드론키트
DroneKit을 사용하여 강력한 UAV 앱을 제작합니다. 이 앱은 UAV의 보조 컴퓨터에서 실행되며, 계산량이 많고 짧은 네트웍 대기 시간(예: 컴퓨터 비전)이 요구되는 작업을 수행하여 자동조종장치의 기능을 보강할 수 있습니다.
DroneKit과 PX4는 현재 완전한 호환성을 위하여 개발중에 있습니다. DroneKit-python 2.2.0부터 임무 처리 및 차량 모니터링 기능을 기본적으로 제공합니다.
PX4와 DroneKit 설정
현재 마스터에서 DroneKit-python을 설치합니다.
git clone https://github.com/dronekit/dronekit-python.git
cd ./dronekit-python
sudo python setup.py build
sudo python setup.py install새 python 파일을 만들고 DroneKit, pymavlink 및 기본 모듈들을 임포트합니다.
# Import DroneKit-Python
from dronekit import connect, Command, LocationGlobal
from pymavlink import mavutil
import time, sys, argparse, math드론 또는 시뮬레이션의 MAVLink 포트에 연결합니다(예: JMavSim).
# Connect to the Vehicle
print "Connecting"
connection_string = '127.0.0.1:14540'
vehicle = connect(connection_string, wait_ready=True)기본 상태 정보 표시
# Display basic vehicle state
print " Type: %s" % vehicle._vehicle_type
print " Armed: %s" % vehicle.armed
print " System status: %s" % vehicle.system_status.state
print " GPS: %s" % vehicle.gps_0
print " Alt: %s" % vehicle.location.global_relative_frame.alt전체 미션 예시
다음 python 스크립트는 DroneKit 및 PX4를 사용하는 전체 미션 예제를 설명합니다. 모드 전환은 아직 DroneKit에서 지원하지 않으므로, 자체 사용자 지정 모드 전환 명령을 전송합니다.
################################################################################################
# @File DroneKitPX4.py
# Example usage of DroneKit with PX4
#
# @author Sander Smeets <sander@droneslab.com>
#
# Code partly based on DroneKit (c) Copyright 2015-2016, 3D Robotics.
################################################################################################
# Import DroneKit-Python
from dronekit import connect, Command, LocationGlobal
from pymavlink import mavutil
import time, sys, argparse, math
################################################################################################
# Settings
################################################################################################
connection_string = '127.0.0.1:14540'
MAV_MODE_AUTO = 4
# https://github.com/PX4/PX4-Autopilot/blob/master/Tools/mavlink_px4.py
# Parse connection argument
parser = argparse.ArgumentParser()
parser.add_argument("-c", "--connect", help="connection string")
args = parser.parse_args()
if args.connect:
connection_string = args.connect
################################################################################################
# Init
################################################################################################
# Connect to the Vehicle
print "Connecting"
vehicle = connect(connection_string, wait_ready=True)
def PX4setMode(mavMode):
vehicle._master.mav.command_long_send(vehicle._master.target_system, vehicle._master.target_component,
mavutil.mavlink.MAV_CMD_DO_SET_MODE, 0,
mavMode,
0, 0, 0, 0, 0, 0)
def get_location_offset_meters(original_location, dNorth, dEast, alt):
"""
Returns a LocationGlobal object containing the latitude/longitude `dNorth` and `dEast` metres from the
specified `original_location`. The returned Location adds the entered `alt` value to the altitude of the `original_location`.
The function is useful when you want to move the vehicle around specifying locations relative to
the current vehicle position.
The algorithm is relatively accurate over small distances (10m within 1km) except close to the poles.
For more information see:
http://gis.stackexchange.com/questions/2951/algorithm-for-offsetting-a-latitude-longitude-by-some-amount-of-meters
"""
earth_radius=6378137.0 #Radius of "spherical" earth
#Coordinate offsets in radians
dLat = dNorth/earth_radius
dLon = dEast/(earth_radius*math.cos(math.pi*original_location.lat/180))
#New position in decimal degrees
newlat = original_location.lat + (dLat * 180/math.pi)
newlon = original_location.lon + (dLon * 180/math.pi)
return LocationGlobal(newlat, newlon,original_location.alt+alt)
time.sleep(1)
# Display basic vehicle state
print " Type: %s" % vehicle._vehicle_type
print " Armed: %s" % vehicle.armed
print " System status: %s" % vehicle.system_status.state
print " GPS: %s" % vehicle.gps_0
print " Alt: %s" % vehicle.location.global_relative_frame.alt
# Change to AUTO mode
PX4setMode(MAV_MODE_AUTO)
time.sleep(1)
# Load commands
cmds = vehicle.commands
cmds.clear()
home = vehicle.location.global_relative_frame
# takeoff to 10 meters
wp = get_location_offset_meters(home, 0, 0, 10);
cmd = Command(0,0,0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_TAKEOFF, 0, 1, 0, 0, 0, 0, wp.lat, wp.lon, wp.alt)
cmds.add(cmd)
# move 10 meters north
wp = get_location_offset_meters(wp, 10, 0, 0);
cmd = Command(0,0,0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, 1, 0, 0, 0, 0, wp.lat, wp.lon, wp.alt)
cmds.add(cmd)
# move 10 meters east
wp = get_location_offset_meters(wp, 0, 10, 0);
cmd = Command(0,0,0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, 1, 0, 0, 0, 0, wp.lat, wp.lon, wp.alt)
cmds.add(cmd)
# move 10 meters south
wp = get_location_offset_meters(wp, -10, 0, 0);
cmd = Command(0,0,0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, 1, 0, 0, 0, 0, wp.lat, wp.lon, wp.alt)
cmds.add(cmd)
# move 10 meters west
wp = get_location_offset_meters(wp, 0, -10, 0);
cmd = Command(0,0,0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, 1, 0, 0, 0, 0, wp.lat, wp.lon, wp.alt)
cmds.add(cmd)
# land
wp = get_location_offset_meters(home, 0, 0, 10);
cmd = Command(0,0,0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_LAND, 0, 1, 0, 0, 0, 0, wp.lat, wp.lon, wp.alt)
cmds.add(cmd)
# Upload mission
cmds.upload()
time.sleep(2)
# Arm vehicle
vehicle.armed = True
# monitor mission execution
nextwaypoint = vehicle.commands.next
while nextwaypoint < len(vehicle.commands):
if vehicle.commands.next > nextwaypoint:
display_seq = vehicle.commands.next+1
print "Moving to waypoint %s" % display_seq
nextwaypoint = vehicle.commands.next
time.sleep(1)
# wait for the vehicle to land
while vehicle.commands.next > 0:
time.sleep(1)
# Disarm vehicle
vehicle.armed = False
time.sleep(1)
# Close vehicle object before exiting script
vehicle.close()
time.sleep(1)Last updated