def projectBearing(self, bearing, startPos, searchArea):
'''Projects bearing from startPos until it reaches the edge(s) of
searchArea (list of lat/long tuples. Returns the First/Last position(s)'''
coPoints = []
#for each line in the search are border, get any overlaps with startPos on bearing(+-180)
for point in searchArea:
dist = cuav_util.gps_distance(point[0], point[1], searchArea[searchArea.index(point)-1][0], searchArea[searchArea.index(point)-1][1])
theta2 = cuav_util.gps_bearing(point[0], point[1], searchArea[searchArea.index(point)-1][0], searchArea[searchArea.index(point)-1][1])
posn = self.Intersection(startPos, bearing, point, theta2)
if posn != 0 and cuav_util.gps_distance(posn[0], posn[1], point[0], point[1]) < dist:
coPoints.append(posn)
posn = self.Intersection(startPos, (bearing + 180) % 360, point, theta2)
if posn != 0 and cuav_util.gps_distance(posn[0], posn[1], point[0], point[1]) < dist:
coPoints.append(posn)
#if there's more than two points in coPoints, return the furthest away points
if len(coPoints) < 2:
#print str(len(coPoints)) + " point i-sect"
return 0
elif len(coPoints) == 2:
return coPoints
else:
dist = 0
for point in coPoints:
for pt in coPoints:
if cuav_util.gps_distance(pt[0], pt[1], point[0], point[1]) > dist:
dist = cuav_util.gps_distance(pt[0], pt[1], point[0], point[1])
newcoPoints = [point, pt]
return newcoPoints
def report_points(wp, optspeed):
'''show points agl'''
home = wp.wp(0)
home_ground = EleModel.GetElevation(home.x, home.y)
total_distance = 0
max_climb_rate = 0
for i in range(1, wp.count()):
w0 = wp.wp(i-1)
w = wp.wp(i)
ground2 = EleModel.GetElevation(w.x, w.y)
if ground2 == None:
ground2 = home_ground
agl = (home_ground + w.z) - ground2
print("wp[%u] agl=%u" % (i, agl))
wp_dist = cuav_util.gps_distance(w0.x, w0.y, w.x, w.y)
wp_time = wp_dist / optspeed
climb = (w.z - w0.z) / wp_time
if climb > max_climb_rate and i > 1:
max_climb_rate = climb
print("Climb %.1f at wp %u" % (climb, i))
total_distance += wp_dist
t = total_distance / optspeed
print("Total_distance: %.2f km flight time %u:%u max_climb=%.1f" % (
total_distance*0.001,
int(t/60),
t % 60,
max_climb_rate))
def report_points(wp):
"""show points agl"""
home = wp.wp(0)
home_ground = get_ground_alt(home.x, home.y)
total_distance = 0
max_climb_rate = 0
for i in range(1, wp.count()):
w0 = wp.wp(i - 1)
w = wp.wp(i)
ground2 = get_ground_alt(w.x, w.y)
agl = (home_ground + w.z) - ground2
print("wp[%u] agl=%u" % (i, agl))
wp_dist = cuav_util.gps_distance(w0.x, w0.y, w.x, w.y)
wp_time = wp_dist / opts.speed
climb = (w.z - w0.z) / wp_time
if climb > max_climb_rate and i > 1:
max_climb_rate = climb
print("Climb %.1f at wp %u" % (climb, i))
total_distance += wp_dist
t = total_distance / opts.speed
print(
"Total_distance: %.2f km flight time %u:%u max_climb=%.1f"
% (total_distance * 0.001, int(t / 60), t % 60, max_climb_rate)
)
def report_points(wp):
'''show points agl'''
home = wp.wp(0)
home_ground = get_ground_alt(home.x, home.y)
total_distance = 0
max_climb_rate = 0
for i in range(1, wp.count()):
w0 = wp.wp(i - 1)
w = wp.wp(i)
ground2 = get_ground_alt(w.x, w.y)
agl = (home_ground + w.z) - ground2
print("wp[%u] agl=%u" % (i, agl))
wp_dist = cuav_util.gps_distance(w0.x, w0.y, w.x, w.y)
wp_time = wp_dist / opts.speed
climb = (w.z - w0.z) / wp_time
if climb > max_climb_rate and i > 1:
max_climb_rate = climb
print("Climb %.1f at wp %u" % (climb, i))
total_distance += wp_dist
t = total_distance / opts.speed
print("Total_distance: %.2f km flight time %u:%u max_climb=%.1f" %
(total_distance * 0.001, int(t / 60), t % 60, max_climb_rate))
def position(self, t, max_deltat=0,roll=None, pitch=None, maxroll=0, maxpitch=0, pitch_offset=0, roll_offset=0):
'''return a MavPosition estimate given a time'''
self.advance_log(t)
# extrapolate our latitude/longitude
gpst = t + self.gps_lag
gps_raw = self._find_msg('GLOBAL_POSITION_INT', gpst)
gps_timestamp = gps_raw._timestamp
velocity = math.sqrt((gps_raw.vx*0.01)**2 + (gps_raw.vy*0.01)**2)
deltat = gpst - gps_timestamp
(lat, lon) = cuav_util.gps_newpos(gps_raw.lat/1.0e7, gps_raw.lon/1.0e7,
gps_raw.hdg*0.01,
velocity * (gpst - gps_timestamp))
scaled_pressure = self._find_msg('SCALED_PRESSURE', t)
terrain_report = None
if len(self.terrain_report) > 0:
terrain_report = self._find_msg('TERRAIN_REPORT', t)
if terrain_report is not None:
(tlat, tlon) = (terrain_report.lat/1.0e7, terrain_report.lon/1.0e7)
# don't use it if its too far away
if (cuav_util.gps_distance(lat, lon, tlat, tlon) > 150 or
abs(terrain_report._timestamp - t) > 5):
terrain_report = None
# get altitude
altitude = self._altitude(scaled_pressure, terrain_report)
# and attitude
if roll is None:
roll = math.degrees(self.interpolate_angle('ATTITUDE', 'roll', t, max_deltat))
if abs(roll) < maxroll:
# camera stabilisation system can take care of it
roll = 0
elif roll >= maxroll:
# adjust for roll stabilisation system can't handle
roll = roll - maxroll
else:
# adjust for roll stabilisation system can't handle
roll = roll + maxroll
if pitch is None:
pitch = math.degrees(self.interpolate_angle('ATTITUDE', 'pitch', t, max_deltat))
if abs(pitch) < maxpitch:
pitch = 0
elif pitch >= maxpitch:
pitch = pitch - maxpitch
else:
pitch = pitch + maxpitch
# add pitch and roll offset
pitch += pitch_offset
roll += roll_offset
yaw = math.degrees(self.interpolate_angle('ATTITUDE', 'yaw', t, max_deltat))
return MavPosition(lat, lon, altitude, roll, pitch, yaw, t)
def filter_radius(regions, latlon, radius):
'''filter a list of regions using a search boundary'''
ret = []
for r in regions:
if r.latlon is None or cuav_util.gps_distance(
latlon[0], latlon[1], r.latlon[0], r.latlon[1]) > radius:
r.score = 0
ret.append(r)
return ret
def getPolygonLength(self):
'''Returns the search pattern path length (metres)'''
distance = 0
totPoint = self.entryPoints + self.SearchPattern + self.exitPoints
for point in totPoint:
if point != totPoint[-1]:
distance = distance + cuav_util.gps_distance(point[0], point[1], totPoint[totPoint.index(point)-1][0], totPoint[totPoint.index(point)-1][1])
return int(distance)
def getPolygonLength(self):
'''Returns the search pattern path length (metres)'''
distance = 0
totPoint = self.entryPoints + self.SearchPattern + self.exitPoints
for point in totPoint:
if point != totPoint[-1]:
distance = distance + cuav_util.gps_distance(
point[0], point[1], totPoint[totPoint.index(point) - 1][0],
totPoint[totPoint.index(point) - 1][1])
return int(distance)
def position(self, t, max_deltat=0, roll=None, maxroll=45):
'''return a MavPosition estimate given a time'''
self.advance_log(t)
try:
# extrapolate our latitude/longitude
gpst = t + self.gps_lag
gps_raw = self._find_msg('GLOBAL_POSITION_INT', gpst)
gps_timestamp = gps_raw._timestamp
velocity = math.sqrt((gps_raw.vx * 0.01)**2 +
(gps_raw.vy * 0.01)**2)
deltat = gpst - gps_timestamp
(lat,
lon) = cuav_util.gps_newpos(gps_raw.lat / 1.0e7,
gps_raw.lon / 1.0e7,
gps_raw.hdg * 0.01,
