fix：新增例程

基础智能/e3.集群轨迹灯光展示实验/NightCitySwarm4.bat

@@ -0,0 +1,16 @@
+@ECHO OFF
+
+REM Set the path of the RflySim tools
+if not defined PSP_PATH (
+    SET PSP_PATH=C:\PX4PSP
+    SET PSP_PATH_LINUX=/mnt/c/PX4PSP
+)
+
+REM kill all applications when press a key
+tasklist|find /i "CopterSim.exe" && taskkill /im "CopterSim.exe"
+tasklist|find /i "QGroundControl.exe" && taskkill /f /im "QGroundControl.exe"
+tasklist|find /i "RflySim3D.exe" && taskkill /f /im "RflySim3D.exe"
+
+REM UE4Path
+cd /d %PSP_PATH%\RflySim3D
+start %PSP_PATH%\RflySim3D\RflySim3D.exe

基础智能/e3.集群轨迹灯光展示实验/NightCitySwarm4.py

@@ -0,0 +1,51 @@
+import time
+import os
+import math
+
+import sys
+import PX4MavCtrlV4 as PX4MavCtrl
+import UE4CtrlAPI
+ue = UE4CtrlAPI.UE4CtrlAPI()
+
+# Create a MAVLink communication instance with UDP 
+# port 20100 (coresponding to the port on CopterSim)
+mav = PX4MavCtrl.PX4MavCtrler(1)
+time.sleep(1)
+
+# Switch to a night scene
+#ue.sendUE4Cmd('RflyChangeMapbyName ModernCityNight')    
+ue.sendUE4Cmd('RflyChangeMapbyName LightShow')    
+time.sleep(4)
+
+# send 100 vehicles to RflySim3D to form a helix
+z0 = -50
+x0 = 50
+y0 = 40
+for i in range(100):
+    s = 1 + i/5.0
+    th = math.pi/3 + math.pi/10*i
+    y = s*math.cos(th)
+    z = -s*math.sin(th)
+    ue.sendUE4Pos(i+1,3,0,[x0,y+y0,z0+z],[0,0,0])
+
+# Switch viewpoint target vehicle to vehicle 1
+ue.sendUE4Cmd('RflyChangeViewKeyCmd B 1')
+time.sleep(0.5)  
+
+# Switch to the N2 ground observation viewpoint for target vehicle
+ue.sendUE4Cmd('RflyChangeViewKeyCmd N 2')
+time.sleep(0.5)  
+
+# Set the observation position and angle, 1.7m above the ground, with 30 degree pitch
+ue.sendUE4Cmd('RflyCameraPosAng -10 40 -1.7 0 30 0')
+time.sleep(2)  
+
+idx=1
+while True:
+    for i in range(100):
+        str0 = "RflyChange3DModel "+str(i+1)+" -1"
+        #print(str0)
+        ue.sendUE4Cmd(str0.encode())
+        time.sleep(0.05)
+
+sys.exit()

基础智能/e3.集群轨迹灯光展示实验/Python38Run.bat

@@ -0,0 +1,5 @@
+if not defined PSP_PATH (
+    SET PSP_PATH=C:\PX4PSP
+    SET PSP_PATH_LINUX=/mnt/c/PX4PSP
+)
+start cmd.exe /k "echo Python3.8 environment has been set with openCV+pymavlink+numpy+pyulog etc. && echo You can use pip or pip3 command to install other libraries && echo Put Python38Run.bat into your code folder && echo Use the command: 'python XXX.py' to run the script with Python && SET PATH=%PSP_PATH%\Python38;%PSP_PATH%\Python38\Scripts;%CD%;%PATH%"