mirror of
https://github.com/OpenSolo/OpenSolo.git
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SHOTS: Update for buttons, AC Master, & speeds
Update to all smart shots for some or all of the following: - Button handling for the new Open Solo button handling rework - Copter yaw compatibility with ArduCopter master - Accelleration fixes and standardization
This commit is contained in:
Matt
parent
296a8af950
commit
39743a9be0
@ -1,52 +1,48 @@
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# follow.py
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# shotmanager
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#
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# The Follow Me smart shot controller.
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# Runs as a DroneKit-Python script.
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#
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# Created by Will Silva on 12/14/2015.
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# Altitude and Leash follow created by Jason Short 2/25/2016
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# Copyright (c) 2016 3D Robotics.
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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'''
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follow.py
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shotmanager
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from dronekit import Vehicle, LocationGlobalRelative, VehicleMode
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The Follow Me smart shot controller.
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Runs as a DroneKit-Python script.
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Created by Will Silva on 12/14/2015.
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Altitude and Leash follow created by Jason Short 2/25/2016
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Copyright (c) 2016 3D Robotics.
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Licensed under the Apache License, Version 2.0 (the "License");
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You may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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'''
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from pymavlink import mavutil
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import os
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from os import sys, path
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import math
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import struct
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import monotonic
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import collections
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sys.path.append(os.path.realpath(''))
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import app_packet
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import camera
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import location_helpers
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import pathHandler
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import shotLogger
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from shotManagerConstants import *
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import shots
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import socket
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from dronekit import Vehicle, LocationGlobalRelative, VehicleMode
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from pymavlink import mavutil
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from shotManagerConstants import *
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from orbitController import OrbitController
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from lookAtController import LookAtController
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from flyController import FlyController
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from leashController import LeashController
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from os import sys, path
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from vector3 import Vector3
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# on host systems these files are located here
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from sololink import btn_msg
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sys.path.append(os.path.realpath(''))
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FOLLOW_PORT = 14558
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SOCKET_TIMEOUT = 0.01
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@ -75,27 +71,38 @@ ROI_ALT_FILTER_GAIN = 0.65 # Relative contribution of the previous and new data
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logger = shotLogger.logger
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'''
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Define the different followStates:
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# Define the different followStates:
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Follow Wait
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Initial state before everything is ready. This state exits when the
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first ROI is sent from the app. (in filterROI()) The shot will probably
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only be in this state for a few ticks.
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# Follow Wait
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# Initial state before everything is ready. This state exits when the first ROI is sent from the app. (in filterROI()) The shot will probably only be in this state for a few ticks.
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# Look At Me
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# Copter does not move unless commanded by stick actions, but the camera rotates to keep the ROI in frame
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# Follow Orbit: Default behaviour.
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# Copter translates to keep the user in frame, maintining a offset in a particular direction (i.e. North) of the user.
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# Once the orbit is started (cruise via the app or with sticks) then the copter orbits around the ROI, keeping the subject in frame.
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# Follow Leash
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# Copter tries to stay behind the user's direction of motion.
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# If the copter is within the leash length from the user, the leash is "slack" so the copter rotates but does not move.
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# Once the copter gets further from the user. It swings around to get behind the user and keep up.
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# User can adjust altitude and radius with sticks but cannot strafe manually.
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# Follow Free Look
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# Copter maintains an offset from the ROI and can get dragged around as the ROI moves
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# User can move the copter with the roll/pitch sticks like FLY mode
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# User can adjust the altitude with the controller paddle
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# User can freely control the camera pan/tilt with the left stick.
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# Camera maintains constant yaw/pitch unless the user permutes it.
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Look At Me
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Copter does not move unless commanded by stick actions, but the camera
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rotates to keep the ROI in frame
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Follow Orbit: Default behaviour.
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Copter translates to keep the user in frame, maintining a offset in a
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particular direction (i.e. North) of the user. Once the orbit is started
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(cruise via the app or with sticks) then the copter orbits around the ROI,
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keeping the subject in frame.
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Follow Leash
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Copter tries to stay behind the user's direction of motion.
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If the copter is within the leash length from the user, the leash is
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"slack" so the copter rotates but does not move. Once the copter gets
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further from the user. It swings around to get behind the user and keep up.
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User can adjust altitude and radius with sticks but cannot strafe manually.
