# create the quadcopter model
a = Rover(skid_steering=opts.skid_steering)
# initial controls state
state = ControlState()
# parse home
v = opts.home.split(",")
if len(v) != 4:
print("home should be lat,lng,alt,hdg")
sys.exit(1)
a.home_latitude = float(v[0])
a.home_longitude = float(v[1])
a.home_altitude = float(v[2])
a.altitude = a.home_altitude
a.yaw = float(v[3])
a.latitude = a.home_latitude
a.longitude = a.home_longitude
a.set_yaw_degrees(a.yaw)
print("Starting at lat=%f lon=%f alt=%f heading=%.1f" % (a.home_latitude, a.home_longitude, a.altitude, a.yaw))
frame_time = 1.0 / opts.rate
scaled_frame_time = frame_time / opts.speedup
last_wall_time = time.time()
counter = 0
# create the quadcopter model
a = Rover(skid_steering=opts.skid_steering)
# initial controls state
state = ControlState()
# parse home
v = opts.home.split(',')
if len(v) != 4:
print("home should be lat,lng,alt,hdg")
sys.exit(1)
a.home_latitude = float(v[0])
a.home_longitude = float(v[1])
a.home_altitude = float(v[2])
a.altitude = a.home_altitude
a.yaw = float(v[3])
a.latitude = a.home_latitude
a.longitude = a.home_longitude
a.set_yaw_degrees(a.yaw)
print("Starting at lat=%f lon=%f alt=%f heading=%.1f rate=%.1f" %
(a.home_latitude, a.home_longitude, a.altitude, a.yaw, opts.rate))
a.setup_frame_time(opts.rate, opts.speedup)
counter = 0
while True:
# receive control input from SITL
