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mission.py
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mission.py
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import cv2, time
import numpy as np
from dronekit import connect, VehicleMode, LocationGlobal, LocationGlobalRelative
from pymavlink import mavutil # Needed for command message definitions
camera_matrix = np.array( [ [ 6.0784457614025803e+02 , 0. , 3.2306280294111639e+02],
[ 0. , 6.0776688471513398e+02, 2.3031092286690938e+02],
[ 0. , 0. , 1. ]])
dist_coeffs = np.array( [ 2.2848729690411801e-01, -9.5226223066766025e-01, 9.7446890329030999e-04, 8.5096039022205565e-05, 1.3294917618602062e-01 ])
def arm_and_takeoff(aTargetAltitude):
#Arms vehicle and fly to aTargetAltitude.
print("Basic pre-arm checks")
# Don't try to arm until autopilot is ready
while not vehicle.is_armable:
print("Waiting for vehicle to initialise...")
time.sleep(1)
print("Arming motors")
time.sleep(1)
# Copter should arm in GUIDED mode
vehicle.mode = VehicleMode("GUIDED")
print("Mode: %s" % vehicle.mode.name)
vehicle.armed = True
while (not vehicle.mode.name=="GUIDED" ):
print("Getting ready to take off ...")
vehicle.mode = VehicleMode("GUIDED")
time.sleep(1)
# Confirm vehicle armed before attempting to take off
while not vehicle.armed:
print("Waiting for arming...")
time.sleep(1)
print("Taking off!")
# Take off to target altitude
vehicle.simple_takeoff(aTargetAltitude)
while True:
print("Altitude: %s" % vehicle.location.global_relative_frame.alt)
print("Velocity: %s" % vehicle.velocity)
# Wait until the vehicle reaches a safe height before processing the goto (otherwise the command
# after Vehicle.simple_takeoff will execute immediately).
#Break and return from function just below target altitude.
if vehicle.location.global_relative_frame.alt>=aTargetAltitude*0.95:
#if wait_for_alt(alt = 1, epsilon=0.3, rel=True, timeout=None)
print("Reached target altitude")
break
time.sleep(1)
def condition_yaw(heading, relative=False):
if relative:
is_relative=1 #yaw relative to direction of travel
else:
is_relative=0 #yaw is an absolute angle
# create the CONDITION_YAW command using command_long_encode()
msg = vehicle.message_factory.command_long_encode(
0, 0, # target system, target component
mavutil.mavlink.MAV_CMD_CONDITION_YAW, #command
0, #confirmation
heading, # param 1, yaw in degrees
0, # param 2, yaw speed deg/s
1, # param 3, direction -1 ccw, 1 cw
is_relative, # param 4, relative offset 1, absolute angle 0
0, 0, 0) # param 5 ~ 7 not used
# send command to vehicle
vehicle.send_mavlink(msg)
def send_body_ned_velocity(velocity_x, velocity_y, velocity_z, duration=0):
msg = vehicle.message_factory.set_position_target_local_ned_encode(
0, # time_boot_ms (not used)
0, 0, # target system, target component
mavutil.mavlink.MAV_FRAME_BODY_NED, # frame Needs to be MAV_FRAME_BODY_NED for forward/back left/right control.
0b0000111111000111, # type_mask
0, 0, 0, # x, y, z positions (not used)
velocity_x, velocity_y, velocity_z, # m/s
0, 0, 0, # x, y, z acceleration
0, 0)
for x in range(0,duration):
vehicle.send_mavlink(msg)
time.sleep(1)
time.sleep(20)
vehicle = connect('/dev/ttyS0', baud=921600)
# Get some vehicle attributes (state)
print (" Get some vehicle attribute values:")
print (" GPS: %s" % vehicle.gps_0)
print (" Battery: %s" % vehicle.battery)
print (" Attitude: %s" % vehicle.attitude)
print (" Velocity: %s" % vehicle.velocity)
print (" Last Heartbeat: %s" % vehicle.last_heartbeat)
print (" Is Armable?: %s" % vehicle.is_armable)
print (" System status: %s" % vehicle.system_status.state)
print (" Mode: %s" % vehicle.mode.name) # settable
# Get all channel values from RC transmitter
print "Channel values from RC Tx:", vehicle.channels
if(vehicle.channels['?']) == ?:
vehicle.airspeed=0.20 # meters
landing_altitude = 0.90 # meters
angle_descend = 20
and_speed = 0.30 # meters
vehicle.mode = VehicleMode("GUIDED")
print("Starting the mission..")
print("Mode: %s" % vehicle.mode.name)
arm_and_takeoff(2) # altitude = 2 meters
time.sleep(2)
while True :
if Arrow:
print("forward at 0.5 m/s for 5 sec.")
# forward at 0.5 m/s for 5 sec.
velocity_x = 0
velocity_y = 0.5
velocity_z = 0
duration = 5
send_body_ned_velocity(velocity_x, velocity_y, velocity_z, duration)
if Line:
if T:
vehicle.mode = VehicleMode("LAND")
disarm(wait=True, timeout=None)
vehicle.close()
else: