Pixhawk无人机扩展教程(8)---使用键盘控制无人机飞行

摘自：https://mp.weixin.qq.com/s?__biz=Mzg2NDI0MzU5NA==&mid=2247484515&idx=2&sn=7cd2a23c6661d985c0198fb48bc9317f&chksm=ce6d1e86f91a979021d078d45513f7b6af112b1cd685f92fdeaec94d7a2ac33be34529c36ccb&scene=21#wechat_redirect

Pixhawk无人机扩展教程(8)---使用键盘控制无人机飞行

原创 CJKK 苍穹四轴DIY 2020-05-20

在前面的教程中，我们通过Dronekit编程实现了对无人机的位置控制和速度控制。在给点GPS坐标点和明确飞行路径的情况下，使用这两种方式非常方便的。但是如果在GPS坐标点不明确，或则飞行线路也没有确定的情况下，如何通过Dronekit编程实现自由控制无人机飞行方向呢？

下面给大家介绍一种方法：

先看一下运行视频：

以上视频我们可以看到，通过python程序我们可以使用键盘方向按键实现对无人机的控制。具体方法如下：

一、安装python-tk

sudo apt-get install python-tk

二、控制程序如下：

"""Simple script for take off and control with arrow keys"""
import timefrom dronekit import connect, VehicleMode, LocationGlobalRelative, Command, LocationGlobalfrom pymavlink import mavutilimport Tkinter as tk
#通过SITL仿真运行print('Connecting...')vehicle = connect('udp:127.0.0.1:14551')
#设置飞行速度5m/sgnd_speed = 5 # [m/s]
#定义起飞函数def arm_and_takeoff(altitude):
   while not vehicle.is_armable:      print("waiting to be armable")      time.sleep(1)
   print("Arming motors")   vehicle.mode = VehicleMode("GUIDED")   vehicle.armed = True
   while not vehicle.armed: time.sleep(1)
   print("Taking Off")   vehicle.simple_takeoff(altitude)
   while True:      v_alt = vehicle.location.global_relative_frame.alt      print(">> Altitude = %.1f m"%v_alt)      if v_alt >= altitude * 0.95:          print("Target altitude reached")          break      time.sleep(1)
#定义发送mavlink速度命令的功能def set_velocity_body(vehicle, vx, vy, vz):    """ Remember: vz is positive downward!!!         Bitmask to indicate which dimensions should be ignored by the vehicle     (a value of 0b0000000000000000 or 0b0000001000000000 indicates that     none of the setpoint dimensions should be ignored). Mapping:     bit 1: x,  bit 2: y,  bit 3: z,     bit 4: vx, bit 5: vy, bit 6: vz,     bit 7: ax, bit 8: ay, bit 9:            """    msg = vehicle.message_factory.set_position_target_local_ned_encode(            0,            0, 0,            mavutil.mavlink.MAV_FRAME_BODY_NED,            0b0000111111000111, #-- BITMASK -> Consider only the velocities            0, 0, 0,        #-- POSITION            vx, vy, vz,     #-- VELOCITY            0, 0, 0,        #-- ACCELERATIONS            0, 0)    vehicle.send_mavlink(msg)    vehicle.flush()
#按键事件功能def key(event):    if event.char == event.keysym: #-- standard keys        if event.keysym == 'r': print("r pressed >> Set the vehicle to RTL")            vehicle.mode = VehicleMode("RTL")        elif event.keysym == 'l':            print("l pressed >> Set the vehicle to LAND")            vehicle.mode = VehicleMode("LAND")
    else: #-- non standard keys        if event.keysym == 'Up':            set_velocity_body(vehicle, gnd_speed, 0, 0)        elif event.keysym == 'Down':            set_velocity_body(vehicle,-gnd_speed, 0, 0)        elif event.keysym == 'Left':            set_velocity_body(vehicle, 0, -gnd_speed, 0)        elif event.keysym == 'Right':            set_velocity_body(vehicle, 0, gnd_speed, 0)

#主程序#起飞，目标高度10米arm_and_takeoff(10)
#等待键盘输入root = tk.Tk()print(">> Control the drone with the arrow keys. Press r for RTL mode")print(">> Control the drone with the arrow keys. Press l for LAND mode")root.bind_all('<Key>', key)root.mainloop()

如果提示格式错误，请删除问代码中中文注释！