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Follow Free Look
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Copter maintains an offset from the ROI and can get dragged around as
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the ROI moves. User can move the copter with the roll/pitch sticks
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like FLY mode. User can adjust the altitude with the controller paddle.
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User can freely control the camera pan/tilt with the left stick.
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Camera maintains constant yaw/pitch unless the user permutes it.
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'''
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FOLLOW_WAIT = 0
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FOLLOW_LOOKAT = 1
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@ -196,9 +203,11 @@ class FollowShot():
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'''
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Position Control
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Note: All follow controllers return position and velocity of the drone in "absolute" space (as opposed to relative to the ROI)
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Pos: Lat, lon, alt. Alt is relative to home location. NEU frame, of course.
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Vel: Speed in the x,y, and z directions. NEU frame. vel.z needs to be inverted before passing to the autopilot.
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Note: All follow controllers return position and velocity of the
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drone in "absolute" space (as opposed to relative to the ROI)
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Pos: Lat, lon, alt. Alt is relative to home location. NEU frame..
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Vel: Speed in the x,y, and z directions. NEU frame. vel.z needs
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to be inverted before passing to the autopilot.
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'''
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# Look At Me Mode (Vehicle stays put)
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@ -273,7 +282,7 @@ class FollowShot():
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# if we can handle the button we do
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def handleButton(self, button, event):
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if button == btn_msg.ButtonA and event == btn_msg.Press:
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if button == btn_msg.ButtonA and event == btn_msg.ClickRelease:
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# Allow the user to exit Look At Me mode (into the previous follow mode) with the A button
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if self.followPreference == FOLLOW_PREF_LEASH:
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@ -284,7 +293,7 @@ class FollowShot():
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self.initState(FOLLOW_ORBIT)
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# Change Follow Mode to Look At Me on Pause button press
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if button == btn_msg.ButtonLoiter and event == btn_msg.Press:
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if button == btn_msg.ButtonLoiter and event == btn_msg.ClickRelease:
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self.initState(FOLLOW_LOOKAT)
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self.shotmgr.notifyPause(True)
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self.updateAppOptions()
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@ -621,9 +630,24 @@ class FollowShot():
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self.camPitch * 100,
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0.0, # roll
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# yaw is in centidegrees
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self.camYaw * 100,
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0, #self.camYaw * 100, (Disabled by Matt due to ArduCopter master mount_control problem)
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0 # save position
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)
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self.vehicle.send_mavlink(msg)
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# Use MAV_CMD_CONDITION_YAW since the yaw in MSG_MOUNT_CONTROL is not working in AC35
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msg = self.vehicle.message_factory.command_long_encode(
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0, 0, # target system, target component
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mavutil.mavlink.MAV_CMD_CONDITION_YAW, #command
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0, #confirmation
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self.camYaw, # param 1 - target angle
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YAW_SPEED, # param 2 - yaw speed
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self.camDir, # param 3 - direction
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0.0, # relative offset
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0, 0, 0 # params 5-7 (unused)
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)
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self.vehicle.send_mavlink(msg)
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else:
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# if we don't have a gimbal, just set CONDITION_YAW
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msg = self.vehicle.message_factory.command_long_encode(
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@ -673,3 +697,4 @@ class FollowShot():
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return False
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else:
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return True
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@ -33,7 +33,7 @@ from orbitController import OrbitController
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logger = shotLogger.logger
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#Path accel/decel constants
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PATH_ACCEL = 2.5
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PATH_ACCEL = 2.0
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ACCEL_PER_TICK = PATH_ACCEL * UPDATE_TIME
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ORBIT_RAD_FOR_MIN_SPEED = 2.0
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@ -9,9 +9,8 @@
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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@ -42,8 +41,8 @@ logger = shotLogger.logger
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# CONSTANTS
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ACCEL_LIMIT = 2.5 #m/s^2
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NORM_ACCEL_LIMIT = 2.25 #m/s^2
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ACCEL_LIMIT = 2.0 #m/s^2
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NORM_ACCEL_LIMIT = 1.75 #m/s^2
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TANGENT_ACCEL_LIMIT = math.sqrt(ACCEL_LIMIT**2-NORM_ACCEL_LIMIT**2) #m/s^2
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# Yaw rate (deg/s)
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@ -290,8 +289,11 @@ class MultipointShot():
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newPitch += self.yawPitchOffsetter.pitchOffset
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newYaw += self.yawPitchOffsetter.yawOffset
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# formulate mavlink message for mount controller
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# do we have a gimbal?
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# Formulate mavlink message for mount controller. Use mount_control if using a gimbal. Use just condition_yaw if no gimbal.
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# Modified by Matt 2017-05-18 for ArducCopter master compatibility
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# mav_cmd_do_mount_control should handle gimbal pitch and copter yaw, but yaw is not working in master.
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# So this mount_control command is only going to do the gimbal pitch for now.
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if self.vehicle.mount_status[0] is not None:
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pointingMsg = self.vehicle.message_factory.mount_control_encode(
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0, 1, # target system, target component
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@ -300,7 +302,23 @@ class MultipointShot():
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newYaw * 100, # yaw (centidegrees)
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0 # save position
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)
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# if not, assume fixed mount
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self.vehicle.send_mavlink(pointingMsg)
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# Temporary fix while the yaw control is not working in the above mount_control command.
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pointingMsg = self.vehicle.message_factory.command_long_encode(
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0, 0, # target system, target component
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mavutil.mavlink.MAV_CMD_CONDITION_YAW, # command
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0, # confirmation
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newYaw, # param 1 - target angle (degrees)
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YAW_SPEED, # param 2 - yaw speed (deg/s)
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0, # param 3 - direction, always shortest route for now...
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0.0, # relative offset
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0, 0, 0 # params 5-7 (unused)
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)
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self.vehicle.send_mavlink(pointingMsg)
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# if no gimbal, assume fixed mount and use condition_yaw only
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else:
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# if we don't have a gimbal, just set CONDITION_YAW
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pointingMsg = self.vehicle.message_factory.command_long_encode(
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@ -313,10 +331,9 @@ class MultipointShot():
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0.0, # relative offset
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0, 0, 0 # params 5-7 (unused)
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)
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# send pointing command to vehicle
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self.vehicle.send_mavlink(pointingMsg)
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def interpolateCamera(self):
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'''Interpolate (linear) pitch and yaw between cable control points'''
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@ -474,9 +491,9 @@ class MultipointShot():
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def handleButton(self, button, event):
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'''handle actions for button presses'''
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if not self.cableCamPlaying:
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if button == btn_msg.ButtonA and event == btn_msg.Press:
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if button == btn_msg.ButtonA and event == btn_msg.ClickRelease:
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self.recordLocation()
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if button == btn_msg.ButtonB and event == btn_msg.Press:
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if button == btn_msg.ButtonB and event == btn_msg.ClickRelease:
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self.recordLocation()
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# only try to start a cable if we have more than 2 points
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if len(self.waypoints) > 1:
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@ -484,7 +501,7 @@ class MultipointShot():
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self.enterPlayMode()
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# handle pause button
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if button == btn_msg.ButtonLoiter and event == btn_msg.Press:
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if button == btn_msg.ButtonLoiter and event == btn_msg.ClickRelease:
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self.setCruiseSpeed(state = PAUSED)
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logger.log("[multipoint]: Pause button pressed on Artoo.")
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@ -831,11 +848,32 @@ class MultipointShot():
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if self.vehicle.mount_status[0] is not None:
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pointingMsg = self.vehicle.message_factory.mount_control_encode(
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0, 1, # target system, target component
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startPitch * 100, # pitch (centidegrees)
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newPitch * 100, # pitch (centidegrees)
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0.0, # roll (centidegrees)
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startYaw * 100, # yaw (centidegrees)
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newYaw * 100, # yaw (centidegrees)
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0 # save position
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)
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self.vehicle.send_mavlink(pointingMsg)
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pointingMsg = self.vehicle.message_factory.command_long_encode(
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0, 0, # target system, target component
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mavutil.mavlink.MAV_CMD_CONDITION_YAW, # command
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0, # confirmation
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startYaw, # param 1 - target angle (degrees)
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ATTACH_YAW_SPEED, # param 2 - yaw speed (deg/s)
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0, # param 3 - direction, always shortest route for now...
