175 lines
4.4 KiB
Markdown
175 lines
4.4 KiB
Markdown
# Drone Controller Guide
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## Overview
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The `DroneController` class (`src/drone_controller.py`) provides a simple interface for controlling the drone in ArduPilot SITL simulation.
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## Command Line Usage
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```bash
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# Activate environment first
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source ~/venv-ardupilot/bin/activate
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cd ~/RDC_Simulation
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# Run flight patterns
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python scripts/run_ardupilot.py --pattern square
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python scripts/run_ardupilot.py --pattern circle
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python scripts/run_ardupilot.py --pattern hover
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```
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### Options
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| Option | Default | Description |
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|--------|---------|-------------|
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| `--pattern, -p` | square | Flight pattern: square, circle, hover |
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| `--altitude, -a` | 5.0 | Flight altitude in meters |
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| `--size, -s` | 5.0 | Pattern size (side length or radius) |
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| `--connection, -c` | tcp:127.0.0.1:5760 | MAVLink connection string |
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| `--gps` | false | Use GPS mode (default is GPS-denied) |
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### Examples
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```bash
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# Large square at high altitude
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python scripts/run_ardupilot.py --pattern square --size 10 --altitude 15
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# Small circle
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python scripts/run_ardupilot.py --pattern circle --size 3 --altitude 5
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# Hover for testing
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python scripts/run_ardupilot.py --pattern hover
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# GPS mode (instead of GPS-denied)
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python scripts/run_ardupilot.py --pattern square --gps
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```
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## Python API
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### Basic Usage
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```python
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from src.drone_controller import DroneController
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# Create and connect
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drone = DroneController()
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if not drone.connect():
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print("Connection failed")
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exit(1)
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# Setup for GPS-denied (disables arming checks)
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drone.setup_gps_denied()
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# Set mode and arm
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drone.set_mode("GUIDED_NOGPS") # or "GUIDED" for GPS mode
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drone.arm()
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# Takeoff
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drone.takeoff(5.0)
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# Fly a pattern
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drone.fly_square(size=5, altitude=5)
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# Land
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drone.land()
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```
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### DroneController Class
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#### Constructor
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```python
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drone = DroneController(connection_string="tcp:127.0.0.1:5760")
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```
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#### Properties
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| Property | Type | Description |
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|----------|------|-------------|
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| `armed` | bool | Is the drone armed? |
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| `mode` | str | Current flight mode |
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| `altitude` | float | Current altitude (meters) |
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| `position` | dict | Current position {"x", "y", "z"} |
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| `vehicle_type` | str | "copter" or "plane" |
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#### Methods
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| Method | Description |
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|--------|-------------|
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| `connect(timeout=30)` | Connect to SITL, returns True/False |
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| `set_mode(mode)` | Set flight mode (GUIDED, GUIDED_NOGPS, LAND, etc.) |
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| `setup_gps_denied()` | Configure for GPS-denied operation |
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| `arm()` | Arm motors (force arm) |
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| `takeoff(altitude)` | Take off to altitude |
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| `goto(x, y, z)` | Go to position (NED frame) |
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| `fly_to_and_wait(x, y, alt)` | Go to position and wait until reached |
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| `fly_square(size, alt)` | Fly square pattern |
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| `fly_circle(radius, alt)` | Fly circle pattern |
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| `land()` | Land the drone |
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| `set_param(name, value)` | Set an ArduPilot parameter |
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### Flight Modes (ArduCopter)
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| Mode | ID | Description |
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|------|-----|-------------|
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| STABILIZE | 0 | Manual control, self-leveling |
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| ALT_HOLD | 2 | Hold altitude, manual position |
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| GUIDED | 4 | Accept waypoint commands (needs GPS) |
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| LOITER | 5 | Hold position |
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| RTL | 6 | Return to launch |
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| LAND | 9 | Automatic landing |
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| GUIDED_NOGPS | 20 | Accept commands without GPS |
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## Coordinate System
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ArduPilot uses NED (North-East-Down):
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- **X (North)**: Positive = forward
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- **Y (East)**: Positive = right
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- **Z (Down)**: Positive = down, **negative = up!**
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```python
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# Go 5m forward, 3m right, at 10m altitude
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drone.goto(5, 3, -10) # Z is negative for altitude!
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```
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## GPS-Denied Mode
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The controller defaults to GPS-denied mode, which:
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1. Disables arming checks (`ARMING_CHECK=0`)
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2. Uses `GUIDED_NOGPS` mode (ID 20)
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3. Relies on barometer for altitude
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To use GPS mode instead:
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```bash
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python scripts/run_ardupilot.py --pattern square --gps
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```
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## Troubleshooting
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### Drone won't arm
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1. Check MAVProxy console for pre-arm errors
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2. Try force arming in MAVProxy: `arm throttle force`
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3. Make sure SITL is connected to Gazebo (shows "JSON received:")
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### Mode not changing
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Check the current mode in MAVProxy console. If stuck, try:
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```
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mode GUIDED
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```
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### Drone not moving
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1. Make sure you're in GUIDED or GUIDED_NOGPS mode
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2. Check altitude - drone needs to be off ground
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3. Verify Gazebo is running and responsive
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### Wrong vehicle type detected
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If you see ArduPlane modes (FBWA, FBWB), restart SITL:
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```bash
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pkill -9 -f sim_vehicle
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sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console --wipe-eeprom
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```
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