84 lines
2.4 KiB
Python
84 lines
2.4 KiB
Python
import time
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import math
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import sys
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import numpy as np
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import PX4MavCtrlV4 as PX4MavCtrl
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VehilceNum = 3
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CarNum = 3
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MavList=[]
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flagI = np.zeros(VehilceNum, dtype=bool)
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# Create MAV instance
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for i in range(VehilceNum + CarNum):
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MavList=MavList+[PX4MavCtrl.PX4MavCtrler(1+i)]
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time.sleep(2)
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# Start MAV loop with UDP mode: Udp_Simple
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for i in range(VehilceNum+CarNum):
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MavList[i].InitMavLoop(1)
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# Enter Offboard mode to start vehicle control
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time.sleep(2)
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for i in range(VehilceNum+CarNum):
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MavList[i].initOffboard()
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time.sleep(0.5)
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time.sleep(2)
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for i in range(VehilceNum+CarNum):
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MavList[i].SendMavArm(True)
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# Get the takeoff position of each vehicle to the UE4 Map
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# this can be adopted to obtain the global position of a vehicle in swarm simulation
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time.sleep(5)
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Error2UE4Map=[]
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for i in range(VehilceNum):
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mav=MavList[i]
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Error2UE4Map = Error2UE4Map+[-np.array([mav.uavGlobalPos[0]-mav.uavPosNED[0],mav.uavGlobalPos[1]-mav.uavPosNED[1],mav.uavGlobalPos[2]-mav.uavPosNED[2]])]
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# fly to 10m high above its takeoff position
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for i in range(VehilceNum):
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MavList[i].SendPosNED(0, 0, -10, 0)
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time.sleep(10)
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lastTime = time.time()
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startTime = time.time()
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timeInterval = 1/30.0 #here is 0.0333s (30Hz)
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while True:
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lastTime = lastTime + timeInterval
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sleepTime = lastTime - time.time()
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if sleepTime > 0:
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time.sleep(sleepTime) # sleep until the desired clock
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else:
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lastTime = time.time()
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# The following code will be executed 30Hz (0.0333s)
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t=time.time()-startTime
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for j in range(VehilceNum):
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mav=MavList[j]
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if abs(mav.uavPosNED[2] - (-10)) <2 and (flagI[j] == False):
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flagI[j] = True
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print(str(j)+"号飞机已到达指定高度")
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if flagI[j] == True:
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mav.SendPosNED(MavList[j+3].uavPosNED[0],MavList[j+3].uavPosNED[1],mav.uavPosNED[2],0)
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for i in range(VehilceNum,VehilceNum+CarNum):
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if flagI[i-3] == True:
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# print(f"编号 {i-3}：北 {MavList[i-3].uavPosNED[0]:.2f} m，东 {MavList[i-3].uavPosNED[1]:.2f} m，地 {MavList[i-3].uavPosNED[2]:.2f} m")
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MavList[i].SendPosNEDNoYaw(MavList[i].uavPosNED[0]+2.5,MavList[i].uavPosNED[1],0)
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if t>200: # end simulation when 200s
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break
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for i in range(VehilceNum):
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MavList[i].endOffboard()
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time.sleep(1)
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for i in range(VehilceNum):
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MavList[i].stopRun()
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