實現close_loop的部份，主要是負責接收matlab回傳的封包，並以mavlink指令的方式打進去Ardupilot裡面

2025-03-28 11:30:48 +08:00
parent 598e80d070
commit a934ccfa3c
1 changed files with 102 additions and 0 deletions
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+#!/usr/bin/env python3
+from pymavlink import mavutil
+import socket
+import re
+import time
+import math
+
+def main():
+    # 建立MAVLink連接
+    print("建立MAVLink連接...")
+    connection_string = "udp:127.0.0.1:14550"
+    master = mavutil.mavlink_connection(connection_string)
+    master.wait_heartbeat()
+    print("MAVLink連接已建立")
+    
+    # 切換到GUIDED模式
+    master.mav.set_mode_send(
+        master.target_system,
+        mavutil.mavlink.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED,
+        4  # GUIDED模式ID
+    )
+    print("已切換到GUIDED模式")
+    
+    # 解鎖無人機
+    master.mav.command_long_send(
+        master.target_system,
+        master.target_component,
+        mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
+        0,
+        1, 0, 0, 0, 0, 0, 0  # 1表示解鎖
+    )
+    print("無人機已解鎖")
+    
+    # 設置UDP服務器
+    server_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+    server_socket.bind(('0.0.0.0', 5000))
+    server_socket.settimeout(0.1)  # 非阻塞操作
+    print("UDP服務器已啟動，監聽端口5000")
+    
+    # 主循環，持續處理數據
+    while True:
+        try:
+            # 接收UDP數據
+            try:
+                data, _ = server_socket.recvfrom(1024)
+                decoded_data = data.decode('utf-8')
+                
+                # 提取velocity數據
+                vel_match = re.search(r'"next_velocity":\[([-\d\.\,]+)\]', decoded_data)
+                
+                if vel_match:
+                    velocity_str = vel_match.group(1)
+                    velocity = [float(x) for x in velocity_str.split(',')]
+                    vx, vy, vz = velocity
+                    
+                    # 獲取當前位置
+                    pos_msg = master.recv_match(type='LOCAL_POSITION_NED', blocking=True, timeout=0.5)
+                    if pos_msg:
+                        x, y, z = pos_msg.x, pos_msg.y, pos_msg.z
+                        
+                        # 設置type_mask - 僅使用速度控制
+                        type_mask = (
+                            mavutil.mavlink.POSITION_TARGET_TYPEMASK_X_IGNORE |
+                            mavutil.mavlink.POSITION_TARGET_TYPEMASK_Y_IGNORE |
+                            mavutil.mavlink.POSITION_TARGET_TYPEMASK_Z_IGNORE |
+                            mavutil.mavlink.POSITION_TARGET_TYPEMASK_AX_IGNORE |
+                            mavutil.mavlink.POSITION_TARGET_TYPEMASK_AY_IGNORE |
+                            mavutil.mavlink.POSITION_TARGET_TYPEMASK_AZ_IGNORE |
+                            mavutil.mavlink.POSITION_TARGET_TYPEMASK_YAW_IGNORE |
+                            mavutil.mavlink.POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE
+                        )
+                        
+                        # 發送位置目標命令
+                        print(f"發送速度指令: vx={vx}, vy={vy}, vz={vz}")
+                        master.mav.set_position_target_local_ned_send(
+                            0,
+                            master.target_system,
+                            master.target_component,
+                            mavutil.mavlink.MAV_FRAME_LOCAL_NED,
+                            type_mask,
+                            0, 0, 0,   
+                            vx, vy, vz,  # 速度
+                            0, 0, 0,  # 加速度
+                            0, 0  # 航向
+                        )
+                        print("success")
+                        # 要再去偵錯沒有data進來的狀況
+            except socket.timeout:
+                pass
+            
+            time.sleep(0.05)  # 控制循環速率
+            
+        except KeyboardInterrupt:
+            print("程序終止")
+            server_socket.close()
+            break
+        except Exception as e:
+            print(f"錯誤: {e}")
+            time.sleep(1)
+
+if __name__ == "__main__":
+    main()