kopia lustrzana https://github.com/IzzyBrand/spaceplane
153 wiersze
4.2 KiB
Python
153 wiersze
4.2 KiB
Python
from dronekit import connect, VehicleMode, APIException, LocationGlobalRelative
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from pymavlink import mavutil
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import time
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import numpy as np
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from config import *
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from util import *
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import RPi.GPIO as GPIO
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import sys
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import argparse
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###############################################################################
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# Functions
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###############################################################################
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start_time = time.time()
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target_location = LocationGlobalRelative(TARGET_LAT, TARGET_LON, 0)
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def mytime():
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return time.time() - start_time
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def exit(status):
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if vehicle is not None: vehicle.close()
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GPIO.cleanup()
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sys.exit(status)
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def print_status():
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print 'Time: {:.2f}s\tMode: {}\tSats: {}\tAlt: {}m\tLoc: ({}, {})\tdist: {:.3f}km.'.format(
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mytime(),
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vehicle.mode.name,
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vehicle.gps_0.satellites_visible,
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vehicle.location.global_relative_frame.alt,
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vehicle.location.global_frame.lat,
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vehicle.location.global_frame.lon,
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straight_line_dist(target_location, vehicle.location.global_frame))
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###############################################################################
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# Setup
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###############################################################################
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GPIO.setmode(GPIO.BCM)
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GPIO.setup(BURN_PIN, GPIO.OUT)
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GPIO.output(BURN_PIN, GPIO.LOW)
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print 'GPIO enabled on pin {}'.format(BURN_PIN)
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print 'Burst altitude set to {} meters\n'.format(BURN_ALTITUDE)
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vehicle = None
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try:
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vehicle = connect(PORT, baud=115200, wait_ready=True)
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except Exception as e:
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print e
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print 'Failed to connect to pixhawk. exiting.'
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exit(1)
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vehicle.mode = VehicleMode("MANUAL")
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while not vehicle.mode.name == "MANUAL":
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print 'Waiting for MANUAL mode.'
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time.sleep(1)
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while vehicle.gps_0.satellites_visible < MIN_SATS:
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print '{} satellites aquired. Waiting for {}.'.format(vehicle.gps_0.satellites_visible, MIN_SATS)
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time.sleep(1)
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vehicle.armed = True
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while not vehicle.armed:
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print 'Waiting for arm.'
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time.sleep(1)
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print 'Downloading commands...'
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cmds = vehicle.commands
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cmds.download()
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cmds.wait_ready()
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print 'Done!'
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print_status()
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print '\n################# READY FOR FLIGHT #################\n'
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###############################################################################
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# Ascent
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###############################################################################
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# maintain a circular buffer of altitude
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alt_buffer_len = int(60/LOOP_DELAY)
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alt_buffer = np.ones([alt_buffer_len]) * vehicle.location.global_relative_frame.alt
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alt_buffer_ind = 0
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prev_time_below_burn_alt = mytime()
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while True:
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if alt_buffer_ind%2 == 0: print_status() # print status once every second
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alt = vehicle.location.global_relative_frame.alt
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alt_buffer[alt_buffer_ind] = alt
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alt_buffer_ind += 1
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alt_buffer_ind = alt_buffer_ind % alt_buffer_len
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alt_diff = alt - alt_buffer[alt_buffer_ind]
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if (alt_diff < -50):
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print 'WARNING: descended {}m in 60 seconds. Disconnecting.'.format(alt_diff)
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break
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if alt < BURN_ALTITUDE:
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prev_time_below_burn_alt = mytime()
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else:
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time_above = mytime() - prev_time_below_burn_alt
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print 'Above {}m for {} seconds'.format(BURN_ALTITUDE, time_above)
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if time_above > BURN_TIME_ABOVE:
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break
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time.sleep(LOOP_DELAY)
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print_status()
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print '\n################# REACHED ALTITUDE: BURN STARTED #################\n'
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###############################################################################
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# Burn
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###############################################################################
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GPIO.output(BURN_PIN, GPIO.HIGH)
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# vehicle.mode = VehicleMode("GUIDED")
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# vehicle.simple_goto(target_location)
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cmds.next = 0
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vehicle.mode = VehicleMode("AUTO")
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prev_time_above_burn_alt = mytime()
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while True:
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alt = vehicle.location.global_relative_frame.alt
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if alt > BURN_ALTITUDE:
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prev_time_above_burn_alt = mytime()
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else:
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time_below = mytime() - prev_time_above_burn_alt
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print 'Below {}m for {} seconds'.format(BURN_ALTITUDE, time_below)
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if time_below > BURN_TIME_BELOW:
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break
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time.sleep(LOOP_DELAY)
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GPIO.output(BURN_PIN, GPIO.LOW)
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print_status()
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print '\n################# VEHICLE DISCONNECTED: BURN STOPPED #################\n'
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###############################################################################
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# Descent
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###############################################################################
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while True:
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print_status()
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time.sleep(1)
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