fix：新增例程

基础编程/e10.基于MAVSDK的无人机控制实验/code/offboard_position_ned.py

@@ -0,0 +1,126 @@
+#!/usr/bin/env python3
+
+"""
+Caveat when attempting to run the examples in non-gps environments:
+
+`drone.offboard.stop()` will return a `COMMAND_DENIED` result because it
+requires a mode switch to HOLD, something that is currently not supported in a
+non-gps environment.
+"""
+
+import asyncio
+
+from mavsdk import System
+from mavsdk.offboard import (OffboardError, PositionNedYaw)
+import ReqCopterSim
+import time
+
+# mavsdk-python的使用方法见：https://mavsdk.mavlink.io/main/en/python/quickstart.html
+# 本平台使用1.2.0版本的mavsdk，因为更高版本无法直接用Python启动，还需运行server
+# 接口文档见：http://mavsdk-python-docs.s3-website.eu-central-1.amazonaws.com/
+
+async def run():
+    """ Does Offboard control using position NED coordinates. """
+
+    
+    # 创建一个CopterSim状态获取实例，并监听2s钟，获取当前所有CopterSim列表数据
+    req = ReqCopterSim.ReqCopterSim()
+
+    # 下面展示，如何使用本接口，不需要知道目标电脑IP的情况下，能够连上远程电脑的CopterSim
+    CopterID=1  # 计划仿真的飞机ID
+    TargetPort = 20100 + CopterID*2 -1 # 对应CopterSim的发送端口
+
+    # 获取CopterSim所在电脑的IP地址
+    TargetIP = req.getSimIpID(CopterID)
+    print('Target IP is: ',TargetIP)
+
+    # 请求CopterSim将UDP模式转换为MAVLink_Full，便于本例程的Mavlink控制
+    req.sendReSimUdpMode(CopterID,UDP_mode=2)
+
+    # 向CopterSim发送请求，发送MAVLink数据到本电脑
+    req.sendReSimIP(CopterID)
+
+    time.sleep(2)
+
+    print('开始连接Mavsdk')
+
+    # 下面开始用mavsdk来控制飞机
+    drone = System() # 创建一个mavsdk实例
+
+    # 等待连接上飞控，这里指定任意IP和20100系列端口，类似udp://0.0.0.0:20101
+    await drone.connect(system_address="udp://:"+str(TargetPort))
+
+
+    print("Waiting for drone to connect...")
+    # 等待完全确认连接
+    async for state in drone.core.connection_state():
+        if state.is_connected:
+            print(f"-- Connected to drone!")
+            break
+
+    print("Waiting for drone to have a global position estimate...")
+    # 等待获取健康状态，这里通过查询telemray收集到的数据，请阅读如下文档了解telemray下有哪些数据
+    # http://mavsdk-python-docs.s3-website.eu-central-1.amazonaws.com/plugins/telemetry.html
+    async for health in drone.telemetry.health():
+        # health()函数见：http://mavsdk-python-docs.s3-website.eu-central-1.amazonaws.com/plugins/telemetry.html#mavsdk.telemetry.Telemetry.health
+        if health.is_global_position_ok and health.is_home_position_ok:
+            # health的数据定义见：http://mavsdk-python-docs.s3-website.eu-central-1.amazonaws.com/plugins/telemetry.html#mavsdk.telemetry.Health
+            # 查询得到：is_local_position_ok (bool) – True if the local position estimate is good enough to fly in ‘position control’ mode
+            print("-- Global position estimate OK")
+            break
+
+    print("-- Arming")
+    # 等待解锁飞控
+    # 见：http://mavsdk-python-docs.s3-website.eu-central-1.amazonaws.com/plugins/action.html
+    await drone.action.arm()
+
+    print("-- Setting initial setpoint")
+    # http://mavsdk-python-docs.s3-website.eu-central-1.amazonaws.com/plugins/offboard.html
+    # http://mavsdk-python-docs.s3-website.eu-central-1.amazonaws.com/plugins/offboard.html#mavsdk.offboard.Offboard.set_position_ned
+    await drone.offboard.set_position_ned(PositionNedYaw(0.0, 0.0, 0.0, 0.0))
+
+    print("-- Starting offboard")
+    try:
+        await drone.offboard.start()
+    except OffboardError as error:
+        print(f"Starting offboard mode failed \
+                with error code: {error._result.result}")
+        print("-- Disarming")
+        await drone.action.disarm()
+        return
+
+    print("-- Go 0m North, 0m East, -5m Down \
+            within local coordinate system")
+    await drone.offboard.set_position_ned(
+            PositionNedYaw(0.0, 0.0, -5.0, 0.0))
+    await asyncio.sleep(10)
+
+    print("-- Go 5m North, 0m East, -5m Down \
+            within local coordinate system, turn to face East")
+    await drone.offboard.set_position_ned(
+            PositionNedYaw(5.0, 0.0, -5.0, 90.0))
+    await asyncio.sleep(10)
+
+    print("-- Go 5m North, 10m East, -5m Down \
+            within local coordinate system")
+    await drone.offboard.set_position_ned(
+            PositionNedYaw(5.0, 10.0, -5.0, 90.0))
+    await asyncio.sleep(15)
+
+    print("-- Go 0m North, 10m East, 0m Down \
+            within local coordinate system, turn to face South")
+    await drone.offboard.set_position_ned(
+            PositionNedYaw(0.0, 10.0, 0.0, 180.0))
+    await asyncio.sleep(10)
+
+    print("-- Stopping offboard")
+    try:
+        await drone.offboard.stop()
+    except OffboardError as error:
+        print(f"Stopping offboard mode failed \
+                with error code: {error._result.result}")
+
+
+if __name__ == "__main__":
+    # Run the asyncio loop
+    asyncio.run(run())