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2026.6.3小更新

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songhaoyu
2026-06-03 09:26:53 +08:00
parent b6014dea14
commit 97e1cbff4f
2 changed files with 202 additions and 89 deletions
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drone_controller/base_control.py
+200 -87
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@@ -11,20 +11,48 @@ class DroneController:
self.master = None
self.is_connected = False
# 飞控实时状态变量（多线程共享）
self.current_mode = None
self.is_armed = False
self.local_x = 0.0
self.local_y = 0.0
self.local_z = 0.0
self.roll = 0.0
self.pitch = 0.0
self.yaw = 0.0
# 线程锁：保护多线程共享的遥测数据
self.data_lock = threading.Lock()
# 飞控实时状态变量（受锁保护）
self._current_mode = None
self._is_armed = False
self._local_x = 0.0
self._local_y = 0.0
self._local_z = 0.0
self._roll = 0.0
self._pitch = 0.0
self._yaw = 0.0
# 无人机电量信息
self._battery_voltage = 0.0
self._battery_remaining = -1
# 看门狗与异步事件
self.last_heartbeat_time = 0.0
self.arm_ack_event = threading.Event()
self.arm_ack_result = -1
# 线程控制开关
self.running = False
self.telemetry_thread = None
# --- 线程安全的数据访问属性 (Properties) ---
@property
def current_mode(self):
with self.data_lock: return self._current_mode
@property
def is_armed(self):
with self.data_lock: return self._is_armed
@property
def local_position(self):
with self.data_lock: return self._local_x, self._local_y, self._local_z
@property
def yaw(self):
with self.data_lock: return self._yaw
def connect(self):
"""初始化 MAVLink 串口连接，并等待首个心跳包"""
try:
@@ -32,9 +60,10 @@ class DroneController:
self.master = mavutil.mavlink_connection(self.connection_string, baud=self.baud)
self.master.wait_heartbeat(timeout=5)
self.is_connected = True
self.last_heartbeat_time = time.time()
print("飞控连接成功，已接收到首个心跳包！")
# 开启后台线程，负责高频监听状态
# 开启后台线程
self.running = True
self.telemetry_thread = threading.Thread(target=self._telemetry_loop, daemon=True)
self.telemetry_thread.start()
@@ -45,40 +74,70 @@ class DroneController:
return False
def _telemetry_loop(self):
"""后台线程：高频高吞吐量接收飞控状态反馈，刷新状态变量"""
while self.running and self.is_connected:
"""后台线程：高频接收飞控状态反馈，并包含看门狗与ACK劫持"""
while self.running:
if not self.is_connected:
# 触发断线自动重连机制
print("⚠️ 检测到连接断开，尝试重新连接...")
if self.connect():
time.sleep(1.0)
else:
time.sleep(2.0)
continue
try:
# 阻塞式接收，超时 0.1 秒
# 阻塞式接收
msg = self.master.recv_match(blocking=True, timeout=0.1)
if not msg:
# 心跳看门狗：超过5秒没收到任何包，判定掉线
if time.time() - self.last_heartbeat_time > 5.0:
print("\n🚨 [警告] 飞控心跳超时！数传或串口可能已断开！")
self.is_connected = False
continue
msg_type = msg.get_type()
# 1. 解析心跳包获取模式与解锁状态
# 1. 解析心跳包
if msg_type == 'HEARTBEAT':
self.last_heartbeat_time = time.time()
mode_id = msg.custom_mode