velocity * (gpst - gps_timestamp))
scaled_pressure = self._find_msg('SCALED_PRESSURE', t)
terrain_report = None
if len(self.terrain_report) > 0:
terrain_report = self._find_msg('TERRAIN_REPORT', t)
if terrain_report is not None:
(tlat, tlon) = (terrain_report.lat / 1.0e7,
terrain_report.lon / 1.0e7)
# don't use it if its too far away
if (cuav_util.gps_distance(lat, lon, tlat, tlon) > 150
or abs(terrain_report._timestamp - t) > 5):
terrain_report = None
# get altitude
altitude = self._altitude(scaled_pressure, terrain_report)
# and attitude
mavroll = math.degrees(
self.interpolate_angle('ATTITUDE', 'roll', t, max_deltat))
if roll is None:
roll = mavroll
elif abs(mavroll) < maxroll:
roll = 0
elif mavroll >= maxroll:
roll = mavroll - maxroll
else:
roll = mavroll + maxroll
pitch = math.degrees(
self.interpolate_angle('ATTITUDE', 'pitch', t, max_deltat))
yaw = math.degrees(
self.interpolate_angle('ATTITUDE', 'yaw', t, max_deltat))
return MavPosition(lat, lon, altitude, roll, pitch, yaw, t)
except Exception as exception:
return MavPosition(0.0, 0.0, 0, 0, 0, 0, t)
def projectBearing(self, bearing, startPos, searchArea):
'''Projects bearing from startPos until it reaches the edge(s) of
searchArea (list of lat/long tuples. Returns the First/Last position(s)'''
coPoints = []
#for each line in the search are border, get any overlaps with startPos on bearing(+-180)
for point in searchArea:
dist = cuav_util.gps_distance(
point[0], point[1], searchArea[searchArea.index(point) - 1][0],
searchArea[searchArea.index(point) - 1][1])
theta2 = cuav_util.gps_bearing(
point[0], point[1], searchArea[searchArea.index(point) - 1][0],
searchArea[searchArea.index(point) - 1][1])
posn = self.Intersection(startPos, bearing, point, theta2)
if posn != 0 and cuav_util.gps_distance(posn[0], posn[1], point[0],
point[1]) < dist:
coPoints.append(posn)
posn = self.Intersection(startPos, (bearing + 180) % 360, point,
theta2)
if posn != 0 and cuav_util.gps_distance(posn[0], posn[1], point[0],
point[1]) < dist:
coPoints.append(posn)
#if there's more than two points in coPoints, return the furthest away points
if len(coPoints) < 2:
#print str(len(coPoints)) + " point i-sect"
return 0
elif len(coPoints) == 2:
return coPoints
else:
dist = 0
for point in coPoints:
for pt in coPoints:
if cuav_util.gps_distance(pt[0], pt[1], point[0],
point[1]) > dist:
dist = cuav_util.gps_distance(pt[0], pt[1], point[0],
point[1])
newcoPoints = [point, pt]
return newcoPoints
def position(self, t, max_deltat=0,roll=None, pitch=None, maxroll=0, maxpitch=0, pitch_offset=0, roll_offset=0):
'''return a MavPosition estimate given a time'''
self.advance_log(t)
# interpolate our latitude/longitude
lat = self.interpolate('GLOBAL_POSITION_INT', 'lat', t, max_deltat)*1.0e-7
lon = self.interpolate('GLOBAL_POSITION_INT', 'lon', t, max_deltat)*1.0e-7
terrain_report = None
if len(self.terrain_report) > 0:
terrain_report = self._find_msg('TERRAIN_REPORT', t)
if terrain_report is not None:
(tlat, tlon) = (terrain_report.lat/1.0e7, terrain_report.lon/1.0e7)
# don't use it if its too far away
if (cuav_util.gps_distance(lat, lon, tlat, tlon) > 150 or
abs(terrain_report._timestamp - t) > 5):
terrain_report = None
# get altitude
gpst = t + self.gps_lag
gps_pos = self._find_msg('GLOBAL_POSITION_INT', gpst)
altitude = self._altitude(gps_pos, terrain_report)
# and attitude
if roll is None:
roll = math.degrees(self.interpolate_angle('ATTITUDE', 'roll', t, max_deltat))
if abs(roll) < maxroll:
# camera stabilisation system can take care of it
roll = 0
elif roll >= maxroll:
# adjust for roll stabilisation system can't handle
roll = roll - maxroll
else:
# adjust for roll stabilisation system can't handle
roll = roll + maxroll
if pitch is None:
pitch = math.degrees(self.interpolate_angle('ATTITUDE', 'pitch', t, max_deltat))
if abs(pitch) < maxpitch:
pitch = 0
elif pitch >= maxpitch:
pitch = pitch - maxpitch
else:
pitch = pitch + maxpitch
# add pitch and roll offset
pitch += pitch_offset
roll += roll_offset
yaw = math.degrees(self.interpolate_angle('ATTITUDE', 'yaw', t, max_deltat))
return MavPosition(lat, lon, altitude, roll, pitch, yaw, t)
def find_xy_in_image(lat, lon, pos, Xres, Yres, C_params):
'''find (x,y) coordinates in image that match a position. Very simple method'''
# find best X
bestX = -1
bestDist = -1
for x in range(0, Xres, 10):
latlon = cuav_util.gps_position_from_xy(x, Yres / 2, pos, C_params,
pos.altitude)
if latlon is None:
return None
(lat1, lon1) = latlon
dist = cuav_util.gps_distance(lat, lon, lat1, lon1)
if bestDist < 0 or dist < bestDist:
bestX = x
bestDist = dist
if bestX <= 20 or bestX >= Xres - 20:
return None
bestY = -1
bestDist = -1
for y in range(0, Yres, 10):
latlon = cuav_util.gps_position_from_xy(bestX, y, pos, C_params,
pos.altitude)
if latlon is None:
return None
(lat1, lon1) = latlon
dist = cuav_util.gps_distance(lat, lon, lat1, lon1)
if bestDist < 0 or dist < bestDist:
bestY = y
bestDist = dist
if bestY <= 20 or bestY >= Yres - 20:
return None
latlon = cuav_util.gps_position_from_xy(bestX, bestY, pos, C_params,
pos.altitude)
(lat1, lon1) = latlon
dist = cuav_util.gps_distance(lat, lon, lat1, lon1)
if dist > 15:
print("Bad interpolation %.1f" % dist)
return None
return (bestX, bestY)
def find_xy_in_image(lat, lon, pos, Xres, Yres, C_params):
'''find (x,y) coordinates in image that match a position. Very simple method'''
# find best X
bestX = -1
bestDist = -1
for x in range(0, Xres, 10):
latlon = cuav_util.gps_position_from_xy(x, Yres/2, pos, C_params, pos.altitude)
if latlon is None:
return None
(lat1,lon1) = latlon
dist = cuav_util.gps_distance(lat, lon, lat1, lon1)
if bestDist < 0 or dist < bestDist:
bestX = x
bestDist = dist
if bestX <= 20 or bestX >= Xres-20:
return None
bestY = -1
bestDist = -1
for y in range(0, Yres, 10):
latlon = cuav_util.gps_position_from_xy(bestX, y, pos, C_params, pos.altitude)
if latlon is None:
return None
(lat1,lon1) = latlon
dist = cuav_util.gps_distance(lat, lon, lat1, lon1)
if bestDist < 0 or dist < bestDist:
bestY = y
bestDist = dist
if bestY <= 20 or bestY >= Yres-20:
return None
latlon = cuav_util.gps_position_from_xy(bestX, bestY, pos, C_params, pos.altitude)
(lat1,lon1) = latlon
dist = cuav_util.gps_distance(lat, lon, lat1, lon1)
if dist > 15:
print("Bad interpolation %.1f" % dist)
return None
return (bestX, bestY)
def add_points(wp, argagl, argstep, argmaxdelta, argrtlalt):
'''add more points for terrain following'''
wplist = []
wplist2 = []
for i in range(0, wp.count()):
wplist.append(wp.wp(i))
wplist[0].z = argagl
# add in RTL
wplist.append(wplist[0])
wplist2.append(wplist[0])
home = wp.wp(0)
home_ground = EleModel.GetElevation(home.x, home.y)
for i in range(1, len(wplist)):
prev = (wplist2[-1].x, wplist2[-1].y, wplist2[-1].z)
dist = cuav_util.gps_distance(wplist2[-1].x, wplist2[-1].y, wplist[i].x, wplist[i].y)
bearing = cuav_util.gps_bearing(wplist2[-1].x, wplist2[-1].y, wplist[i].x, wplist[i].y)
