receiver listens to all

Author: alireza787b

examples/offboard_from_stream/attitude_sender_example.py

@@ -67,7 +67,7 @@
 SEND_RATE = 0.1  # Packet send rate in seconds (10 Hz)
 ROLL_PITCH_STEP = 2.0  # degrees step for roll and pitch
 YAW_RATE_STEP = 5.0  # degrees step for yaw
-THRUST_STEP = 0.05  # thrust step
+THRUST_STEP = 0.02  # thrust step
 INCREMENTAL_MODE = False  # False for instant reset, True for incremental control
 
 # Initialize Pygame and set up the display

examples/offboard_from_stream/control_packet.py

@@ -55,7 +55,7 @@
     mode=SetpointMode.POSITION_VELOCITY_NED | SetpointMode.YAW_CONTROL,
     enable_flag=True,
     yaw_control_flag=True,
-    position=(10.0, 20.0, -5.0),
+    position=(10.0, 20.0, -5.0), NED: North(m),East,Down(m) | Global: lat(deg),long(deg),alt(m)
     velocity=(0.5, 0.5, 0.0),
     acceleration=(0.0, 0.0, 0.0),
     attitude=(0.0, 0.0, 30.0, 0.6),  # Yaw to 30 degrees, 60% thrust
@@ -71,13 +71,13 @@
 from enum import Enum
 
 class SetpointMode(Enum):
-    POSITION_GLOBAL_LATLON = 0x40
-    POSITION_LOCAL_NED = 0x20
-    VELOCITY_NED = 0x80
+    POSITION_GLOBAL_LATLON = 0x40 # Not Tested
+    POSITION_LOCAL_NED = 0x20 
+    VELOCITY_NED = 0x80 # Not Tested
     VELOCITY_BODY = 0x100
-    POSITION_VELOCITY_NED = 0x01
-    POSITION_VELOCITY_ACCELERATION_NED = 0x02
-    ACCELERATION_NED = 0x04
+    POSITION_VELOCITY_NED = 0x01 # Not Tested
+    POSITION_VELOCITY_ACCELERATION_NED = 0x02 # Not Tested
+    ACCELERATION_NED = 0x04 # Not Tested
     ATTITUDE_CONTROL = 0x08  # Direct attitude control including thrust
     YAW_CONTROL = 0x200  # Separate flag for yaw control
 
@@ -92,7 +92,7 @@ def __init__(self, mode, enable_flag, yaw_control_flag, position, velocity, acce
         self.setpoint_flags = mode.value
         self.enable_flag = int(enable_flag)  # Ensure enable_flag is integer
         self.yaw_control_flag = int(yaw_control_flag)  # Ensure yaw_control_flag is integer
-        self.position = position
+        self.position = position #NED: North(m),East,Down(m) | Global: lat(deg),long(deg),alt(m)
         self.velocity = velocity
         self.acceleration = acceleration
         self.attitude = attitude

examples/offboard_from_stream/receiver.py

@@ -69,10 +69,11 @@ async def main():
 import asyncio
 import socket
 from mavsdk import System
-from mavsdk.offboard import AccelerationNed, Attitude, OffboardError, PositionNedYaw, VelocityBodyYawspeed, VelocityNedYaw
+import mavsdk
+from mavsdk.offboard import AccelerationNed, Attitude, OffboardError, PositionGlobalYaw, PositionNedYaw, VelocityBodyYawspeed, VelocityNedYaw
 from control_packet import ControlPacket, SetpointMode  # Ensure this import matches your setup
 
-UDP_IP = "127.0.0.1"
+UDP_IP = "0.0.0.0"
 UDP_PORT = 5005
 BUFFER_SIZE = 1024  # Adjust based on expected packet size
 
@@ -148,6 +149,44 @@ async def handle_packet(drone, packet):
             thrust = control_packet.attitude[3]  # Ensure thrust is a value between 0 and 1
             print(f"Setting ATTITUDE setpoint: Roll={roll}°, Pitch={pitch}°, Yaw={yaw}°, Thrust={thrust}")
             await drone.offboard.set_attitude(Attitude(roll, pitch, yaw, thrust))
+        if control_packet.setpoint_flags & SetpointMode.POSITION_VELOCITY_ACCELERATION_NED.value:
+            position = PositionNedYaw(control_packet.position[0], control_packet.position[1], control_packet.position[2], control_packet.attitude[2])
+            velocity = VelocityNedYaw(control_packet.velocity[0], control_packet.velocity[1], control_packet.velocity[2], control_packet.attitude_rate[2])
+            acceleration = AccelerationNed(control_packet.acceleration[0], control_packet.acceleration[1], control_packet.acceleration[2])
+            print(f"Sending POSITION_VELOCITY_ACCELERATION_NED setpoint: Position {position}, Velocity {velocity}, Acceleration {acceleration}")
+            await drone.offboard.set_position_velocity_acceleration_ned(position, velocity, acceleration)
+        if control_packet.setpoint_flags & SetpointMode.POSITION_GLOBAL_LATLON.value:
+            lat = control_packet.position[0]
+            lon = control_packet.position[1]
+            alt = control_packet.position[2]
+            yaw = control_packet.attitude[2] 
+            altitude_type = mavsdk.offboard.AltitudeType.AMSL  # Choose based on your requirements: AGL or AMSL or REL_HOME 
+
+            print(f"Sending POSITION_GLOBAL_LATLON setpoint: Latitude {lat}, Longitude {lon}, Altitude {alt}, Yaw {yaw}")
+            await drone.offboard.set_position_global(PositionGlobalYaw(lat, lon, alt, yaw, altitude_type))
+        if control_packet.setpoint_flags & SetpointMode.ACCELERATION_NED.value:
+            # Extract acceleration values from the packet
+            north_acc = control_packet.acceleration[0]
+            east_acc = control_packet.acceleration[1]
+            down_acc = control_packet.acceleration[2]
+            print(f"Setting NED acceleration: North {north_acc} m/s², East {east_acc} m/s², Down {down_acc} m/s²")
+            await drone.offboard.set_acceleration_ned(
+                AccelerationNed(north_m_s2=north_acc, east_m_s2=east_acc, down_m_s2=down_acc)
+            )
+        # Check for velocity NED setpoint
+        if control_packet.setpoint_flags & SetpointMode.VELOCITY_NED.value:
+            north_vel = control_packet.velocity[0]
+            east_vel = control_packet.velocity[1]
+            down_vel = control_packet.velocity[2]
+            yaw = control_packet.attitude[2]  # Assuming yaw is stored in the attitude tuple
+
+            print(f"Setting NED velocity: North {north_vel}, East {east_vel}, Down {down_vel}, Yaw {yaw}")
+            await drone.offboard.set_velocity_ned(
+                VelocityNedYaw(north_m_s=north_vel, east_m_s=east_vel, down_m_s=down_vel, yaw_deg=yaw)
+            )
+            
+
+
 
     else:
         is_active = await drone.offboard.is_active()