You cannot select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
58 lines
2.4 KiB
Python
58 lines
2.4 KiB
Python
2 years ago
|
#!/usr/bin/env python3
|
||
|
|
import asyncio
|
||
|
|
from mavsdk import System
|
||
|
|
from mavsdk.telemetry_server import (StatusText,StatusTextType,Battery,Position,VelocityNed, Heading,RawGps,GpsInfo,FixType)
|
||
|
|
import random
|
||
|
|
async def run():
|
||
|
|
|
||
|
|
drone = System(port=50053)
|
||
|
|
print("456")
|
||
|
|
|
||
|
|
await drone.connect(system_address="udp://:14550")
|
||
|
|
print("123")
|
||
|
|
await drone.telemetry_server.publish_status_text(StatusText(StatusTextType.ALERT,"Check"))
|
||
|
|
|
||
|
|
|
||
|
|
while True:
|
||
|
|
|
||
|
|
remaining_percent = random.uniform(0.0, 1.0)
|
||
|
|
voltage_v = random.uniform(0.0, 20.0)
|
||
|
|
|
||
|
|
latitude_deg = random.uniform(0.0, 50.0)
|
||
|
|
longitude_deg = random.uniform(0.0, 180.0)
|
||
|
|
absolute_altitude_m = random.uniform(0.0, 50.0)
|
||
|
|
relative_altitude_m = random.uniform(0.0, 50.0)
|
||
|
|
heading_deg = random.uniform(0.0, 360.0)
|
||
|
|
position = Position(latitude_deg, longitude_deg,absolute_altitude_m,relative_altitude_m)
|
||
|
|
velocity_ned = VelocityNed(north_m_s=0.0, east_m_s=0.0, down_m_s=0.0)
|
||
|
|
heading = Heading(heading_deg)
|
||
|
|
|
||
|
|
raw_gps = RawGps(
|
||
|
|
timestamp_us=123456789, # 当前时间戳，以微秒为单位
|
||
|
|
latitude_deg=47.3977418, # 纬度
|
||
|
|
longitude_deg=8.5455934, # 经度
|
||
|
|
absolute_altitude_m=500, # 绝对海拔高度（米）
|
||
|
|
hdop=1.0, # 水平精度因子
|
||
|
|
vdop=1.0, # 垂直精度因子
|
||
|
|
velocity_m_s=random.uniform(0.0,50.0), # 速度（米/秒）
|
||
|
|
cog_deg=90.0, # 航向（度）
|
||
|
|
altitude_ellipsoid_m=510.0, # 大地水准面上的高度（米）
|
||
|
|
horizontal_uncertainty_m=1.000000000000, # 水平准确性（米）
|
||
|
|
vertical_uncertainty_m=1.00000000,
|
||
|
|
velocity_uncertainty_m_s=0.0000000000000000 ,# 垂直准确性（米）
|
||
|
|
heading_uncertainty_deg=1.0000000, # 速度准确性（米/秒）
|
||
|
|
yaw_deg=180.5# 是否已定位的标志
|
||
|
|
)
|
||
|
|
gps_info = GpsInfo(
|
||
|
|
num_satellites=10, # 卫星数量
|
||
|
|
fix_type=FixType.RTK_FIXED # GPS 修复类型
|
||
|
|
)
|
||
|
|
await drone.telemetry_server.publish_battery(Battery(voltage_v,remaining_percent))
|
||
|
|
await drone.telemetry_server.publish_position(position,velocity_ned,heading)
|
||
|
|
await drone.telemetry_server.publish_raw_gps(raw_gps,gps_info)
|
||
|
|
await asyncio.sleep(1)
|
||
|
|
|
||
|
|
#print("remaining_percent: ",remaining_percent)
|
||
|
|
if __name__ == "__main__":
|
||
|
|
loop = asyncio.get_event_loop()
|
||
|
|
loop.run_until_complete(run())
|