print("dist=%u bearing=%u" % (dist, bearing))
while dist > argstep:
newpos = cuav_util.gps_newpos(prev[0], prev[1], bearing, argstep)
ground1 = EleModel.GetElevation(prev[0], prev[1])
ground2 = EleModel.GetElevation(newpos[0], newpos[1])
if ground2 == None:
ground2 = home_ground
agl = (home_ground + prev[2]) - ground2
if abs(agl - argagl) > argmaxdelta:
newwp = copy.copy(wplist2[-1])
newwp.x = newpos[0]
newwp.y = newpos[1]
newwp.z = (ground2 + argagl) - home_ground
wplist2.append(newwp)
print("Inserting at %u" % newwp.z)
prev = (newpos[0], newpos[1], newwp.z)
else:
prev = (newpos[0], newpos[1], wplist2[-1].z)
dist -= argstep
wplist2.append(wplist[i])
wplist2[-1].z = argrtlalt
wp2 = mavwp.MAVWPLoader()
for w in wplist2:
wp2.add(w)
wp2.save("newwp.txt")
return wp2
def position(self, t, max_deltat=0,roll=None, maxroll=45):
'''return a MavPosition estimate given a time'''
self.advance_log(t)
try:
# extrapolate our latitude/longitude
gpst = t + self.gps_lag
gps_raw = self._find_msg('GLOBAL_POSITION_INT', gpst)
gps_timestamp = gps_raw._timestamp
velocity = math.sqrt((gps_raw.vx*0.01)**2 + (gps_raw.vy*0.01)**2)
deltat = gpst - gps_timestamp
(lat, lon) = cuav_util.gps_newpos(gps_raw.lat/1.0e7, gps_raw.lon/1.0e7,
gps_raw.hdg*0.01,
velocity * (gpst - gps_timestamp))
scaled_pressure = self._find_msg('SCALED_PRESSURE', t)
terrain_report = None
if len(self.terrain_report) > 0:
terrain_report = self._find_msg('TERRAIN_REPORT', t)
if terrain_report is not None:
(tlat, tlon) = (terrain_report.lat/1.0e7, terrain_report.lon/1.0e7)
# don't use it if its too far away
if (cuav_util.gps_distance(lat, lon, tlat, tlon) > 150 or
abs(terrain_report._timestamp - t) > 5):
terrain_report = None
# get altitude
altitude = self._altitude(scaled_pressure, terrain_report)
# and attitude
mavroll = math.degrees(self.interpolate_angle('ATTITUDE', 'roll', t, max_deltat))
if roll is None:
roll = mavroll
elif abs(mavroll) < maxroll:
roll = 0
elif mavroll >= maxroll:
roll = mavroll - maxroll
else:
roll = mavroll + maxroll
pitch = math.degrees(self.interpolate_angle('ATTITUDE', 'pitch', t, max_deltat))
yaw = math.degrees(self.interpolate_angle('ATTITUDE', 'yaw', t, max_deltat))
return MavPosition(lat, lon, altitude, roll, pitch, yaw, t)
except Exception as exception:
return MavPosition(0.0, 0.0, 0, 0, 0, 0,t)
def add_points(wp):
'''add more points for terrain following'''
wplist = []
wplist2 = []
for i in range(0, wp.count()):
wplist.append(wp.wp(i))
wplist[0].z = opts.agl
# add in RTL
wplist.append(wplist[0])
wplist2.append(wplist[0])
home = wp.wp(0)
home_ground = get_ground_alt(home.x, home.y)
for i in range(1, len(wplist)):
prev = (wplist2[-1].x, wplist2[-1].y, wplist2[-1].z)
dist = cuav_util.gps_distance(wplist2[-1].x, wplist2[-1].y,
wplist[i].x, wplist[i].y)
bearing = cuav_util.gps_bearing(wplist2[-1].x, wplist2[-1].y,
wplist[i].x, wplist[i].y)
print("dist=%u bearing=%u" % (dist, bearing))
while dist > opts.step:
newpos = cuav_util.gps_newpos(prev[0], prev[1], bearing, opts.step)
ground1 = get_ground_alt(prev[0], prev[1])
ground2 = get_ground_alt(newpos[0], newpos[1])
agl = (home_ground + prev[2]) - ground2
if abs(agl - opts.agl) > opts.maxdelta:
newwp = copy.copy(wplist2[-1])
newwp.x = newpos[0]
newwp.y = newpos[1]
newwp.z = (ground2 + opts.agl) - home_ground
wplist2.append(newwp)
print("Inserting at %u" % newwp.z)
prev = (newpos[0], newpos[1], newwp.z)
else:
prev = (newpos[0], newpos[1], wplist2[-1].z)
dist -= opts.step
wplist2.append(wplist[i])
wplist2[-1].z = opts.rtlalt
wp2 = mavwp.MAVWPLoader()
for w in wplist2:
wp2.add(w)
wp2.save("newwp.txt")
return wp2
def mouse_event_view(self, event):
'''called on mouse events in View window'''
x = event.X
y = event.Y
if self.current_view >= len(self.images):
return
image = self.images[self.current_view]
latlon = cuav_util.gps_position_from_xy(x, y, image.pos, C=self.c_params, shape=image.shape, altitude=image.pos.altitude)
if self.last_view_latlon is None or latlon is None:
dist = ''
else:
distance = cuav_util.gps_distance(self.last_view_latlon[0], self.last_view_latlon[1],
latlon[0], latlon[1])
bearing = cuav_util.gps_bearing(self.last_view_latlon[0], self.last_view_latlon[1],
latlon[0], latlon[1])
dist = "dist %.1f bearing %.1f alt=%.1f shape=%s" % (distance, bearing, image.pos.altitude, image.shape)
print("-> %s %s %s" % (latlon, image.filename, dist))
self.last_view_latlon = latlon
def add_points(wp):
"""add more points for terrain following"""
wplist = []
wplist2 = []
for i in range(0, wp.count()):
wplist.append(wp.wp(i))
wplist[0].z = opts.agl
# add in RTL
wplist.append(wplist[0])
wplist2.append(wplist[0])
home = wp.wp(0)
home_ground = get_ground_alt(home.x, home.y)
for i in range(1, len(wplist)):
prev = (wplist2[-1].x, wplist2[-1].y, wplist2[-1].z)
dist = cuav_util.gps_distance(wplist2[-1].x, wplist2[-1].y, wplist[i].x, wplist[i].y)
bearing = cuav_util.gps_bearing(wplist2[-1].x, wplist2[-1].y, wplist[i].x, wplist[i].y)
print("dist=%u bearing=%u" % (dist, bearing))
while dist > opts.step:
newpos = cuav_util.gps_newpos(prev[0], prev[1], bearing, opts.step)
ground1 = get_ground_alt(prev[0], prev[1])
ground2 = get_ground_alt(newpos[0], newpos[1])
agl = (home_ground + prev[2]) - ground2
if abs(agl - opts.agl) > opts.maxdelta:
newwp = copy.copy(wplist2[-1])
newwp.x = newpos[0]
newwp.y = newpos[1]
newwp.z = (ground2 + opts.agl) - home_ground
wplist2.append(newwp)
print("Inserting at %u" % newwp.z)
prev = (newpos[0], newpos[1], newwp.z)
else:
prev = (newpos[0], newpos[1], wplist2[-1].z)
dist -= opts.step
wplist2.append(wplist[i])
wplist2[-1].z = opts.rtlalt
wp2 = mavwp.MAVWPLoader()
for w in wplist2:
wp2.add(w)
wp2.save("newwp.txt")
return wp2
def fix_climb(wp):
'''fix waypoints for max climb rate'''
while True:
adjusted = False
for i in range(1, wp.count()):
w0 = wp.wp(i - 1)
w = wp.wp(i)
w.frame = 3
wp_dist = cuav_util.gps_distance(w0.x, w0.y, w.x, w.y)
wp_time = wp_dist / opts.speed
climb = (w.z - w0.z) / wp_time
if climb > opts.maxclimb + 0.1 and i > 1:
z = w.z - (wp_time * opts.maxclimb)
adjusted = True
print("fix climb %.1f i=%u by %.1fm" % (climb, i, z - w0.z))
w0.z = z
if not adjusted:
return wp
return wp
def fix_climb(wp):
"""fix waypoints for max climb rate"""
while True:
adjusted = False
for i in range(1, wp.count()):
w0 = wp.wp(i - 1)
w = wp.wp(i)
w.frame = 3
wp_dist = cuav_util.gps_distance(w0.x, w0.y, w.x, w.y)
wp_time = wp_dist / opts.speed
climb = (w.z - w0.z) / wp_time
if climb > opts.maxclimb + 0.1 and i > 1:
z = w.z - (wp_time * opts.maxclimb)
adjusted = True
print("fix climb %.1f i=%u by %.1fm" % (climb, i, z - w0.z))
w0.z = z
if not adjusted:
return wp
return wp
def show_closest(self, latlon, selected):
'''show closest camera image'''
# first try to show the exact image selected
if len(selected) != 0 and self.show_selected(selected[0]):
return
(lat, lon) = latlon
closest = -1
closest_distance = -1
for idx in range(len(self.images)):
pos = self.images[idx].pos
