Esempio n. 1
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def randomLocation(gridSize, location=OUR_LOCATION):
    # Calculates random waypoints based on provided grid and adds them to a list and queue
    grid = standardFuncs.generateGrid(gridSize, location)  # Creates a square grid centered about location
    lat = random.uniform(grid[0][0], grid[0][1])
    lon = random.uniform(grid[1][0], grid[1][1])
    alt = random.uniform(375, 400)
    location = standardFuncs.loc(lat, lon, alt)
    return location
Esempio n. 2
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def randomLocation(gridSize, location=OUR_LOCATION):
    # Calculates random waypoints based on provided grid and adds them to a list and queue
    grid = standardFuncs.generateGrid(
        gridSize, location)  # Creates a square grid centered about location
    lat = random.uniform(grid[0][0], grid[0][1])
    lon = random.uniform(grid[1][0], grid[1][1])
    alt = random.uniform(375, 400)
    location = standardFuncs.loc(lat, lon, alt)
    return location
Esempio n. 3
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def straightline (plane):


    if plane.avoid:

        target = plane.avoidanceWaypoint
        logging.info ("UAV #3i is moving toward an avoidance waypoint" % plane.id)

    else: target = plane.tLoc


    speed = plane.speed  # Get speed from plane
    distanceTraveled = plane.speed * defaultValues.DELAY #Get frequency of updates.
    plane.distanceTraveled += distanceTraveled  #The total distance travelled.

    # Calculate new position
    position = vMath.vector(distanceTraveled, plane.cBearing, plane.cElevation)

    new_lat = plane.cLoc.latitude + (position.x / standardFuncs.LATITUDE_TO_METERS)
    new_lon = plane.cLoc.longitude + (position.y / standardFuncs.LONGITUDE_TO_METERS)
    new_alt = plane.cLoc.altitude + position.z

    newLoc = standardFuncs.loc(new_lat,new_lon,new_alt)

    # Update current location, distance, total distance, target bearing,
    newloc = standardFuncs.loc(new_lat,new_lon,new_alt)
    plane.set_cLoc(newloc)

    # Calculate new bearing
    plane.cBearing = standardFuncs.find_bearing(plane.pLoc, plane.cLoc)
    plane.cElevation = standardFuncs.elevation_angle(plane.pLoc, plane.cLoc)

    # Calculate new elevation
    plane.tBearing = standardFuncs.find_bearing(newLoc, plane.tLoc)
    plane.tElevation = standardFuncs.elevation_angle(newLoc,plane.tLoc)

    # haversine's horizontal distance
    plane.distance = standardFuncs.findDistance(newLoc, plane.tLoc)

    # haversine's horizontal distance w/ vertical distance taken into account
    plane.tdistance = standardFuncs.totalDistance(newLoc, plane.tLoc)