52 lines
1.2 KiB
Python
52 lines
1.2 KiB
Python
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()
|