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Improved HL commander - spiral & linear segment #470

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Improved HL commander - spiral & linear segment #470

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37 changes: 32 additions & 5 deletions cflib/crazyflie/high_level_commander.py
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Original file line number Diff line number Diff line change
Expand Up @@ -41,12 +41,13 @@ class HighLevelCommander():

COMMAND_SET_GROUP_MASK = 0
COMMAND_STOP = 3
COMMAND_GO_TO = 4
COMMAND_START_TRAJECTORY = 5
COMMAND_DEFINE_TRAJECTORY = 6
COMMAND_TAKEOFF_2 = 7
COMMAND_LAND_2 = 8

COMMAND_SPIRAL = 11
COMMAND_GO_TO_2 = 12

ALL_GROUPS = 0

TRAJECTORY_LOCATION_MEM = 1
Expand Down Expand Up @@ -131,7 +132,7 @@ def stop(self, group_mask=ALL_GROUPS):
self.COMMAND_STOP,
group_mask))

def go_to(self, x, y, z, yaw, duration_s, relative=False,
def go_to(self, x, y, z, yaw, duration_s, relative=False, linear=False,
group_mask=ALL_GROUPS):
"""
Go to an absolute or relative position
Expand All @@ -142,15 +143,41 @@ def go_to(self, x, y, z, yaw, duration_s, relative=False,
:param yaw: Yaw (radians)
:param duration_s: Time it should take to reach the position (s)
:param relative: True if x, y, z is relative to the current position
:param linear: True to use linear interpolation instead of a smooth polynomial
:param group_mask: Mask for which CFs this should apply to
"""
self._send_packet(struct.pack('<BBBfffff',
self.COMMAND_GO_TO,
self._send_packet(struct.pack('<BBBBfffff',
self.COMMAND_GO_TO_2,
group_mask,
relative,
linear,
x, y, z,
yaw,
duration_s))

def spiral(self, angle, r0, rF, ascent, duration_s, sideways=False, clockwise=False,
group_mask=ALL_GROUPS):
"""
Follow a spiral-like segment (spline approximation of a spiral/arc for <= 90-degree segments)

:param angle: spiral angle (rad)
:param r0: initial radius (m)
:param rF: final radius (m)
:param ascent: altitude gain (m)
:param duration_s: time it should take to reach the end of the spiral (s)
:param sideways: true if crazyflie should spiral sideways instead of forward
:param clockwise: true if crazyflie should spiral clockwise instead of counter-clockwise
:param group_mask: Mask for which CFs this should apply to
"""
self._send_packet(struct.pack('<BBBBfffff',
self.COMMAND_SPIRAL,
group_mask,
sideways,
clockwise,
angle,
r0, rF,
ascent,
duration_s))

def start_trajectory(self, trajectory_id, time_scale=1.0, relative=False,
reversed=False, group_mask=ALL_GROUPS):
Expand Down