self.is_armed = bool(msg.base_mode & mavutil.mavlink.MAV_MODE_FLAG_SAFETY_ARMED)
is_armed_status = bool(msg.base_mode & mavutil.mavlink.MAV_MODE_FLAG_SAFETY_ARMED)
# 尝试反向查找模式名称
if self.master:
# 寻找数值对应的模式字符串
for name, num in self.master.mode_mapping().items():
if num == mode_id:
self.current_mode = name
break
# 反向查找模式名称
matched_mode = None
for name, num in self.master.mode_mapping().items():
if num == mode_id:
matched_mode = name
break
with self.data_lock:
self._current_mode = matched_mode
self._is_armed = is_armed_status
# 2. 解析局部 NED 位置坐标
elif msg_type == 'LOCAL_POSITION_NED':
self.local_x = msg.x # 北 (North)
self.local_y = msg.y # 东 (East)
self.local_z = msg.z # 地 (Down)
with self.data_lock:
self._local_x = msg.x # 北 (North)
self._local_y = msg.y # 东 (East)
self._local_z = msg.z # 地 (Down, 负数代表无人机在空中)
# 3. 解析姿态角 (弧度转角度)
# 3. 解析姿态角
elif msg_type == 'ATTITUDE':
self.roll = math.degrees(msg.roll)
self.pitch = math.degrees(msg.pitch)
self.yaw = math.degrees(msg.yaw)
with self.data_lock:
self._roll = math.degrees(msg.roll)
self._pitch = math.degrees(msg.pitch)
self._yaw = math.degrees(msg.yaw)
# 4. 劫持命令响应 ACK (解决原代码抢不到包的 Bug)
elif msg_type == 'COMMAND_ACK':
if msg.command == mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM:
self.arm_ack_result = msg.result
self.arm_ack_event.set() # 通知主线程解锁结果已到
elif msg_type == 'BATTERY_STATUS':
with self.data_lock:
self._battery_voltage = msg.voltages[0] / 1000.0 # 毫伏转伏特
self._battery_remaining = msg.battery_remaining # 剩余百分比 %
except Exception as e:
print(f"\n遥测线程捕获到异常: {e}")
@@ -87,22 +146,30 @@ class DroneController:
def set_mode(self, mode_name):
"""切换飞控模式 (例如 GUIDED 或 OFFBOARD)"""
if not self.is_connected: return False
print(f"正在尝试切换到模式: {mode_name}...")
# 将模式名称转换为飞控可识别的内部数值
if mode_name not in self.master.mode_mapping():
print(f"错误,飞控不支持{mode_name}模式")
print(f"错误: 飞控不支持 {mode_name} 模式")
return False
mode_id = self.master.mode_mapping()[mode_name]
self.master.set_mode(mode_id)
print(f"已发送模式切换指令 -> {mode_name}")
# 连续发送3次，确保机载端切换命令的送达率
for _ in range(3):
self.master.set_mode(mode_id)
time.sleep(0.05)
if self.current_mode == mode_name:
print(f" ✅ 成功切换到模式: {mode_name}")
return True
print(f" 已发送模式切换指令 -> {mode_name} (等待飞控确认中)")
return True
def arm(self):
"""发送解锁指令"""
"""发送解锁指令（采用线程安全的事件驱动等待机制）"""
if not self.is_connected: return False
print("正在发送解锁指令...")
self.arm_ack_event.clear() # 重置事件信号
self.master.mav.command_long_send(
self.master.target_system,
self.master.target_component,
@@ -110,16 +177,16 @@ class DroneController:
0, 1, 0, 0, 0, 0, 0, 0
)
# 等待并捕获飞控的 ACK 响应，超时时间设为 3 秒
ack = self.master.recv_match(type='COMMAND_ACK', blocking=True, timeout=3.0)
if ack and ack.command == mavutil.mavlink.MAV_COMMAND_ACK:
if ack.result == 0:
