def connect_to_aircraft():
text = prompt('TGCS> How many aircraft?: ', key_bindings=bindings)
text = prompt('TGCS> Serial (1) or IP (2)', key_bindings=bindings)
if text == '1':
if sys.platform == "darwin":
serialport = "/dev/tty.usbmodem1"
else:
serial_list = mavutil.auto_detect_serial(preferred_list=[
'*FTDI*', "*Arduino_Mega_2560*", "*3D_Robotics*",
"*USB_to_UART*", '*PX4*', '*FMU*', "*Gumstix*"
])
if len(serial_list) == 0:
print("Error: no serial connsection found")
return
if len(serial_list) > 1:
print('Auto-detected serial ports are:')
for port in serial_list:
print(" {:}".format(port))
print('Using port {:}'.format(serial_list[0]))
serialport = serial_list[0].device
drone = Craft('drone0', 'serial://' + serialport + ':57600')
if text == '2':
drone = Craft('drone0', 'udp://:14540')
drone.start()
return drone
import asyncio
import time
import numpy as np
from mavfleetcontrol.craft import Craft
from mavfleetcontrol.actions.point import FlyToPoint
from mavfleetcontrol.actions.position_velocity_control import PositionVelocityControl
from mavfleetcontrol.actions.land import land
if __name__ == "__main__":
# loop = asyncio.get_event_loop()
drone = Craft("drone1", "udp://:14540")
# loop.run_until_complete(drone.arm(coordinate=[0.0,0.0,0.0],attitude=[0.0,0.0,0.0]))
drone.start()
drone.add_action(FlyToPoint(np.array([0, 0, -5]), tolerance=1))
drone.add_action(
PositionVelocityControl(1,
[np.array([0.0, 0.0]),
np.array([0.0, 100.0])],
tolerance=10))
drone.add_action(land)
# drone.override_action(land)
drone.close_conn() # will run after FLYTOPOINT IS DONE)
drone.join()
import numpy as np
from mavfleetcontrol.craft import Craft
from mavfleetcontrol.actions.point import FlyToPoint
from mavfleetcontrol.actions.land import land
if __name__ == "__main__":
drone1 = Craft("drone1", "udp://:14540")
drone2 = Craft("drone2", "udp://:14541")
drone1.start()
drone2.start()
drone1.add_action(FlyToPoint(np.array([0,0,-2]),tolerance = 0.25))
drone1.add_action(FlyToPoint(np.array([2,0,-2]),tolerance = 0.25))
drone2.add_action(FlyToPoint(np.array([0,0,-2]),tolerance = 0.25))
drone2.add_action(FlyToPoint(np.array([2,0,-2]),tolerance = 0.25))
drone1.add_action(land)
drone2.add_action(land)
# drone.override_action(land)
drone1.close_conn()#will run after FLYTOPOINT IS DONE)
import asyncio
import time
import numpy as np
from mavfleetcontrol.craft import Craft
from mavfleetcontrol.actions.point import FlyToPoint
from mavfleetcontrol.actions.flip import Flip
from mavfleetcontrol.actions.land import land
if __name__ == "__main__":
# loop = asyncio.get_event_loop()
drone0 = Craft('drone0', "udp://:14540")
drone1 = Craft('drone1', "udp://:14541")
drone2 = Craft('drone1', "udp://:14542")
drone3 = Craft('drone1', "udp://:14543")
drone4 = Craft('drone1', "udp://:14544")
# loop.run_until_complete(drone.arm(coordinate=[0.0,0.0,0.0],attitude=[0.0,0.0,0.0]))
drone0.start()
drone1.start()
drone2.start()
drone3.start()
drone4.start()
drone0.add_action(FlyToPoint(np.array([0, 0, -15]), tolerance=1))
drone1.add_action(FlyToPoint(np.array([0, 0, -15]), tolerance=1))
drone2.add_action(FlyToPoint(np.array([0, 0, -15]), tolerance=1))
drone3.add_action(FlyToPoint(np.array([0, 0, -15]), tolerance=1))
drone4.add_action(FlyToPoint(np.array([0, 0, -15]), tolerance=1))
import asyncio
import time
import numpy as np
from mavfleetcontrol.craft import Craft
from mavfleetcontrol.actions.point import FlyToPoint
from mavfleetcontrol.actions.percision_land import PercisionLand
from mavfleetcontrol.actions.land import land
if __name__ == "__main__":
# loop = asyncio.get_event_loop()
drone = Craft("drone1", "udp://:14540")
# loop.run_until_complete(drone.arm(coordinate=[0.0,0.0,0.0],attitude=[0.0,0.0,0.0]))
drone.start()
drone.add_action(FlyToPoint(np.array([1, 1, -20]), tolerance=0.5))
drone.add_action( PercisionLand( 1.0, np.array([1, 1]) ) )
drone.add_action(land)
# drone.override_action(land)
drone.close_conn() # will run after FLYTOPOINT IS DONE)
drone.join()
# Test the implementation of a minimum snap trajectory generator
#
# By: Patrick Ledzian
# Date: 17Jul20
#
import asyncio
import time
import numpy as np
from mavfleetcontrol.craft import Craft
from mavfleetcontrol.actions.point import FlyToPoint
from mavfleetcontrol.actions.min_snap import MinSnap
from mavfleetcontrol.actions.percision_land import PercisionLand
