def takeoff(z=1.5,
safe_takeoff=True,
frame_id='map',
timeout=5.0,
use_leds=True,
interrupter=interrupt_event):
print(interrupter.is_set())
if use_leds:
LedLib.wipe_to(255, 0, 0, interrupter=interrupter)
if interrupter.is_set():
return
result = FlightLib.takeoff(z=z,
wait=False,
timeout_takeoff=timeout,
frame_id=frame_id,
emergency_land=safe_takeoff,
interrupter=interrupter)
if result == 'not armed':
raise Exception(
'STOP'
) # Raise exception to clear task_manager if copter can't arm
if interrupter.is_set():
return
if use_leds:
LedLib.blink(0, 255, 0, wait=50, interrupter=interrupter)
def land(z=1.5, descend=False, timeout=5.0, frame_id='aruco_map', use_leds=True,
interrupter=interrupt_event):
if use_leds:
LedLib.blink(255, 0, 0, interrupter=interrupter)
FlightLib.land(z=z, descend=descend, timeout_land=timeout, frame_id_land=frame_id, interrupter=interrupter)
if use_leds:
LedLib.off()
def run(self):
self.connect()
red = 0
green = 0
blue = 0
while True:
data = self.fetch_data()
if 'color' in data:
data = data.split()[1:]
color = map(int, data)
red, green, blue = color
elif data == 'rainbow':
LedLib.rainbow()
elif data == 'fill':
LedLib.fill(red, green, blue)
elif data == 'blink':
LedLib.blink(red, green, blue)
elif data == 'chase':
LedLib.chase(red, green, blue)
elif data == 'wipe_to':
LedLib.wipe_to(red, green, blue)
elif data == 'fade_to':
LedLib.fade_to(red, green, blue)
elif data == 'run':
LedLib.fade_to(red, green, blue)
elif data == 'close':
LedLib.off()
time.sleep(0.001)
led.fade_to(255, 0, 0) f.reach(1, 0.25, 1.2) led.fade_to(0, 255, 0) f.reach(1, 2.2, 1.2) led.fade_to(0, 0, 255) f.reach(0.25, 2.2, 1.2) led.fade_to(255, 255, 0) f.reach(0.25, 0.25, 1.2) led.fade_to(255, 0, 0) #center_spin f.reach(0.7, 1.1, 1.5) led.run(255, 0, 255, length=15, direction=True) f.spin(yaw_rate=0.6) led.blink(255, 0, 0) f.attitude(2) #Return t land pos led.rainbow() f.reach(0.25, 0.25, 1.2, delay=True) led.chase(0, 255, 0) f.land() led.off() time.sleep(3)