여기서 주의할 점은 Offboard 모드를 시작하기 전에 EKF Origin을 0,0,0 으로 초기화 해야 한다는 것 입니다.
에러가 발생되면 아밍을 종료 합니다.
Takeoff
print("-- Go 0m North, 0m East, -5m Down \
within local coordinate system")
await drone.offboard.set_position_ned(
PositionNedYaw(0.0, 0.0, -5.0, 0.0))
await asyncio.sleep(10)
Local coordinate 프레임을 기준으로 기체를 위로 이동 시킵니다. 고도는 NED 기준에서 항상 - 가 위쪽임을 주의 하십시오.
이륙 고도에 다다를 충분한 sleep(10) 타임을 주어야 합니다.
이동
print("-- Go 5m North, 10m East, -5m Down \
within local coordinate system")
await drone.offboard.set_position_ned(
PositionNedYaw(5.0, 10.0, -5.0, 90.0))
await asyncio.sleep(15)
NED 기준으로 북쪽으로 5m, 동쪽으로 10m, 고도 5m, 기수 방향 90도로 기체를 이동 시킵니다.
착륙
print("-- Go 0m North, 10m East, 0m Down \
within local coordinate system, turn to face South")
await drone.offboard.set_position_ned(
PositionNedYaw(0.0, 10.0, 0.0, 180.0))
await asyncio.sleep(10)
고도를 0으로 주어 기체를 착륙 시킵니다.
PX4는 기체가 지면에 닿으면 자동으로 아밍을 종료 합니다.
Offboard 모드 종료
print("-- Stopping offboard")
try:
await drone.offboard.stop()
except OffboardError as error:
print(f"Stopping offboard mode failed \
with error code: {error._result.result}")
전체 코드
offboard_position_ned.py
#!/usr/bin/env python3
"""
Caveat when attempting to run the examples in non-gps environments:
`drone.offboard.stop()` will return a `COMMAND_DENIED` result because it
requires a mode switch to HOLD, something that is currently not supported in a
non-gps environment.
"""
import asyncio
from mavsdk import System
from mavsdk.offboard import (OffboardError, PositionNedYaw)
async def run():
""" Does Offboard control using position NED coordinates. """
drone = System()
await drone.connect(system_address="udp://:14540")
print("Waiting for drone to connect...")
async for state in drone.core.connection_state():
if state.is_connected:
print(f"-- Connected to drone!")
break
print("Waiting for drone to have a global position estimate...")
async for health in drone.telemetry.health():
if health.is_global_position_ok and health.is_home_position_ok:
print("-- Global position estimate OK")
break
print("-- Arming")
await drone.action.arm()
print("-- Setting initial setpoint")
await drone.offboard.set_position_ned(PositionNedYaw(0.0, 0.0, 0.0, 0.0))
print("-- Starting offboard")
try:
await drone.offboard.start()
except OffboardError as error:
print(f"Starting offboard mode failed \
with error code: {error._result.result}")
print("-- Disarming")
await drone.action.disarm()
return
print("-- Go 0m North, 0m East, -5m Down \
within local coordinate system")
await drone.offboard.set_position_ned(
PositionNedYaw(0.0, 0.0, -5.0, 0.0))
await asyncio.sleep(10)
print("-- Go 5m North, 0m East, -5m Down \
within local coordinate system, turn to face East")
await drone.offboard.set_position_ned(
PositionNedYaw(5.0, 0.0, -5.0, 90.0))
await asyncio.sleep(10)
print("-- Go 5m North, 10m East, -5m Down \
within local coordinate system")
await drone.offboard.set_position_ned(
PositionNedYaw(5.0, 10.0, -5.0, 90.0))
await asyncio.sleep(15)
print("-- Go 0m North, 10m East, 0m Down \
within local coordinate system, turn to face South")
await drone.offboard.set_position_ned(
PositionNedYaw(0.0, 10.0, 0.0, 180.0))
await asyncio.sleep(10)
print("-- Stopping offboard")
try:
await drone.offboard.stop()
except OffboardError as error:
print(f"Stopping offboard mode failed \
with error code: {error._result.result}")
if __name__ == "__main__":
# Run the asyncio loop
asyncio.run(run())
