mavsdk_api
MAVSDK中offboard一些API
Value
其中是offboard需要用到的一些参数定义。
offboard.PositionNedYaw
class mavsdk.offboard.PositionNedYaw(north_m, east_m, down_m, yaw_deg)
Bases: object
Type for position commands in NED (North East Down) coordinates and yaw.
**参数是NED坐标和偏航下的位置命令。**单位是m
Parameters:
north_m (float) – Position North (in metres)，单位是米
east_m (float) – Position East (in metres)
down_m (float) – Position Down (in metres)
yaw_deg (float) – Yaw in degrees (0 North, positive is clock-wise looking from above)
offboard.VelocityBodyYawspeed
class mavsdk.offboard.VelocityBodyYawspeed(forward_m_s, right_m_s, down_m_s, yawspeed_deg_s)
Bases: object
Type for velocity commands in body coordinates.
参数是前右下以及偏航的速度命令，单位是m/s。
Parameters:
forward_m_s (float) – Velocity forward (in metres/second)
right_m_s (float) – Velocity right (in metres/second)
down_m_s (float) – Velocity down (in metres/second)
yawspeed_deg_s (float) – Yaw angular rate (in degrees/second, positive for clock-wise looking from above)
offboard.VelocityNedYaw
class mavsdk.offboard.VelocityNedYaw(north_m_s, east_m_s, down_m_s, yaw_deg)
Bases: object
Type for velocity commands in NED (North East Down) coordinates and yaw.
北东地坐标系以及偏航角下的速度命令，单位是m/s。
Parameters:
north_m_s (float) – Velocity North (in metres/second)
east_m_s (float) – Velocity East (in metres/second)
down_m_s (float) – Velocity Down (in metres/second)
yaw_deg (float) – Yaw in degrees (0 North, positive is clock-wise looking from above)
一些offboard的控制API
set_position_ned
async set_position_ned(position_ned_yaw)
Set the position in NED coordinates and yaw.
在NED和偏航中设置位置，参数是position_ned_yaw。
Parameters:
position_ned_yaw (PositionNedYaw) – Position and yaw
Raises:OffboardError – If the request fails. The error contains the reason for the failure.
set_position_velocity_ned
async set_position_velocity_ned(position_ned_yaw, velocity_ned_yaw)
Set the position in NED coordinates, with the velocity to be used as feed-forward.
在NED坐标中设置位置，并设置要用作前馈的速度。参数是position_ned_yaw和velocity_ned_yaw
Parameters:
position_ned_yaw (PositionNedYaw) – Position and yaw
velocity_ned_yaw (VelocityNedYaw) – Velocity and yaw
Raises:
OffboardError – If the request fails. The error contains the reason for the failure.
set_velocity_body
async set_velocity_body(velocity_body_yawspeed)
Set the velocity in body coordinates and yaw angular rate. Not available for fixed-wing aircraft.
**在身体坐标和偏航角速率中设置速度。不适用于固定翼飞机。**参数是velocity_body_yawspeed
Parameters:
velocity_body_yawspeed (VelocityBodyYawspeed) – Velocity and yaw angular rate
Raises:
OffboardError – If the request fails. The error contains the reason for the failure.
set_velocity_ned
async set_velocity_ned(velocity_ned_yaw)
Set the velocity in NED coordinates and yaw. Not available for fixed-wing aircraft.
**在 NED 坐标和偏航中设置速度。不适用于固定翼飞机。**参数是velocity_ned_yaw。
Parameters:
velocity_ned_yaw (VelocityNedYaw) – Velocity and yaw
Raises:
OffboardError – If the request fails. The error contains the reason for the failure.
Offboard基础控制
在使用offboard函数之前，首先要启动offboard，最后使用完后要记得关闭，后面两个函数用来返回信息。
start
async start()
Start offboard control.
启动offboard模式
Raises:
OffboardError – If the request fails. The error contains the reason for the failure.
stop
async stop()
Stop offboard control.
停止offboard模式
The vehicle will be put into Hold mode: https://docs.px4.io/en/flight_modes/hold.html
Raises:
OffboardError – If the request fails. The error contains the reason for the failure.
OffboardError
exception mavsdk.offboard.OffboardError(result, origin, *params)
Bases: Exception
Raised when a OffboardResult is a fail code
当“板外结果”为失败代码时引发
OffboardResult
class mavsdk.offboard.OffboardResult(result, result_str)
Bases: object
Result type.结果类型
Parameters:
result (Result) – Result enum valueresult_str (std::string) – Human-readable English string describing the result
Action API
顺序：arm–>takeoff–>land–>disarm
解锁和上锁
arm
async arm()
disarm
async disarm()
起飞降落
takeoff
async takeoff()
设置起飞高度
async set_takeoff_altitude(altitude)
Parameters:
altitude (float) – Takeoff altitude relative to ground/takeoff location (in meters)
land
async* land()
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