
homeloc = None
num_wp = 0
def hover(mavproxy, mav, hover_throttle=1300):
mavproxy.send('rc 3 %u\n' % hover_throttle)
return True
def calibrate_level(mavproxy, mav):
'''init the accelerometers'''
print("Initialising accelerometers")
mav.calibrate_level()
mavproxy.expect(['APM: action received', 'COMMAND_ACK'])
return True
def arm_motors(mavproxy, mav):
# fly ArduCopter in SIL
import util, pexpect, sys, time, math, shutil, os
from common import *
import mavutil, mavwp, random
# get location of scripts
testdir=os.path.dirname(os.path.realpath(__file__))
FRAME='+'
TARGET='sitl'
HOME=mavutil.location(-35.362938,149.165085,584,270)
homeloc = None
num_wp = 0
def hover(mavproxy, mav, hover_throttle=1300):
mavproxy.send('rc 3 %u\n' % hover_throttle)
return True
def calibrate_level(mavproxy, mav):
'''init the accelerometers'''
print("Initialising accelerometers")
mav.calibrate_level()
mavproxy.expect(['APM: action received', 'COMMAND_ACK'])
return True
def arm_motors(mavproxy, mav):
'''arm motors'''
print("Arming motors")
mavproxy.send('switch 6\n') # stabilize mode
# drive APMrover2 in SITL
import util, pexpect, sys, time, math, shutil, os
from common import *
import mavutil, random
# get location of scripts
testdir = os.path.dirname(os.path.realpath(__file__))
#HOME=mavutil.location(-35.362938,149.165085,584,270)
HOME = mavutil.location(40.071374969556928, -105.22978898137808, 1583.702759,
246)
homeloc = None
def drive_left_circuit(mavproxy, mav):
'''drive a left circuit, 50m on a side'''
mavproxy.send('switch 6\n')
wait_mode(mav, 'MANUAL')
mavproxy.send('rc 3 2000\n')
print("Driving left circuit")
# do 4 turns
for i in range(0, 4):
# hard left
print("Starting turn %u" % i)
mavproxy.send('rc 1 1000\n')
if not wait_heading(mav, 270 - (90 * i), accuracy=10):
return False
mavproxy.send('rc 1 1500\n')
print("Starting leg %u" % i)
# drive APMrover2 in SITL
import util, pexpect, sys, time, math, shutil, os
from common import *
import mavutil, random
# get location of scripts
testdir=os.path.dirname(os.path.realpath(__file__))
#HOME=mavutil.location(-35.362938,149.165085,584,270)
HOME=mavutil.location(40.071374969556928,-105.22978898137808,1583.702759,246)
homeloc = None
def drive_left_circuit(mavproxy, mav):
'''drive a left circuit, 50m on a side'''
mavproxy.send('switch 6\n')
wait_mode(mav, 'MANUAL')
mavproxy.send('rc 3 2000\n')
print("Driving left circuit")
# do 4 turns
for i in range(0,4):
# hard left
print("Starting turn %u" % i)
mavproxy.send('rc 1 1000\n')
if not wait_heading(mav, 270 - (90*i), accuracy=10):
return False
mavproxy.send('rc 1 1500\n')
print("Starting leg %u" % i)
if not wait_distance(mav, 50, accuracy=7):
# fly ArduCopter in SIL
import util, pexpect, sys, time, math, shutil, os
from common import *
import mavutil, mavwp, random
# get location of scripts
testdir = os.path.dirname(os.path.realpath(__file__))
FRAME = '+'
TARGET = 'sitl'
HOME = mavutil.location(-35.362938, 149.165085, 584, 270)
AVCHOME = mavutil.location(40.072842, -105.230575, 1586, 0)
homeloc = None
num_wp = 0
def hover(mavproxy, mav, hover_throttle=1450):
mavproxy.send('rc 3 %u\n' % hover_throttle)
return True
def calibrate_level(mavproxy, mav):
'''init the accelerometers'''
print("Initialising accelerometers")
mav.calibrate_level()
mavproxy.expect(['APM: action received', 'COMMAND_ACK'])
return True
# fly ArduCopter in SIL
import util, pexpect, sys, time, math, shutil, os
from common import *
import mavutil, mavwp, random
# get location of scripts
testdir = os.path.dirname(os.path.realpath(__file__))
FRAME = "+"
TARGET = "sitl"
HOME = mavutil.location(-35.362938, 149.165085, 584, 270)
AVCHOME = mavutil.location(40.072842, -105.230575, 1586, 0)
homeloc = None
num_wp = 0
def hover(mavproxy, mav, hover_throttle=1450):
mavproxy.send("rc 3 %u\n" % hover_throttle)
return True
def calibrate_level(mavproxy, mav):
"""init the accelerometers"""
print("Initialising accelerometers")
mav.calibrate_level()
mavproxy.expect(["APM: action received", "COMMAND_ACK"])
return True
