def __init__(self, simulator):
from simulator.controller import MissionPlanner, PositionController
self.simulator = simulator
mission = MissionPlanner()
plan_mission(mission)
self.controller = PositionController(self.simulator.drone, mission.commands, True);
def __init__(self, simulator):
print("initializing simulation at %s" % time.time())
self.simulator = simulator
if use_planned_mission:
mission = MissionPlanner()
self.mission_setup(mission)
self.controller = PositionController(self.simulator.drone,
mission.commands, True)
def __init__(self, simulator):
from simulator.controller import MissionPlanner, PositionController
self.simulator = simulator
mission = MissionPlanner()
mission.turn_left(45).forward(2).turn_left(90).forward(2).turn_left(
90).forward(2).turn_left(90).forward(4).turn_right(90).forward(
2).turn_right(90).forward(2).turn_right(90).forward(2)
self.controller = PositionController(self.simulator.drone,
mission.commands, False)
self.user = UserCode()
def __init__(self, simulator):
from simulator.controller import MissionPlanner, PositionController
self.simulator = simulator
mission = MissionPlanner()
mission.turn_left(45).forward(2).turn_left(90).forward(2).turn_left(90).forward(2).turn_left(90).forward(4).turn_right(90).forward(2).turn_right(90).forward(2).turn_right(90).forward(2)
self.controller = PositionController(self.simulator.drone, mission.commands, False);
self.user = UserCode()
class InternalCode:
def __init__(self, simulator):
print("initializing simulation at %s" % time.time())
self.simulator = simulator
if use_planned_mission:
mission = MissionPlanner()
self.mission_setup(mission)
self.controller = PositionController(self.simulator.drone,
mission.commands, True)
def mission_setup(self, planner):
import quadrotor.command as cmd
# guess what this flightplan will do :)
commands = [
cmd.down(0.5),
cmd.right(1),
cmd.turn_left(45),
cmd.forward(math.sqrt(2)),
cmd.turn_right(45),
cmd.right(1),
cmd.turn_left(45),
cmd.forward(math.sqrt(0.5)),
cmd.turn_left(90),
cmd.forward(math.sqrt(0.5)),
cmd.turn_left(45),
cmd.forward(1),
cmd.turn_right(45),
cmd.backward(math.sqrt(2)),
cmd.turn_left(45),
cmd.forward(1),
]
planner.add_commands(commands)
def measurement_callback(self, t, dt, navdata):
"""
called for each measurement done by the drone
"""
if use_planned_mission:
# apply the computed control to as simulation input
lin_vel, yaw_vel = self.controller.compute_input()
self.simulator.set_input_world(lin_vel, yaw_vel)
# plot navdata in 2d graph:
# callback time step:
plot.plot("d_time", dt)
# onboard speed:
plot.plot("v_x", navdata.vx)
plot.plot("v_y", navdata.vy)
plot.plot("v_z", navdata.vz)
class InternalCode:
def __init__(self, simulator):
from simulator.controller import MissionPlanner, PositionController
self.simulator = simulator
mission = MissionPlanner()
plan_mission(mission)
self.controller = PositionController(self.simulator.drone, mission.commands, True);
def measurement_callback(self, t, dt, navdata):
lin_vel, yaw_vel = self.controller.compute_input()
self.simulator.set_input_world(lin_vel, yaw_vel)
class InternalCode:
def __init__(self, simulator):
from simulator.controller import MissionPlanner, PositionController
self.simulator = simulator
mission = MissionPlanner()
mission.turn_left(45).forward(2).turn_left(90).forward(2).turn_left(90).forward(2).turn_left(90).forward(4).turn_right(90).forward(2).turn_right(90).forward(2).turn_right(90).forward(2)
self.controller = PositionController(self.simulator.drone, mission.commands, False);
self.user = UserCode()
def measurement_callback(self, t, dt, navdata):
self.user.measurement_callback(t, dt, navdata)
lin_vel, yaw_vel = self.controller.compute_input()
self.simulator.set_input_world(lin_vel, yaw_vel)
class InternalCode:
def __init__(self, simulator):
from simulator.controller import MissionPlanner, PositionController
self.simulator = simulator
mission = MissionPlanner()
mission.turn_left(45).forward(2).turn_left(90).forward(2).turn_left(
90).forward(2).turn_left(90).forward(4).turn_right(90).forward(
2).turn_right(90).forward(2).turn_right(90).forward(2)
self.controller = PositionController(self.simulator.drone,
mission.commands, False)
self.user = UserCode()
def measurement_callback(self, t, dt, navdata):
self.user.measurement_callback(t, dt, navdata)
lin_vel, yaw_vel = self.controller.compute_input()
self.simulator.set_input_world(lin_vel, yaw_vel)