101 lines
4.1 KiB
Python
101 lines
4.1 KiB
Python
#!/usr/bin/env python
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# -*- coding: utf-8 -*-
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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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But this is just a test file.
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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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# 通过本地的14551端口，使用UDP连接到SITL模拟器
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connection_string ='127.0.0.1:14550' #'tcp:127.0.0.1:5760' #
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print('Connecting to vehicle on: %s' % connection_string)
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# connect函数将会返回一个Vehicle类型的对象，即此处的vehicle
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# 即可认为是无人机的主体，通过vehicle对象，我们可以直接控制无人机
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vehicle = connect(connection_string, wait_ready=True)
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# 定义arm_and_takeoff函数，使无人机解锁并起飞到目标高度
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# 参数aTargetAltitude即为目标高度，单位为米
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def arm_and_takeoff(aTargetAltitude):
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# 进行起飞前检查
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print("Basic pre-arm checks")
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# vehicle.is_armable会检查飞控是否启动完成、有无GPS fix、卡曼滤波器
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# 是否初始化完毕。若以上检查通过，则会返回True
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while not vehicle.is_armable:
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print(" Waiting for vehicle to initialise...")
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time.sleep(1)
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# 解锁无人机（电机将开始旋转）
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print("Arming motors")
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# 将无人机的飞行模式切换成"GUIDED"（一般建议在GUIDED模式下控制无人机）
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vehicle.mode = VehicleMode("GUIDED")
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# 通过设置vehicle.armed状态变量为True，解锁无人机
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vehicle.armed = True
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# 在无人机起飞之前，确认电机已经解锁
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while not vehicle.armed:
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print(" Waiting for arming...")
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time.sleep(1)
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# 发送起飞指令
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print("Taking off!")
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# simple_takeoff将发送指令，使无人机起飞并上升到目标高度
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vehicle.simple_takeoff(aTargetAltitude)
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# 在无人机上升到目标高度之前，阻塞程序
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while True:
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print(" Altitude: ", vehicle.location.global_relative_frame.alt)
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# 当高度上升到目标高度的0.95倍时，即认为达到了目标高度，退出循环
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# vehicle.location.global_relative_frame.alt为相对于home点的高度
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if vehicle.location.global_relative_frame.alt >= aTargetAltitude * 0.95:
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print("Reached target altitude")
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break
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# 等待1s
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time.sleep(1)
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# 调用上面声明的arm_and_takeoff函数，目标高度10m
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arm_and_takeoff(10)
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# 设置在运动时，默认的空速为3m/s
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print("Set default/target airspeed to 3")
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# vehicle.airspeed变量可读可写，且读、写时的含义不同。
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# 读取时，为无人机的当前空速；写入时，设定无人机在执行航点任务时的默认速度
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vehicle.airspeed = 3
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# 发送指令，让无人机前往第一个航点
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print("Going towards first point for 30 seconds ...")
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# LocationGlobalRelative是一个类，它由经纬度(WGS84)和相对于home点的高度组成
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# 这条语句将创建一个位于南纬35.361354，东经149.165218，相对home点高20m的位置
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point1 = LocationGlobalRelative(-35.361354, 149.165218, 20)
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# simple_goto函数将位置发送给无人机，生成一个目标航点
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vehicle.simple_goto(point1)
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# simple_goto函数只发送指令，不判断有没有到达目标航点
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# 它可以被其他后续指令打断，此处延时30s，即让无人机朝向point1飞行30s
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time.sleep(30)
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# 发送指令，让无人机前往第二个航点
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print("Going towards second point for 30 seconds (groundspeed set to 10 m/s) ...")
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# 与之前类似，这条语句创建了另一个相对home高20m的点
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point2 = LocationGlobalRelative(-35.363244, 149.168801, 20)
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# simple_goto将目标航点发送给无人机，groundspeed=10设置飞行时的地速为10m/s
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vehicle.simple_goto(point2, groundspeed=10)
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# 与之前一样，延时30s
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time.sleep(30)
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# 发送"返航"指令
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print("Returning to Launch")
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# 返航，只需将无人机的飞行模式切换成"RTL(Return to Launch)"
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# 无人机会自动返回home点的正上方，之后自动降落
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vehicle.mode = VehicleMode("RTL")
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# 退出之前，清除vehicle对象
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print("Close vehicle object")
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vehicle.close() |