DroneKit로 PX4와 통신하기

DroneKit는 무인 항공기용 프로그램에 강력한 기능을 갖추도록 도와줍니다. 이 프로그램은 UAV의 보조 컴퓨터에서 실행하며, 처리 집약적 저지연 연결이 필요한 작업을 수행하여 오토파일럿의 능력(또는 기능, 예: 컴퓨터 비전)을 확장합니다.

DroneKit과 PX4는 현재 완전한 호환성을 갖추는 중입니다. DroneKit-python 2.2.0에서는 임무 처리와 기체 감시등 기본 기능을 지원합니다.

DroneKit와 PX4 설치

DroneKit-python을 현재 마스터 브랜치에서 끌어와 설치하십시오.

git clone https://github.com/dronekit/dronekit-python.git
cd ./dronekit-python
sudo python setup.py build
sudo python setup.py install

새 파이썬 파일을 만들어 DroneKit, pymavlink, 기본 모듈을 끌어(import)오십시오.

# Import DroneKit-Python
from dronekit import connect, Command, LocationGlobal
from pymavlink import mavutil
import time, sys, argparse, math

드론 또는 모의시험 환경(예: jMAVSim)의 MAVLink 포트로 연결하십시오.

# Connect to the Vehicle
print "Connecting"
connection_string = '127.0.0.1:14540'
vehicle = connect(connection_string, wait_ready=True)

일부 기본 정보를 표시해보십시오.

# Display basic vehicle state
print " Type: %s" % vehicle._vehicle_type
print " Armed: %s" % vehicle.armed
print " System status: %s" % vehicle.system_status.state
print " GPS: %s" % vehicle.gps_0
print " Alt: %s" % vehicle.location.global_relative_frame.alt

전체 임무 예제

다음 파이썬 스크립트에서는 DroneKit와 PX4를 활용한 전체 임무 예제를 보여줍니다. DroneKit에서 상태 전환은 완전히 지원하지 않기에, 개별 상태 전환 명령을 따로 보냅니다.

################################################################################################
# @File DroneKitPX4.py
# Example usage of DroneKit with PX4
#
# @author Sander Smeets <sander@droneslab.com>
#
# Code partly based on DroneKit (c) Copyright 2015-2016, 3D Robotics.
################################################################################################

# Import DroneKit-Python
from dronekit import connect, Command, LocationGlobal
from pymavlink import mavutil
import time, sys, argparse, math


################################################################################################
# Settings
################################################################################################

connection_string       = '127.0.0.1:14540'
MAV_MODE_AUTO   = 4
# https://github.com/PX4/Firmware/blob/master/Tools/mavlink_px4.py


# Parse connection argument
parser = argparse.ArgumentParser()
parser.add_argument("-c", "--connect", help="connection string")
args = parser.parse_args()

if args.connect:
    connection_string = args.connect


################################################################################################
# Init
################################################################################################

# Connect to the Vehicle
print "Connecting"
vehicle = connect(connection_string, wait_ready=True)

def PX4setMode(mavMode):
    vehicle._master.mav.command_long_send(vehicle._master.target_system, vehicle._master.target_component,
                                               mavutil.mavlink.MAV_CMD_DO_SET_MODE, 0,
                                               mavMode,
                                               0, 0, 0, 0, 0, 0)



def get_location_offset_meters(original_location, dNorth, dEast, alt):
    """
    Returns a LocationGlobal object containing the latitude/longitude `dNorth` and `dEast` metres from the
    specified `original_location`. The returned Location adds the entered `alt` value to the altitude of the `original_location`.
    The function is useful when you want to move the vehicle around specifying locations relative to
    the current vehicle position.
    The algorithm is relatively accurate over small distances (10m within 1km) except close to the poles.
    For more information see:
    http://gis.stackexchange.com/questions/2951/algorithm-for-offsetting-a-latitude-longitude-by-some-amount-of-meters
    """
    earth_radius=6378137.0 #Radius of "spherical" earth
    #Coordinate offsets in radians
    dLat = dNorth/earth_radius
    dLon = dEast/(earth_radius*math.cos(math.pi*original_location.lat/180))

    #New position in decimal degrees
    newlat = original_location.lat + (dLat * 180/math.pi)
    newlon = original_location.lon + (dLon * 180/math.pi)
    return LocationGlobal(newlat, newlon,original_location.alt+alt)





################################################################################################
# Listeners
################################################################################################

home_position_set = False

#Create a message listener for home position fix
@vehicle.on_message('HOME_POSITION')
def listener(self, name, home_position):
    global home_position_set
    home_position_set = True



################################################################################################
# Start mission example
################################################################################################

# wait for a home position lock
while not home_position_set:
    print "Waiting for home position..."
    time.sleep(1)

# Display basic vehicle state
print " Type: %s" % vehicle._vehicle_type
print " Armed: %s" % vehicle.armed
print " System status: %s" % vehicle.system_status.state
print " GPS: %s" % vehicle.gps_0
print " Alt: %s" % vehicle.location.global_relative_frame.alt

# Change to AUTO mode
PX4setMode(MAV_MODE_AUTO)
time.sleep(1)

# Load commands
cmds = vehicle.commands
cmds.clear()

home = vehicle.location.global_relative_frame

# takeoff to 10 meters
wp = get_location_offset_meters(home, 0, 0, 10);
cmd = Command(0,0,0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_TAKEOFF, 0, 1, 0, 0, 0, 0, wp.lat, wp.lon, wp.alt)
cmds.add(cmd)

# move 10 meters north
wp = get_location_offset_meters(wp, 10, 0, 0);
cmd = Command(0,0,0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, 1, 0, 0, 0, 0, wp.lat, wp.lon, wp.alt)
cmds.add(cmd)

# move 10 meters east
wp = get_location_offset_meters(wp, 0, 10, 0);
cmd = Command(0,0,0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, 1, 0, 0, 0, 0, wp.lat, wp.lon, wp.alt)
cmds.add(cmd)

# move 10 meters south
wp = get_location_offset_meters(wp, -10, 0, 0);
cmd = Command(0,0,0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, 1, 0, 0, 0, 0, wp.lat, wp.lon, wp.alt)
cmds.add(cmd)

# move 10 meters west
wp = get_location_offset_meters(wp, 0, -10, 0);
cmd = Command(0,0,0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, 1, 0, 0, 0, 0, wp.lat, wp.lon, wp.alt)
cmds.add(cmd)

# land
wp = get_location_offset_meters(home, 0, 0, 10);
cmd = Command(0,0,0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_LAND, 0, 1, 0, 0, 0, 0, wp.lat, wp.lon, wp.alt)
cmds.add(cmd)

# Upload mission
cmds.upload()
time.sleep(2)

# Arm vehicle
vehicle.armed = True

# monitor mission execution
nextwaypoint = vehicle.commands.next
while nextwaypoint < len(vehicle.commands):
    if vehicle.commands.next > nextwaypoint:
        display_seq = vehicle.commands.next+1
        print "Moving to waypoint %s" % display_seq
        nextwaypoint = vehicle.commands.next
    time.sleep(1)

# wait for the vehicle to land
while vehicle.commands.next > 0:
    time.sleep(1)


# Disarm vehicle
vehicle.armed = False
time.sleep(1)

# Close vehicle object before exiting script
vehicle.close()
time.sleep(1)

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