116 lines
3.8 KiB
Python
116 lines
3.8 KiB
Python
# -*- coding: utf-8 -*-
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'''
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---------------------------------------------------------------------------
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Intelligent scripting: Simplified operation process, detailed instructions can help flight control better take-off.
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获取无人机基础状态信息
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---------------------------------------------------------------------------
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'''
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from __future__ import print_function
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import time
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from dronekit import connect, VehicleMode, LocationGlobalRelative
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from pymavlink import mavutil
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print("""
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此脚本可获取无人机基础状态信息
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version==1.0
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/$$ /$$$$$$$$ /$$
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| $$ | $$_____/| $$
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/$$$$$$ /$$ /$$ /$$$$$$ /$$$$$$ | $$ | $$ /$$ /$$
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|____ $$| $$ | $$|_ $$_/ /$$__ $$| $$$$$ | $$| $$ | $$
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/$$$$$$$| $$ | $$ | $$ | $$ \ $$| $$__/ | $$| $$ | $$
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/$$__ $$| $$ | $$ | $$ /$$| $$ | $$| $$ | $$| $$ | $$
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| $$$$$$$| $$$$$$/ | $$$$/| $$$$$$/| $$ | $$| $$$$$$$
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\_______/ \______/ \___/ \______/ |__/ |__/ \____ $$
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/$$ | $$
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| $$$$$$/
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\______/
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by:wwy
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"""
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)
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#连接
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vehicle = connect('127.0.0.1:14550', wait_ready=True)
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#起飞
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def arm_and_takeoff(aTargetAltitude):
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print("起飞前检查......")
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while not vehicle.is_armable:
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print (" 等待飞机初始化......")
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time.sleep(1)
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print ("切换至GUIDED模式......")
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vehicle.mode = VehicleMode("GUIDED")
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print ("无人机解除锁定......")
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vehicle.armed = True
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while not vehicle.armed:
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print ("等待解锁...")
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time.sleep(1)
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print ("起飞!!!......")
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vehicle.simple_takeoff(aTargetAltitude)
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while True:
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print (" 当前高度：", vehicle.location.global_relative_frame.alt)
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if vehicle.location.global_relative_frame.alt>=aTargetAltitude*0.95:
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print ("到达目标高度......")
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break
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time.sleep(1)
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#起飞5m
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arm_and_takeoff(5)
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#版本
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print ("固件版本：%s" % vehicle.version)
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#全球定位信息
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#经纬和高度
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print ("经度、纬度和飞行高度：%s" % vehicle.location.global_frame)
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#经纬和相对高度
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print ("经度、纬度和相对飞行高度：%s" % vehicle.location.global_relative_frame)
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#相对home点的位置信息
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print ("相对基地的位置信息：%s" % vehicle.location.local_frame )
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#高度
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print ("无人机高度：%s" % vehicle.attitude)
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#速度
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print ("无人机速度：%s" % vehicle.velocity)
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#Gps质量
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print ("GPS：%s" % vehicle.gps_0)
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#地速
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print ("飞行地速：%s" % vehicle.groundspeed)
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#空速
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print ("飞行空速：%s" % vehicle.airspeed)
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#云台
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print ("云台状态：%s" % vehicle.gimbal)
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#电量
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print ("电量：%s" % vehicle.battery)
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#ekf
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print ("EKF OK?：%s" % vehicle.ekf_ok)
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#心跳
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print ("最近一次检测信号：%s" % vehicle.last_heartbeat)
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#超声波或激光
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print ("测距仪：%s" % vehicle.rangefinder)
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#距离
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print ("测距仪——距离：%s" % vehicle.rangefinder.distance)
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#电压
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print ("测距仪——电压：%s" % vehicle.rangefinder.voltage)
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#朝向
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print ("无人机朝向：%s" % vehicle.heading)
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#是否可以解锁
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print ("无人机是否解除锁定?：%s" % vehicle.is_armable)
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#系统状态
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print ("系统状态：%s" % vehicle.system_status.state)
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#飞行模式
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print ("当前飞行模式：%s" % vehicle.mode.name )
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#解锁状态
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print ("无人机解除锁定：%s" % vehicle.armed )
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print("飞行任务退出，无人机返回基地......")
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vehicle.mode = VehicleMode("LAND")
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print("......任务结束......")
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vehicle.close()
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