def fly(self):
print("Takeoff if necessary...")
self.drone(
FlyingStateChanged(state="hovering", _policy="check")
| FlyingStateChanged(state="flying", _policy="check")
| (
GPSFixStateChanged(fixed=1, _timeout=10, _policy="check_wait")
>> (
TakeOff(_no_expect=True)
& FlyingStateChanged(
state="hovering", _timeout=10, _policy="check_wait")
)
)
).wait()
self.drone(MaxTilt(40)).wait().success()
for i in range(3):
print("Moving by ({}/3)...".format(i + 1))
self.drone(moveBy(0.1, 0, 0, math.pi, _timeout=20)).wait().success()
print("Landing...")
self.drone(
Landing()
>> FlyingStateChanged(state="landed", _timeout=5)
).wait()
print("Landed\n")
def test_maxtilt():
drone = olympe.Drone(DRONE_IP)
drone.connect()
maxTiltAction = drone(MaxTilt(10)).wait()
if maxTiltAction.success():
print("MaxTilt(10) success")
elif maxTiltAction.timedout():
print("MaxTilt(10) timedout")
else:
# If ".wait()" is called on the ``maxTiltAction`` this shouldn't happen
print("MaxTilt(10) is still in progress")
maxTiltAction = drone(MaxTilt(0)).wait()
if maxTiltAction.success():
print("MaxTilt(0) success")
elif maxTiltAction.timedout():
print("MaxTilt(0) timedout")
else:
# If ".wait()" is called on the ``maxTiltAction`` this shouldn't happen
print("MaxTilt(0) is still in progress")
drone.disconnect()
def takeOff(self):
print("Takeoff if necessary...")
self.drone(
FlyingStateChanged(state="hovering", _policy="check")
| FlyingStateChanged(state="flying", _policy="check")
| (
GPSFixStateChanged(fixed=1, _timeout=10, _policy="check_wait")
>> (
TakeOff(_no_expect=True)
& FlyingStateChanged(
state="hovering", _timeout=10, _policy="check_wait")
)
)
).wait()
self.drone(MaxTilt(40)).wait().success()
def start(self):
self.drone.connect()
# Setup your callback functions to do some live video processing
self.drone.set_streaming_callbacks(
raw_cb=self.yuv_frame_cb,
start_cb=self.start_cb,
end_cb=self.end_cb,
flush_raw_cb=self.flush_cb,
)
# Start video streaming
self.drone.start_video_streaming()
# set maximum speeds
print("rotation", self.drone(MaxRotationSpeed(1)).wait().success())
print("vertical", self.drone(MaxVerticalSpeed(0.1)).wait().success())
print("tilt", self.drone(MaxTilt(5)).wait().success())
def reconfigure_callback(self, config, level):
if level == -1 or level == 1:
self.drone(MaxTilt(config['max_tilt'])).wait(
) # https://developer.parrot.com/docs/olympe/arsdkng_ardrone3_piloting.html?#olympe.messages.ardrone3.PilotingSettings.MaxTilt
self.drone(MaxVerticalSpeed(config['max_vertical_speed'])).wait(
) # https://developer.parrot.com/docs/olympe/arsdkng_ardrone3_piloting.html#olympe.messages.ardrone3.SpeedSettings.MaxVerticalSpeed
self.drone(
MaxRotationSpeed(config['max_yaw_rotation_speed'])
).wait(
) # https://developer.parrot.com/docs/olympe/arsdkng_ardrone3_piloting.html#olympe.messages.ardrone3.SpeedSettings.MaxRotationSpeed
self.drone(
MaxPitchRollRotationSpeed(
config['max_pitch_roll_rotation_speed'])
).wait(
) # https://developer.parrot.com/docs/olympe/arsdkng_ardrone3_piloting.html#olympe.messages.ardrone3.SpeedSettings.MaxPitchRollRotationSpeed
self.drone(MaxDistance(config['max_distance'])).wait(
) # https://developer.parrot.com/docs/olympe/arsdkng_ardrone3_piloting.html#olympe.messages.ardrone3.PilotingSettings.MaxDistance
self.drone(MaxAltitude(config['max_altitude'])).wait(
) # https://developer.parrot.com/docs/olympe/arsdkng_ardrone3_piloting.html#olympe.messages.ardrone3.PilotingSettings.MaxAltitude
self.drone(NoFlyOverMaxDistance(1)).wait(
) # https://developer.parrot.com/docs/olympe/arsdkng_ardrone3_piloting.html#olympe.messages.ardrone3.PilotingSettings.NoFlyOverMaxDistance
self.drone(BankedTurn(int(config['banked_turn']))).wait(
) # https://developer.parrot.com/docs/olympe/arsdkng_ardrone3_piloting.html#olympe.messages.ardrone3.PilotingSettings.BankedTurn
self.max_tilt = config['max_tilt']
self.max_vertical_speed = config['max_vertical_speed']
self.max_rotation_speed = config['max_yaw_rotation_speed']
if level == -1 or level == 2:
self.gimbal_frame = 'absolute' if config[
'gimbal_compensation'] else 'relative'
