def main():
print("Creating UAV")
vehicle = api.navigation(timeout = 120000)
time.sleep(3)
print("Taking off")
vehicle.take_off(height)
time.sleep(1)
vehicle.position_set(0, 0, 0, relative=True, tolerance=0.1, yaw_valid=True, yaw=-vehicle.get_vfr_hud().heading*pi/180)
print("Took off to height %2.2f metre" % -vehicle.get_local_position().z)
init_x = float(vehicle.get_local_position().x)
init_y = float(vehicle.get_local_position().y)
vehicle.position_set(traj_len, 0, 0, relative=True, tolerance=0.1, async=False, yaw_valid=False)
#while(float(vehicle.get_local_position().x)-init_x < traj_len):
# pass
move = float(vehicle.get_local_position().x)-init_x
print("Moved %2.2f metre" % abs(move))
init_x = float(vehicle.get_local_position().x)
init_y = float(vehicle.get_local_position().y)
vehicle.position_set(0, traj_len, 0, relative=True, tolerance=0.1, async=False, yaw_valid=True, yaw=90*pi/180)
#while(float(vehicle.get_local_position().y)-init_y < traj_len):
# pass
move = float(vehicle.get_local_position().y)-init_y
print("moved %2.2f metre" % abs(move))
init_x = float(vehicle.get_local_position().x)
init_y = float(vehicle.get_local_position().y)
vehicle.position_set(-traj_len, 0, 0, relative=True, tolerance=0.1, async=False, yaw_valid=True, yaw=90*pi/180)
#while(float(vehicle.get_local_position().x)-init_x < traj_len):
# pass
move = float(vehicle.get_local_position().x)-init_x
print("moved %2.2f metre" % abs(move))
init_x = float(vehicle.get_local_position().x)
init_y = float(vehicle.get_local_position().y)
vehicle.position_set(0, -traj_len, 0, relative=True, tolerance=0.1, async=False, yaw_valid=True, yaw=90*pi/180)
#while(float(vehicle.get_local_position().y)-init_y < traj_len):
# pass
move = float(vehicle.get_local_position().y)-init_y
print("moved %2.2f metre" % abs(move))
vehicle.position_set(0, 0, 0, relative=True, tolerance=0.1, yaw_valid=True, yaw=90*pi/180)
print("Initiating landing")
vehicle.land(async=False)
print("Landed")
vehicle.disconnect()
#!/usr/bin/env python from flyt_python import api nav = api.navigation() # instance of flyt navigation class print 'taking off' nav.take_off(3.0) print ' going along the setpoints' nav.position_set(5, 0, -3) nav.position_set(5, 5, -3) nav.position_set(0, 5, -3) nav.position_set(0, 0, -3) print 'Done' print nav.land(false) print 'wait for the vehicle to land'
import gpxpy.geo
# add arguments
max_abs_dist = 20 # in meters, max horizontal distance from current location to the target
parser = argparse.ArgumentParser()
parser.add_argument('lat_off', help='lat off')
parser.add_argument('lon_off', help='lon off')
parser.add_argument('height', help='height from ground in meters')
parser.add_argument('wait_time', help='wait time at target spot')
args = parser.parse_args()
from flyt_python import api
drone = api.navigation(timeout=120000) # instance of drone navigation class
#at least 3sec sleep time for the drone interface to initialize properly
time.sleep(3)
fly = True
if fly:
try:
gpos_home_gnd = drone.get_global_position()
lpos_home_gnd = drone.get_local_position()
except:
pass
print gpos_home_gnd.lat, gpos_home_gnd.lon, gpos_home_gnd.alt, "ground global position"
lat1, lon1 = gpos_home_gnd.lat, gpos_home_gnd.lon
import time from flyt_python import api drone = api.navigation(timeout=120000) time.sleep(3) print 'taking off' drone.take_off(5.0) print 'starting mission' drone.position_set(6.5, 0, 0, relative=True) drone.position_set(0, 6.5, 0, relative=True) drone.position_set(-6.5, 0, 0, relative=True) drone.position_set(0, -6.5, 0, relative=True) print 'Landing' drone.land(async=False) drone.disconnect()
#........................................................................... # Author: Saiffullah Sabir Mohamed # Email: [email protected] # Github: https://github.com/TechnicalVillager #........................................................................... #!/usr/bin/env python import math import time import sys from flyt_python import api # Initialize Vehicle drone = api.navigation() def destination_location(homeLatitude, homeLongitude, distance, bearing, alt): #........................................................................... # Purpose: This function returns the latitude and longitude of unknown # position with known distance and bearing from current position. # # Format: destination_location(18.5308934, 73.8545103, 50, 102, 25) # # Inputs: # homeLatitude --> Latitude of home location # homeLongitude --> Longitude of home location # distance --> distance in meters # bearing --> Bearing angle # # Outputs: # [rlat, rlon, alt] --> Latitude, Longitude, Altitude
#!/usr/bin/env python
import time
import argparse
from flyt_python import api
drone = api.navigation(timeout=120000) # instance of flyt droneigation class
#at least 3sec sleep time for the drone interface to initialize properly
time.sleep(3)
## parsing command line arguments
parser = argparse.ArgumentParser(description='Process a float value.')