from mavfleetcontrol.actions.land import land
if __name__ == "__main__":
drone = Craft('drone1', "udp://:14540")
drone.start()
drone.add_action(FlyToPoint(np.array([0, 0, -5]), tolerance=1))
drone.add_action(MinSnap())
drone.add_action(PercisionLand(1.0, np.array([0, 0])))
drone.add_action(land)
drone.close_conn()
drone.join()
from mavfleetcontrol.craft import Craft
from mavfleetcontrol.actions.sensor import Sensor
# drone = Craft('drone1',"serial:///dev/ttyUSB0:57600")
drone = Craft("drone1", "udp://:14540")
drone.start()
drone.add_action(Sensor())
drone.close_conn() #will run after FLYTOPOINT IS DONE)
drone.join()
import asyncio
import time
import numpy as np
from mavfleetcontrol.craft import Craft
from mavfleetcontrol.actions.point import FlyToPoint
from mavfleetcontrol.actions.land import land
if __name__ == "__main__":
# loop = asyncio.get_event_loop()
drone = Craft('drone1', "udp://:14540")
# loop.run_until_complete(drone.arm(coordinate=[0.0,0.0,0.0],attitude=[0.0,0.0,0.0]))
drone.start()
drone.add_action(FlyToPoint(np.array([0, 0, -2]), tolerance=0.25))
drone.add_action(FlyToPoint(np.array([2, 0, -2]), tolerance=0.25))
drone.add_action(land)
# drone.override_action(land)
drone.close_conn() #will run after FLYTOPOINT IS DONE)
drone.join()
import asyncio
import time
import numpy as np
from mavfleetcontrol.craft import Craft
from mavfleetcontrol.actions.point import FlyToPoint
from mavfleetcontrol.actions.circle import Circle
from mavfleetcontrol.actions.land import land
if __name__ == "__main__":
# loop = asyncio.get_event_loop()
drone = Craft('drone1', "udp://:14540")
# loop.run_until_complete(drone.arm(coordinate=[0.0,0.0,0.0],attitude=[0.0,0.0,0.0]))
drone.start()
drone.add_action(FlyToPoint(np.array([0, 0, -5]), tolerance=1))
drone.add_action(Circle(velocity=20.0, radius=8.0, angle=0.0))
drone.add_action(land)
# drone.override_action(land)
drone.close_conn() #will run after FLYTOPOINT IS DONE)
drone.join()
print('land')
if(((msg)[2])==53):#5
drone.add_action( PercisionLand( 1.0, np.array([1, 1]) ) )
print('percision_land')
if(((msg)[2])==54):#6
drone.add_action(FlyToPoint(np.array([0,0,-10]),tolerance =1))
print('FlyToPoint0,0,-10')
if(((msg)[2])==55):#7
drone.add_action(Circle(velocity=2.0,radius=8.0,angle=0.0))
print('circle')
if(((msg)[2])==56):#8
drone.add_action(Spin())
print('Spin')
if(((msg)[2])==57):#9
drone.override_action(Killing())
print('Killing!')
except Exception as E:
print(E)
def connection_lost(self, exc):
print('port closed')
asyncio.get_event_loop().stop()
# drone = Craft("drone1","serial:///dev/serial0:1000000")
drone = Craft('drone0',"udp://:14540")
drone.start()
loop = asyncio.get_event_loop()
# coro = serial_asyncio.create_serial_connection(loop, Output, '/dev/ttyUSB0', baudrate=57600)
coro = serial_asyncio.create_serial_connection(loop, Output, '/dev/serial0', baudrate=1000000)
loop.run_until_complete(coro)
loop.run_forever()
loop.close()
import numpy as np
from mavfleetcontrol.craft import Craft
from mavfleetcontrol.actions.point import FlyToPoint
from mavfleetcontrol.actions.land import land
from mavfleetcontrol.actions.arm import Arm
if __name__ == "__main__":
drone1 = Craft("drone1", "udp://:14540")
drone1.start()
drone1.add_action(Arm())
# drone1.add_action(FlyToPoint(np.array([0,0,-2]),tolerance = 0.25))
# drone1.add_action(land)
# drone.override_action(land)
drone1.close_conn() #will run after FLYTOPOINT IS DONE)
drone1.join()
import asyncio
import time
import numpy as np
from mavfleetcontrol.craft import Craft
from mavfleetcontrol.actions.point import FlyToPoint
from mavfleetcontrol.actions.circle import Circle
from mavfleetcontrol.actions.land import land
if __name__ == "__main__":
# loop = asyncio.get_event_loop()
drone0 = Craft('drone0', "udp://:14540")
drone1 = Craft('drone1', "udp://:14541")
# loop.run_until_complete(drone.arm(coordinate=[0.0,0.0,0.0],attitude=[0.0,0.0,0.0]))
drone0.start()
drone1.start()
drone0.add_action(FlyToPoint(np.array([3, 0, -5]), tolerance=1))
drone1.add_action(FlyToPoint(np.array([0, 0, -5]), tolerance=1))
drone0.add_action(
Circle(velocity=3.0, radius=5.0, angle=0.0, direction='cw'))
drone1.add_action(
Circle(velocity=3.0, radius=6.0, angle=0.0, direction='ccw'))
drone0.add_action(land)
drone1.add_action(land)
# drone.override_action(land)
drone0.close_conn() #will run after FLYTOPOINT IS DONE)
drone0.join()