# Linux address
#device = '/dev/ttyACM0'
# Windows address
#device = 'COM3'
runnum = episode()
pn = PixhawkNode(device)
pn.isactive(True)
# try loop is used to ensure that communication with pixhawk is
# terminated.
try:
# startup data stream
pn.isactive(True)
# change mode
pn.change_mode('MANUAL')
motor_out = []
readtime = []
total_time = 3 # total collection time, seconds
run_start = time()
loop_start = run_start
while run_start + total_time > loop_start:
loop_start = time()
pn.check_readings()
pn.send_rc(vel_dive=80)
pn.log(runnum)
# sleep to maintain constant rate
pause(loop_start, update_period)
pn = PixhawkNode(device)
total_time = 30 # total task time, seconds
target_heading = 80 # random choice
r_P = 3 # proportionality constant for heading correction
r_max = 70 # max rate of turn
r_tol = 5 # if we are within this number of degrees, we have succeeded
# create dictionary of nodes needed for this task
node_dict = {'pn': pn}
# try loop is used to ensure that communication with pixhawk is
# terminated.
try:
# startup data stream
pn.isactive(True)
pn.change_mode('MANUAL') # change to manual mode
r_task = constant_r_task(target_heading, r_P, r_max)
r_succ = constant_r_success(target_heading, r_tol)
main_loop(node_dict, runnum, total_time, isdone=r_succ, get_r=r_task)
print('Reached desired heading')
except SerialException:
print('Pixhawk is not connected to %s' % device)
raise
finally:
print('Shutting down communication')
pn.isactive(False)