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
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
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)