"""test-send.py: Test script to send RC commands to a MultiWii Board."""
__author__ = "Aldo Vargas"
__copyright__ = "Copyright 2016 Altax.net"
__license__ = "GPL"
__version__ = "1"
__maintainer__ = "Aldo Vargas"
__email__ = "*****@*****.**"
__status__ = "Development"
from pymultiwii import MultiWii
import time
if __name__ == "__main__":
#board = MultiWii("/dev/tty.usbserial-AM016WP4")
board = MultiWii("/dev/tty.SLAB_USBtoUART")
try:
board.arm()
print ("Board is armed now!")
print ("In 3 seconds it will disarm...")
time.sleep(3)
board.disarm()
print ("Disarmed.")
time.sleep(3)
except Exception,error:
print ("Error on Main: "+str(error))
import socket
from pymultiwii import MultiWii
import time
ip = ''
port = 5003
bufflen = 19
address = ("192.168.1.33", 5000)
cmd_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
mon_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
dir = ('', 5003)
cmd_socket.bind((ip, port))
uav = MultiWii("/dev/ttyUSB0")
uav.arm()
time.sleep(5)
orden = []
##orden={"roll":-1,"pitch":-1,"yaw":-1,"throttle":-1}
try:
while True:
data, _ = cmd_socket.recvfrom(bufflen)
data = data.split(':')
if data == ['']:
continue
#print str(data)
orden_s = [int(data[0]), int(data[1]), int(data[2]), int(data[3])]
two = 0
for i in range(class_number):
if (prediction[i] > first):
first = prediction[i]
top1 = class_dict[i]
elif (prediction[i] > two):
two = prediction[i]
top2 = class_dict[i]
controller.update()
if time.time() - console_messege_timer_start > 2:
console_messege = " "
if controller.B:
butterfly.arm()
console_messege = "Armed."
console_messege_timer_start = time.time()
elif controller.A:
butterfly.disarm()
console_messege = "Disarmed."
console_messege_timer_start = time.time()
elif controller.Y:
done = True
#example of 4 RC channels to be send
elif controller.X:
pitch = 1500
roll = 1500
rotate = 1500
throttle = 1000
elif controller.rb:
elif (key.decode() == 'g'):
cap = cv2.VideoCapture(cam)
while True:
pitch = 1500
roll = 1500
rotate = 1500
t = time.time()
#camera show
ret, frame = cap.read()
cv2.imshow('frame', frame)
#press to control
if (msvcrt.kbhit()):
key = msvcrt.getch()
if (key.decode() == 'a'): #arm
board.arm()
print("Drone is armed now!")
elif (key.decode() == 'd'): #disarm
board.disarm()
print("Disarmed.")
elif (key.decode() == 'r'): #reset
pitch = 1500
roll = 1500
rotate = 1500
throttle = 1000
CNN = -1
elif (key.decode() == 'u'): #left
#pitch = 1400
roll = 1300
data = [roll, pitch, rotate, throttle]
board.sendCMD(8, MultiWii.SET_RAW_RC, data)
drone = MultiWii()
input("press any key to continue")
try:
f = open("decision.txt", mode='w')
f.write(str(init + 0.1))
print("detected")
except Exception as e:
print(e)
finally:
f.close()
try:
drone.open("/dev/rfcomm0")
time.sleep(2)
drone.arm()
time.sleep(0.5)
drone.sendCMD(8, MultiWii.SET_RAW_RC, [1500, 1500, 1500, 1000], '4h')
print("arm")
except Exception as error:
print(error)
# pyplot.ion()
# fig = pyplot.figure()
# imu_fig = fig.add_subplot(121)
# pyplot.xticks([1, 2], ['roll', 'pitch'])
# rect1 = imu_fig.bar([1, 2], [-90, 90])
#
# imu_fig = fig.add_subplot(122)
# pyplot.xticks([1, 2, 3, 4], ['roll', 'pitch', 'yaw', 'throttle'])
# rect2 = imu_fig.bar([1, 2, 3, 4], [1000, 2000, 1000, 1000])
bufer = 2048 print 'Socket udp creado con exito' arm= 0 roll = ROLL + mando[3] pitch = PITCH + mando[2] yaw = YAW + mando[1] trothle = TROTHLE + mando[0] boton_up = mando[5] boton_down = mando[4] print 'Iniciando bucle principal' while Done == False: bat = ina.read() if boton_up == 12 and arm == 0: placa.arm() arm = 1 elif boton_up == 12 and arm ==1: placa.disarm() arm = 0 if arm ==1: data =[roll,pitch,yaw,trothle,1000,1000,1000,1000] placa.sendCMDreceiveATT(16,MultiWii.SET_RAW_RC,data) x = int(placa.attitude['angx']) y = int(placa.attitude['angy']) z = int(placa.attitude['heading']) array = [x,y,z,bat] msg = pickle.dumps(array) sock.sendto(msg, (UDP_HOST,UDP_PORT)) elif arm ==0: placa.getData(MultiWii.ATTITUDE)