import control_functions # Set Trim & PID Parameters Alt_Kp Alt_Ki Derecha Delante Gira #control_functions.setPIDValues(0, 0, 128, 128, 128) # Kp_altura, Offsets: Derecha/Izquierda, Delante/Detras, GiroIzquierda/Derecha # -------------------------------------- Flight -------------------------------------- # # Takeoff print('Taking off...') # Set Trim & PID Parameters Alt_Kp Alt_Ki Derecha Delante Gira control_functions.setPIDValues( 0, 0, 128, 128, 128) # Kp_altura, Offsets: Der/Izq, Del/Det, GirIzq/Der # Set Flight Parameters AA DI DD GID Order Duration control_functions.setcontrols(65, 128, 128, 128, 0.5) # Aprox to 1,04m height # Flight print('Fliying...') # Set Flight Parameters Arriba Derecha Delante Gira Order Duration # Landing print('Landing...') # Set Flight Parameters AA DI DD GID Order Duration
import control_functions # Set Trim Parameters Arriba Derecha Delante Gira control_functions.setTrimmValues(105, 128, 128, 128) # Offsets: Up/Down Right/Left Forward/Backward TurnRight/TurnLeft (Cargado) # -------------------------------------- Takeoff -------------------------------------- # # Set Flight Parameters AA DI DD GID Order Duration print('Taking off...') control_functions.setcontrols(0, 128, 128, 128, 1) control_functions.setcontrols(55, 128, 128, 145, 0.5) #control_functions.setcontrols(128, 128, 128, 128, 3) # -------------------------------------- Flight -------------------------------------- # # Set Flight Parameters AA DI DD GID Order Duration #control_functions.setcontrols(0, 128, 150, 128, 1) #control_functions.setcontrols(128, 128, 128, 200, 1.5) # Adelante #control_functions.setcontrols(150, 128, 50, 128, 1) # Atras #control_functions.setcontrols(128, 140, 128, 128, 0.5) # Derecha #control_functions.setcontrols(128, 116, 116, 128, 0.5) # Vuelve
# Takeoff print('Taking off...') alt_kp = 39 alt_ki = 3 alt_kd = 20 xy_kp = 28 #xy_kp = 22; xy_ki = 255 xy_kd = 100 # ------------ ETAPA 1 ------------ # (error*XY_Ki^2) # Set Trim & PID Parameters Alt_Kp Alt_Ki Alt_Kd XY_Kp XY_Ki XY_Kd Giro #control_functions.setPIDValues(75, 4, 100, 40, 2, 50, 128) # Con XY control_functions.setPIDValues(alt_kp, alt_ki, alt_kd, xy_kp, xy_ki, xy_kd, 128) # Con XY # Set Flight Parameters AA DI DD GID Order Duration control_functions.setcontrols(25, 128, 128, 128, 5) # ------------ ETAPA 2 ------------ # # Set Trim & PID Parameters Alt_Kp Alt_Ki Alt_Kd XY_Kp XY_Ki XY_Kd Giro #control_functions.setPIDValues(30, 16, 0, 32, 0, 0, 128) # Set Flight Parameters AA DI DD GID Order Duration #control_functions.setcontrols(20, 128, 128, 128, 1) # ------------ ETAPA 3 ------------ # # Set Trim & PID Parameters Alt_Kp Alt_Ki Alt_Kd XY_Kp XY_Ki XY_Kd Giro #control_functions.setPIDValues(50, 16, 0, 32, 0, 0, 128) # Set Flight Parameters AA DI DD GID Order Duration #control_functions.setcontrols(30, 128, 128, 128, 4) # Flight #print('Fliying...') # Landing
xy_kd = 50 # Tensados alt_kp = 90 alt_ki = 3 alt_kd = 125 xy_kp = 11 xy_ki = 255 xy_kd = 50 # --------------------------- TAKE OFF --------------------------- # Set Trim & PID Parameters Alt_Kp Alt_Ki Alt_Kd XY_Kp XY_Ki XY_Kd Giro control_functions.setPIDValues(0, alt_ki, 0, xy_kp, xy_ki, xy_kd, 128) # Con XY # Set Flight Parameters AA DI DD GID Order Duration control_functions.setcontrols(20, 128, 128, 128, 0.5) # Set Trim & PID Parameters Alt_Kp Alt_Ki Alt_Kd XY_Kp XY_Ki XY_Kd Giro control_functions.setPIDValues(alt_kp, alt_ki, alt_kd, xy_kp, xy_ki, xy_kd, 128) # Con XY control_functions.setcontrols(20, 128, 128, 128, 2.5) # --------------------------- FLIGHT --------------------------- # Avanza print('Flight...') flight_Delante = 240 flight_Derecha = 128 flight_GiroDer = 128 # Set Flight Parameters AA DI DD GID Duration Steps control_functions.settrace(20, flight_Derecha, flight_Delante, flight_GiroDer, 4.0, 20) print('Stop...')
