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Merge pull request #547 from dronekit/hgw_dk_sitl_guided_example
Update guided example to use dronekit-sitl by default
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‎docs/examples/guided-set-speed-yaw-demo.rst‎

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@@ -35,9 +35,6 @@ Running the example
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The example can be run as described in :doc:`running_examples` (which in turn assumes that the vehicle
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and DroneKit have been set up as described in :ref:`installing_dronekit`).
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If you're using a simulated vehicle, remember to :ref:`disable arming checks <disable-arming-checks>` so
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that the example can run.
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In summary, after cloning the repository:
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#. Navigate to the example folder as shown:
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cd dronekit-python/examples/guided_set_speed_yaw/
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#. Start the example, passing the :ref:`connection string <get_started_connect_string>` you wish to use in the ``--connect`` parameter:
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#. You can run the example against a simulator (DroneKit-SITL) by specifying the Python script without any arguments.
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The example will download SITL binaries if needed, start the simulator, and then connect to it:
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.. code-block:: bash
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python guided_set_speed_yaw.py --connect 127.0.0.1:14550
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python guided_set_speed_yaw.py
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.. note::
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On the command prompt you should see (something like):
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The ``--connect`` parameter above connects to SITL on udp port 127.0.0.1:14550.
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This is the default value for the parameter, and may be omitted.
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.. code:: bash
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Starting copter simulator (SITL)
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SITL already Downloaded.
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Connecting to vehicle on: tcp:127.0.0.1:5760
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>>> APM:Copter V3.3 (d6053245)
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>>> Frame: QUAD
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>>> Calibrating barometer
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>>> Initialising APM...
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>>> barometer calibration complete
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>>> GROUND START
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Basic pre-arm checks
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Waiting for vehicle to initialise...
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...
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Waiting for vehicle to initialise...
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Arming motors
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Waiting for arming...
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...
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Waiting for arming...
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>>> ARMING MOTORS
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>>> GROUND START
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Waiting for arming...
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>>> Link timeout, no heartbeat in last 5 seconds
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>>> ...link restored.
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>>> Initialising APM...
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Taking off!
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Altitude: 0.0
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Altitude: 0.28
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...
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Altitude: 4.76
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Reached target altitude
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TRIANGLE path using standard Vehicle.simple_goto()
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Set groundspeed to 5m/s.
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Position North 80 West 50
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Distance to target: 100.792763565
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Distance to target: 99.912599325
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...
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Distance to target: 1.21731863826
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Distance to target: 0.846001925791
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Reached target
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Position North 0 East 100
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Distance to target: 122.623210813
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...
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Distance to target: 4.75876224557
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Distance to target: 0.244650555031
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Reached target
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Position North -80 West 50
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Distance to target: 100.792430814
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Distance to target: 100.592652053
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...
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Distance to target: 2.48849019535
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Distance to target: 0.73822537077
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Reached target
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TRIANGLE path using standard SET_POSITION_TARGET_GLOBAL_INT message and with varying speed.
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Position South 100 West 130
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Set groundspeed to 5m/s.
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Distance to target: 188.180927131
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Distance to target: 186.578341133
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...
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Distance to target: 9.87090024758
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Distance to target: 1.4668164732
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Reached target
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Set groundspeed to 15m/s (max).
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Position South 0 East 200
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Distance to target: 318.826732298
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Distance to target: 320.787965033
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...
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Distance to target: 11.5626483964
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Distance to target: 0.335164775811
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Reached target
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Set airspeed to 10m/s (max).
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Position North 100 West 130
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Distance to target: 188.182420209
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Distance to target: 189.860730713
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...
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Distance to target: 10.4263414971
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Distance to target: 1.29857175712
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Reached target
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SQUARE path using SET_POSITION_TARGET_LOCAL_NED and position parameters
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North 50m, East 0m, 10m altitude for 20 seconds
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Point ROI at current location (home position)
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North 50m, East 50m, 10m altitude
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Point ROI at current location
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North 0m, East 50m, 10m altitude
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North 0m, East 0m, 10m altitude
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SQUARE path using SET_POSITION_TARGET_LOCAL_NED and velocity parameters
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Yaw 180 absolute (South)
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Velocity South & up
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Yaw 270 absolute (West)
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Velocity West & down
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Yaw 0 absolute (North)
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Velocity North
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Yaw 90 absolute (East)
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Velocity East
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DIAMOND path using SET_POSITION_TARGET_GLOBAL_INT and velocity parameters
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Yaw 225 absolute
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Velocity South, West and Up
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Yaw 90 relative (to previous yaw heading)
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Velocity North, West and Down
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Set new home location to current location
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Get new home location
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Home Location: LocationGlobal:lat=-35.363243103,lon=149.164337158,alt=593.890014648
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Yaw 90 relative (to previous yaw heading)
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Velocity North and East
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Yaw 90 relative (to previous yaw heading)
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Velocity South and East
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Setting LAND mode...
