42 lines
1.1 KiB
Python
42 lines
1.1 KiB
Python
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import PX4MavCtrlV4ROS as PX4MavCtrl
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import time
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# 创建一个ROS控制实例，针对飞机1
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mav = PX4MavCtrl.PX4MavCtrler(CopterID=1)
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time.sleep(1)
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print('进入offboard并解锁')
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mav.initOffboard()
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time.sleep(1)
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# 飞机起飞到0.1米前，0.8米高
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print('发送起飞命令')
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mav.SendPosNED(0.1,0,-0.8)
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time.sleep(10)
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print('PosE',mav.uavPosNED)
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print('VelE',mav.uavVelNED)
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print('Euler',mav.uavAngEular)
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print('Quaternion',mav.uavAngQuatern)
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print('Rate',mav.uavAngRate)
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time.sleep(1)
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print('Start control.')
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# 下面开始你的控制算法
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# mav.SendPosNED(x,y,z,yaw) 发送期望位置点，NED地球坐标系
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# mav.SendVelNED(vx,vy,vz,yawrate) 发送速度，NED地球坐标系
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# mav.SendVelFRD(vx,vy,vz,yawrate) 发送速度，FRD机体坐标系，通常而言，设定vx和yawrate即可，前进速度和偏航速度。
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# mav.SendPosVelNED(PosE=[0,0,0],VelE=[0,0,0],yaw,yawrate) 同时控制飞机位置和速度
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# 下面仅展示使用SendVelFRD控制的例子，会撞墙，为正常现象
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print('开始速度控制')
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# 向前0.1m/s飞，并缓慢调转方向
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mav.SendVelFRD(0.1,0,0,0.05)
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