pix飞控入门（5）Python获取状态数据和控制移动 - MKT-porter

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https://github.com/dronekit/dronekit-python/blob/master/docs/examples/vehicle_state.rst

这个例子展示了如何获取/设置车辆属性和参数信息，如何观察车辆属性变化，以及如何获取原点位置。

指南主题:ref:`vehicle-information`提供了有关如何使用 API 的更详细说明。

文档

https://github.com/dronekit/dronekit-python/blob/master/docs/examples/simple_goto.rst

此示例演示如何在 GUIDED 模式下武装和启动直升机，向多个目标点行进，然后返回原点。它使用:py:func:`Vehicle.simple_takeoff() <dronekit.Vehicle.simple_takeoff>`、 :py:func:`Vehicle.simple_goto() <dronekit.Vehicle.simple_goto>`和:py:attr:`Vehicle。模式 <dronekit.Vehicle.mode>` .

当:ref:`Simulated Vehicle <vagrant-sitl-from-full-image>`启动时，目标位置以家庭位置为中心；您可以编辑纬度和经度，为自己的车辆使用更合适的位置。

代码

https://github.com/dronekit/dronekit-python/blob/master/examples/simple_goto/simple_goto.py

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#!/usr/bin/env python
# -*- coding: utf-8 -*-
 
"""
© Copyright 2015-2016, 3D Robotics.
simple_goto.py: GUIDED mode "simple goto" example (Copter Only)
Demonstrates how to arm and takeoff in Copter and how to navigate to points using Vehicle.simple_goto.
Full documentation is provided at http://python.dronekit.io/examples/simple_goto.html
"""
 
from __future__ import print_function
import time
from dronekit import connect, VehicleMode, LocationGlobalRelative
 
 
# Set up option parsing to get connection string
import argparse
parser = argparse.ArgumentParser(description='Commands vehicle using vehicle.simple_goto.')
parser.add_argument('--connect',
                    help="Vehicle connection target string. If not specified, SITL automatically started and used.")
args = parser.parse_args()
 
connection_string = args.connect
sitl = None
 
 
# Start SITL if no connection string specified
if not connection_string:
    import dronekit_sitl
    sitl = dronekit_sitl.start_default()
    connection_string = sitl.connection_string()
 
 
# Connect to the Vehicle
print('Connecting to vehicle on: %s' % connection_string)
vehicle = connect(connection_string, wait_ready=True)
 
 
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")
    # Copter should arm in GUIDED mode
    vehicle.mode = VehicleMode("GUIDED")
    vehicle.armed = True
 
    # Confirm vehicle armed before attempting to take off
    while not vehicle.armed:
        print(" Waiting for arming...")
        time.sleep(1)
 
    print("Taking off!")
    vehicle.simple_takeoff(aTargetAltitude)  # Take off to target altitude
 
    # Wait until the vehicle reaches a safe height before processing the goto
    #  (otherwise the command after Vehicle.simple_takeoff will execute
    #   immediately).
    while True:
        print(" Altitude: ", vehicle.location.global_relative_frame.alt)
        # Break and return from function just below target altitude.
        if vehicle.location.global_relative_frame.alt >= aTargetAltitude * 0.95:
            print("Reached target altitude")
            break
        time.sleep(1)
 
 
arm_and_takeoff(10)
 
print("Set default/target airspeed to 3")
vehicle.airspeed = 3
 
print("Going towards first point for 30 seconds ...")
point1 = LocationGlobalRelative(-35.361354, 149.165218, 20)
vehicle.simple_goto(point1)
 
# sleep so we can see the change in map
time.sleep(30)
 
print("Going towards second point for 30 seconds (groundspeed set to 10 m/s) ...")
point2 = LocationGlobalRelative(-35.363244, 149.168801, 20)
vehicle.simple_goto(point2, groundspeed=10)
 
# sleep so we can see the change in map
time.sleep(30)
 
print("Returning to Launch")
vehicle.mode = VehicleMode("RTL")
 
# Close vehicle object before exiting script
print("Close vehicle object")
vehicle.close()
 
# Shut down simulator if it was started.
if sitl:
    sitl.stop()