OFFBOARD 속도 제어 (NED 기준)

저작권: 쿼드(QUAD) 드론연구소 https://smartstore.naver.com/maponarooo

이번 세션에서는 Offboard 모드에서 Local_Velocity_NED를 이용한 속도제어 방법에 대해 다룹니다.

offboard_velocity_ned.py 코드 분석

EKF Origin 초기화

    print("-- Setting initial setpoint")
    await drone.offboard.set_velocity_ned(VelocityNedYaw(0.0, 0.0, 0.0, 0.0))

set_velocity_ned 메쏘드를 이용하여 초기화 해 줍니다.

2m/s 속도로 이륙

    print("-- Go up 2 m/s")
    await drone.offboard.set_velocity_ned(VelocityNedYaw(0.0, 0.0, -2.0, 0.0))
    await asyncio.sleep(14)

2m/s 속도로 북쪽으로 이동하며, 기수방향을 동쪽으로 변경 합니다.

    print("-- Go North 2 m/s, turn to face East")
    await drone.offboard.set_velocity_ned(VelocityNedYaw(2.0, 0.0, 0.0, 90.0))

전체 코드

offboard_velocity_ned.py

#!/usr/bin/env python3


import asyncio

from mavsdk import System
from mavsdk.offboard import (OffboardError, VelocityNedYaw)


async def run():
    """ Does Offboard control using velocity 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_velocity_ned(VelocityNedYaw(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 up 2 m/s")
    await drone.offboard.set_velocity_ned(VelocityNedYaw(0.0, 0.0, -2.0, 0.0))
    await asyncio.sleep(14)

    print("-- Go North 2 m/s, turn to face East")
    await drone.offboard.set_velocity_ned(VelocityNedYaw(2.0, 0.0, 0.0, 90.0))
    await asyncio.sleep(14)

    print("-- Go South 2 m/s, turn to face West")
    await drone.offboard.set_velocity_ned(
        VelocityNedYaw(-2.0, 0.0, 0.0, 270.0))
    await asyncio.sleep(14)

    print("-- Go West 2 m/s, turn to face East")
    await drone.offboard.set_velocity_ned(VelocityNedYaw(0.0, -2.0, 0.0, 90.0))
    await asyncio.sleep(14)

    print("-- Go East 2 m/s")
    await drone.offboard.set_velocity_ned(VelocityNedYaw(0.0, 2.0, 0.0, 90.0))
    await asyncio.sleep(14)

    print("-- Turn to face South")
    await drone.offboard.set_velocity_ned(VelocityNedYaw(0.0, 0.0, 0.0, 180.0))
    await asyncio.sleep(12)

    print("-- Go down 1 m/s, turn to face North")
    await drone.offboard.set_velocity_ned(VelocityNedYaw(0.0, 0.0, 1.0, 0.0))
    await asyncio.sleep(14)

    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())

실행