如何使用python dronekit执行«左/右/前进/后退»？

Question

我正在使用APM自动驾驶我的hexacopter并遵循this教程。通过查看this可用命令，我看不出如何命令无人机进入左/右/前进/后退？

有人能帮助我吗？

Answer 1

您需要创建vehicle.message_factory.set_position_target_local_ned_encode。 这将需要一个mavutil.mavlink.MAV_FRAME_BODY_NED的框架。 您将所需的x，y和/或z速度（以m/s为单位）添加到消息中。

from pymavlink import mavutil 
from dronekit import connect, VehicleMode, LocationGlobalRelative 
import time 

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) 

connection_string = 'tcp:192.168.1.2:5760' # Edit to suit your needs. 
takeoff_alt = 10 
vehicle = connect(connection_string, wait_ready=True) 
while not vehicle.is_armable: 
    time.sleep(1) 
vehicle.mode = VehicleMode("GUIDED") 
vehicle.armed = True 
while not vehicle.armed: 
    print('Waiting for arming...') 
    time.sleep(1) 
vehicle.simple_takeoff(takeoff_alt) # Take off to target altitude 
while True: 
    print('Altitude: %d' % self.vehicle.location.global_relative_frame.alt) 
    if vehicle.location.global_relative_frame.alt >= takeoff_alt * 0.95: 
     print('REACHED TARGET ALTITUDE') 
     break 
    time.sleep(1) 

# This is the command to move the copter 5 m/s forward for 10 sec. 
velocity_x = 0 
velocity_y = 5 
velocity_z = 0 
duration = 10 
send_body_ned_velocity(velocity_x, velocity_y, velocity_z, duration) 

# backwards at 5 m/s for 10 sec. 
velocity_x = 0 
velocity_y = -5 
velocity_z = 0 
duration = 10 
send_body_ned_velocity(velocity_x, velocity_y, velocity_z, duration) 

vehicle.mode = VehicleMode("LAND") 

玩得开心，当然，在编程和飞行无人机时要注意严密的安全卫士。手动模式覆盖是必须的！

Answer 2

Dronekit-python有非常简单的API来命令本地框架中的无人机。从我的个人经验来看，很难使用这些命令使我的无人机在本地跟随形状，例如正方形或圆形。 另一种方法是使用FlytOS drone APIs。如果你看到这个样本python code on github，你可以看到命令无人机向左走x米然后向前走米是多么容易。Jon的答案确实显示了如何使用dronekit来实现你想要做的事情，但是另一个初学者可能会被复杂的代码吓倒。