parser.add_argument('side', metavar='side_length', type=float, help='side length of the square')
args = parser.parse_args()
## lets fly
side_length = args.side
print "taking off!"
drone.take_off(3.0)
print 'flying in square', side_length
drone.position_set(side_length,0,-3)
drone.position_set(side_length,side_length,-3)
drone.position_set(0,side_length,-3)
drone.position_set(0,0,-3)
print "landing"
drone.land(False)
print 'Cheers!!'
#importing_useful_libraries
import time
from flyt_python import api
#initializing
UAV = api.navigation(timeout=120000)
time.sleep(3)
#initializing_takeoff_to_5.0_meters
UAV.take_off(5.0)
#waypoint_navigation_for_a_square_path_(side_=_6.5_meters)
i = 1
while i < 5:
UAV.position_set(
6.5, 0, 0, 1.57079632679, 0, False, False, True, True
) #command_to_make_the_vehicle_go_6.5meters_in_x-direction_(NED_coordinate_system),_and_yawing_90_degrees_(1.57079632679_in_radians)
time.sleep(2) #for_a_better_trajectory (smoother_square_path)
i = i + 1
#initializing_landing
UAV.land(async=False)
#terminating
UAV.disconnect()
import cv2
import cv2.cv as cv
import detector as vision
import numpy as np
from flyt_python import api
import time
nav = api.navigation(timeout=120000) # instance of flyt navigation class
time.sleep(5)
state_UP, state_DOWN = False, False
delta_h = 1.0 ## vertical distance between top and bottom points
# Take input from webcam
cap = cv2.VideoCapture(0)
def state_machine(trigA, trigB, sUP, sDOWN, del_h):
up = bool(sUP)
down = bool(sDOWN)
if up:
if not trigA and trigB:
print "going down"
nav.position_set(0, 0, del_h, relative=True, async=True)
up, down = False, True
return (up, down)
if down:
if trigA and not trigB:
print "going up"
nav.position_set(0, 0, -del_h, relative=True, async=True)
up, down = True, False
return (up, down)
import time
from flyt_python import api
#creating the instance
quadcopter = api.navigation(timeout=120000)
time.sleep(3)
print("ARMING & TAKEOFF")
time.sleep(1)
quadcopter.take_off(5.0)
print("APPROACHING WAYPOINT 1")
time.sleep(1)
quadcopter.position_set(6.5, 0, 0, relative=True)
time.sleep(1)
print("WAYPOINT 1 REACHED")
time.sleep(1)
print("APPROACHING WAYPOINT 2")
time.sleep(1)
quadcopter.position_set(0, 6.5, 0, relative=True)
time.sleep(1)
print("WAYPOINT 2 REACHED")
time.sleep(1)
print("APPROACHING WAYPOINT 3")
time.sleep(1)
quadcopter.position_set(-6.5, 0, 0, relative=True)
time.sleep(1)
print("WAYPOINT 3 REACHED")
time.sleep(1)
#!/usr/bin/env python from flyt_python import api nav = api.navigation() # instance of flyt navigation class nav.arm() print 'taking off' nav.takeoff(3.0) print ' going along the setpoints' nav.position_set(5,0,-3) nav.position_set(5,5,-3) nav.position_set(0,5,-3) nav.position_set(0,0,-3) print 'Done' nav.land() print 'wait for the vehicle to land'
import cv2
import cv2.cv as cv
import detector as vision
import numpy as np
from flyt_python import api
import time
nav = api.navigation(timeout=120000) # instance of flyt navigation class
time.sleep(5)
state_UP, state_DOWN = False, False
delta_h = 1.0 ## vertical distance between top and bottom points
# Take input from webcam
cap = cv2.VideoCapture(0)
def state_machine(trigA, trigB, sUP, sDOWN, del_h):
up = bool(sUP)
down = bool(sDOWN)
if up:
if not trigA and trigB:
print "going down"
nav.position_set(0,0, del_h, relative = True, async=True)
up, down = False, True
return (up, down)
if down:
if trigA and not trigB:
print "going up"
nav.position_set(0,0, -del_h, relative = True, async=True)
up, down = True, False
return (up, down)
if trigA and not trigB:
