from pyliner.app.communication import Communication
from pyliner.app.controller import FlightMode
from pyliner.navigation.control import limiter, proportional
from pyliner.vehicle import Vehicle
from pyliner.util import read_json
from pyliner.util.scripting_wrapper import ScriptingWrapper
def range_limit(current, target):
return limiter(-0.2, 0.2)(proportional(0.1 / 50.0)(current, target))
rky = Vehicle(vehicle_id='rocky',
communications=Communication(
airliner_map=read_json("airliner.json"),
address="192.168.1.2",
ci_port=5009,
to_port=5012))
with ScriptingWrapper(rky) as rocky:
while rocky.nav.altitude == "NULL":
sleep(1)
print "Waiting for telemetry downlink..."
rocky.ctrl.atp('Arm')
rocky.ctrl.arm()
rocky.ctrl.atp('Takeoff')
rocky.ctrl.takeoff()
rocky.ctrl.flight_mode(FlightMode.PosCtl)
rocky.ctrl.atp('Move Up')
from pyliner.vehicle import Vehicle
from pyliner.util import read_json
from pyliner.util.scripting_wrapper import ScriptingWrapper
FAST = 0.75
SLOW = 0.50
SLEEP = 0.1
def range_limit(current, target):
return limiter(0, 0.25)(proportional(0.1 / 50.0)(current, target))
rky = Vehicle(vehicle_id='rocky',
communications=Communication(
airliner_map=read_json("airliner.json"),
ci_port=5009,
to_port=5012))
with ScriptingWrapper(rky) as rocky:
while rocky.nav.altitude == "NULL":
sleep(1)
print "Waiting for telemetry downlink..."
rocky.ctrl.atp('Arm')
rocky.ctrl.arm()
rocky.ctrl.atp('Takeoff')
rocky.ctrl.takeoff()
rocky.ctrl.flight_mode(FlightMode.PosCtl)
rocky.ctrl.atp('Move Up')
rocky.nav.vnav(method=constant(0.5), tolerance=0.5).up(10)