if pos is not None:
distance = cuav_util.gps_distance(lat, lon, pos.lat, pos.lon)
if closest == -1 or distance < closest_distance:
closest_distance = distance
closest = idx
if closest == -1:
return
self.current_view = closest
self.last_view_latlon = None
image = self.images[closest]
self.view_imagefile(image.filename, focus_region=selected)
def best_image(self, pos):
'''return the best image for a position'''
latint = int(pos[0] * 1000)
lonint = int(pos[1] * 1000)
if not latint in self.latset or not lonint in self.lonset:
return None
s = self.latset[latint].intersection(self.lonset[lonint])
if len(s) == 0:
return None
bestdist = None
bestidx = None
for idx in s:
ipos = self.images[idx].pos
if ipos is None:
continue
dist = cuav_util.gps_distance(pos[0], pos[1], ipos[0], ipos[1])
if bestdist is None or dist < bestdist:
bestdist = dist
bestidx = idx
if bestdist is None:
return None
print(bestdist)
return self.images[bestidx]
def best_image(self, pos):
'''return the best image for a position'''
latint = int(pos[0]*1000)
lonint = int(pos[1]*1000)
if not latint in self.latset or not lonint in self.lonset:
return None
s = self.latset[latint].intersection(self.lonset[lonint])
if len(s) == 0:
return None
bestdist = None
bestidx = None
for idx in s:
ipos = self.images[idx].pos
if ipos is None:
continue
dist = cuav_util.gps_distance(pos[0], pos[1], ipos[0], ipos[1])
if bestdist is None or dist < bestdist:
bestdist = dist
bestidx = idx
if bestdist is None:
return None
print(bestdist)
return self.images[bestidx]
def position(self,
t,
max_deltat=0,
roll=None,
pitch=None,
maxroll=0,
maxpitch=0,
pitch_offset=0,
roll_offset=0):
'''return a MavPosition estimate given a time'''
self.advance_log(t)
# interpolate our latitude/longitude
lat = self.interpolate('GLOBAL_POSITION_INT', 'lat', t,
max_deltat) * 1.0e-7
lon = self.interpolate('GLOBAL_POSITION_INT', 'lon', t,
max_deltat) * 1.0e-7
terrain_report = None
if len(self.terrain_report) > 0:
terrain_report = self._find_msg('TERRAIN_REPORT', t)
if terrain_report is not None:
(tlat, tlon) = (terrain_report.lat / 1.0e7,
terrain_report.lon / 1.0e7)
# don't use it if its too far away
if (cuav_util.gps_distance(lat, lon, tlat, tlon) > 150
or abs(terrain_report._timestamp - t) > 5):
terrain_report = None
# get altitude
gpst = t + self.gps_lag
gps_pos = self._find_msg('GLOBAL_POSITION_INT', gpst)
altitude = self._altitude(gps_pos, terrain_report)
# and attitude
if roll is None:
roll = math.degrees(
self.interpolate_angle('ATTITUDE', 'roll', t, max_deltat))
if abs(roll) < maxroll:
# camera stabilisation system can take care of it
roll = 0
elif roll >= maxroll:
# adjust for roll stabilisation system can't handle
roll = roll - maxroll
else:
# adjust for roll stabilisation system can't handle
roll = roll + maxroll
if pitch is None:
pitch = math.degrees(
self.interpolate_angle('ATTITUDE', 'pitch', t, max_deltat))
if abs(pitch) < maxpitch:
pitch = 0
elif pitch >= maxpitch:
pitch = pitch - maxpitch
else:
pitch = pitch + maxpitch
# add pitch and roll offset
pitch += pitch_offset
roll += roll_offset
yaw = math.degrees(
self.interpolate_angle('ATTITUDE', 'yaw', t, max_deltat))
return MavPosition(lat, lon, altitude, roll, pitch, yaw, t)
def distance_from(self, region, center):
'''return distance of a region from a center point'''
(lat, lon) = region.latlon
(clat, clon) = center
return cuav_util.gps_distance(lat, lon, clat, clon)
def altitudeCompensation(self, heightAGL, numMaxPoints=100, threshold=5):
'''Creates height points (ASL) for each point in searchArea,
entry and exit points such that the plane stays a constant altitude above the ground,
constrained by a max number of waypoints'''
maxDeltaAlt = 0
maxDeltaAltPoints = []
maxDeltapercentAlong = 0
EleModel = mp_elevation.ElevationModel()
#make sure the SRTM tiles are downloaded
EleModel.GetElevation(self.SearchPattern[0][0], self.SearchPattern[0][1])
#get the ASL height of the airfield home, entry and exit points and initial search pattern
# and add the heightAGL to them
self.airportHeight = EleModel.GetElevation(self.airfieldHome[0], self.airfieldHome[1])
if abs(opts.basealt - self.airportHeight) > 30:
print("BAD BASE ALTITUDE %u - airfieldhome %u" % (opts.basealt, self.airportHeight))
sys.exit(1)
self.airportHeight = opts.basealt
self.airfieldHome = (self.airfieldHome[0], self.airfieldHome[1], heightAGL+opts.basealt)
for point in self.entryPoints:
self.entryPoints[self.entryPoints.index(point)] = (point[0], point[1], heightAGL+10+EleModel.GetElevation(point[0], point[1]))
for point in self.exitPoints:
self.exitPoints[self.exitPoints.index(point)] = (point[0], point[1], heightAGL+10+EleModel.GetElevation(point[0], point[1]))
for point in self.SearchPattern:
self.SearchPattern[self.SearchPattern.index(point)] = (point[0], point[1], heightAGL+EleModel.GetElevation(point[0], point[1]))
#keep looping through the search area waypoints and add new waypoints where needed
#to maintain const height above terrain
print "---Starting terrain tracking optimisation---"
while True:
maxDeltaAlt = 0
maxDeltaAltPoints = []
maxDeltaPointIndex = 0
for point in self.SearchPattern:
if point != self.SearchPattern[-1]:
dist = cuav_util.gps_distance(point[0], point[1], self.SearchPattern[self.SearchPattern.index(point)+1][0], self.SearchPattern[self.SearchPattern.index(point)+1][1])
theta = cuav_util.gps_bearing(point[0], point[1], self.SearchPattern[self.SearchPattern.index(point)+1][0], self.SearchPattern[self.SearchPattern.index(point)+1][1])
AltDiff = float(self.SearchPattern[self.SearchPattern.index(point)+1][2] - point[2])
if numpy.around(theta) == numpy.around(self.searchBearing) or numpy.around(theta) == numpy.around((self.searchBearing+180) % 360):
#increment 10% along waypoint-to-waypoint and get max height difference
for i in range(1, 9):
partPoint = cuav_util.gps_newpos(point[0], point[1], theta, (i*dist/10))
partAlt = EleModel.GetElevation(partPoint[0], partPoint[1]) + heightAGL
#print "Part = " + str(partAlt) + ", Orig = " + str(point[2])
if numpy.abs(point[2] + ((AltDiff*i)/10) - partAlt) > maxDeltaAlt:
maxDeltaAlt = numpy.abs(point[2] + ((AltDiff*i)/10) - partAlt)
maxDeltaAltPoint = (partPoint[0], partPoint[1], partAlt)
maxDeltaPointIndex = self.SearchPattern.index(point)+1
#print "New max alt diff: " + str(maxDeltaAlt) + ", " + str(partAlt)
#now put a extra waypoint in between the two maxDeltaAltPoints
if maxDeltaAltPoint is not None:
self.SearchPattern.insert(maxDeltaPointIndex, maxDeltaAltPoint)
#print "There are " + str(len(self.SearchPattern)) + " points in the search pattern. Max Alt error is " + str(maxDeltaAlt)
if len(self.SearchPattern) >= numMaxPoints or threshold > maxDeltaAlt:
break
print "---Done terrain tracking optimisation---"
def altitudeCompensation(self, heightAGL, numMaxPoints=100, threshold=5):
'''Creates height points (ASL) for each point in searchArea,
