def main(): mission_path = None if len(sys.argv) > 1: mission_path = sys.argv[1] frame = '+' # If we were given a mission, use its first waypoint as home. if mission_path: wploader = mavwp.MAVWPLoader() wploader.load(mission_path) wp = wploader.wp(0) home = mavutil.location(wp.x, wp.y, wp.z, 0) run_mission(mission_path, frame, home)
# fly ArduCopter in SIL import util, pexpect, sys, time, math, shutil, os from common import * import mavutil, mavwp, random # get location of scripts testdir = os.path.dirname(os.path.realpath(__file__)) FRAME = '+' TARGET = 'sitl' HOME = mavutil.location(-35.362938, 149.165085, 584, 270) homeloc = None num_wp = 0 def hover(mavproxy, mav, hover_throttle=1300): mavproxy.send('rc 3 %u\n' % hover_throttle) return True def calibrate_level(mavproxy, mav): '''init the accelerometers''' print("Initialising accelerometers") mav.calibrate_level() mavproxy.expect(['APM: action received', 'COMMAND_ACK']) return True def arm_motors(mavproxy, mav):
# fly ArduCopter in SIL import util, pexpect, sys, time, math, shutil, os from common import * import mavutil, mavwp, random # get location of scripts testdir=os.path.dirname(os.path.realpath(__file__)) FRAME='+' TARGET='sitl' HOME=mavutil.location(-35.362938,149.165085,584,270) homeloc = None num_wp = 0 def hover(mavproxy, mav, hover_throttle=1300): mavproxy.send('rc 3 %u\n' % hover_throttle) return True def calibrate_level(mavproxy, mav): '''init the accelerometers''' print("Initialising accelerometers") mav.calibrate_level() mavproxy.expect(['APM: action received', 'COMMAND_ACK']) return True def arm_motors(mavproxy, mav): '''arm motors''' print("Arming motors") mavproxy.send('switch 6\n') # stabilize mode
# drive APMrover2 in SITL import util, pexpect, sys, time, math, shutil, os from common import * import mavutil, random # get location of scripts testdir = os.path.dirname(os.path.realpath(__file__)) #HOME=mavutil.location(-35.362938,149.165085,584,270) HOME = mavutil.location(40.071374969556928, -105.22978898137808, 1583.702759, 246) homeloc = None def drive_left_circuit(mavproxy, mav): '''drive a left circuit, 50m on a side''' mavproxy.send('switch 6\n') wait_mode(mav, 'MANUAL') mavproxy.send('rc 3 2000\n') print("Driving left circuit") # do 4 turns for i in range(0, 4): # hard left print("Starting turn %u" % i) mavproxy.send('rc 1 1000\n') if not wait_heading(mav, 270 - (90 * i), accuracy=10): return False mavproxy.send('rc 1 1500\n') print("Starting leg %u" % i)
# drive APMrover2 in SITL import util, pexpect, sys, time, math, shutil, os from common import * import mavutil, random # get location of scripts testdir=os.path.dirname(os.path.realpath(__file__)) #HOME=mavutil.location(-35.362938,149.165085,584,270) HOME=mavutil.location(40.071374969556928,-105.22978898137808,1583.702759,246) homeloc = None def drive_left_circuit(mavproxy, mav): '''drive a left circuit, 50m on a side''' mavproxy.send('switch 6\n') wait_mode(mav, 'MANUAL') mavproxy.send('rc 3 2000\n') print("Driving left circuit") # do 4 turns for i in range(0,4): # hard left print("Starting turn %u" % i) mavproxy.send('rc 1 1000\n') if not wait_heading(mav, 270 - (90*i), accuracy=10): return False mavproxy.send('rc 1 1500\n') print("Starting leg %u" % i) if not wait_distance(mav, 50, accuracy=7):
# fly ArduCopter in SIL import util, pexpect, sys, time, math, shutil, os from common import * import mavutil, mavwp, random # get location of scripts testdir = os.path.dirname(os.path.realpath(__file__)) FRAME = '+' TARGET = 'sitl' HOME = mavutil.location(-35.362938, 149.165085, 584, 270) AVCHOME = mavutil.location(40.072842, -105.230575, 1586, 0) homeloc = None num_wp = 0 def hover(mavproxy, mav, hover_throttle=1450): mavproxy.send('rc 3 %u\n' % hover_throttle) return True def calibrate_level(mavproxy, mav): '''init the accelerometers''' print("Initialising accelerometers") mav.calibrate_level() mavproxy.expect(['APM: action received', 'COMMAND_ACK']) return True
# fly ArduCopter in SIL import util, pexpect, sys, time, math, shutil, os from common import * import mavutil, mavwp, random # get location of scripts testdir = os.path.dirname(os.path.realpath(__file__)) FRAME = "+" TARGET = "sitl" HOME = mavutil.location(-35.362938, 149.165085, 584, 270) AVCHOME = mavutil.location(40.072842, -105.230575, 1586, 0) homeloc = None num_wp = 0 def hover(mavproxy, mav, hover_throttle=1450): mavproxy.send("rc 3 %u\n" % hover_throttle) return True def calibrate_level(mavproxy, mav): """init the accelerometers""" print("Initialising accelerometers") mav.calibrate_level() mavproxy.expect(["APM: action received", "COMMAND_ACK"]) return True