def flight(pidx, pidy, satisfactory, phase, centered, logo, pos_dict,
is_it_big, seen):
signal.signal(signal.SIGINT, signal_handler)
iha = ihamibagla()
armolveuc(iha, 6)
saf = time.time()
phase.value = 2
logo.value = "odtu"
inis = 0
while iha.mode == 'GUIDED':
#if lost.value == 1:
# position(iha, 0, 0, 6, 0)
if (seen.value == 1) and not centered.value:
inis = 1
if centered.value:
time.sleep(0.1)
print("Merkezleme basarili")
"""iha.mode="LAND"
while iha.armed==True:
if not centered.value:
#iha.mode = 'GUIDED'
#time.sleep(0.3)
#inis = 1
break
if not centered.value:
continue"""
elif inis:
send_ned_velocity(iha, pidx.value, pidy.value, 0)
if time.time() - saf >= 1:
print(inis, pidx.value, pidy.value)
saf = time.time()
if iha.armed == 0:
time.sleep(0.5)
break
and (stm_pist[1] - 0.5) < vehicle.location.local_frame.east <
(stm_pist + 0.5)):
break
while True:
baslangic = time.time()
ret, frame = cap.read()
cv2.imwrite("kamil.jpg", frame)
ort_x, ort_y, karar = detect_et(net, meta, "kamil.jpg")
bitis = time.time()
fps = 1 / (bitis - baslangic)
print("FPS : ", fps)
print("Karar : ", karar)
print("tb_x:{}, tb_y:{}".format(ort_x, ort_y))
vx, vy, aci, error = pid.update(ort_x, ort_y)
print("HizX:{}, HizY:{}, Aci:{}, Error:{}".format(vx, vy,
(aci * 180) / math.pi,
error))
cv2.line(cv_image, (320, 240), (ort_x, ort_y), (0, 0, 0), 5)
send_ned_velocity(vx, vy, 0)
if error < 10:
break
while True:
vehicle.mode = 'LAND'
print(vehicle.armed)
if vehicle.armed == 0:
break
arm_and_takeoff(6)
def flight(pidx, pidy, satisfactory, phase, centered, logo, pos_dict,
is_it_big, seen):
signal.signal(signal.SIGINT, signal_handler)
iha = ihamibagla()
armolveuc(iha, 9)
saf = time.time()
init_heading = 0
ulp = (4.2, -4.2, 5, init_heading)
urp = (4.2, 4.2, 5, init_heading)
dlp = (-4.2, -4.2, 5, init_heading)
drp = (-4.2, 4.2, 5, init_heading)
cp = (0, 0, 5, init_heading)
phase.value = 1
mapping_points = [(2, 2, 9), (-2, 2, 9), (-2, -2, 9)]
for (i, (x, y, z)) in enumerate(mapping_points):
print(iha.heading)
position(iha, x, y, z, init_heading)
prev_time = time.time()
time.sleep(1.5)
satisfactory.value = 0
while (satisfactory.value != 1):
if int(time.time() - prev_time) % 10 == 0:
pass
#print("Mapping checkpoint {}".format(i))
print("buladayim")
phase.value = 2
corresponding_pos = {1: ulp, 2: urp, 3: dlp, 4: drp, 5: cp}
for i in ["stm", "odtu", "ort", "helikopter_inis", "turk_bayragi"]:
i = i.encode("utf-8")
iha.mode = 'GUIDED'
time.sleep(0.3)
yaklasim = 1
inis = 0
yaklas = 0
logo.value = i
if iha.mode == 'GUIDED':
pos = corresponding_pos.get(pos_dict.get(i))
while True:
#print("yaklasim:",yaklasim, "yaklas:", yaklas, "inis:",inis, "center:",centered.value, "seen:",seen.value)
if (seen.value == 1) and not centered.value:
inis = 1
yaklasim = 0
yaklas = 0
if yaklasim:
armolveuc(iha, 5)
position(iha, *pos)
time.sleep(2)
if ((iha.location.local_frame.north <= -4.2 * 0.92
and iha.location.local_frame.east >= 4.2 * 0.92) or
(iha.location.local_frame.north >= 4.2 * 0.92
and iha.location.local_frame.east >= 4.2 * 0.92) or
(iha.location.local_frame.north <= -4.2 * 0.92
and iha.location.local_frame.east <= -4.2 * 0.92) or
(iha.location.local_frame.north >= 4.2 * 0.92
and iha.location.local_frame.east <= -4.2 * 0.92)
or (iha.location.local_frame.north <= -8)
or (iha.location.local_frame.north >= 8)
or (iha.location.local_frame.east <= -8)
or (iha.location.local_frame.east >= 8)):
yaklasim = 0
inis = 1
elif yaklas:
position(iha, *pos)
time.sleep(5)
yaklas = 0
inis = 1
elif centered.value:
iha.mode = "LAND"
while iha.armed == True:
if not centered.value:
#iha.mode = 'GUIDED'
#time.sleep(0.3)
#inis = 1
break
if not centered.value:
continue
elif inis:
send_ned_velocity(iha, pidx.value, pidy.value, 0)
if time.time() - saf >= 1:
print(inis, pidx.value, pidy.value)
saf = time.time()
#print("lost={} ,enough={} ",format(lost.value,is_it_big.value))
#if lost.value==1 and not is_it_big.value:
# inis=0
# yaklas=1
if iha.armed == 0:
time.sleep(0.5)
break
if i == "turk_bayragi" and iha.location.global_relative_frame.alt <= 0.1:
iha.armed = False
else:
break
time.sleep(d_time)
yaw = vehicle.attitude.yaw
loc = vehicle.location.local_frame
N = loc.north
E = loc.east
D = vehicle.rangefinder.distance
print("Coordinates: %.3f N, %.3f E, %.3f D Yaw: %3f\r" % (N, E, D, yaw))
log.write_line('%s\t%s\t%s\t%s\n' % (N, E, D, yaw))
if i > 3 / d_time:
ang = 347
r = 1
vn = math.cos(ang * math.pi / 180) * r
ve = math.sin(ang * math.pi / 180) * r
print((vn, ve))
u.send_ned_velocity(vehicle, vn, ve, 0)
print 'moving!'
u.send_ned_velocity(vehicle, 0, 0, 0)
print 'Landing!'
log.close()
while (vehicle.mode.name != 'LAND'):
vehicle.mode = dk.VehicleMode('LAND')
time.sleep(2)
time.sleep(4)
while (vehicle.mode.name != mode):
print 'Mode: %s\r' % vehicle.mode.name
vehicle.mode = dk.VehicleMode(mode)