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Camera Aruco Tags Dectection

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SirBlobby
2026-02-12 15:53:36 -05:00
parent 92da41138b
commit c91ea920a8
20 changed files with 688 additions and 470 deletions
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32
src/control/uav_controller.py
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@@ -26,6 +26,14 @@ GUIDED_MODE = 4
GUIDED_NOGPS_MODE = 20
DEFAULT_WPNAV_SPEED = 150
DEFAULT_WPNAV_ACCEL = 100
DEFAULT_WPNAV_SPEED_UP = 100
DEFAULT_WPNAV_SPEED_DN = 75
DEFAULT_WPNAV_ACCEL_Z = 75
DEFAULT_LOIT_SPEED = 150
class Controller:
HOLD_ALT = HOLD_ALT
@@ -277,9 +285,31 @@ class Controller:
print("\n[UAV] GPS timeout")
return False
def configure_speed_limits(self,
wpnav_speed=DEFAULT_WPNAV_SPEED,
wpnav_accel=DEFAULT_WPNAV_ACCEL,
wpnav_speed_up=DEFAULT_WPNAV_SPEED_UP,
wpnav_speed_dn=DEFAULT_WPNAV_SPEED_DN,
wpnav_accel_z=DEFAULT_WPNAV_ACCEL_Z,
loit_speed=DEFAULT_LOIT_SPEED):
params = {
'WPNAV_SPEED': wpnav_speed,
'WPNAV_ACCEL': wpnav_accel,
'WPNAV_SPEED_UP': wpnav_speed_up,
'WPNAV_SPEED_DN': wpnav_speed_dn,
'WPNAV_ACCEL_Z': wpnav_accel_z,
'LOIT_SPEED': loit_speed,
}
for name, value in params.items():
self.set_param(name, value)
print(f"[UAV] Speed limits set: horiz={wpnav_speed}cm/s "
f"accel={wpnav_accel}cm/s² up={wpnav_speed_up}cm/s "
f"dn={wpnav_speed_dn}cm/s")
def set_max_velocity(self, speed):
self.conn.mav.command_long_send(
self.conn.target_system,
self.conn.target_component,
mavlink.MAV_CMD_DO_CHANGE_SPEED,
0, speed, -1, 0, 0, 0, 0, 0)
0, 1, speed, -1, 0, 0, 0, 0)