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clever_flight_routines

ROS package and python module which simplifies the usage of simple_offboard.

Python module API description

Globals

TOLERANCE = 0.2             # m
SPEED = 1.0                 # m/s
TAKEOFF_SPEED = 1.0         # m/s
TAKEOFF_HEIGHT = 1.0        # m
LOCAL_FRAME_ID = 'map'

Service proxies

Most services described here.

  • navigate to service /navigate
  • navigate_global to service /navigate_global
  • set_position to service /set_position
  • set_velocity to service /set_velocity
  • set_attitude to service /set_attitude
  • set_rates to service /set_rates
  • get_telemetry to service get_telemetry
  • land to service /land
  • arming to service /mavros/cmd/arming
  • set_mode to service /mavros/set_mode

Functions

get_distance

Return distance betwen 2 points: (x1,y1,z1) and (x2,y2,z2).

Arguments:

  • x1, y1, z1, x2, y2, z2 - coordinates in the same metric system.

takeoff

Takeoff to specified height.

Arguments:

  • height - takeoff height in m. Default is TAKEOFF_HEIGHT.
  • speed - copter vertical speed in m/s. Default is TAKEOFF_SPEED.
  • tolerance - tolerance of reaching height in m. Default is TOLERANCE.
  • frame_id - copter will takeoff relative to this frame id. Default is LOCAL_FRAME_ID.

reach_point

Reach specified point. Copter needs to be armed. Heading will be the same as initial if yaw=float('nan').

Arguments:

  • x, y, z - coordinates in m.
  • yaw - copter heading in radians. Default is float('nan').
  • speed - copter speed in m/s. Default is SPEED.
  • tolerance - tolerance of reaching point in m. Default is TOLERANCE.
  • frame_id - copter will fly to point relative to this frame id. Default id LOCAL_FRAME_ID.

create_route

Create route file in .csv format with sequence of points with x, y, z coordinates.

Arguments:

  • filename - file name of the route.
  • add_trigger and stop_trigger - external controlled threading.Event variables for add point and end creating operations.
  • frame_id - coordinates will be recorded relative to this frame. Default is LOCAL_FRAME_ID.

read_route

Read route file. Return array of points. Each point is a dictionary: {'x': float(x),'y': float(y),'z': float(z)}.

fly_route

Fly the route.

Arguments:

  • route - array of points, each point is a dictionary: {'x': float(x),'y': float(y),'z': float(z)}.
  • flight_function - function that is used to fly to point. Variants are: navigate, set_position or reach_point. Default is reach_point.
  • z - specified height of flight in m. If z is float('nan') then the height will be ['z'] value in each point. Default is float('nan').
  • delay - delay between flying to points in s. Useful with navigate or set_position flight sunctions. Default is 0.1 s.
  • speed - speed of flight in m/s. Default is SPEED.
  • frame_id - copter will fly to point relative to this frame. Default is LOCAL_FRAME_ID.