# -*- coding: utf-8 -*-
"""
Created on Wed Aug 7 15:04:14 2019
@author: arm and disarm
"""
import asyncio
from mavsdk import start_mavlink
from mavsdk import connect as mavsdk_connect
start_mavlink()
drone = mavsdk_connect(host="127.0.0.1")
async def ArmAndDisarm():
print("-- Arming")
await drone.action.arm()
print("-- Waiting")
await asyncio.sleep(10)
print("-- Disarming")
await drone.action.disarm()
loop = asyncio.get_event_loop()
loop.run_until_complete(ArmAndDisarm())
async def getBattery():
global battery_level
async for battery in drone.telemetry.battery():
battery_level = battery.remaining_percent
return
#########################################################################
# MAVLink configuration
#########################################################################
start_mavlink(
connection_url="serial:///dev/ttyUSB0:57600") #Connection to drone
drone = mavsdk_connect(host="127.0.0.1") #Connect drone to host
async def run():
conn_state = drone.core.connection_state()
async for state in conn_state:
if state.is_connected:
return state.uuid
async def get_fw():
info = await drone.info.get_version()
return info
belief.append((coords, truth[int(coords[0]), int(coords[1])]))
async def plot_belief(drone):
async for pos in drone.telemetry.position():
global belief
measurements = np.array([((*b[0]), b[1]) for b in belief])
plt.scatter(measurements[:, 0],
measurements[:, 1],
c=measurements[:, 2])
plt.pause(0.01)
if __name__ == "__main__":
start_mavlink(connection_url="udp://:14552")
drone = mavsdk_connect(host="127.0.0.1")
belief = []
#fill in the space with 2D gaussian
N_CELLS = 100 # 1 for cell equiv. to 1 m
x, y = np.meshgrid(np.linspace(-1, 1, N_CELLS),
np.linspace(-1, 1, N_CELLS)) #100x100 cells
d = np.sqrt(x * x + y * y)
sigma, mu = 1.0, 0.0
truth = np.exp(-((d - mu)**2 / (2.0 * sigma**2)))
# define space
sp = Space(origin=(37.331553, -121.882767))
#!/usr/bin/env python3
import asyncio
from mavsdk import start_mavlink
from mavsdk import connect as mavsdk_connect
start_mavlink(connection_url="serial:///dev/ttyUSB0:57600")
drone = mavsdk_connect(host="127.0.0.1")
battery_level = 0.0
async def getBattery():
global battery_level
async for battery in drone.telemetry.battery():
battery_level = battery.remaining_percent
return
asyncio.ensure_future(getBattery())
loop = asyncio.get_event_loop()
loop.run_until_complete(getBattery())
print(battery_level)
