使用 Dronekit 着陆后起飞

Question

我在 Arducopter v3.6.4 上使用 Pixhawk 2.1 Cube 和运行无人机套件脚本的 Raspberry Pi 3 Model B。我想要做的是起飞，去一个点并在那里降落，一段时间后起飞并返回到家庭位置或其他点。我尝试在 SITL 上运行它，但没有成功。

我所做的是在dronekit 中将模式从GUIDED 更改为LAND，以使无人机降落在某个点，然后我运行arm_and_takeoff() 函数，但是一旦电机在着陆后自行解除武装，它就会拒绝武装。我只能中断脚本，如果我再次运行代码，电机就会像往常一样启动。

所以我想做的是 -手臂和起飞 - 飞到航点 1 - 在第 1 点着陆并在那里停留一段时间 - 再次武装和起飞 - 去另一个地方或回家

但代码只运行第 3 步，并且在电机解除武装后不会自行武装。

我阅读了 peterbarker https://github.com/peterbarker 的一篇文章，内容是 RTL 模式在着陆时会停止这种电机的解除武装，但我无法让它在 SITL 上工作。 https://github.com/ArduPilot/ardupilot/pull/6914

from dronekit import connect, VehicleMode, LocationGlobal, LocationGlobalRelative, Command
from pymavlink import mavutil  # Needed for command message definitions
import time
import math

# Set up option parsing to get connection string
import argparse

parser = argparse.ArgumentParser(description='Control Copter and send commands in GUIDED mode ')
parser.add_argument('--connect',
                help="Vehicle connection target string. If not specified, SITL automatically started and used.")
args = parser.parse_args()

connection_string = args.connect
sitl = None

# Start SITL if no connection string specified
if not connection_string:
    import dronekit_sitl

    sitl = dronekit_sitl.start_default()
    connection_string = sitl.connection_string()

# Connect to the Vehicle
print 'Connecting to vehicle on: %s' % connection_string
vehicle = connect(connection_string, wait_ready=True)


def arm_and_takeoff(aTargetAltitude):
"""
Arms vehicle and fly to aTargetAltitude.
"""

    print "Basic pre-arm checks"
    # Don't let the user try to arm until autopilot is ready
    while not vehicle.is_armable:
        print " Waiting for vehicle to initialise..."
        time.sleep(1)

    print "Arming motors"
    # Copter should arm in GUIDED mode
    vehicle.mode = VehicleMode("GUIDED")
    vehicle.armed = True

    while not vehicle.armed:
        print " Waiting for arming..."
        time.sleep(1)

    print "Taking off!"
    vehicle.simple_takeoff(aTargetAltitude)  # Take off to target altitude

    # Wait until the vehicle reaches a safe height before processing the goto (otherwise the command
#  after Vehicle.simple_takeoff will execute immediately).
    while True:
        print " Altitude: ", vehicle.location.global_relative_frame.alt
        if vehicle.location.global_relative_frame.alt >= aTargetAltitude * 0.95:  # Trigger just below target alt.
            print "Reached target altitude"
            break
        time.sleep(1)




def set_velocity_body(vehicle, vx, vy, vz):
""" Remember: vz is positive downward!!!
http://ardupilot.org/dev/docs/copter-commands-in-guided-mode.html

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()


def goto_location(waypoint):
    vehicle.simple_goto(waypoint)
    time.sleep(2)
    reached = 0
    while(not reached):
        time.sleep(1)
        a = vehicle.velocity
        if (abs(a[1])< 0.2 and abs(a[2])< 0.2 and abs(a[0])< 0.2):
            reached = 1
    print "Waypoint reached!"


def battery_check():
    if(vehicle.battery < 9.9):
        print ("Battery Low. Landing")
    print "Battery: %s" % vehicle.battery
        land()
    else:
        print "Battery: %s" % vehicle.battery

def land():
    print("Vehicle in LAND mode")
    vehicle.mode = VehicleMode("LAND")
    while not vehicle.location.global_relative_frame.alt==0:
        if vehicle.location.global_relative_frame.alt < 2:
            set_velocity_body(vehicle,0,0,0.1)
    vehicle.armed = False
    vehicle.close()

def temp_land():
    print("Vehicle in LAND mode")
    vehicle.mode = VehicleMode("LAND")
    while not vehicle.location.global_relative_frame.alt==0:
        if vehicle.location.global_relative_frame.alt < 2:
            set_velocity_body(vehicle,0,0,0.1)
        print ("Vehicle in AUTO mode")
    vehicle.mode = VehicleMode("AUTO")


def rtl():
    print("Vehicle Returning to LAND mode")
    vehicle.mode = VehicleMode("RTL")

def delay(sec):
        print "Hover for %s Seconds" % sec
        time.sleep(sec)



###################################################################################
################################ START CODE #######################################
###################################################################################

############# POINTS ###############
p1 = LocationGlobalRelative(24.830125, 67.097387, 15)


############# TAKE OFF #############
arm_and_takeoff(15)                                                                                                 # Vehicle takeoff
home = vehicle.location.global_frame                                                                                #HOME
print "Reached Target Altitude"
print "Altitude: ", vehicle.location.global_relative_frame.alt
print "Home Location: %s" % home
delay(1)
battery_check()

############# POINT 1 ##############
print "Going to Point 1"
goto_location(p1)
print "Reached Point 1"
print "Location: %s" % vehicle.location.global_frame
delay(1)
battery_check()

############### LAND ################
temp_land()

############ RETURN TO HOME ##########
print "Going to Home"
goto_location(home)
print "Reached Home"
print "Location: %s" % vehicle.location.global_frame
delay(1)
battery_check()


############# LAND #################    
rtl()                                                                                                               # Land vehicle once mission is over
vehicle.flush()
vehicle.close()
print "Exiting Script"


###################################################################################
################################# END CODE ########################################
###################################################################################

有没有办法克服这个问题？

谢谢。

问候

Answer 1

找到了解决这个问题的方法。必须在登陆代码后重新连接车辆，并在登陆后更改其名称。

如果我在不更改车辆变量的情况下重新连接它，它确实起飞但没有第二次降落。

我确实希望有另一种方法可以做到这一点。