def Drone_land(signal_recieved, frame):
drone(Landing()).wait()
time.sleep(10)
drone(Emergency()).wait()
print("Simulation Exited")
sys.exit(0)
def Drone_Actn(xa, drone):
print(colored(('Your Message: ', xa), "blue"))
X_Ref = []
X_Home = [1, 2.5, 0.75, 0, 0, 0, 0, 0, 3*pi/2]
if xa==1:
if (drone.get_state(FlyingStateChanged)["state"] is not FlyingStateChanged_State.hovering):
print(colored(('Initating Drone Take off !'), "green"))
drone(TakeOff(_no_expect=True) & FlyingStateChanged(state="hovering", _policy="wait", _timeout=5)
).wait()
# drone.start_piloting()
else:
print(colored(('Drone has already taken off !'), "green"))
if xa == 2:
X_Ref = X_Home
X_Ref[0] = 1
X_Ref[2] = 0.75
elif xa==3:
X_Ref = [0, 0, 1.5, 0, 0, 0, 0, 0, 0]
elif xa==4:
X_Ref = X_Home
elif xa==5:
X_Ref = [1.2, -2.5, 1.3, 0, 0, 0, 0, 0, 0]
elif xa==6:
X_Ref = [1, 0, 1.5, 0, 0, 0, 0, 0, pi]
elif xa==7:
X_Ref = X_Home
elif xa==8:
X_Ref = X_Home
elif xa==9:
X_Ref = X_Home
elif xa==10:
drone(moveBy(0, 0, 0, -5*pi/180)
>> FlyingStateChanged(state="hovering", _timeout=5)
).wait()
elif xa==11:
print(colored(('Starting to Land !'), "green"))
drone.stop_piloting()
drone(Landing()).wait()
time.sleep(5)
drone(Emergency()).wait()
print(colored(('Drone Landed !'), "green"))
else:
print('Currently Not programmed')
return X_Ref
def on_grab_button_event(self, event, scheduler):
self.print_event(event)
# button: 0 = RTL, 1 = takeoff/land, 2 = back left, 3 = back right
# axis_button: 4 = max CCW yaw, 5 = max CW yaw, 6 = max trottle, 7 = min trottle
# 8 = min roll, 9 = max roll, 10 = min pitch, 11 = max pitch
# 12 = max camera down, 13 = max camera up, 14 = min zoom, 15 = max zoom
if event.args["event"] == button_event.press:
if event.args["button"] == 0: # RTL
self.anafi.drone(Emergency()).wait()
rospy.logfatal("Emergency!!!")
return
if event.args["button"] == 2: # left back button
self.anafi.switch_manual()
return
if event.args["button"] == 3: # right back button
self.anafi.switch_offboard()
self.msg_rpyt = SkyControllerCommand()
return
def emergency_callback(self, msg):
self.drone(Emergency()).wait(
) # https://developer.parrot.com/docs/olympe/arsdkng_ardrone3_piloting.html#olympe.messages.ardrone3.Piloting.Emergency
rospy.logfatal("Emergency!!!")
def Drone_Actns_2(xa, drone):
X_Ref = []
X_Home = [0.8, 2.0, 1.2, 0, 0, 0, 0, 0, 3*pi/2]
X_End = [0.8,-2.0, 1.2, 0, 0, 0, 0, 0, 3*pi/2]
DX = X_End[1] - X_Home[1]
Tp = 78.0
Vy = DX/Tp
if xa==1:
if (drone.get_state(FlyingStateChanged)["state"] is not FlyingStateChanged_State.hovering):
print(colored(('Initating Drone Take off !'), "green"))
drone(TakeOff(_no_expect=True) & FlyingStateChanged(state="hovering", _policy="wait", _timeout=5)
).wait()
# drone.start_piloting()
else:
print(colored(('Drone has already taken off !'), "green"))
elif xa == 2:
X_Ref = X_Home
elif xa==3:
print(colored(('Holding Position!'), "green"))
X_Ref = [0, 0, 1.5, 0, 0, 0, 0, 0, 0]
elif xa==4:
X_Ref = X_Home
elif xa==5:
print(colored(('Starting to Land !'), "green"))
drone.stop_piloting()
drone(Landing()).wait()
time.sleep(5)
drone(Emergency()).wait()
print(colored(('Drone Landed !'), "green"))
elif xa==6:
print(colored(('Starting to Land !'), "green"))
drone.stop_piloting()
drone(Landing()).wait()
time.sleep(5)
drone(Emergency()).wait()
print(colored(('Drone Landed !'), "green"))
drone.disconnection()
sys.exit(0)
else:
print(colored(('Your Message: ', xa), "blue"))
print(colored(('Currently not programmed!'), "red"))
return X_Ref, Tp, Vy, X_End