kopia lustrzana https://github.com/IzzyBrand/spaceplane
101 wiersze
2.7 KiB
Python
101 wiersze
2.7 KiB
Python
from dronekit import connect, VehicleMode, APIException, LocationGlobal
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from pymavlink import mavutil
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from time
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from config import *
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from helpers 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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# Setup
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###############################################################################
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GPIO.setup(BURN_PIN, GPIO.OUT)
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GPIO.output(BURN_PIN, GPIO.LOW)
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start_time = time.time()
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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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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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sleep(1)
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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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prev_time_below_burn_alt = time()
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while True:
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alt = vehicle.location.global_frame.alt
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if alt < BURN_ALTITUDE:
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prev_time_below_burn_alt = time()
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else:
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time_above = time() - 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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print_status()
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print '\n################# REACHED BURN ALTITUDE #################\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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prev_time_above_burn_alt = time()
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while True:
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alt = vehicle.location.global_frame.alt
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if alt > BURN_ALTITUDE:
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prev_time_above_burn_alt = time()
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else:
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time_below = time() - 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_ABOVE:
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break
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GPIO.output(BURN_PIN, GPIO.LOW)
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print_status()
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print '\n################# VEHICLE DISCONNECTED #################\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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def print_status():
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print 'Time: {}\tMode: {}\t Alt: {}\tLoc: ({}, {})'.format(
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time(),
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vehicle.mode.name,
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vehicle.location.global_frame.alt,
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vehicle.location.global_frame.lat,
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vehicle.location.global_frame.lon)
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def time():
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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) |