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0.0, # relative offset
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0, 0, 0 # params 5-7 (unused)
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)
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self.vehicle.send_mavlink(pointingMsg)
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# pointingMsg = self.vehicle.message_factory.mount_control_encode(
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# 0, 1, # target system, target component
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# startPitch * 100, # pitch (centidegrees)
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# 0.0, # roll (centidegrees)
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# startYaw * 100, # yaw (centidegrees)
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# 0 # save position
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# )
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# if not, assume fixed mount
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else:
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# if we don't have a gimbal, just set CONDITION_YAW
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@ -849,8 +887,6 @@ class MultipointShot():
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0.0, # relative offset
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0, 0, 0 # params 5-7 (unused)
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)
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# send pointing command to vehicle
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self.vehicle.send_mavlink(pointingMsg)
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def listenForAttach(self):
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@ -24,7 +24,6 @@ import os
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from os import sys, path
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import math
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import struct
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sys.path.append(os.path.realpath(''))
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import app_packet
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import camera
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@ -259,10 +258,10 @@ class OrbitShot():
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def handleButton(self, button, event):
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'''Handle a controller button press'''
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if button == btn_msg.ButtonA and event == btn_msg.Press:
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if button == btn_msg.ButtonA and event == btn_msg.ClickRelease:
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if self.roi is None:
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self.spotLock()
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if button == btn_msg.ButtonLoiter and event == btn_msg.Press:
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if button == btn_msg.ButtonLoiter and event == btn_msg.ClickRelease:
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if self.pathHandler:
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self.pathHandler.togglePause()
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self.updateAppOptions()
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@ -33,7 +33,7 @@ from vector3 import Vector3
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logger = shotLogger.logger
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#Path accel/decel constants
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PATH_ACCEL = 2.5
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PATH_ACCEL = 2.0
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ACCEL_PER_TICK = PATH_ACCEL * UPDATE_TIME
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ORBIT_MIN_SPEED = 3.0
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@ -6,19 +6,19 @@
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# Runs as a DroneKit-Python script under MAVProxy.
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#
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# Created by Jason Short and Will Silva on 11/30/2015.
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# Copyright (c) 2015 3D Robotics.
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# Copyright (c) 2016 3D Robotics.
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
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# See the License for the specific language governing permissions and
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# limitations under the License.
|
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from dronekit import Vehicle, LocationGlobalRelative, VehicleMode
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from pymavlink import mavutil
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@ -391,7 +391,7 @@ class PanoShot():
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# if we can handle the button we do
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def handleButton(self, button, event):
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if button == btn_msg.ButtonA and event == btn_msg.Press:
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if button == btn_msg.ButtonA and event == btn_msg.ClickRelease:
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# don't use A button for video ever
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if self.panoType != PANO_VIDEO:
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if self.state == PANO_SETUP:
