fix：新增例程

基础编程/e7.Offboard模式介绍及控制实验/code/OffboardCircle.py

@@ -0,0 +1,89 @@
+
+# import required libraries
+# pip3 install pymavlink pyserial
+
+import cv2
+import numpy as np
+import time
+import VisionCaptureApi
+import PX4MavCtrlV4 as PX4MavCtrl
+import math
+import ReqCopterSim
+
+req = ReqCopterSim.ReqCopterSim() # 获取局域网内所有CopterSim程序的电脑IP列表
+StartCopterID = 1 # 初始飞机的ID号
+TargetIP = req.getSimIpID(StartCopterID) # 获取CopterSim的1号程序所在电脑的IP，作为目标IP
+# 注意：如果是本电脑运行的话，那TargetIP是127.0.0.1的本机地址；如果是远程访问，则是192打头的局域网地址。
+# 因此本程序能同时在本机运行，也能在其他电脑运行。
+
+VehilceNum = 1
+MavList=[]
+# Create MAV instance
+for i in range(VehilceNum):
+    CopterID=StartCopterID+i # 当前配置的飞机序号
+    TargetIP = req.getSimIpID(CopterID) # 获取对应的电脑IP
+    req.sendReSimIP(CopterID) # 请求回传数据到本电脑
+    time.sleep(1)
+    MavList = MavList+[PX4MavCtrl.PX4MavCtrler(CopterID,TargetIP)] # 初始化并建立i号飞机的MAVLink通信连接
+
+time.sleep(2)
+# Start MAV loop with UDP mode: MAVLINK_FULL
+for i in range(VehilceNum):
+    MavList[i].InitMavLoop()
+
+# Enter Offboard mode to start vehicle control
+time.sleep(2)
+for i in range(VehilceNum):
+    MavList[i].initOffboard()
+
+# Get the takeoff position of each vehicle to the UE4 Map
+# this can be adopted to obtain the global position of a vehicle in swarm simulation
+time.sleep(2)
+Error2UE4Map=[]
+for i in range(VehilceNum):
+    mav=MavList[i]
+    Error2UE4Map = Error2UE4Map+[-np.array([mav.uavGlobalPos[0]-mav.uavPosNED[0],mav.uavGlobalPos[1]-mav.uavPosNED[1],mav.uavGlobalPos[2]-mav.uavPosNED[2]])]
+
+# fly to 10m high above its takeoff position
+for i in range(VehilceNum):
+    MavList[i].SendPosNED(0, 0, -10, 0) 
+time.sleep(10)
+
+
+lastTime = time.time()
+startTime = time.time()
+timeInterval = 1/30.0 #here is 0.0333s (30Hz)
+while True:
+    lastTime = lastTime + timeInterval
+    sleepTime = lastTime - time.time()
+    if sleepTime > 0:
+        time.sleep(sleepTime) # sleep until the desired clock
+    else:
+        lastTime = time.time()
+    # The following code will be executed 30Hz (0.0333s)
+    
+    t=time.time()-startTime
+    for j in range(VehilceNum):
+        mav=MavList[j]
+        
+        # target position in UE4 map global frame
+        if t<10:
+            targetPosE=np.array([-0,0,-15]) # fly to 15 meters high in 0 to 10s
+        else: #fly circle after 10s
+            targetPosE=np.array([10*math.sin(t/2+math.pi/2)-10,10*math.sin(t/2.0),-15])
+        
+        # target position in vehilce takeoff frame
+        targetPosE=targetPosE+Error2UE4Map[j]
+        mav.SendPosNED(targetPosE[0],targetPosE[1],targetPosE[2],0)
+
+    if t>200: # end simulation when 200s
+        break
+    
+
+for i in range(VehilceNum):
+    MavList[i].endOffboard() 
+
+time.sleep(1)
+for i in range(VehilceNum):
+    MavList[i].stopRun() 
+