def GPS_Command(drone):
"Create a GUI to command the GPS"
global gui, last_coord, a
a = Log("Drone_GPS.kml", "kml")
pos1 = GPS_Coord()
pos2 = GPS_Coord()
pos3 = GPS_Coord(48.763947, 2.288652) # Stade
drone.change_callback(
save_gps_coord) # Change the callback so we can save the GPS data
gui = ARDroneGUI.ControlWindow(default_action=drone.hover)
# Commands
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("<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)
## GPS
gui.add_action(
"<f>",
lambda arg=last_coord: pos1.setPoint(last_coord[1], last_coord[0]))
gui.add_action(
"<g>",
lambda arg=last_coord: pos2.setPoint(last_coord[1], last_coord[0]))
gui.add_action(
"<h>",
lambda arg=last_coord: pos3.setPoint(last_coord[1], last_coord[0]))
gui.add_action(
"<v>",
lambda arg=pos1: ARDroneConfig.goto_gps_point(drone,
arg.getPoint()[0],
arg.getPoint()[1]))
gui.add_action(
"<b>",
lambda arg=pos2: ARDroneConfig.goto_gps_point(drone,
arg.getPoint()[0],
arg.getPoint()[1]))
gui.add_action(
"<n>",
lambda arg=pos3: ARDroneConfig.goto_gps_point(drone,
arg.getPoint()[0],
arg.getPoint()[1]))
# Infos
gui.add_printable_data("Battery", ("navdata_demo", "battery_percentage"))
gui.add_printable_data("Latitude", ("gps_info", "latitude"))
gui.add_printable_data("Longitude", ("gps_info", "longitude"))
gui.add_printable_data("Altitude", ("gps_info", "elevation"))
gui.add_printable_data("HDOP", ("gps_info", "hdop"))
gui.add_printable_data("State", ("gps_info", "data_available"))
print "Press o to start reception...\nF,G,H - Save GPS point\nV,B,N (key must stay pressed) - GOTO GPS Point"
# We don't start change the callback because we would lost gps info outside the gui
drone.start_navdata()
gui.start()
a.close()
def menu_list(drone):
"List of function you can perform"
print "Choose your command:"
print "0 - Emergency"
print "1 - Hover"
print "2 - Take Off"
print "3 - Land"
print "4 - Forward"
print "5 - Backward"
print "6 - Left"
print "7 - Right"
print "8 - Calibrate sensors"
print "a - Reset"
print "9 - Quit"
result = ""
while result != "9":
result = raw_input(">")
if result == "0": drone.emergency()
if result == "1": drone.hover()
if result == "2": drone.takeoff()
if result == "3": drone.land()
if result == "4": drone.forward()
if result == "5": drone.backward()
if result == "6": drone.left()
if result == "7": drone.right()
if result == "8": drone.calibrate()
if result == "a": drone.reset()
if result == "f": ARDroneConfig.activate_AP_mode(drone)
def GPS_Command(drone):
"Create a GUI to command the GPS"
global gui, last_coord, a
a = Log("Drone_GPS.kml", "kml")
pos1 = GPS_Coord()
pos2 = GPS_Coord()
pos3 = GPS_Coord(48.763947, 2.288652) # Stade
drone.change_callback(save_gps_coord) # Change the callback so we can save the GPS data
gui = ARDroneGUI.ControlWindow(default_action=drone.hover)
# Commands
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("<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)
## GPS
gui.add_action("<f>", lambda arg=last_coord: pos1.setPoint(last_coord[1], last_coord[0]))
gui.add_action("<g>", lambda arg=last_coord: pos2.setPoint(last_coord[1], last_coord[0]))
gui.add_action("<h>", lambda arg=last_coord: pos3.setPoint(last_coord[1], last_coord[0]))
gui.add_action("<v>", lambda arg=pos1: ARDroneConfig.goto_gps_point(drone, arg.getPoint()[0], arg.getPoint()[1]))
gui.add_action("<b>", lambda arg=pos2: ARDroneConfig.goto_gps_point(drone, arg.getPoint()[0], arg.getPoint()[1]))
gui.add_action("<n>", lambda arg=pos3: ARDroneConfig.goto_gps_point(drone, arg.getPoint()[0], arg.getPoint()[1]))
# Infos
gui.add_printable_data("Battery", ("navdata_demo", "battery_percentage"))
gui.add_printable_data("Latitude", ("gps_info", "latitude"))
gui.add_printable_data("Longitude", ("gps_info", "longitude"))
gui.add_printable_data("Altitude", ("gps_info", "elevation"))
gui.add_printable_data("HDOP", ("gps_info", "hdop"))
gui.add_printable_data("State", ("gps_info", "data_available"))
print "Press o to start reception...\nF,G,H - Save GPS point\nV,B,N (key must stay pressed) - GOTO GPS Point"
# We don't start change the callback because we would lost gps info outside the gui
drone.start_navdata()
gui.start()
a.close()
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 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 menu_list(drone):
"List of function you can perform"
print "Choose your command:"
print "0 - Emergency"
print "1 - Hover"
print "2 - Take Off"
print "3 - Land"
print "4 - Forward"
print "5 - Backward"
print "6 - Left"
print "7 - Right"
print "8 - Calibrate sensors"
print "a - Reset"
print "9 - Quit"
result = ""
while result != "9":
result = raw_input(">")
if result == "0":
drone.emergency()
if result == "1":
drone.hover()
if result == "2":
drone.takeoff()
if result == "3":
drone.land()
if result == "4":
drone.forward()
if result == "5":
drone.backward()
if result == "6":
drone.left()
if result == "7":
drone.right()
if result == "8":
drone.calibrate()
if result == "a":
drone.reset()
if result == "f":
ARDroneConfig.activate_AP_mode(drone)
