def fly(self):
if self.buttons:
#RTL
if self.buttons[0]:
self.RTL()
# Arm drone(s)
if self.buttons[2]:
self.arm()
# Disarm drone(s)
if self.buttons[3]:
self.disarm()
#set mission
if self.buttons[10]:
self.waypoints = mission_parser.get_mission(0)
#self.continue_mission() #keep drone from landing at end of mission
success = self.push_waypoints() #push to drone
if self.buttons[11]:
self.clear_waypoints()
'''
#set new waypoints - in flight, ignore existing waypoints and start new mission
if self.buttons[9]:
self.waypoints = mission_parser.get_mission(1)
#self.continue_mission()
self.push_waypoints()
self.restart_mission()
'''
#save map points to mission
if self.buttons[9]:
self.set_mission_to_map()
'''
#add waypoints
if self.buttons[8]:
self.add_waypoints([[42.293394, -71.263916],[42.293357, -71.263997]])
'''
if self.buttons[8]:
self.save_mission_to_file()
#enter guided mode/toggle guided waypoints
if self.buttons[1]:
self.guided_function()
if self.buttons[4]:
self.begin_mission()
if self.buttons[5]:
self.end_mission()
if self.buttons[6]:
self.set_guided_to_map()
if self.buttons[7]:
self.launch_map()
time.sleep(0.01)
#joystick control for manual
if self.drones[0].armed and self.mode[0] == 'manual':
rc_msg = OverrideRCIn()
x = 1500 - self.axes[0] * 300
y = 1500 - self.axes[1] * 300
z = 1000 + (self.axes[3] + 1) * 500
yaw = 1500 - self.axes[2] * 200
(rc_msg.channels[0], rc_msg.channels[1], rc_msg.channels[2],
rc_msg.channels[3]) = (x, y, z, yaw)
print z
self.pub_rc[0].publish(rc_msg)
def fly(self):
if self.buttons:
#RTL
if self.buttons[0]:
self.RTL()
# Arm drone(s)
if self.buttons[2]:
self.arm()
# Disarm drone(s)
if self.buttons[3]:
self.disarm()
#set mission
if self.buttons[10]:
self.waypoints = mission_parser.get_mission(0)
#self.continue_mission() #keep drone from landing at end of mission
success = self.push_waypoints() #push to drone
if self.buttons[11]:
self.clear_waypoints()
'''
#set new waypoints - in flight, ignore existing waypoints and start new mission
if self.buttons[9]:
self.waypoints = mission_parser.get_mission(1)
#self.continue_mission()
self.push_waypoints()
self.restart_mission()
'''
#save map points to mission
if self.buttons[9]:
self.set_mission_to_map()
'''
#add waypoints
if self.buttons[8]:
self.add_waypoints([[42.293394, -71.263916],[42.293357, -71.263997]])
'''
if self.buttons[8]:
self.save_mission_to_file()
#enter guided mode/toggle guided waypoints
if self.buttons[1]:
self.guided_function()
if self.buttons[4]:
self.begin_mission()
if self.buttons[5]:
self.end_mission()
if self.buttons[6]:
self.set_guided_to_map()
if self.buttons[7]:
self.launch_map()
time.sleep(0.01)
#joystick control for manual
if self.drones[0].armed and self.mode[0] == 'manual':
rc_msg = OverrideRCIn()
x = 1500 - self.axes[0]*300
y = 1500 - self.axes[1]*300
z = 1000 + (self.axes[3]+1)*500
yaw = 1500 - self.axes[2]*200
(rc_msg.channels[0], rc_msg.channels[1], rc_msg.channels[2], rc_msg.channels[3]) = (x, y, z, yaw)
self.pub_rc[0].publish(rc_msg)
if self.BOUNDEDFLIGHT and self.drones[0].armed and self.mode[0] != 'RTL':
pos = [self.drones[0].latitude, self.drones[0].longitude]
if pos != [0, 0]:
if not InPoly.isInPoly(self.bounds, pos):
self.RTL()
