def order():
MAV = UAV.AUTOPILOT()
#rospy.sleep(1)
#MAV.set_home()
rospy.sleep(1)
MAV.arm()
rospy.sleep(1)
MAV.takeoff(trgt_height=1.0)
#MAV.goto_xyz_rpy(0,0,1.5,0,0,0)
a = time.time()
time.sleep(5)
b = time.time()
print("time", b - a)
R = 1.0
for i in range(180):
print(i)
theta = float(i) * 2.0 * np.pi / 180.0
x = R * np.cos(theta)
y = R * np.sin(theta)
z = 1.0
tangent = math.atan2(y, x)
MAV.goto_xyz_rpy(x, y, z, 0, 0, (tangent + np.pi / 2))
#MAV.set_vel(x,y,0,0,0,0)
print("to", x, y, z)
if i == 0:
time.sleep(3)
rospy.sleep(1.8)
#sin()
#test()
#MAV.gps()
print("land")
MAV.land()
import mav_class as UAV
import rospy
import time
mav = UAV.AUTOPILOT()
while True:
time.sleep(1)
a = mav.pose.position.x
print(a)
import rospy
import mav_class as UAV
import numpy as np
import math
theta = np.linspace(0, 2 * np.pi, 100)
MAV = UAV.AUTOPILOT()
def order():
rospy.sleep(2)
MAV.set_home()
MAV.arm()
MAV.takeoff(7)
rate.sleep()
if __name__ == "__main__":
order()