import control_functions # Set Trim & PID Parameters Alt_Kp Alt_Ki Derecha Delante Gira #control_functions.setPIDValues(0, 0, 128, 128, 128) # Kp_altura, Offsets: Derecha/Izquierda, Delante/Detras, GiroIzquierda/Derecha # -------------------------------------- Flight -------------------------------------- # print('STOP...') control_functions.setPIDValues( 50, 16, 0, 128, 122, 128 ) # Kp_altura, Ki_altura, Kd_altura, Offsets: Der/Izq, Del/Det, GirIzq/Der # Set Flight Parameters AA DI DD GID Order Duration control_functions.setcontrols(12, 128, 128, 128, 2) # Aprox to 1,04m height control_functions.setcontrols(0, 128, 128, 128, 0.5) # Aprox to 1,04m height
import control_functions # -------------------------------------- Flight -------------------------------------- # # Takeoff print('Taking off...') # ------------ ETAPA 1 ------------ # # Set Trim & PID Parameters Alt_Kp Alt_Ki Alt_Kd XY_Kp XY_Ki XY_Kd Giro control_functions.setPIDValues(64, 4, 50, 40, 0, 0, 128) # Con XY #control_functions.setPIDValues(64, 4, 0, 0, 0, 0, 128) # Sin XY # Set Flight Parameters AA DI DD GID Order Duration control_functions.setcontrols(20, 128, 128, 128, 2.5) # ------------ ETAPA 2 ------------ # # Set Trim & PID Parameters Alt_Kp Alt_Ki Alt_Kd XY_Kp XY_Ki XY_Kd Giro #control_functions.setPIDValues(30, 16, 0, 32, 0, 0, 128) # Set Flight Parameters AA DI DD GID Order Duration #control_functions.setcontrols(20, 128, 128, 128, 1) # ------------ ETAPA 3 ------------ # # Set Trim & PID Parameters Alt_Kp Alt_Ki Alt_Kd XY_Kp XY_Ki XY_Kd Giro #control_functions.setPIDValues(50, 16, 0, 32, 0, 0, 128) # Set Flight Parameters AA DI DD GID Order Duration #control_functions.setcontrols(30, 128, 128, 128, 4) # Flight #print('Fliying...') # Landing print('Landing...') # Set Trim & PID Parameters Alt_Kp Alt_Ki Alt_Kd XY_Kp XY_Ki XY_Kd Giro control_functions.setPIDValues(40, 4, 8, 30, 0, 0, 128) # Con XY #control_functions.setPIDValues(64, 4, 0, 0, 0, 0, 128) # Sin XY # Set Flight Parameters AA DI DD GID Order Duration
import control_functions # Set Trim Parameters Arriba Derecha Delante Gira control_functions.setTrimmValues(138, 133, 126, 125) # Offsets: Up/Down Right/Left Forward/Backward TurnRight/TurnLeft (Cargado) #control_functions.setTrimmValues(136, 134, 127, 125) # Offsets: Up/Down Right/Left Forward/Backward TurnRight/TurnLeft (Cargado) # -------------------------------------- Takeoff -------------------------------------- # # Set Flight Parameters AA DI DD GID Order Duration print('Taking off...') control_functions.setcontrols(0, 128, 128, 128, 1) control_functions.setcontrols(80, 128, 128, 128, 1.5) # -------------------------------------- Flight -------------------------------------- # # Set Flight Parameters AA DI DD GID Order Duration control_functions.setcontrols(75, 128, 128, 128, 1.5) control_functions.setcontrols(75, 133, 126, 128, 1.5) control_functions.setcontrols(75, 132, 126, 128, 1.5) # -------------------------------------- Landing -------------------------------------- # # Set Flight Parameters AA DI DD GID Order Duration print('Landing...')