def kill_handler(signum, frame):
rc_msg = OverrideRCIn()
killmessage = 65535
[killmessage for msg in rc_msg.channels]
self.pub_rc[0].publish(rc_msg)
print 'handing control back'
quit()
signal.signal(signal.SIGINT, kill_handler)
def fly(self):
if self.buttons:
# Arm drone(s)
if self.buttons[2]:
for i in xrange(self.num_drones):
self.srv_arm[i](True)
print "Arming drones"
# Disarm drone(s)
if self.buttons[3]:
for i in xrange(self.num_drones):
self.srv_arm[i](False)
print "Disarming drones"
# Push waypoints
if self.buttons[10]:
waypoints = mission_parser.get_mission(0)
success = True
for i in xrange(self.num_drones):
res = self.srv_wp_push[i](waypoints)
success &= res.success
if success:
print "Pushed waypoints"
else:
print "Failed to push waypoints"
# Clear waypoints
if self.buttons[11]:
success = True
for i in xrange(self.num_drones):
res = self.srv_wp_clear[i]()
success &= res.success
if success:
print "Cleared waypoints"
else:
print "Failed to clear waypoints"
# Begin mission
if self.buttons[4]:
self.mode[0] = 'auto'
self.srv_mode[0](0, '3')
rc_msg = OverrideRCIn()
(rc_msg.channels[0], rc_msg.channels[1], rc_msg.channels[2], rc_msg.channels[3], rc_msg.channels[4]) = (1500, 1500, 1250, 1500, 1400)
self.pub_rc[0].publish(rc_msg)
print "Beginning mission"
# End mission
if self.buttons[5]:
self.mode[0] = 'manual'
print "Ending mission"
if self.drones[0].armed and self.mode[0] == 'manual':
rc_msg = OverrideRCIn()
x = 1500 - self.axes[0]*300
y = 1500 - self.axes[1]*300
z = 1000 + (self.axes[3]+1)*500
yaw = 1500 - self.axes[2]*300
(rc_msg.channels[0], rc_msg.channels[1], rc_msg.channels[2], rc_msg.channels[3], rc_msg.channels[4]) = (x, y, z, yaw, 1500)
self.srv_mode[0](0, '5')
self.pub_rc[0].publish(rc_msg)
def fly(self):
if self.buttons:
#RTL
if self.buttons[0]:
self.RTL()
# Arm drone(s)
if self.buttons[2]:
self.arm()
# Disarm drone(s)
if self.buttons[3]:
self.disarm()
#set mission
if self.buttons[10]:
self.waypoints = mission_parser.get_mission(0)
#self.continue_mission() #keep drone from landing at end of mission
success = self.push_waypoints() #push to drone
if self.buttons[11]:
self.clear_waypoints()
'''
#set new waypoints - in flight, ignore existing waypoints and start new mission
if self.buttons[9]:
self.waypoints = mission_parser.get_mission(1)
#self.continue_mission()
self.push_waypoints()
self.restart_mission()
'''
#save map points to mission
if self.buttons[9]:
self.set_mission_to_map()
'''
#add waypoints
if self.buttons[8]:
self.add_waypoints([[42.293394, -71.263916],[42.293357, -71.263997]])
'''
if self.buttons[8]:
self.save_mission_to_file()
#enter guided mode/toggle guided waypoints
if self.buttons[1]:
self.guided_function()
if self.buttons[4]:
self.begin_mission()
if self.buttons[5]:
self.end_mission()
if self.buttons[6]:
self.set_guided_to_map()
if self.buttons[7]:
self.launch_map()
time.sleep(0.01)
#joystick control for manual
if self.drones[0].armed and self.mode[0] == 'manual':
rc_msg = OverrideRCIn()
x = 1500 - self.axes[0]*300
y = 1500 - self.axes[1]*300
z = 1000 + (self.axes[3]+1)*500
yaw = 1500 - self.axes[2]*200
(rc_msg.channels[0], rc_msg.channels[1], rc_msg.channels[2], rc_msg.channels[3]) = (x, y, z, yaw)
print z
self.pub_rc[0].publish(rc_msg)