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@ -407,12 +407,12 @@ class PanoShot():
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self.setButtonMappings()
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if button == btn_msg.ButtonLoiter and event == btn_msg.Press:
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if button == btn_msg.ButtonLoiter and event == btn_msg.ClickRelease:
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if self.panoType == PANO_VIDEO:
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self.degSecondYaw = 0
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# cycle through options
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if self.state == PANO_SETUP and button == btn_msg.ButtonB and event == btn_msg.Press:
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if self.state == PANO_SETUP and button == btn_msg.ButtonB and event == btn_msg.ClickRelease:
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#clear Pano Video yaw speed
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self.degSecondYaw = 0
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if self.panoType == PANO_VIDEO:
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@ -474,9 +474,23 @@ class PanoShot():
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self.camPitch * 100,
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0.0, # roll
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# yaw is in centidegrees
|
||||
self.camYaw * 100,
|
||||
0, # self.camYaw * 100, (Disabled by Matt for now due to ArduCopter master mount_control bug. Using condition_yaw instead)
|
||||
0 # save position
|
||||
)
|
||||
self.vehicle.send_mavlink(msg)
|
||||
|
||||
msg = self.vehicle.message_factory.command_long_encode( # Using condition_yaw temporarily until mount_control yaw issue is fixed
|
||||
0, 0, # target system, target component
|
||||
mavutil.mavlink.MAV_CMD_CONDITION_YAW, #command
|
||||
0, #confirmation
|
||||
self.camYaw, # param 1 - target angle
|
||||
YAW_SPEED, # param 2 - yaw speed
|
||||
self.camDir, # param 3 - direction
|
||||
0.0, # relative offset
|
||||
0, 0, 0 # params 5-7 (unused)
|
||||
)
|
||||
self.vehicle.send_mavlink(msg)
|
||||
|
||||
else:
|
||||
# if we don't have a gimbal, just set CONDITION_YAW
|
||||
msg = self.vehicle.message_factory.command_long_encode(
|
||||
|
||||
@ -11,7 +11,7 @@ import shots
|
||||
logger = shotLogger.logger
|
||||
|
||||
#Path accel/decel constants
|
||||
PATH_ACCEL = 6
|
||||
PATH_ACCEL = 2
|
||||
ACCEL_PER_TICK = PATH_ACCEL * UPDATE_TIME
|
||||
|
||||
|
||||
|
||||
@ -103,11 +103,11 @@ class SelfieShot():
|
||||
|
||||
# if we can handle the button we do
|
||||
def handleButton(self, button, event):
|
||||
if button == btn_msg.ButtonA and event == btn_msg.Press:
|
||||
if button == btn_msg.ButtonA and event == btn_msg.ClickRelease:
|
||||
self.pointAtROI()
|
||||
|
||||
|
||||
if button == btn_msg.ButtonLoiter and event == btn_msg.Press:
|
||||
if button == btn_msg.ButtonLoiter and event == btn_msg.ClickRelease:
|
||||
if self.pathHandler:
|
||||
self.shotmgr.notifyPause(True)
|
||||
self.pathHandler.togglePause()
|
||||
|
||||
@ -12,8 +12,8 @@ from vector3 import Vector3
|
||||
logger = shotLogger.logger
|
||||
|
||||
#Path accel/decel constants
|
||||
WPNAV_ACCEL = 3.4
|
||||
WPNAV_ACCEL_Z = 1.6
|
||||
WPNAV_ACCEL = 200
|
||||
WPNAV_ACCEL_Z = 160
|
||||
|
||||
# for 3D max speed
|
||||
HIGH_PATH_SPEED = 5.0
|
||||
|
||||
@ -10,15 +10,15 @@
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
|
||||
|
||||
from dronekit import Vehicle, LocationGlobalRelative, VehicleMode
|
||||
from pymavlink import mavutil
|
||||
import os
|
||||
@ -160,17 +160,17 @@ class ZiplineShot():
|
||||
|
||||
|
||||
def handleButton(self, button, event):
|
||||
if button == btn_msg.ButtonA and event == btn_msg.Press:
|
||||
if button == btn_msg.ButtonA and event == btn_msg.ClickRelease:
|
||||
self.setupZipline()
|
||||
|
||||
if button == btn_msg.ButtonB and event == btn_msg.Press:
|
||||
if button == btn_msg.ButtonB and event == btn_msg.ClickRelease:
|
||||
# Toggle between free look and spot lock
|
||||
if self.camPointing is FREE_LOOK:
|
||||
self.initCam(SPOT_LOCK)
|
||||
else:
|
||||
self.initCam(FREE_LOOK)
|
||||
|
||||
if button == btn_msg.ButtonLoiter and event == btn_msg.Press:
|
||||
if button == btn_msg.ButtonLoiter and event == btn_msg.ClickRelease:
|
||||
if self.pathHandler:
|
||||
self.pathHandler.togglePause()
|
||||
self.cruiseSpeed = self.pathHandler.cruiseSpeed
|
||||
@ -321,10 +321,24 @@ class ZiplineShot():
|
||||
# pitch is in centidegrees
|
||||
self.camPitch * 100.0,
|
||||
0.0, # roll
|
||||
# yaw is in centidegrees
|
||||
self.camYaw * 100.0,
|
||||
0, # self.camYaw * 100.0, # yaw is in centidegrees (Disabled by Matt for now due to ArduCopter master mount_control bug. Using condition_yaw instead)
|
||||
0 # save position
|
||||
)
|
||||
self.vehicle.send_mavlink(msg)
|
||||
|
||||
msg = self.vehicle.message_factory.command_long_encode( # Using condition_yaw temporarily until mount_control yaw issue is fixed
|
||||
0, 0, # target system, target component
|
||||
mavutil.mavlink.MAV_CMD_CONDITION_YAW, # command
|
||||
0, # confirmation
|
||||
self.camYaw, # param 1 - target angle
|
||||
YAW_SPEED, # param 2 - yaw speed
|
||||
self.camDir, # param 3 - direction XXX
|
||||
0.0, # relative offset
|
||||
0, 0, 0 # params 5-7 (unused)
|
||||
)
|
||||
self.vehicle.send_mavlink(msg)
|
||||
|
||||
|
||||
else:
|
||||
# if we don't have a gimbal, just set CONDITION_YAW
|
||||
msg = self.vehicle.message_factory.command_long_encode(
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user