entry and exit points such that the plane stays a constant altitude above the ground,
constrained by a max number of waypoints'''
maxDeltaAlt = 0
maxDeltaAltPoints = []
maxDeltapercentAlong = 0
EleModel = mp_elevation.ElevationModel()
#make sure the SRTM tiles are downloaded
EleModel.GetElevation(self.SearchPattern[0][0],
self.SearchPattern[0][1])
#get the ASL height of the airfield home, entry and exit points and initial search pattern
# and add the heightAGL to them
self.airportHeight = EleModel.GetElevation(self.airfieldHome[0],
self.airfieldHome[1])
if abs(opts.basealt - self.airportHeight) > 30:
print("BAD BASE ALTITUDE %u - airfieldhome %u" %
(opts.basealt, self.airportHeight))
sys.exit(1)
self.airportHeight = opts.basealt
self.airfieldHome = (self.airfieldHome[0], self.airfieldHome[1],
heightAGL + opts.basealt)
for point in self.entryPoints:
self.entryPoints[self.entryPoints.index(point)] = (
point[0], point[1],
heightAGL + 10 + EleModel.GetElevation(point[0], point[1]))
for point in self.exitPoints:
self.exitPoints[self.exitPoints.index(point)] = (
point[0], point[1],
heightAGL + 10 + EleModel.GetElevation(point[0], point[1]))
for point in self.SearchPattern:
self.SearchPattern[self.SearchPattern.index(point)] = (
point[0], point[1],
heightAGL + EleModel.GetElevation(point[0], point[1]))
#keep looping through the search area waypoints and add new waypoints where needed
#to maintain const height above terrain
print "---Starting terrain tracking optimisation---"
while True:
maxDeltaAlt = 0
maxDeltaAltPoints = []
maxDeltaPointIndex = 0
for point in self.SearchPattern:
if point != self.SearchPattern[-1]:
dist = cuav_util.gps_distance(
point[0], point[1],
self.SearchPattern[self.SearchPattern.index(point) +
1][0],
self.SearchPattern[self.SearchPattern.index(point) +
1][1])
theta = cuav_util.gps_bearing(
point[0], point[1],
self.SearchPattern[self.SearchPattern.index(point) +
1][0],
self.SearchPattern[self.SearchPattern.index(point) +
1][1])
AltDiff = float(self.SearchPattern[
self.SearchPattern.index(point) + 1][2] - point[2])
if numpy.around(theta) == numpy.around(
self.searchBearing) or numpy.around(
theta) == numpy.around(
(self.searchBearing + 180) % 360):
#increment 10% along waypoint-to-waypoint and get max height difference
for i in range(1, 9):
partPoint = cuav_util.gps_newpos(
point[0], point[1], theta, (i * dist / 10))
partAlt = EleModel.GetElevation(
partPoint[0], partPoint[1]) + heightAGL
#print "Part = " + str(partAlt) + ", Orig = " + str(point[2])
if numpy.abs(point[2] + (
(AltDiff * i) / 10) - partAlt) > maxDeltaAlt:
maxDeltaAlt = numpy.abs(point[2] +
((AltDiff * i) / 10) -
partAlt)
maxDeltaAltPoint = (partPoint[0], partPoint[1],
partAlt)
maxDeltaPointIndex = self.SearchPattern.index(
point) + 1
#print "New max alt diff: " + str(maxDeltaAlt) + ", " + str(partAlt)
#now put a extra waypoint in between the two maxDeltaAltPoints
if maxDeltaAltPoint is not None:
self.SearchPattern.insert(maxDeltaPointIndex, maxDeltaAltPoint)
#print "There are " + str(len(self.SearchPattern)) + " points in the search pattern. Max Alt error is " + str(maxDeltaAlt)
if len(self.SearchPattern
) >= numMaxPoints or threshold > maxDeltaAlt:
break
print "---Done terrain tracking optimisation---"
def distance_from(self, region, center):
'''return distance of a region from a center point'''
(lat, lon) = region.latlon
(clat, clon) = center
return cuav_util.gps_distance(lat, lon, clat, clon)
def CreateSearchPattern(self, width=50.0, overlap=10.0, offset=10, wobble=10, alt=100):
'''Generate the waypoints for the search pattern, using alternating strips
width is the width (m) of each strip, overlap is the % overlap between strips,
alt is the altitude (relative to ground) of the points'''
self.SearchPattern = []
#find the nearest point to Airfield Home - use this as a starting point (if entry lanes are not used)
if len(self.entryPoints) == 0:
nearestdist = cuav_util.gps_distance(self.airfieldHome[0], self.airfieldHome[1], self.searchArea[0][0], self.searchArea[0][1])
nearest = self.searchArea[0]
for point in self.searchArea:
newdist = cuav_util.gps_distance(self.airfieldHome[0], self.airfieldHome[1], point[0], point[1])
if newdist < nearestdist:
nearest = point
nearestdist = newdist
else:
nearestdist = cuav_util.gps_distance(self.entryPoints[0][0], self.entryPoints[0][1], self.searchArea[0][0], self.searchArea[0][1])
nearest = self.searchArea[0]
for point in self.searchArea:
newdist = cuav_util.gps_distance(self.entryPoints[0][0], self.entryPoints[0][1], point[0], point[1])
#print "dist = " + str(newdist)
if newdist < nearestdist:
nearest = point
nearestdist = newdist
#print "Start = " + str(nearest) + ", dist = " + str(nearestdist)
#the search pattern will run between the longest side from nearest
bearing1 = cuav_util.gps_bearing(nearest[0], nearest[1], self.searchArea[self.searchArea.index(nearest)-1][0], self.searchArea[self.searchArea.index(nearest)-1][1])
bearing2 = cuav_util.gps_bearing(nearest[0], nearest[1], self.searchArea[self.searchArea.index(nearest)+1][0], self.searchArea[self.searchArea.index(nearest)+1][1])
dist1 = cuav_util.gps_distance(nearest[0], nearest[1], self.searchArea[self.searchArea.index(nearest)-1][0], self.searchArea[self.searchArea.index(nearest)-1][1])
dist2 = cuav_util.gps_distance(nearest[0], nearest[1], self.searchArea[self.searchArea.index(nearest)+1][0], self.searchArea[self.searchArea.index(nearest)+1][1])
if dist1 > dist2:
self.searchBearing = bearing1
else:
self.searchBearing = bearing2
#the search pattern will then run parallel between the two furthest points in the list
#searchLine = (0, 0)
#for point in self.searchArea:
# newdist = cuav_util.gps_distance(point[0], point[1], self.searchArea[self.searchArea.index(point)-1][0], self.searchArea[self.searchArea.index(point)-1][1])
# if newdist > searchLine[0]:
# searchLine = (newdist, cuav_util.gps_bearing(point[0], point[1], self.searchArea[self.searchArea.index(point)-1][0], self.searchArea[self.searchArea.index(point)-1][1]))
#self.searchBearing = searchLine[1]
#need to find the 90 degree bearing to searchBearing that is inside the search area. This
#will be the bearing we increment the search rows by
#need to get the right signs for the bearings, depending which quadrant the search area is in wrt nearest
if not cuav_util.polygon_outside(cuav_util.gps_newpos(nearest[0], nearest[1], (self.searchBearing + 45) % 360, 10), self.searchArea):
self.crossBearing = (self.searchBearing + 90) % 360
elif not cuav_util.polygon_outside(cuav_util.gps_newpos(nearest[0], nearest[1], (self.searchBearing + 135) % 360, 10), self.searchArea):
self.crossBearing = (self.searchBearing + 90) % 360
self.searchBearing = (self.searchBearing + 180) % 360
elif not cuav_util.polygon_outside(cuav_util.gps_newpos(nearest[0], nearest[1], (self.searchBearing - 45) % 360, 10), self.searchArea):
self.crossBearing = (self.searchBearing - 90) % 360
else:
self.crossBearing = (self.searchBearing - 90) % 360
