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)
from pyparrot.Bebop import Bebop from pyparrot.Bebop import BebopSensors from bebop_cmd import * bebop = Bebop(drone_type="Bebop2") connect() bebop.ask_for_state_update() x = bebop.set_user_sensor_callback(batterie(), battery) print(x) disconnect()
