okalachev

# -*- coding: utf-8 -*-

import time
import threading
import pigpio
import collections
import numpy
import rospy
from sensor_msgs.msg import Range

okalachev

import rospy
from clever import srv
from std_srvs.srv import Trigger


rospy.init_node('testflight')
navigate = rospy.ServiceProxy('navigate', srv.Navigate)
land = rospy.ServiceProxy('land', Trigger)

okalachev

/*
 * Description text
 * Copyright (C) 2018 Copter Express Technologies
 *
 * Author: Ivan Petrov <ipetrov@gmail.com>
 *
 * Distributed under MIT License (available at https://opensource.org/licenses/MIT).
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 */

okalachev

#include <iostream>

using namespace std;

int i = 11;
int j = 22;

void invoke(void (*callback)(void))
{
    callback();

okalachev

MAVLink Switch

Configuration

MAVLink Switch is configured using a configuration YAML file, containing endpoints and rules sets.

Endpoints

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#!/usr/bin/python
import rospy
import thread
import sys
import math
from mavros_msgs.msg import RCIn
from clever import srv
from time import sleep
from mavros_msgs.srv import SetMode
from mavros_msgs.srv import CommandBool

okalachev

Архитектура API CoexHub

Терминология

Это есть:

Drone — девайc, подключенный к CoexHub. Коптер, зарядная станция, либо еще что-нибудь.

Drone_type — тип (модель) девайса. Pyramid — дрон, который садится в зарядную станцию, Clever — клевер, charging_station — зарядная станция, и т д.

okalachev

function quatFromEuler(roll, pitch, yaw) {
    var c1 = Math.cos(x / 2);
    var c2 = Math.cos(y / 2);
    var c3 = Math.cos(z / 2);
    var s1 = Math.sin(x / 2);
    var s2 = Math.sin(y / 2);
    var s3 = Math.sin(z / 2);

    var x = s1 * c2 * c3 + c1 * s2 * s3;
    var y = c1 * s2 * c3 - s1 * c2 * s3;

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rostopic pub -r 5 /mavros/setpoint_position/local geometry_msgs/PoseStamped "header:
  seq: 0
  stamp:
    secs: 0
    nsecs: 0
  frame_id: ''
pose:
  position:
    x: 0.0
    y: 0.0

okalachev

from mongo import get_db


def is_next_try(session, result):
    res = len(session['tries']) == result['tryNumber'] and \
           (session['addr'] is None or session['addr'] == result['addr']) and \
            not session['tries'][-1].get('last') and \
            session['tries'][-1]['spent'] < result['spent']
    if not res: return False
    for id in session['tries'][-1]['answers']: