From e51cfc4c31faef9543e02ae673a0ec6d735fd054 Mon Sep 17 00:00:00 2001 From: boom6314 Date: Tue, 2 Jul 2024 20:07:43 +0800 Subject: [PATCH] =?UTF-8?q?=E5=88=AA=E9=99=A4=E3=80=8Ctest3=5Fvel=5Fgps=5F?= =?UTF-8?q?bat=5Fhead.py=E3=80=8D?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- test3_vel_gps_bat_head.py | 58 --------------------------------------- 1 file changed, 58 deletions(-) delete mode 100644 test3_vel_gps_bat_head.py diff --git a/test3_vel_gps_bat_head.py b/test3_vel_gps_bat_head.py deleted file mode 100644 index fc587a9..0000000 --- a/test3_vel_gps_bat_head.py +++ /dev/null @@ -1,58 +0,0 @@ -#!/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()) \ No newline at end of file