xy_kd = 50 # Bajo ensayo alt_kp = 50 alt_ki = 4 alt_kd = 120 xy_kp = 12 xy_ki = 255 xy_kd = 50 # -------------------------------------- TAKE OFF -------------------------------------- # # Set Trim & PID Parameters Alt_Kp Alt_Ki Alt_Kd XY_Kp XY_Ki XY_Kd Giro control_functions.setPIDValues(0, alt_ki, 0, xy_kp, xy_ki, xy_kd, 128) # Con XY # Set Flight Parameters AA DI DD GID Order Duration control_functions.setcontrols(20, 128, 128, 128, 0.5) # Set Trim & PID Parameters Alt_Kp Alt_Ki Alt_Kd XY_Kp XY_Ki XY_Kd Giro control_functions.setPIDValues(alt_kp, alt_ki, 0, xy_kp, xy_ki, xy_kd, 128) # Con XY # Set Flight Parameters AA DI DD GID Order Duration control_functions.setcontrols(20, 128, 128, 128, 1) # Set Trim & PID Parameters Alt_Kp Alt_Ki Alt_Kd XY_Kp XY_Ki XY_Kd Giro control_functions.setPIDValues(alt_kp, alt_ki, alt_kd, xy_kp, xy_ki, xy_kd, 128) # Con XY # Set Flight Parameters AA DI DD GID Order Duration control_functions.setcontrols(20, 128, 128, 128, 0.1) # -------------------------------------- FLIGHT -------------------------------------- print('Flight...') # Espera por teclado
xy_kd = 50 # Mas tenso alt_kp = 90 alt_ki = 3 alt_kd = 120 xy_kp = 12 xy_ki = 255 xy_kd = 50 # -------------------------------------- TAKE OFF -------------------------------------- # # Set Trim & PID Parameters Alt_Kp Alt_Ki Alt_Kd XY_Kp XY_Ki XY_Kd Giro control_functions.setPIDValues(0, alt_ki, 0, xy_kp, xy_ki, xy_kd, 128) # Con XY # Set Flight Parameters AA DI DD GID Order Duration control_functions.setcontrols(25, 128, 128, 128, 0.5) # Set Trim & PID Parameters Alt_Kp Alt_Ki Alt_Kd XY_Kp XY_Ki XY_Kd Giro control_functions.setPIDValues(alt_kp, alt_ki, alt_kd, xy_kp, xy_ki, xy_kd, 128) # Con XY # Set Flight Parameters AA DI DD GID Order Duration control_functions.setcontrols(20, 128, 128, 128, 1) # -------------------------------------- FLIGHT -------------------------------------- print('Flight...') # Espera por teclado press = 0 while press == 0: if msvcrt.kbhit(): key = msvcrt.getch() press = 1 flight_Delante = 128
import control_functions # -------------------------------------- Flight -------------------------------------- # # Takeoff print('Taking off...') # ------------ ETAPA 1 ------------ # # Set Trim & PID Parameters Alt_Kp Alt_Ki Alt_Kd XY_Kp XY_Ki XY_Kd Giro control_functions.setPIDValues(20, 8, 0, 32, 0, 0, 128) # Set Flight Parameters AA DI DD GID Order Duration control_functions.setcontrols(20, 128, 128, 128, 1) # ------------ ETAPA 2 ------------ # # Set Trim & PID Parameters Alt_Kp Alt_Ki Alt_Kd XY_Kp XY_Ki XY_Kd Giro control_functions.setPIDValues(30, 16, 0, 32, 0, 0, 128) # Set Flight Parameters AA DI DD GID Order Duration control_functions.setcontrols(20, 128, 128, 128, 1) # ------------ ETAPA 3 ------------ # # Set Trim & PID Parameters Alt_Kp Alt_Ki Alt_Kd XY_Kp XY_Ki XY_Kd Giro control_functions.setPIDValues(50, 16, 0, 32, 0, 0, 128) # Set Flight Parameters AA DI DD GID Order Duration control_functions.setcontrols(30, 128, 128, 128, 4) # Flight #print('Fliying...') # Set Trim & PID Parameters Alt_Kp Alt_Ki Alt_Kd XY_Kp XY_Ki XY_Kd Giro #control_functions.setPIDValues(40, 16, 0, 30, 0, 0, 128)