self.drone(
gimbal.set_max_speed(
gimbal_id=0,
yaw=0,
pitch=config['max_gimbal_speed'], # [1 180] (deg/s)
roll=config['max_gimbal_speed'] # [1 180] (deg/s)
)).wait()
return config
# -*- coding: UTF-8 -*-
from __future__ import print_function # python2/3 compatibility for the print function
import olympe
from olympe.messages.ardrone3.PilotingSettings import MaxTilt
drone = olympe.Drone("10.202.0.1")
drone.connection()
maxTiltAction = drone(MaxTilt(10)).wait()
if maxTiltAction.success():
print("MaxTilt(10) success")
elif maxTiltAction.timedout():
print("MaxTilt(10) timedout")
else:
# If ".wait()" is called on the ``maxTiltAction`` this shouldn't happen
print("MaxTilt(10) is still in progress")
maxTiltAction = drone(MaxTilt(0)).wait()
if maxTiltAction.success():
print("MaxTilt(0) success")
elif maxTiltAction.timedout():
print("MaxTilt(0) timedout")
else:
# If ".wait()" is called on the ``maxTiltAction`` this shouldn't happen
print("MaxTilt(0) is still in progress")
drone.disconnection()
# -*- coding: UTF-8 -*-
from __future__ import print_function # python2/3 compatibility for the print function
import olympe
from olympe.messages.ardrone3.PilotingSettings import MaxTilt
drone = olympe.Drone("10.202.0.1")
drone.connection()
print("==================================\n\n\n")
maxTiltAction = drone(MaxTilt(10, _timeout=1)).wait()
if maxTiltAction.success():
print("MaxTilt(10) success")
elif maxTiltAction.timedout():
print("MaxTilt(10) timedout")
else:
# If ".wait()" is called on the ``maxTiltAction`` this shouldn't happen
print("MaxTilt(10) is still in progress")
maxTiltAction = drone(MaxTilt(0, _timeout=1)).wait()
if maxTiltAction.success():
print("MaxTilt(0) success")
elif maxTiltAction.timedout():
print("MaxTilt(0) timedout")
else:
# If ".wait()" is called on the ``maxTiltAction`` this shouldn't happen
print("MaxTilt(0) is still in progress")
print("\n\n\n==================================")
drone.disconnection()
def customShadowCallback_Delta(payload, responseStatus, token):
# payload is a JSON string ready to be parsed using json.loads(...)
# in both Py2.x and Py3.x
print(responseStatus)
payloadDict = json.loads(payload)
print("++++++++DELTA++++++++++")
print("state: " + str(payloadDict["state"]))
print("version: " + str(payloadDict["version"]))
print("+++++++++++++++++++++++\n\n")
if 'gimbal_pitch' in payloadDict['state'].keys():
droneThing.drone(
gimbal.set_target(
gimbal_id=0,
control_mode="position",
yaw_frame_of_reference="none", # None instead of absolute
yaw=0.0,
pitch_frame_of_reference="absolute",
pitch=payloadDict['state']['gimbal_pitch'],
roll_frame_of_reference="none", # None instead of absolute
roll=0.0,
)).wait()
print('updated gimbal_pitch')
if 'gimbal_speed' in payloadDict['state'].keys():
droneThing.drone(
gimbal.set_max_speed(
gimbal_id=0,
yaw=0.0,
pitch=payloadDict['state']['gimbal_speed'],
roll=0.0,
)).wait()
print('updated gimbal_speed')
if 'max_vertical_speed' in payloadDict['state'].keys():
droneThing.drone(
MaxVerticalSpeed(
payloadDict['state']['max_vertical_speed'])).wait()
print('updated max_vertical_speed')
if 'max_rotation_speed' in payloadDict['state'].keys():
droneThing.drone(
MaxRotationSpeed(
payloadDict['state']['max_rotation_speed'])).wait()
print('updated max_rotation_speed')
if 'max_tilt' in payloadDict['state'].keys():
droneThing.drone(MaxTilt(payloadDict['state']['max_tilt'])).wait()
print('updated max_tilt')
if 'flight_altitude' in payloadDict['state'].keys():
droneThing.flight_altitude = payloadDict['state']['flight_altitude']
print('updated flight_altitude')
if 'detection_enabled' in payloadDict['state'].keys():
droneThing.detection_enabled = payloadDict['state'][
'detection_enabled']
print('updated detection_enabled')
if 'detection_mode' in payloadDict['state'].keys():
droneThing.detection_mode = payloadDict['state']['detection_mode']
print('updated detection_mode')
if 'targeted_car' in payloadDict['state'].keys():
droneThing.targeted_car = payloadDict['state']['targeted_car']
droneThing.initBB = None
droneThing.trackerInitialized = False
print('updated targeted_car')