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Close vehicle object
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Completed
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.. tip::
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It is more interesting to watch the example run on a map than the console. The topic :ref:`viewing_uav_on_map`
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explains how to set up *Mission Planner* to view a vehicle running on the simulator (SITL).
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.. tip::
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It is more interesting to watch the example above on a map than the console. The topic :ref:`viewing_uav_on_map`
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explains how to set up *Mission Planner* to view a vehicle running on the simulator (SITL).
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On the command prompt you should see (something like):
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.. code-block:: bash
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Basic pre-arm checks
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Arming motors
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Waiting for arming...
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Waiting for arming...
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Taking off!
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Altitude: 0.00999999977648
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Altitude: 0.159999996424
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Altitude: 0.920000016689
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Altitude: 2.38000011444
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Altitude: 3.93000006676
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Altitude: 4.65000009537
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Altitude: 4.82999992371
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Reached target altitude
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TRIANGLE path using standard Vehicle.simple_goto()
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Position North 80 West 50
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Distance to target: 100.792762965
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Distance to target: 100.25918006
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...
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Distance to target: 2.34237912414
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Distance to target: 0.308823685384
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Reached target
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Position North 0 East 100
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Distance to target: 122.62321461
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...
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Distance to target: 5.39403923852
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Distance to target: 1.00445126117
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Reached target
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Position North -80 West 50
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goto_target_globalint_position
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Distance to target: 100.792430952
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Distance to target: 100.221083739
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...
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Distance to target: 1.69678155659
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Distance to target: 0.0798488767383
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Reached target
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TRIANGLE path using standard SET_POSITION_TARGET_GLOBAL_INT message and with varying speed.
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Position South 100 West 130
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Set speed to 5m/s.
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Distance to target: 181.439594672
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Distance to target: 132.170351744
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...
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Distance to target: 2.67615248028
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Distance to target: 0.382959594982
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Reached target
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Set speed to 15m/s (max).
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Position South 0 East 200
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Distance to target: 318.826739407
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Distance to target: 317.613357051
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...
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Distance to target: 3.5935761745
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Distance to target: 0.114090613451
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Reached target
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Set speed to 10m/s (max).
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Position North 100 West 130
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goto_target_globalint_position
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Distance to target: 188.182423388
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Distance to target: 187.540272979
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...
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Distance to target: 4.82317050152
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Distance to target: 0.377390539948
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Reached target
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SQUARE path using SET_POSITION_TARGET_LOCAL_NED and position parameters
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North 50m, East 0m, 10m altitude for 20 seconds
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Point ROI at current location (home position)
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North 50m, East 50m, 10m altitude
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Point ROI at current location
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North 0m, East 50m, 10m altitude
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North 0m, East 0m, 10m altitude
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SQUARE path using SET_POSITION_TARGET_LOCAL_NED and velocity parameters
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Velocity South & up
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Yaw 180 absolute (South)
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Velocity West & down
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Yaw 270 absolute (West)
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Velocity North
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Yaw 0 absolute (North)
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Velocity East
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DIAMOND path using SET_POSITION_TARGET_GLOBAL_INT and velocity parameters
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Velocity North, East and up
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Yaw 225 absolute
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Velocity South, East and down
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Yaw 90 relative (to previous yaw heading)
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Set new Home location to current location
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Get new home location
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Home Location: LocationGlobal:lat=-35.3639335632,lon=149.165328979,alt=628.679992676,is_relative=False
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Velocity South and West
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Yaw 90 relative (to previous yaw heading)
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Velocity North and West
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Yaw 90 relative (to previous yaw heading)
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Setting LAND mode...
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Close vehicle object
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Completed
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#. You can run the example against a specific connection (simulated or otherwise) by passing the :ref:`connection string <get_started_connect_string>` for your vehicle in the ``--connect`` parameter.
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For example, to connect to SITL running on UDP port 14550 on your local computer:
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.. code-block:: bash
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python guided_set_speed_yaw.py --connect 127.0.0.1:14550
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This example has been tested on Windows against SITL running both natively and in a virtual machine (as described in :ref:`installing_dronekit`).
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* DroneKit version: 2.0.0rc12
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* ArduPilot version: 3.4.0.
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* DroneKit version: 2.0.2
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* ArduPilot version: 3.3
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