self.searchBearing = (self.searchBearing - 180) % 360
print "Search bearing is " + str(self.searchBearing) + "/" + str((self.searchBearing + 180) % 360)
print "Cross bearing is: " + str(self.crossBearing)
#the distance between runs is this:
self.deltaRowDist = width - width*(float(overlap)/100)
if self.deltaRowDist <= 0:
print "Error, overlap % is too high"
return
print "Delta row = " + str(self.deltaRowDist)
#expand the search area to 1/2 deltaRowDist to ensure full coverage
#we are starting at the "nearest" and mowing the lawn parallel to "self.searchBearing"
#first waypoint is right near the Search Area boundary (without being on it) (10% of deltaRowDist
#on an opposite bearing (so behind the search area)
nextWaypoint = cuav_util.gps_newpos(nearest[0], nearest[1], self.crossBearing, self.deltaRowDist/10)
print "First = " + str(nextWaypoint)
#self.SearchPattern.append(firstWaypoint)
#mow the lawn, every 2nd row:
while True:
pts = self.projectBearing(self.searchBearing, nextWaypoint, self.searchArea)
#print "Projecting " + str(nextWaypoint) + " along " + str(self.searchBearing)
#check if we're outside the search area
if pts == 0:
break
(nextW, nextnextW) = (pts[0], pts[1])
if cuav_util.gps_distance(nextWaypoint[0], nextWaypoint[1], nextW[0], nextW[1]) < cuav_util.gps_distance(nextWaypoint[0], nextWaypoint[1], nextnextW[0], nextnextW[1]):
self.SearchPattern.append(cuav_util.gps_newpos(nextW[0], nextW[1], (self.searchBearing + 180) % 360, (offset+wobble)))
self.SearchPattern[-1] =(self.SearchPattern[-1][0], self.SearchPattern[-1][1], alt)
self.SearchPattern.append(cuav_util.gps_newpos(nextnextW[0], nextnextW[1], self.searchBearing, (offset+wobble)))
self.SearchPattern[-1] =(self.SearchPattern[-1][0], self.SearchPattern[-1][1], alt)
#now turn 90degrees from bearing and width distance
nextWaypoint = cuav_util.gps_newpos(nextnextW[0], nextnextW[1], self.crossBearing, self.deltaRowDist*2)
self.searchBearing = (self.searchBearing + 180) % 360
else:
self.SearchPattern.append(cuav_util.gps_newpos(nextnextW[0], nextnextW[1], (self.searchBearing + 180) % 360, offset+wobble))
self.SearchPattern[-1] =(self.SearchPattern[-1][0], self.SearchPattern[-1][1], alt)
self.SearchPattern.append(cuav_util.gps_newpos(nextW[0], nextW[1], self.searchBearing, (offset+wobble)))
self.SearchPattern[-1] =(self.SearchPattern[-1][0], self.SearchPattern[-1][1], alt)
#now turn 90degrees from bearing and width distance
nextWaypoint = cuav_util.gps_newpos(nextW[0], nextW[1], self.crossBearing, self.deltaRowDist*2)
self.searchBearing = (self.searchBearing + 180) % 360
print "Next = " + str(nextWaypoint)
#go back and do the rows we missed. There still might be one more row to do in
# the crossbearing direction, so check for that first
nextWaypoint = cuav_util.gps_newpos(nextWaypoint[0], nextWaypoint[1], self.crossBearing, -self.deltaRowDist)
pts = self.projectBearing(self.searchBearing, nextWaypoint, self.searchArea)
if pts == 0:
nextWaypoint = cuav_util.gps_newpos(nextWaypoint[0], nextWaypoint[1], self.crossBearing, -2*self.deltaRowDist)
self.crossBearing = (self.crossBearing + 180) % 360
else:
self.crossBearing = (self.crossBearing + 180) % 360
while True:
pts = self.projectBearing(self.searchBearing, nextWaypoint, self.searchArea)
#print "Projecting " + str(nextWaypoint) + " along " + str(self.searchBearing)
#check if we're outside the search area
if pts == 0:
break
(nextW, nextnextW) = (pts[0], pts[1])
if cuav_util.gps_distance(nextWaypoint[0], nextWaypoint[1], nextW[0], nextW[1]) < cuav_util.gps_distance(nextWaypoint[0], nextWaypoint[1], nextnextW[0], nextnextW[1]):
self.SearchPattern.append(cuav_util.gps_newpos(nextW[0], nextW[1], (self.searchBearing + 180) % 360, offset))
self.SearchPattern[-1] =(self.SearchPattern[-1][0], self.SearchPattern[-1][1], alt)
self.SearchPattern.append(cuav_util.gps_newpos(nextnextW[0], nextnextW[1], self.searchBearing, offset))
self.SearchPattern[-1] =(self.SearchPattern[-1][0], self.SearchPattern[-1][1], alt)
#now turn 90degrees from bearing and width distance
nextWaypoint = cuav_util.gps_newpos(nextnextW[0], nextnextW[1], self.crossBearing, self.deltaRowDist*2)
self.searchBearing = (self.searchBearing + 180) % 360
else:
self.SearchPattern.append(cuav_util.gps_newpos(nextnextW[0], nextnextW[1], (self.searchBearing + 180) % 360, offset))
self.SearchPattern[-1] =(self.SearchPattern[-1][0], self.SearchPattern[-1][1], alt)
self.SearchPattern.append(cuav_util.gps_newpos(nextW[0], nextW[1], self.searchBearing, offset))
self.SearchPattern[-1] =(self.SearchPattern[-1][0], self.SearchPattern[-1][1], alt)
#now turn 90degrees from bearing and width distance
nextWaypoint = cuav_util.gps_newpos(nextW[0], nextW[1], self.crossBearing, self.deltaRowDist*2)
self.searchBearing = (self.searchBearing + 180) % 360
print "Next(alt) = " + str(nextWaypoint)
#add in the altitude points (relative to airfield home)
for point in self.SearchPattern:
self.SearchPattern[self.SearchPattern.index(point)] = (point[0], point[1], alt)
def update_mission(self, m):
'''update mission status'''
if not self.cuav_settings.auto_mission:
return
wpmod = self.module('wp')
wploader = wpmod.wploader
if wploader.count() < 2 and self.last_attitude_ms - self.last_wp_list_ms > 5000:
self.last_wp_list_ms = self.last_attitude_ms
wpmod.cmd_wp(["list"])
wp_start = self.find_user_wp(wploader, self.cuav_settings.wp_start)
wp_center = self.find_user_wp(wploader, self.cuav_settings.wp_center)
wp_end = self.find_user_wp(wploader, self.cuav_settings.wp_end)
if (wp_center is None or
wp_start is None or
wp_end is None):
# not configured
return
if m.seq >= wp_start and m.seq <= wp_end:
lookahead = self.cuav_settings.lookahead_search
margin_exc = self.cuav_settings.margin_exc_search
else:
lookahead = self.cuav_settings.lookahead_default
margin_exc = self.cuav_settings.margin_exc_default
v = self.mav_param.get('AVD_LOOKAHEAD', None)
if v is not None and abs(v - lookahead) > 1:
self.send_message("Set AVD_LOOKAHEAD %u" % lookahead)
self.master.param_set_send('AVD_LOOKAHEAD', lookahead)
v = self.mav_param.get('AVD_MARGIN_EXCL', None)
if v is not None and abs(v - margin_exc) > 1:
self.send_message("Set AVD_MARGIN_EXCL %u" % margin_exc)
self.master.param_set_send('AVD_MARGIN_EXCL', margin_exc)
# run every 5 seconds
if self.last_attitude_ms - self.last_mission_check_ms < 5000:
return
self.last_mission_check_ms = self.last_attitude_ms
if self.updated_waypoints:
cam = self.module('camera_air')
if wpmod.loading_waypoints:
self.send_message("listing waypoints")
wpmod.cmd_wp(["list"])
else:
self.send_message("sending waypoints")
self.updated_waypoints = False
wploader.save("newwp.txt")
cam.send_file("newwp.txt")
if self.started_landing:
# no more to do
return
if self.last_attitude_ms - self.last_wp_move_ms < 2*60*1000:
# only move waypoints every 2 minutes
return
try:
cam = self.module('camera_air')
lz = cam.lz
target_latitude = cam.camera_settings.target_latitude
