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我正在使用 APM 自动驾驶我的六轴飞行器并遵循本教程。通过查看这个可用的命令，我看不到如何命令无人机向左/向右/向前/向后？

有人可以帮我吗？

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3 回答 3

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您需要创建一个 vehicle.message_factory.set_position_target_local_ned_encode。它将需要一个框架 mavutil.mavlink.MAV_FRAME_BODY_NED。您将所需的 x、y 和/或 z 速度（以 m/s 为单位）添加到消息中。

from pymavlink import mavutil
from dronekit import connect, VehicleMode, LocationGlobalRelative
import time

def send_body_ned_velocity(velocity_x, velocity_y, velocity_z, duration=0):
    msg = vehicle.message_factory.set_position_target_local_ned_encode(
        0,       # time_boot_ms (not used)
        0, 0,    # target system, target component
        mavutil.mavlink.MAV_FRAME_BODY_NED, # frame Needs to be MAV_FRAME_BODY_NED for forward/back left/right control.
        0b0000111111000111, # type_mask
        0, 0, 0, # x, y, z positions (not used)
        velocity_x, velocity_y, velocity_z, # m/s
        0, 0, 0, # x, y, z acceleration
        0, 0)
    for x in range(0,duration):
        vehicle.send_mavlink(msg)
        time.sleep(1)

connection_string = 'tcp:192.168.1.2:5760' # Edit to suit your needs.
takeoff_alt = 10
vehicle = connect(connection_string, wait_ready=True)
while not vehicle.is_armable:
    time.sleep(1)
vehicle.mode = VehicleMode("GUIDED")
vehicle.armed = True
while not vehicle.armed:
    print('Waiting for arming...')
    time.sleep(1)
vehicle.simple_takeoff(takeoff_alt) # Take off to target altitude
while True:
    print('Altitude: %d' %  self.vehicle.location.global_relative_frame.alt)
    if vehicle.location.global_relative_frame.alt >= takeoff_alt * 0.95:
        print('REACHED TARGET ALTITUDE')
        break
    time.sleep(1)

# This is the command to move the copter 5 m/s forward for 10 sec.
velocity_x = 0
velocity_y = 5
velocity_z = 0
duration = 10
send_body_ned_velocity(velocity_x, velocity_y, velocity_z, duration)

# backwards at 5 m/s for 10 sec.
velocity_x = 0
velocity_y = -5
velocity_z = 0
duration = 10
send_body_ned_velocity(velocity_x, velocity_y, velocity_z, duration)

vehicle.mode = VehicleMode("LAND")

玩得开心，当然，在编程和飞行无人机时要遵守严格的安全守卫。手动模式覆盖是必须的！

于 2017-02-16T11:55:51.493 回答
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Dronekit-python 具有重要的 API 来在本地框架中命令无人机。从我个人的经验来看，使用这些命令让我的无人机在本地跟随一个形状，例如正方形或圆形，我很难理解。另一种方法是使用FlytOS 无人机 API。如果您在 github 上看到此示例 python 代码，您可以看到命令无人机向左 x 米然后向前 y 米等是多么容易。乔恩的回答确实正确地显示了如何使用dronekit 来实现您想要做的事情，但是另一个可能被复杂代码吓倒的初学者。

于 2017-04-17T13:37:09.807 回答
0

我有同样的问题，我希望这个链接有助于在此处查找文章的“通过指定车辆的速度分量进行控制”部分

于 2018-12-05T17:25:39.637 回答