Used for sending high level setpoints to the Crazyflie
| 37 | |
| 38 | |
| 39 | class HighLevelCommander(): |
| 40 | """ |
| 41 | Used for sending high level setpoints to the Crazyflie |
| 42 | """ |
| 43 | |
| 44 | COMMAND_SET_GROUP_MASK = 0 |
| 45 | COMMAND_STOP = 3 |
| 46 | COMMAND_GO_TO = 4 |
| 47 | COMMAND_START_TRAJECTORY = 5 |
| 48 | COMMAND_DEFINE_TRAJECTORY = 6 |
| 49 | COMMAND_TAKEOFF_2 = 7 |
| 50 | COMMAND_LAND_2 = 8 |
| 51 | |
| 52 | ALL_GROUPS = 0 |
| 53 | |
| 54 | TRAJECTORY_LOCATION_MEM = 1 |
| 55 | TRAJECTORY_TYPE_POLY4D = 0 |
| 56 | |
| 57 | def __init__(self, crazyflie=None): |
| 58 | """ |
| 59 | Initialize the object. |
| 60 | """ |
| 61 | self._cf = crazyflie |
| 62 | |
| 63 | def set_group_mask(self, group_mask=ALL_GROUPS): |
| 64 | """ |
| 65 | Set the group mask that the Crazyflie belongs to |
| 66 | |
| 67 | :param group_mask: mask for which groups this CF belongs to |
| 68 | """ |
| 69 | self._send_packet(struct.pack('<BB', |
| 70 | self.COMMAND_SET_GROUP_MASK, |
| 71 | group_mask)) |
| 72 | |
| 73 | def takeoff(self, absolute_height_m, duration_s, group_mask=ALL_GROUPS, |
| 74 | yaw=0.0): |
| 75 | """ |
| 76 | vertical takeoff from current x-y position to given height |
| 77 | |
| 78 | :param absolute_height_m: absolute (m) |
| 79 | :param duration_s: time it should take until target height is |
| 80 | reached (s) |
| 81 | :param group_mask: mask for which CFs this should apply to |
| 82 | :param yaw: yaw (rad). Use current yaw if set to None. |
| 83 | """ |
| 84 | target_yaw = yaw |
| 85 | useCurrentYaw = False |
| 86 | if yaw is None: |
| 87 | target_yaw = 0.0 |
| 88 | useCurrentYaw = True |
| 89 | |
| 90 | self._send_packet(struct.pack('<BBff?f', |
| 91 | self.COMMAND_TAKEOFF_2, |
| 92 | group_mask, |
| 93 | absolute_height_m, |
| 94 | target_yaw, |
| 95 | useCurrentYaw, |
| 96 | duration_s)) |