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张鱼小丸子er

已于 2022-04-26 15:58:31 修改

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文章标签： python

于 2022-04-26 15:53:35 首次发布

本文链接：https://blog.csdn.net/weixin_43904711/article/details/124429799

版权

Airsim中利用键盘控制无人机飞行

直接上源代码：

import keyboard
import airsim

client = airsim.MultirotorClient()
client.confirmConnection()

def control(x):
    w = keyboard.KeyboardEvent('down', 28, 'w')
    s = keyboard.KeyboardEvent('down', 28, 's')
    a = keyboard.KeyboardEvent('down', 28, 'a')
    d = keyboard.KeyboardEvent('down', 28, 'd')
    up = keyboard.KeyboardEvent('down', 28, 'up')
    down = keyboard.KeyboardEvent('down', 28, 'down')
    left = keyboard.KeyboardEvent('down', 28, 'left')
    right = keyboard.KeyboardEvent('down', 28, 'right')
    enter = keyboard.KeyboardEvent('down', 28, 'enter')
    k = keyboard.KeyboardEvent('down', 28, 'k')
    l = keyboard.KeyboardEvent('down', 28, 'l')
    if x.event_type == 'down' and x.name == w.name:
        #前进
        client.moveByVelocityBodyFrameAsync(3, 0, 0, 0.5) 

        print("你按下了 "+x.name+" 键 ")
    elif x.event_type == 'down' and x.name == s.name:
        #后退
        client.moveByVelocityBodyFrameAsync(-3, 0, 0, 0.5)

        print("你按下了 " + x.name + " 键")
    elif x.event_type == 'down' and x.name == a.name:
        #左移
        client.moveByVelocityBodyFrameAsync(0, -2, 0, 0.5)
        print("你按下了 " + x.name + " 键")
    elif x.event_type == 'down' and x.name == d.name:
        #右移
        client.moveByVelocityBodyFrameAsync(0, 2, 0, 0.5)
        print("你按下了 " + x.name + " 键")
    elif x.event_type == 'down' and x.name == up.name:
        #上
        client.moveByVelocityBodyFrameAsync(0, 0, -0.5, 0.5)
        print("你按下了 " + x.name + " 键")
    elif x.event_type == 'down' and x.name == down.name:
        #下
        client.moveByVelocityBodyFrameAsync(0, 0, 0.5, 0.5)
        print("你按下了 " + x.name + " 键")
    elif x.event_type == 'down' and x.name == left.name:
        #左转
        client.rotateByYawRateAsync(-20, 0.5)
        print("你按下了 " + x.name + " 键")
    elif x.event_type == 'down' and x.name == right.name:
        #右转
        client.rotateByYawRateAsync(20, 0.5)
        print("你按下了 " + x.name + " 键")
    elif x.event_type == 'down' and x.name == enter.name:
        #enter
        print("你按下了 " + x.name + " 键")
    elif x.event_type == 'down' and x.name == k.name:
        # get control
        client.enableApiControl(True)
        print("get control")
        # unlock
        client.armDisarm(True)
        print("unlock")
        client.takeoffAsync().join()
        print("takeoff")
        print("你按下了 " + x.name + " 键")
    elif x.event_type == 'down' and x.name == l.name:
        #降落
        client.landAsync().join()
        print("land")
        # lock
        client.armDisarm(False)
        print("lock")
        # release control
        client.enableApiControl(False)
        print("release control")

        print("你按下了 " + x.name + " 键")
    else:  #没有按下按键
        client.moveByVelocityBodyFrameAsync(0, 0, 0, 0.5).join()
        client.hoverAsync().join()  # 第四阶段：悬停6秒钟
        print("stop 悬停")
#当监听的事件为enter键，且是按下的时候


keyboard.hook(control)
keyboard.wait()