DroneKit教程（六）：继承和自定义Vehicle类

DroneKit教程（六）：继承和自定义Vehicle类

DroneKit的Vehicle类内置了许多基于MAVLink消息的属性数据，但同时也有许多属性数据没有被支持。有时，为了支持我们的需求，我们可以创建一个继承自dronekit.Vehicle的子类，在保持库代码完整的同时添加其他特性。

编程示例

编程示例将展示如何创建并使用一个自定义的Vehicle类。之后将详细讲解每一部分的功能和用法。

从DroneKit的Vehicle类创建My_Vehicle

文件命名为my_dronekit.py

from dronekit import Vehicle
from pymavlink.dialects.v10 import ardupilotmega
import time

'''
Class name: My_Vehicle
Description: subclass of class dronekit.Vehicle. This class if for Optical Flow + 
             Range Finder indoor mission drones.
'''
class My_Vehicle(Vehicle):
    def __init__(self, *args):
        super(My_Vehicle, self).__init__(*args)

        self._ekf_predposhorizrel = False
        @self.on_message('EKF_STATUS_REPORT')
        def listener(self, name, msg):
            # boolean: EKF's predicted horizontal position (relative) estimate is good
            self._ekf_predposhorizrel = (msg.flags & ardupilotmega.EKF_PRED_POS_HORIZ_REL) > 0
            self.notify_attribute_listeners('is_armable', self.is_armable, cache=True)

        @self.on_attribute('is_armable')
        def listener(self, name, msg):
            print '%s is : %s' % (name, msg)

    '''
    Property name: is_armable
    Description: override the is