Dronekit代码学习（三）控制无人机前后左右升降俯仰

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控制无人机前后左右升降俯仰

代码如下：

起飞5m后，右5m，前方5m，升2m，返航，关闭连接
升降是反的

# -*- coding: utf-8 -*-
'''
---------------------------------------------------------------------------
控制无人机前后左右升降俯仰
---------------------------------------------------------------------------
'''
from __future__ import print_function
import time
from dronekit import connect, VehicleMode, LocationGlobalRelative
from pymavlink import mavutil
#连接
vehicle = connect('127.0.0.1:14551', wait_ready=True)
#起飞
def arm_and_takeoff(aTargetAltitude):
print("起飞前检查...") 
while not vehicle.is_armable:
print (" 等待飞机初始化...") 
time.sleep(1)
print ("切换至GUIDED模式...")
vehicle.mode    = VehicleMode("GUIDED")
print ("解锁...")
vehicle.armed   = True
while not vehicle.armed:
print ("等待解锁...")
time.sleep(1)
print ("起飞!!!...")
vehicle.simple_takeoff(aTargetAltitude) 
while True:
print (" 当前高度: ", vehicle.location.global_relative_frame.alt)
if vehicle.location.global_relative_frame.alt>=aTargetAltitude*0.95:
print ("到达目标高度...")
break
time.sleep(1)
#前后左右上下移动
def send_ned_velocity(velocity_x, velocity_y, velocity_z, duration):
"""
Move vehicle in direction based on specified velocity vectors.
"""
msg = vehicle.message_factory.set_position_target_local_ned_encode(
0,       
0, 0,    
mavutil.mavlink.MAV_FRAME_LOCAL_NED, 
0b0000111111000111, 
0, 0, 0, 
velocity_x, velocity_y, velocity_z, 
0, 0, 0, 
0, 0)    
#循环发送几次
for x in range(0,duration):
#发送指令
vehicle.send_mavlink(msg)
time.sleep(1)
#偏航
def condition_yaw(heading, relative=False):
if relative:
is_relative=1 
else:
is_relative=0 
msg = vehicle.message_factory.command_long_encode(
0, 0,  
mavutil.mavlink.MAV_CMD_CONDITION_YAW, 
0, 
heading,    
0,         
1,         
is_relative, 
0, 0, 0)   
#发送指令
vehicle.send_mavlink(msg)
#起飞
arm_and_takeoff(10)
#移动
send_ned_velocity(5, 5, -2, 1)
time.sleep(3)
#偏航45
condition_yaw(45)
time.sleep(3)
print("设置模式返航...")
vehicle.mode = VehicleMode("RTL")
print("关闭连接")
vehicle.close()