def Execute(self):
self.count = 0 # counts the number of reading taken
self.ResetHeightArray() # set all values of the array to 0
while (
self.loop
): #Loop continues to iterate until mean value of reading is < 25cm
time.sleep(0.5)
self.reading = Ultrasonic.getReading2() # reads height from ground
if self.ValidateReading(): # if 13cm < reading <= 200cm
self.count += 1 #increament the count
for i in range(self.windowLength - 1):
self.heightArray[i] = self.heightArray[
i + 1] #arrange value in the FIFO array
self.heightArray[
self.windowLength -
1] = self.reading #attach value at the tail of the array
if self.count >= 10: # after ten readings
self.count = 0 # reset the count value
self.mean = np.mean(
self.heightArray) # take the mean value of the arrray
print("Mean height: ", self.mean)
if self.mean >= 14 and self.mean <= 25: # if 14cm <= mean value <= 25 cm
self.nextState = "Landing" # set the next state
self.loop = False # break the loop
self.Exit()
def VerifyStatus(self):
while (True):
time.sleep(self.duration / self.windowLength)
self.reading = Ultrasonic.getReading2()
if self.ValidateReading():
self.count += 1
for i in range(self.windowLength - 1):
self.heightArray[i] = self.heightArray[i + 1]
self.heightArray[self.windowLength - 1] = self.reading
if self.count >= self.windowLength:
self.count = 0
self.mean = np.mean(self.heightArray)
print("mean height: ", self.mean)
if self.mean >= 14 and self.mean <= 18:
return True
else:
print("Go back to state Air")
return False
def Execute(self):
self.count = 0
self.ResetHeightArray()
while (self.loop):
time.sleep(0.5)
self.reading = Ultrasonic.getReading2()
if self.ValidateReading():
self.count += 1
for i in range(self.windowLength - 1):
self.heightArray[i] = self.heightArray[i + 1]
self.heightArray[self.windowLength - 1] = self.reading
if self.count >= 10:
self.count = 0
self.mean = np.mean(self.heightArray)
print("Mean height: ", self.mean)
if self.mean >= 14 and self.mean <= 25:
self.nextState = "Landing"
self.loop = False
self.Exit()
def Execute(self):
page = 0
self.ResetHeightArray()
while (True):
time.sleep(0.5)
self.height = Ultrasonic.getReading2()
if self.ValidateReading():
page += 1
for i in range(self.windowLength - 1):
self.heightArray[i] = self.heightArray[i + 1]
self.heightArray[self.windowLength - 1] = self.height
print("Height: ", self.heightArray)
if (page >= 10):
page = 0
self.meanHeight = np.mean(self.heightArray)
self.meanHeight = round(self.meanHeight, 0)
print("self.meanHeight: ", self.meanHeight)
if self.meanHeight >= 25:
print("self.meanHeight: ", self.meanHeight)
break
self.Exit()
def Execute(self):
page = 0
self.ResetHeightArray(
) #when this state initiates reset the height array
while (True):
time.sleep(0.5) # take a reading after half a second break
self.height = Ultrasonic.getReading2() # take reading
if self.ValidateReading():
page += 1
for i in range(self.windowLength - 1):
self.heightArray[i] = self.heightArray[i + 1]
self.heightArray[self.windowLength - 1] = self.height
print("Height: ", self.heightArray)
if (page >= 10): # after ten validated readings
page = 0
self.meanHeight = np.mean(self.heightArray) # average height
self.meanHeight = round(self.meanHeight, 0)
print("self.meanHeight: ", self.meanHeight)
if self.meanHeight >= 25: #if height > 25cm then drone is on air
print("self.meanHeight: ", self.meanHeight)
break
self.Exit()
def VerifyStatus(self): # reassures the drone is on ground
while (True): # iterate until 10 readings are taken
time.sleep(self.duration /
self.windowLength) # sleep time is 0.3 se
self.reading = Ultrasonic.getReading2()
if self.ValidateReading(): # makes sure the reading is credible
self.count += 1
for i in range(self.windowLength - 1):
self.heightArray[i] = self.heightArray[
i + 1] # rearrange the FIFO array
self.heightArray[
self.windowLength -
1] = self.reading #new value is tailed at the array
if self.count >= self.windowLength:
self.count = 0
self.mean = np.mean(self.heightArray)
print("mean height: ", self.mean)
if self.mean >= 14 and self.mean <= 18: #if 14 cm <= meanvalue <= 18cm then drone is firmly rested on ground
return True
else:
print("Go back to state Air"
) # returns back to the previous state
return False