177 lines
4.7 KiB
Markdown
177 lines
4.7 KiB
Markdown
# Drone Controller Guide
|
|
|
|
## Overview
|
|
|
|
The drone controller (`src/drone_controller.py`) provides a simple interface for flying the drone in simulation.
|
|
|
|
## Usage
|
|
|
|
### Command Line
|
|
|
|
```bash
|
|
source ~/venv-ardupilot/bin/activate
|
|
cd ~/RDC_Simulation
|
|
|
|
# Fly a square pattern
|
|
python scripts/run_ardupilot.py --pattern square
|
|
|
|
# Options
|
|
python scripts/run_ardupilot.py --help
|
|
```
|
|
|
|
### Options
|
|
|
|
| Option | Default | Description |
|
|
|--------|---------|-------------|
|
|
| `--pattern` | square | Flight pattern: square, circle, hover |
|
|
| `--altitude` | 5 | Flight altitude in meters |
|
|
| `--size` | 5 | Pattern size (side length or radius) |
|
|
| `--connection` | tcp:127.0.0.1:5760 | MAVLink connection string |
|
|
|
|
### Examples
|
|
|
|
```bash
|
|
# Fly a 10m square at 8m altitude
|
|
python scripts/run_ardupilot.py --pattern square --size 10 --altitude 8
|
|
|
|
# Fly a circle with 5m radius
|
|
python scripts/run_ardupilot.py --pattern circle --size 5
|
|
|
|
# Just hover (useful for testing)
|
|
python scripts/run_ardupilot.py --pattern hover
|
|
```
|
|
|
|
## Python API
|
|
|
|
### Basic Usage
|
|
|
|
```python
|
|
from src.drone_controller import DroneController
|
|
|
|
# Create and connect
|
|
drone = DroneController()
|
|
if not drone.connect():
|
|
print("Connection failed")
|
|
exit(1)
|
|
|
|
# Takeoff
|
|
drone.set_mode("GUIDED")
|
|
drone.arm()
|
|
drone.takeoff(5.0)
|
|
|
|
# Fly
|
|
drone.fly_square(size=5, altitude=5)
|
|
|
|
# Land
|
|
drone.land()
|
|
```
|
|
|
|
### Class: DroneController
|
|
|
|
#### Connection
|
|
|
|
```python
|
|
drone = DroneController(connection_string="tcp:127.0.0.1:5760")
|
|
drone.connect(timeout=30) # Returns True/False
|
|
```
|
|
|
|
#### State
|
|
|
|
```python
|
|
drone.armed # bool: Is the drone armed?
|
|
drone.mode # str: Current flight mode
|
|
drone.altitude # float: Current altitude (m)
|
|
drone.position # dict: {"x": float, "y": float, "z": float}
|
|
```
|
|
|
|
#### Commands
|
|
|
|
```python
|
|
drone.set_mode("GUIDED") # Set flight mode
|
|
drone.arm() # Arm motors (force arm)
|
|
drone.takeoff(5.0) # Takeoff to altitude
|
|
drone.goto(x, y, z) # Go to position (NED frame)
|
|
drone.fly_to_and_wait(x, y, alt) # Go and wait until reached
|
|
drone.land() # Land
|
|
```
|
|
|
|
#### Patterns
|
|
|
|
```python
|
|
drone.fly_square(size=5, altitude=5) # Square pattern
|
|
drone.fly_circle(radius=5, altitude=5) # Circle pattern
|
|
```
|
|
|
|
## Coordinate System
|
|
|
|
ArduPilot uses NED (North-East-Down):
|
|
- **X**: North (positive forward)
|
|
- **Y**: East (positive right)
|
|
- **Z**: Down (negative is up!)
|
|
|
|
```python
|
|
# Go 5m north, 3m east, at 10m altitude
|
|
drone.goto(5, 3, -10) # Z is negative for altitude
|
|
```
|
|
|
|
## Flight Modes
|
|
|
|
| Mode | Description |
|
|
|------|-------------|
|
|
| GUIDED | Accept external commands |
|
|
| LAND | Automatic landing |
|
|
| LOITER | Hold position |
|
|
| RTL | Return to launch |
|
|
| STABILIZE | Manual control |
|
|
|
|
## Sequence Diagram
|
|
|
|
```
|
|
┌─────────┐ ┌──────────┐ ┌─────────┐
|
|
│ Gazebo │ │ SITL │ │ Script │
|
|
└────┬────┘ └────┬─────┘ └────┬────┘
|
|
│ │ │
|
|
│ Physics data │ │
|
|
│ ◄──────────────│ │
|
|
│ │ │
|
|
│ Sensor JSON │ │
|
|
│ ───────────────► │
|
|
│ │ Connect │
|
|
│ │ ◄────────────────│
|
|
│ │ │
|
|
│ │ Set GUIDED │
|
|
│ │ ◄────────────────│
|
|
│ │ │
|
|
│ │ Arm │
|
|
│ │ ◄────────────────│
|
|
│ │ │
|
|
│ │ Takeoff │
|
|
│ │ ◄────────────────│
|
|
│ │ │
|
|
│ Motor commands │ │
|
|
│ ◄──────────────│ │
|
|
│ │ │
|
|
│ Drone moves │ │
|
|
│ │ │
|
|
```
|
|
|
|
## Troubleshooting
|
|
|
|
### Drone doesn't move
|
|
|
|
1. Check Gazebo is running
|
|
2. Check SITL shows telemetry (not "No JSON sensor message")
|
|
3. Check drone is armed
|
|
|
|
### Timeout waiting for altitude
|
|
|
|
- Increase takeoff timeout
|
|
- Check for pre-arm failures in SITL console
|
|
|
|
### Connection refused
|
|
|
|
```bash
|
|
# Check SITL is running
|
|
nc -z 127.0.0.1 5760 && echo "SITL is ready" || echo "SITL not running"
|
|
```
|