fork(2) download
copy 
  1. import math
  2. import time
  3.  
  4. import dronekit
  5.  
  6. copter = dronekit.connect('tcp:', wait_ready=True)
  7.  
  8. print("connected")
  9.  
  10.  
  11. def send_attitude_target(self, roll_angle=0.0, pitch_angle=0.0,
  12.                          yaw_angle=0.0, yaw_rate=10, thrust=0.5):
  13.     msg = copter.message_factory.set_attitude_target_encode(
  14.         0,
  15.         0,                                         # target system
  16.         0,                                         # target component
  17.         0b00000000,                                # type mask: bit 1 is LSB
  18.         to_quaternion(roll_angle, pitch_angle, yaw_angle),    # q
  19.         0,                                         # body roll rate in radian
  20.         0,                                         # body pitch rate in radian
  21.         yaw_rate,                                  # body yaw rate in radian
  22.         thrust)                                    # thrust
  23.     copter.send_mavlink(msg)
  24.  
  25.  
  26. def to_quaternion(self, roll=0.0, pitch=0.0, yaw=0.0):
  27.     """Convert degrees to quaternions."""
  28.     t0 = math.cos(yaw * 0.5)
  29.     t1 = math.sin(yaw * 0.5)
  30.     t2 = math.cos(roll * 0.5)
  31.     t3 = math.sin(roll * 0.5)
  32.     t4 = math.cos(pitch * 0.5)
  33.     t5 = math.sin(pitch * 0.5)
  34.     w = t0 * t2 * t4 + t1 * t3 * t5
  35.     x = t0 * t3 * t4 - t1 * t2 * t5
  36.     y = t0 * t2 * t5 + t1 * t3 * t4
  37.     z = t1 * t2 * t4 - t0 * t3 * t5
  38.     return [w, x, y, z]
  39.  
  40.  
  41. while True:
  42.     if(copter and copter.mode == dronekit.VehicleMode("GUIDED")):
  43.         send_attitude_target(0,  # roll
  44.                              0,  # pitch
  45.                              0,  # yaw_angle
  46.                              0,  # yaw_rate
  47.                              0.5)  # thrust
  48.         print("attitude command sent")
  49.     time.sleep(0.1)# your code goes here
Runtime error #stdin #stdout #stderr 0s 23352KB
comments (?)
stdin
copy 
Standard input is empty
stdout
copy 
Standard output is empty
stderr
copy 
Traceback (most recent call last):
  File "prog.py", line 4, in <module>
ImportError: No module named dronekit
https://ideone.com/e4oIIK
language:
Python (cpython 2.7.16)
created:
8 years ago
visibility:
public

Share or Embed source code

Discover > Sphere Engine API

The brand new service which powers Ideone!

Discover > IDE Widget

Widget for compiling and running the source code in a web browser!