Dronekit not take_off

@juandediosyanez wrote:

Hello everyone, I’m trying to do a drone guided by artificial vision and from a simulation STIL works without problem, but when I’m working with the real drone I can not get it to move, although I can take data from all the parameters.

I am using ArduCopter 3.5. and a Raspberry with Dronekit-Python.

def to_quaternion(roll = 0.0, pitch = 0.0, yaw = 0.0):
    # Convert degrees to quaternions
    t0 = math.cos(math.radians(yaw * 0.5))
    t1 = math.sin(math.radians(yaw * 0.5))
    t2 = math.cos(math.radians(roll * 0.5))
    t3 = math.sin(math.radians(roll * 0.5))
    t4 = math.cos(math.radians(pitch * 0.5))
    t5 = math.sin(math.radians(pitch * 0.5))

    w = t0 * t2 * t4 + t1 * t3 * t5
    x = t0 * t3 * t4 - t1 * t2 * t5
    y = t0 * t2 * t5 + t1 * t3 * t4
    z = t1 * t2 * t4 - t0 * t3 * t5

    return [w, x, y, z]

def set_attitude(roll_angle = 0.0, pitch_angle = 0.0, yaw_rate = 0.0, thrust = 0.5):
    global vehicle
    # Thrust >  0.5: Ascend
    # Thrust == 0.5: Hold the altitude
    # Thrust <  0.5: Descend
    msg = vehicle.message_factory.set_attitude_target_encode(
        0, # time_boot_ms
        1, # Target system
        1, # Target component
        0b00000000, # Type mask: bit 1 is LSB
        to_quaternion(roll_angle, pitch_angle), # Quaternion
        0, # Body roll rate in radian
        0, # Body pitch rate in radian
        math.radians(yaw_rate), # Body yaw rate in radian
        thrust  # Thrust
    )
    vehicle.send_mavlink(msg)
    vehicle.flush()

Somebody could help me? maybe the way to send the data is not correct.

Posts: 1

Participants: 1

Read full topic