def range_limit(current, target):
return limiter(-0.2, 0.2)(proportional(0.1 / 50.0)(current, target))
ci_port=5009,
to_port=5012))
with ScriptingWrapper(rky) as rocky:
while rocky.nav.altitude == "NULL":
sleep(1)
print "Waiting for telemetry downlink..."
rocky.ctrl.atp('Arm')
rocky.ctrl.arm()
rocky.ctrl.atp('Takeoff')
rocky.ctrl.takeoff()
rocky.ctrl.flight_mode(FlightMode.PosCtl)
rocky.ctrl.atp('Move Up')
rocky.nav.vnav(method=proportional(0.25), tolerance=0.5).up(10)
lnav = rocky.nav.lnav(method=proportional(0.20), tolerance=0.5)
yaw = rocky.nav.rotate(method=range_limit, tolerance=2)
rocky.ctrl.atp('First')
for _ in range(4):
lnav.forward(15)
yaw.clockwise(90)
rocky.ctrl.atp('Second')
for _ in range(4):
lnav.forward(15)
yaw.counterclockwise(90)
rocky.ctrl.atp('Third')
ci_port=5009,
to_port=5012)
)
with ScriptingWrapper(rky) as rocky:
while rocky.nav.altitude == "NULL":
sleep(1)
print "Waiting for telemetry downlink..."
rocky.ctrl.atp('Arm')
rocky.ctrl.arm()
rocky.ctrl.atp('Takeoff')
rocky.ctrl.takeoff()
rocky.ctrl.flight_mode(FlightMode.PosCtl)
vnav = rocky.nav.vnav(method=proportional(0.25), tolerance=0.5)
lnav = rocky.nav.lnav(method=proportional(0.20), tolerance=0.5)
rocky.ctrl.atp('Move Up')
vnav.up(10)
rocky.ctrl.atp('Vertical Right')
vnav.up(10)
lnav.right(15)
vnav.down(15, method=proportional(0.30))
lnav.left(15)
rocky.ctrl.atp('Vertical Left')
vnav.up(15)
lnav.left(15)
vnav.down(15, method=proportional(0.30))
from time import sleep
from pyliner.app.communication import Communication
from pyliner.navigation.control import proportional
from pyliner.vehicle import Vehicle
from pyliner.util import
from pyliner.util.scripting_wrapper import ScriptingWrapper
from pyliner.util.periodic_executor import PeriodicExecutor
SLEEP = 0.1
HALF_X = 400 / 2
HALF_Y = 400 / 2
TARGET_DISTANCE = 10
# Need to scale [-200, 200] to [-1, 1]
rotator = proportional(1.0 / 200.0)
# Scale distance by some factor
lnav = proportional(1.0 / 10.0)
# TODO OpenCV initialization here
rocky = ScriptingWrapper(Vehicle(
vehicle_id='rocky',
communications=Communication(
airliner_map=read_json("airliner.json"),
ci_port=5009,
to_port=5012)
))
to_port=5012)
)
with ScriptingWrapper(rky) as rocky:
while rocky.nav.altitude == "NULL":
sleep(1)
print("Waiting for telemetry downlink...")
rocky.ctrl.atp('Arm')
rocky.ctrl.arm()
rocky.ctrl.atp('Takeoff')
rocky.ctrl.takeoff()
rocky.ctrl.flight_mode(FlightMode.PosCtl)
rocky.ctrl.atp('Move Up')
rocky.nav.vnav(method=proportional(0.25), tolerance=0.5) \
.up(10)
rocky.ctrl.atp('First')
lnav = rocky.nav.lnav(method=proportional(0.20), tolerance=0.5)
lnav.forward(15)
lnav.right(15)
lnav.backward(15)
lnav.left(15)
rocky.ctrl.atp('Second')
lnav.forward(15)
lnav.left(15)
lnav.backward(15)
lnav.right(15)