def initialize_drone(self):
for drone_name in ["drone_1"]:
self.airsim_client.enableApiControl(vehicle_name=drone_name)
self.airsim_client.arm(vehicle_name=drone_name)
# set default values for trajectory tracker gains
self.traj_tracker_gains = airsim.TrajectoryTrackerGains(
kp_cross_track=5.0,
kd_cross_track=0.0,
kp_vel_cross_track=3.0,
kd_vel_cross_track=0.0,
kp_along_track=0.4,
kd_along_track=0.0,
kp_vel_along_track=0.04,
kd_vel_along_track=0.0,
kp_z_track=2.0,
kd_z_track=0.0,
kp_vel_z=0.4,
kd_vel_z=0.0,
kp_yaw=3.0,
kd_yaw=0.1)
self.airsim_client.setTrajectoryTrackerGains(
self.traj_tracker_gains, vehicle_name=drone_name)
time.sleep(0.2)
def initialize_drone(self):
self.airsim_client.enableApiControl(vehicle_name=self.drone_name)
self.airsim_client.arm(vehicle_name=self.drone_name)
traj_tracker_gains = airsim.TrajectoryTrackerGains(kp_cross_track=11.0, kd_cross_track=4.0,
kp_vel_cross_track=3.0, kd_vel_cross_track=0.0,
kp_along_track=0.4, kd_along_track=0.0,
kp_vel_along_track=0.04, kd_vel_along_track=0.0,
kp_z_track=8.3, kd_z_track=3.5,
kp_vel_z=3, kd_vel_z=0.8,
kp_yaw=3.0, kd_yaw=0.5)
self.airsim_client.setTrajectoryTrackerGains(traj_tracker_gains, vehicle_name=self.drone_name)
time.sleep(0.2)
def main(args):
client = airsim.MultirotorClient()
client.confirmConnection()
client.enableApiControl()
client.arm()
traj_tracker_gains = airsim.TrajectoryTrackerGains(
kp_cross_track = 5.0, kd_cross_track = 0.0,
kp_vel_cross_track = 3.0, kd_vel_cross_track = 0.0,
kp_along_track = 0.4, kd_along_track = 0.0,
kp_vel_along_track = 0.04, kd_vel_along_track = 0.0,
kp_z_track = 2.0, kd_z_track = 0.0,
kp_vel_z = 0.4, kd_vel_z = 0.0,
kp_yaw = 3.0, kd_yaw = 0.1
)
client.setTrajectoryTrackerGains(traj_tracker_gains)
client.takeoffAsync().join()
def initialize_drone(self):
self.airsim_client.enableApiControl()
self.airsim_client.arm()
# set default values for trajectory tracker gains
traj_tracker_gains = airsim.TrajectoryTrackerGains(
kp_cross_track=5.0,
kd_cross_track=0.0,
kp_vel_cross_track=3.0,
kd_vel_cross_track=0.0,
kp_along_track=0.4,
kd_along_track=0.0,
kp_vel_along_track=0.04,
kd_vel_along_track=0.0,
kp_z_track=2.0,
kd_z_track=0.0,
kp_vel_z=0.4,
kd_vel_z=0.0,
kp_yaw=3.0,
kd_yaw=0.1)
self.airsim_client.setTrajectoryTrackerGains(traj_tracker_gains)
time.sleep(0.2)
client.simLoadLevel(level_name)
client.confirmConnection()
time.sleep(2.0)
# Arm drone
client.enableApiControl(vehicle_name=drone_name)
client.arm(vehicle_name=drone_name)
# Set default values for trajectory tracker gains
traj_tracker_gains = airsim.TrajectoryTrackerGains(kp_cross_track=5.0,
kd_cross_track=0.0,
kp_vel_cross_track=3.0,
kd_vel_cross_track=0.0,
kp_along_track=0.4,
kd_along_track=0.0,
kp_vel_along_track=0.04,
kd_vel_along_track=0.0,
kp_z_track=2.0,
kd_z_track=0.0,
kp_vel_z=0.4,
kd_vel_z=0.0,
kp_yaw=3.0,
kd_yaw=0.1)
client.setTrajectoryTrackerGains(traj_tracker_gains, vehicle_name=drone_name)
time.sleep(0.2)
# Start race
client.simStartRace(tier=tier)
# Take off
# client.takeoffAsync().join()
# client.reset()
