Dronekit代码学习(一)连接及基础状态设置
目前Dronekit可自行设置的内容较少,但能满足基本使用要求。后面还是需要对Mavlink相关指令进行学习。
连接
地址根据实际情况修改,官网如下:
https://dronekit-python.readthedocs.io/en/latest/guide/connecting_vehicle.html
Linux USB /dev/ttyUSB0
Linux Serial port (RaspberryPi example) /dev/ttyAMA0 (also set baud=57600)
SITL UDP 127.0.0.1:14550
SITL TCP tcp:127.0.0.1:5760
OSX USB dev/cu.usbmodem1
Windows USB (in this case on COM14) com14
Windows COM14 com14 (also set baud=57600)
仿真用:
#连接
vehicle = connect('127.0.0.1:14551', wait_ready=True)
飞行模式
#设置mode
print("设置模式Guided...")
vehicle.mode = VehicleMode("GUIDED")
解锁
#解锁
print("解锁...")
vehicle.armed = True
地速,即移速
#设置移动速度,地速
print("设置移动速度...")
vehicle.groundspeed = 3.2
设置目标位置
#设置目标位置a
print("设置目标位置...")
a_location = LocationGlobalRelative(-34.364114, 149.166022, 30)
关闭连接
print("关闭连接")
vehicle.close()
起飞
#起飞
def arm_and_takeoff(aTargetAltitude):
print("起飞前检查...")
while not vehicle.is_armable:
print (" 等待飞机初始化...")
time.sleep(1)
print ("切换至GUIDED模式...")
vehicle.mode = VehicleMode("GUIDED")
print ("解锁...")
vehicle.armed = True
while not vehicle.armed:
print ("等待解锁...")
time.sleep(1)
print ("起飞!!!...")
vehicle.simple_takeoff(aTargetAltitude)
while True:
print (" 当前高度: ", vehicle.location.global_relative_frame.alt)
if vehicle.location.global_relative_frame.alt>=aTargetAltitude*0.95:
print ("到达目标高度...")
break
time.sleep(1)
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