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AirSim
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PythonClient/multirotor/takeoff.py
48 строк
1 KB
Андрей Васильченко
сборка под ubuntu 26.04
08 июл 2026, 10:15
08 июл 2026, 10:15
d53c5a2
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import setup_path import airsim import sys import time # For high speed ascent and descent on PX4 you may need to set these properties: # param set MPC_Z_VEL_MAX_UP 5 # param set MPC_Z_VEL_MAX_DN 5 z = 5 if len(sys.argv) > 1: z = float(sys.argv[1]) client = airsim.MultirotorClient() client.confirmConnection() client.enableApiControl(True) client.armDisarm(True) landed = client.getMultirotorState().landed_state if landed == airsim.LandedState.Landed: print("taking off...") client.takeoffAsync().join() else: print("already flying...") client.hoverAsync().join() print("make sure we are hovering at {} meters...".format(z)) if z > 5: # AirSim uses NED coordinates so negative axis is up. # z of -50 is 50 meters above the original launch point. client.moveToZAsync(-z, 5).join() client.hoverAsync().join() time.sleep(5) if z > 10: print("come down quickly to 10 meters...") z = 10 client.moveToZAsync(-z, 3).join() client.hoverAsync().join() print("landing...") client.landAsync().join() print("disarming...") client.armDisarm(False) client.enableApiControl(False) print("done.")