target_longitude = cam.camera_settings.target_longitude
target_radius = cam.camera_settings.target_radius
except Exception:
self.send_message("target not set")
return
lzresult = lz.calclandingzone()
if lzresult is None:
return
self.send_message("lzresult nr:%u avgscore:%u" % (lzresult.numregions, lzresult.avgscore))
if lzresult.numregions < 5 and lzresult.avgscore < 20000:
# only accept short lists if they have high scores
return
(lat, lon) = lzresult.latlon
# check it is within the target radius
if target_radius > 0:
dist = cuav_util.gps_distance(lat, lon, target_latitude, target_longitude)
self.send_message("dist %u" % dist)
if dist > target_radius:
return
# don't move more than 70m from the center of the search, this keeps us
# over more of the search area, and further from the fence
max_move = target_radius
if self.wp_move_count == 0:
# don't move more than 50m from center on first move
max_move = 35
if self.wp_move_count == 1:
# don't move more than 80m from center on 2nd move
max_move = 80
if dist > max_move:
bearing = cuav_util.gps_bearing(target_latitude, target_longitude, lat, lon)
(lat, lon) = cuav_util.gps_newpos(target_latitude, target_longitude, bearing, max_move)
# we may need to fetch the wp list
if self.last_attitude_ms - self.last_wp_list_ms > 120000 or wpmod.loading_waypoints:
self.last_wp_list_ms = self.last_attitude_ms
self.send_message("fetching waypoints")
wpmod.cmd_wp(["list"])
return
self.last_wp_move_ms = self.last_attitude_ms
self.wp_move_count += 1
self.send_message("Moving search to: (%f,%f) %u" % (lat, lon, self.wp_move_count))
wpmod.cmd_wp_movemulti([wp_center, wp_start, wp_end], (lat,lon))
wp_land = self.find_user_wp(wploader, self.cuav_settings.wp_land)
if (wp_land is not None and
self.wp_move_count >= 3 and
lzresult.numregions > 10 and
self.master.flightmode == "AUTO"):
self.send_message("Starting landing")
self.master.waypoint_set_current_send(wp_land)
self.started_landing = True
self.updated_waypoints = True
def update_mission(self):
'''update mission status'''
if not self.cuav_settings.auto_mission:
return
wpmod = self.module('wp')
wploader = wpmod.wploader
if wploader.count(
) < 2 and self.last_attitude_ms - self.last_wp_list_ms > 5000:
self.last_wp_list_ms = self.last_attitude_ms
wpmod.cmd_wp(["list"])
wp_start = self.find_user_wp(wploader, self.cuav_settings.wp_start)
wp_center = self.find_user_wp(wploader, self.cuav_settings.wp_center)
wp_end = self.find_user_wp(wploader, self.cuav_settings.wp_end)
if (wp_center is None or wp_start is None or wp_end is None):
# not configured
return
# run every 5 seconds
if self.last_attitude_ms - self.last_mission_check_ms < 5000:
return
self.last_mission_check_ms = self.last_attitude_ms
if self.updated_waypoints:
cam = self.module('camera_air')
if wpmod.loading_waypoints:
self.send_message("listing waypoints")
wpmod.cmd_wp(["list"])
else:
self.send_message("sending waypoints")
self.updated_waypoints = False
wploader.save("newwp.txt")
cam.send_file("newwp.txt")
if self.started_landing:
# no more to do
return
if self.last_attitude_ms - self.last_wp_move_ms < 2 * 60 * 1000:
# only move waypoints every 2 minutes
return
try:
cam = self.module('camera_air')
lz = cam.lz
target_latitude = cam.camera_settings.target_latitude
target_longitude = cam.camera_settings.target_longitude
target_radius = cam.camera_settings.target_radius
except Exception:
self.send_message("target not set")
return
lzresult = lz.calclandingzone()
if lzresult is None:
return
self.send_message("lzresult nr:%u avgscore:%u" %
(lzresult.numregions, lzresult.avgscore))
if lzresult.numregions < 5 and lzresult.avgscore < 20000:
# only accept short lists if they have high scores
return
(lat, lon) = lzresult.latlon
# check it is within the target radius
if target_radius > 0:
dist = cuav_util.gps_distance(lat, lon, target_latitude,
target_longitude)
self.send_message("dist %u" % dist)
if dist > target_radius:
return
# don't move more than 70m from the center of the search, this keeps us
# over more of the search area, and further from the fence
max_move = target_radius
if self.wp_move_count == 0:
# don't move more than 50m from center on first move
max_move = 35
if self.wp_move_count == 1:
# don't move more than 80m from center on 2nd move
max_move = 80
if dist > max_move:
bearing = cuav_util.gps_bearing(target_latitude,
target_longitude, lat, lon)
(lat, lon) = cuav_util.gps_newpos(target_latitude,
target_longitude, bearing,
max_move)
# we may need to fetch the wp list
if self.last_attitude_ms - self.last_wp_list_ms > 120000 or wpmod.loading_waypoints:
self.last_wp_list_ms = self.last_attitude_ms
self.send_message("fetching waypoints")
wpmod.cmd_wp(["list"])
return
self.last_wp_move_ms = self.last_attitude_ms
self.wp_move_count += 1
self.send_message("Moving search to: (%f,%f) %u" %
(lat, lon, self.wp_move_count))
wpmod.cmd_wp_movemulti([wp_center, wp_start, wp_end], (lat, lon))
wp_land = self.find_user_wp(wploader, self.cuav_settings.wp_land)
if (wp_land is not None and self.wp_move_count >= 3
and lzresult.numregions > 10
and self.master.flightmode == "AUTO"):
self.send_message("Starting landing")
self.master.waypoint_set_current_send(wp_land)
self.started_landing = True
self.updated_waypoints = True
def CreateSearchPattern(self,
width=50.0,
overlap=10.0,
offset=10,
wobble=10,
alt=100):
'''Generate the waypoints for the search pattern, using alternating strips
width is the width (m) of each strip, overlap is the % overlap between strips,
alt is the altitude (relative to ground) of the points'''
self.SearchPattern = []
#find the nearest point to Airfield Home - use this as a starting point (if entry lanes are not used)
if len(self.entryPoints) == 0:
nearestdist = cuav_util.gps_distance(self.airfieldHome[0],
self.airfieldHome[1],
self.searchArea[0][0],
self.searchArea[0][1])
nearest = self.searchArea[0]
for point in self.searchArea:
newdist = cuav_util.gps_distance(self.airfieldHome[0],
self.airfieldHome[1],
point[0], point[1])
if newdist < nearestdist:
nearest = point
nearestdist = newdist
else:
nearestdist = cuav_util.gps_distance(self.entryPoints[0][0],
self.entryPoints[0][1],
self.searchArea[0][0],
self.searchArea[0][1])
nearest = self.searchArea[0]
for point in self.searchArea:
newdist = cuav_util.gps_distance(self.entryPoints[0][0],
self.entryPoints[0][1],
point[0], point[1])
#print "dist = " + str(newdist)
if newdist < nearestdist:
nearest = point
nearestdist = newdist
#print "Start = " + str(nearest) + ", dist = " + str(nearestdist)
#the search pattern will run between the longest side from nearest
bearing1 = cuav_util.gps_bearing(
nearest[0], nearest[1],
self.searchArea[self.searchArea.index(nearest) - 1][0],
self.searchArea[self.searchArea.index(nearest) - 1][1])
bearing2 = cuav_util.gps_bearing(
nearest[0], nearest[1],
self.searchArea[self.searchArea.index(nearest) + 1][0],
self.searchArea[self.searchArea.index(nearest) + 1][1])
