DroneKit示例分析1---状态的获取与设置

• 能获取大部分无人机的状态信息，但只有以下几个可以设置

Vehicle.home_location,
Vehicle.gimbal 
Vehicle.airspeed, 
Vehicle.groundspeed, 
Vehicle.mode 
Vehicle.armed

• 以下代码涵盖了大部分的无人机状态获取（通过MavLink）

 # vehicle is an instance of the Vehicle class
print "Autopilot Firmware version: %s" % vehicle.version
print "Autopilot capabilities (supports ftp): %s" % vehicle.capabilities.ftp
print "Global Location: %s" % vehicle.location.global_frame
print "Global Location (relative altitude): %s" % vehicle.location.global_relative_frame
print "Local Location: %s" % vehicle.location.local_frame    #NED
print "Attitude: %s" % vehicle.attitude
print "Velocity: %s" % vehicle.velocity
print "GPS: %s" % vehicle.gps_0
print "Groundspeed: %s" % vehicle.groundspeed
print "Airspeed: %s" % vehicle.airspeed
print "Gimbal status: %s" % vehicle.gimbal
print "Battery: %s" % vehicle.battery
print "EKF OK?: %s" % vehicle.ekf_ok
print "Last Heartbeat: %s" % vehicle.last_heartbeat
print "Rangefinder: %s" % vehicle.rangefinder
print "Rangefinder distance: %s" % vehicle.rangefinder.distance
print "Rangefinder voltage: %s" % vehicle.rangefinder.voltage
print "Heading: %s" % vehicle.heading
print "Is Armable?: %s" % vehicle.is_armable
print "System status: %s" % vehicle.system_status.state
print "Mode: %s" % vehicle.mode.name    # settable
print "Armed: %s" % vehicle.armed    # settable

• 以下四个属性可以直接设置

Vehicle.mode
Vehicle.armed
Vehicle.airspeed
Vehicle.groundspeed

#disarm the vehicle
vehicle.armed = False

#set the default groundspeed to be used in movement commands
vehicle.groundspeed = 3.2

• 我们无法确保这些属性值一定能成功修改，所以要加循环

vehicle.mode = VehicleMode("GUIDED")
vehicle.armed = True
while not vehicle.mode.name=='GUIDED' and not vehicle.armed and not api.exit:
    print " Getting ready to take off ..."
    time.sleep(1)

• 云台的设置比较特殊

#Point the gimbal straight down
vehicle.gimbal.rotate(-90, 0, 0)
time.sleep(10)

#Set the camera to track the current home position.
vehicle.gimbal.target_location(vehicle.home_location)
time.sleep(10)

• 监听属性值的改变，有两个方法， Vehicle.add_attribute_listener() 和 Vehicle.on_attribute()

#Callback to print the location in global frames. 'value' is the updated value，self指所连接的无人机
 def location_callback(self, attr_name, value):
     print "Location (Global): ", value

 # Add a callback `location_callback` for the `global_frame` attribute.有两种方法可以添加
 vehicle.add_attribute_listener('location.global_frame', location_callback)
 #第二种方法
 vehicle.location.add_attribute_listener('global_frame', location_callback)

 # Wait 2s so callback can be notified before the observer is removed
 time.sleep(2)

 # Remove observer - specifying the attribute and previously registered callback function
 vehicle.remove_message_listener('location.global_frame', location_callback)

#如果我们只需要相对明显的状态变化，可以用这个，round(x,1)返回x的四舍五入值---保留一位小数。
last_rangefinder_distance=0

@vehicle.on_attribute('rangefinder')
 def rangefinder_callback(self,attr_name):
     #attr_name not used here.
     global last_rangefinder_distance
     if last_rangefinder_distance == round(self.rangefinder.distance, 1):
         return
     last_rangefinder_distance = round(self.rangefinder.distance, 1)
     print " Rangefinder (metres): %s" % last_rangefinder_distance