import control_functions # -------------------------------------- Flight -------------------------------------- # # Takeoff print('Taking off...') #xy_kp = 35; # ------------ ETAPA 1 ------------ # # Set Trim & PID Parameters Alt_Kp Alt_Ki Alt_Kd XY_Kp XY_Ki XY_Kd Giro control_functions.setPIDValues(75, 4, 100, 40, 0, 100, 128) # Con XY #control_functions.setPIDValues(64, 4, 0, 0, 0, 0, 128) # Sin XY # Set Flight Parameters AA DI DD GID Order Duration control_functions.setcontrols(22, 128, 128, 128, 5) # ------------ ETAPA 2 ------------ # # Set Trim & PID Parameters Alt_Kp Alt_Ki Alt_Kd XY_Kp XY_Ki XY_Kd Giro #control_functions.setPIDValues(30, 16, 0, 32, 0, 0, 128) # Set Flight Parameters AA DI DD GID Order Duration #control_functions.setcontrols(20, 128, 128, 128, 1) # ------------ ETAPA 3 ------------ # # Set Trim & PID Parameters Alt_Kp Alt_Ki Alt_Kd XY_Kp XY_Ki XY_Kd Giro #control_functions.setPIDValues(50, 16, 0, 32, 0, 0, 128) # Set Flight Parameters AA DI DD GID Order Duration #control_functions.setcontrols(30, 128, 128, 128, 4) # Flight #print('Fliying...') # Landing print('Landing...') # Set Trim & PID Parameters Alt_Kp Alt_Ki Alt_Kd XY_Kp XY_Ki XY_Kd Giro control_functions.setcontrols(15, 128, 128, 128, 0.8) # Set Trim & PID Parameters Alt_Kp Alt_Ki Alt_Kd XY_Kp XY_Ki XY_Kd Giro
import control_functions # Set Trim Parameters Arriba Derecha Delante Gira #control_functions.setTrimmValues(115, 133, 132, 128) # Offsets: Up/Down Right/Left Forward/Backward TurnRight/TurnLeft (Descargado) control_functions.setTrimmValues( 100, 134, 132, 128 ) # Offsets: Up/Down Right/Left Forward/Backward TurnRight/TurnLeft (Cargado) # -------------------------------------- Flight -------------------------------------- # # Takeoff # Set Flight Parameters AA DI DD GID Order Duration control_functions.setcontrols(0, 128, 128, 128, 1) control_functions.setcontrols(220, 128, 128, 128, 0.3) #control_functions.setcontrols(128, 128, 128, 128, 3) # Flight # Set Flight Parameters Arriba Derecha Delante Gira Order Duration control_functions.setcontrols(128, 128, 180, 128, 1) # Adelante control_functions.setcontrols(150, 128, 50, 128, 1) # Atras #control_functions.setcontrols(128, 140, 128, 128, 0.5) # Derecha #control_functions.setcontrols(128, 116, 116, 128, 0.5) # Vuelve # Landing # Set Flight Parameters AA DI DD GID Order Duration print('Landing...') # Set Flight Parameters Arriba Derecha Delante Gira Order Duration control_functions.setcontrols(118, 128, 150, 128, 1.5) control_functions.setcontrols(0, 128, 128, 128, 0.1)
# Set Trim & PID Parameters Alt_Kp Alt_Ki Derecha Delante Gira #control_functions.setPIDValues(0, 0, 128, 128, 128) # Kp_altura, Offsets: Derecha/Izquierda, Delante/Detras, GiroIzquierda/Derecha # -------------------------------------- Flight -------------------------------------- # # Takeoff print('Taking off...') # ------------ ETAPA 1 ------------ # # Set Trim & PID Parameters Alt_Kp Alt_Ki Alt_Kd Derecha Delante Gira control_functions.setPIDValues(20, 8, 0, 130, 125, 128) # Kp_altura, Ki_altura, Kd_altura, Offsets: Der/Izq, Del/Det, GirIzq/Der # Set Flight Parameters AA DI DD GID Order Duration control_functions.setcontrols(20, 128, 128, 128, 1) # # ------------ ETAPA 2 ------------ # control_functions.setPIDValues(40, 16, 0, 130, 125, 128) # Kp_altura, Ki_altura, Kd_altura, Offsets: Der/Izq, Del/Det, GirIzq/Der control_functions.setcontrols(20, 128, 128, 128, 1) # AA DI DD GID Order Duration # ------------ ETAPA 3 ------------ # control_functions.setPIDValues(40, 16, 0, 130, 125, 128) # Kp_altura, Ki_altura, Kd_altura, Offsets: Der/Izq, Del/Det, GirIzq/Der control_functions.setcontrols(30, 128, 128, 128, 1) # AA DI DD GID Order Duration # Flight #print('Fliying...') # ------------ ETAPA 2 ------------ # #control_functions.setPIDValues(80, 16, 0, 130, 125, 128) # Kp_altura, Ki_altura, Kd_altura, Offsets: Der/Izq, Del/Det, GirIzq/Der #control_functions.setcontrols(30, 128, 128, 128, 2) # AA DI DD GID Order Duration