dist1 = cuav_util.gps_distance(
nearest[0], nearest[1],
self.searchArea[self.searchArea.index(nearest) - 1][0],
self.searchArea[self.searchArea.index(nearest) - 1][1])
dist2 = cuav_util.gps_distance(
nearest[0], nearest[1],
self.searchArea[self.searchArea.index(nearest) + 1][0],
self.searchArea[self.searchArea.index(nearest) + 1][1])
if dist1 > dist2:
self.searchBearing = bearing1
else:
self.searchBearing = bearing2
#the search pattern will then run parallel between the two furthest points in the list
#searchLine = (0, 0)
#for point in self.searchArea:
# newdist = cuav_util.gps_distance(point[0], point[1], self.searchArea[self.searchArea.index(point)-1][0], self.searchArea[self.searchArea.index(point)-1][1])
# if newdist > searchLine[0]:
# searchLine = (newdist, cuav_util.gps_bearing(point[0], point[1], self.searchArea[self.searchArea.index(point)-1][0], self.searchArea[self.searchArea.index(point)-1][1]))
#self.searchBearing = searchLine[1]
#need to find the 90 degree bearing to searchBearing that is inside the search area. This
#will be the bearing we increment the search rows by
#need to get the right signs for the bearings, depending which quadrant the search area is in wrt nearest
if not cuav_util.polygon_outside(
cuav_util.gps_newpos(nearest[0], nearest[1],
(self.searchBearing + 45) % 360, 10),
self.searchArea):
self.crossBearing = (self.searchBearing + 90) % 360
elif not cuav_util.polygon_outside(
cuav_util.gps_newpos(nearest[0], nearest[1],
(self.searchBearing + 135) % 360, 10),
self.searchArea):
self.crossBearing = (self.searchBearing + 90) % 360
self.searchBearing = (self.searchBearing + 180) % 360
elif not cuav_util.polygon_outside(
cuav_util.gps_newpos(nearest[0], nearest[1],
(self.searchBearing - 45) % 360, 10),
self.searchArea):
self.crossBearing = (self.searchBearing - 90) % 360
else:
self.crossBearing = (self.searchBearing - 90) % 360
self.searchBearing = (self.searchBearing - 180) % 360
print "Search bearing is " + str(self.searchBearing) + "/" + str(
(self.searchBearing + 180) % 360)
print "Cross bearing is: " + str(self.crossBearing)
#the distance between runs is this:
self.deltaRowDist = width - width * (float(overlap) / 100)
if self.deltaRowDist <= 0:
print "Error, overlap % is too high"
return
print "Delta row = " + str(self.deltaRowDist)
#expand the search area to 1/2 deltaRowDist to ensure full coverage
#we are starting at the "nearest" and mowing the lawn parallel to "self.searchBearing"
#first waypoint is right near the Search Area boundary (without being on it) (10% of deltaRowDist
#on an opposite bearing (so behind the search area)
nextWaypoint = cuav_util.gps_newpos(nearest[0], nearest[1],
self.crossBearing,
self.deltaRowDist / 10)
print "First = " + str(nextWaypoint)
#self.SearchPattern.append(firstWaypoint)
#mow the lawn, every 2nd row:
while True:
pts = self.projectBearing(self.searchBearing, nextWaypoint,
self.searchArea)
#print "Projecting " + str(nextWaypoint) + " along " + str(self.searchBearing)
#check if we're outside the search area
if pts == 0:
break
(nextW, nextnextW) = (pts[0], pts[1])
if cuav_util.gps_distance(
nextWaypoint[0], nextWaypoint[1],
nextW[0], nextW[1]) < cuav_util.gps_distance(
nextWaypoint[0], nextWaypoint[1], nextnextW[0],
nextnextW[1]):
self.SearchPattern.append(
cuav_util.gps_newpos(nextW[0], nextW[1],
(self.searchBearing + 180) % 360,
(offset + wobble)))
self.SearchPattern[-1] = (self.SearchPattern[-1][0],
self.SearchPattern[-1][1], alt)
self.SearchPattern.append(
cuav_util.gps_newpos(nextnextW[0], nextnextW[1],
self.searchBearing,
(offset + wobble)))
self.SearchPattern[-1] = (self.SearchPattern[-1][0],
self.SearchPattern[-1][1], alt)
#now turn 90degrees from bearing and width distance
nextWaypoint = cuav_util.gps_newpos(nextnextW[0], nextnextW[1],
self.crossBearing,
self.deltaRowDist * 2)
self.searchBearing = (self.searchBearing + 180) % 360
else:
self.SearchPattern.append(
cuav_util.gps_newpos(nextnextW[0], nextnextW[1],
(self.searchBearing + 180) % 360,
offset + wobble))
self.SearchPattern[-1] = (self.SearchPattern[-1][0],
self.SearchPattern[-1][1], alt)
self.SearchPattern.append(
cuav_util.gps_newpos(nextW[0], nextW[1],
self.searchBearing,
(offset + wobble)))
self.SearchPattern[-1] = (self.SearchPattern[-1][0],
self.SearchPattern[-1][1], alt)
#now turn 90degrees from bearing and width distance
nextWaypoint = cuav_util.gps_newpos(nextW[0], nextW[1],
self.crossBearing,
self.deltaRowDist * 2)
self.searchBearing = (self.searchBearing + 180) % 360
print "Next = " + str(nextWaypoint)
#go back and do the rows we missed. There still might be one more row to do in
# the crossbearing direction, so check for that first
nextWaypoint = cuav_util.gps_newpos(nextWaypoint[0], nextWaypoint[1],
self.crossBearing,
-self.deltaRowDist)
pts = self.projectBearing(self.searchBearing, nextWaypoint,
self.searchArea)
if pts == 0:
nextWaypoint = cuav_util.gps_newpos(nextWaypoint[0],
nextWaypoint[1],
self.crossBearing,
-2 * self.deltaRowDist)
self.crossBearing = (self.crossBearing + 180) % 360
else:
self.crossBearing = (self.crossBearing + 180) % 360
while True:
pts = self.projectBearing(self.searchBearing, nextWaypoint,
self.searchArea)
#print "Projecting " + str(nextWaypoint) + " along " + str(self.searchBearing)
#check if we're outside the search area
if pts == 0:
break
(nextW, nextnextW) = (pts[0], pts[1])
if cuav_util.gps_distance(
nextWaypoint[0], nextWaypoint[1],
nextW[0], nextW[1]) < cuav_util.gps_distance(
nextWaypoint[0], nextWaypoint[1], nextnextW[0],
nextnextW[1]):
self.SearchPattern.append(
cuav_util.gps_newpos(nextW[0], nextW[1],
(self.searchBearing + 180) % 360,
offset))
self.SearchPattern[-1] = (self.SearchPattern[-1][0],
self.SearchPattern[-1][1], alt)
self.SearchPattern.append(
cuav_util.gps_newpos(nextnextW[0], nextnextW[1],
self.searchBearing, offset))
self.SearchPattern[-1] = (self.SearchPattern[-1][0],
self.SearchPattern[-1][1], alt)
#now turn 90degrees from bearing and width distance
nextWaypoint = cuav_util.gps_newpos(nextnextW[0], nextnextW[1],
self.crossBearing,
self.deltaRowDist * 2)
self.searchBearing = (self.searchBearing + 180) % 360
else:
self.SearchPattern.append(
cuav_util.gps_newpos(nextnextW[0], nextnextW[1],
(self.searchBearing + 180) % 360,
offset))
self.SearchPattern[-1] = (self.SearchPattern[-1][0],
self.SearchPattern[-1][1], alt)
self.SearchPattern.append(
cuav_util.gps_newpos(nextW[0], nextW[1],
self.searchBearing, offset))
self.SearchPattern[-1] = (self.SearchPattern[-1][0],
self.SearchPattern[-1][1], alt)
#now turn 90degrees from bearing and width distance
nextWaypoint = cuav_util.gps_newpos(nextW[0], nextW[1],
self.crossBearing,
self.deltaRowDist * 2)
self.searchBearing = (self.searchBearing + 180) % 360
print "Next(alt) = " + str(nextWaypoint)
#add in the altitude points (relative to airfield home)
for point in self.SearchPattern:
self.SearchPattern[self.SearchPattern.index(point)] = (point[0],
point[1],
alt)
