class ARDrone(Drone):
def __init__(self):
super().__init__()
self.bebop = Bebop()
print("connecting to bebop drone")
self.connection.emit("progress")
self.success = self.bebop.connect(5)
if self.success:
self.connection.emit("on")
self.bebop.set_max_altitude(20)
self.bebop.set_max_distance(20)
self.bebop.set_max_rotation_speed(180)
self.bebop.set_max_vertical_speed(2)
self.bebop.enable_geofence(1)
self.bebop.set_hull_protection(1)
# todo: battery signal to emit (look in sensors)
#TODO test this piece of code
self.bebop.set_user_sensor_callback(print,
self.bebop.sensors.battery)
else:
print("refresh....")
self.connection.emit("off")
def take_off(self):
self.bebop.safe_takeoff(5)
def land(self):
self.bebop.safe_land(5)
def stop(self):
self.bebop.disconnect()
def fly_direct(self, roll, pitch, yaw, vertical_movement):
my_roll = self.bebop._ensure_fly_command_in_range(roll)
my_pitch = self.bebop_ensure_fly_command_in_range(pitch)
my_yaw = self.bebop_ensure_fly_command_in_range(yaw)
my_vertical = self.bebop_ensure_fly_command_in_range(vertical_movement)
command_tuple = self.bebop.command_parser.get_command_tuple(
"ardrone3", "Piloting", "PCMD")
self.bebop.drone_connection.send_single_pcmd_command(
command_tuple, my_roll, my_pitch, my_yaw, my_vertical)
def process_motion(self, _up, _rotate, _front, _right):
velocity_up = _up * self.max_vert_speed
velocity_yaw = _rotate * self.max_rotation_speed
velocity_pitch = _front * self.max_horiz_speed
velocity_roll = _right * self.max_horiz_speed
#print("PRE", velocity_roll, velocity_pitch, velocity_up, velocity_yaw)
self.fly_direct(velocity_roll, velocity_pitch, velocity_yaw,
velocity_up)
bebop.ask_for_state_update()
print("Prepare for take-off...")
# Set safe indoor/outdoor parameters
print("Set indoor parameters...")
max_tilt = 15
vertical_speed = 2 #1.5
max_altitude = 1.5
max_rotation_speed = 150
tilt_speed = 200
bebop.set_max_tilt(max_tilt)
bebop.set_max_vertical_speed(vertical_speed)
bebop.set_max_altitude(max_altitude)
bebop.set_max_rotation_speed(max_rotation_speed)
bebop.set_max_tilt_rotation_speed(tilt_speed)
color_print("Indoor parameters set: OK", "SUCCESS")
# Get initial sensor data_type
print("--------- SENSOR DATA ----------")
print("Battery: ", bebop.sensors.battery, "%")
print("Flying state:", bebop.sensors.flying_state)
print("Altitude: ", max_altitude, " m")
print("Pitch/roll rotation speed (degrees): ", tilt_speed)
print("Tilt (degrees): ", max_tilt)
print("Vertical speed: ", vertical_speed, " m/s")
print("Yaw rotation speed (degrees): ", max_rotation_speed)
print("--------------------------------")
# Take-off the ground
bebop = Bebop()
print("connecting")
success = bebop.connect(10)
print(success)
print("sleeping")
bebop.smart_sleep(1)
bebop.ask_for_state_update()
bebop.set_max_altitude(5)
bebop.set_max_distance(10)
bebop.enable_geofence(1)
bebop.set_max_rotation_speed(200)
bebop.safe_takeoff(10)
bebop.smart_sleep(2)
print("HomeChanged_longitude: " +
str(bebop.sensors.sensors_dict["HomeChanged_longitude"]))
print("HomeChanged_latitude: " +
str(bebop.sensors.sensors_dict["HomeChanged_latitude"]))
print("HomeChanged_altitude: " +
str(bebop.sensors.sensors_dict["HomeChanged_altitude"]) + "\n\n")
print("First State Update: ")
Drone_1a_Lat = bebop.sensors.sensors_dict["GpsLocationChanged_latitude"]
print("GpsLocationChanged_latitude: " +