# 等待后台遥测线程触发通知，超时 3.0 秒
if self.arm_ack_event.wait(timeout=3.0):
if self.arm_ack_result == 0:
print(" ✅ [飞控通信] 飞控解锁成功 (Armed Success)！")
return True
else:
print(f" ❌ [飞控通信] 飞控拒绝了解锁请求，拒绝代码 (Result): {ack.result}")
print(f" ❌ [飞控通信] 飞控拒绝解锁，错误码 (Result): {self.arm_ack_result}")
else:
print(" ⚠️ [飞控通信] 飞控未响应解锁确认，请检查飞控状态或数传指示灯。")
return True
print(" ⚠️ [飞控通信] 飞控未响应解锁确认，请检查安全开关或地面站报错。")
return False
def disarm(self):
"""发送上锁指令"""
@@ -135,44 +202,38 @@ class DroneController:
def send_body_velocity(self, vx, vy, vz, yaw_rate=0.0):
"""
核心控制接口：发送机体坐标系（Body Frame）下的速度指令
注意：在下发控制前，如果安全员人为切出了自主模式，则该函数拒绝发送，确保人肉兜底。
yaw_rate:单位（弧度/秒，rad/s）,后续使用得转换为角度
机体坐标系（Body Frame）下的速度控制
注意：NED坐标系中，vz正数代表下降！为了符合直觉，此处将输入的vz取反（即正数代表上升）。
"""
if not self.is_connected: return
if self.current_mode not in ['GUIDED', 'OFFBOARD']: return
if self.current_mode not in ['GUIDED', 'OFFBOARD']:
return
# 坐标系掩码定义：使用机体坐标系 (MAV_FRAME_BODY_NED)
# 掩码屏蔽：只保留 vx, vy, vz 和偏航速率 yaw_rate
coordinate_frame = mavutil.mavlink.MAV_FRAME_BODY_NED
type_mask = 0b0000111111000111 # 仅开放速度和偏航率
self.master.mav.set_position_target_local_ned_send(
0, # 系统时间戳（可传0）
self.master.target_system,
self.master.target_component,
coordinate_frame,
type_mask,
0, 0, 0, # 位置 (屏蔽)
vx, vy, vz, # 速度 (机体前后、机体左右、机体上下)
0, 0, 0, # 加速度 (屏蔽)
0, yaw_rate # 偏航，偏航率
)
# vz 取反：转换为符合直觉的（+为上升，-为下降）
mavlink_vz = -vz
def print_status(self):
"""利用 \r 实现终端单行丝滑刷新，动态打印 PID 命令与真实状态对比"""
print(
f"\r[Status] Armed: {self.is_armed} | "
f"Pos(N,E,D): ({self.local_x:+.2f}, {self.local_y:+.2f}, {self.local_z:+.2f}) | "
f"Yaw: {self.yaw:+.1f}°\033[K",
end="", flush=True
self.master.mav.set_position_target_local_ned_send(
0, self.master.target_system, self.master.target_component,
coordinate_frame, type_mask,
0, 0, 0, # 位置 (屏蔽)
vx, vy, mavlink_vz, # 速度 (前后、左右、上下)
0, 0, 0, # 加速度 (屏蔽)
0, yaw_rate # 偏航，偏航率 (rad/s)
)
def takeoff(self, altitude):
"""发送起飞指令(仅在 GUIDED 或 OFFBOARD 模式下有效)"""
"""发送起飞指令(自动帮用户先切入控制模式)"""
if not self.is_connected: return False
# 自动兜底：强制切入自主模式，否则飞控不响应起飞指令
if self.current_mode not in ['GUIDED', 'OFFBOARD']:
# 优先尝试 GUIDED (ArduPilot)，不行则 OFFBOARD (PX4)
target_m = 'GUIDED' if 'GUIDED' in self.master.mode_mapping() else 'OFFBOARD'
self.set_mode(target_m)
time.sleep(0.2)
self.master.mav.command_long_send(
self.master.target_system,
self.master.target_component,
@@ -183,35 +244,87 @@ class DroneController:
return True
def send_target_position(self, x, y, z, yaw):
"""
发送绝对局部位置( NED 坐标系)
x:北向目标位置
y:东向目标位置
z:垂直目标位置
"""
"""发送绝对局部位置 (NED 坐标系)"""
if not self.is_connected: return
# 当人为切出切换模式时，香橙派不再发送命令
if self.current_mode not in ['GUIDED', 'OFFBOARD']: return
# 使用局部 NED 坐标系
coordinate_frame = mavutil.mavlink.MAV_FRAME_NED
# 掩码屏蔽:只保留位置 (x, y, z) 和偏航角 (yaw)
type_mask = 0b0000101111111000
type_mask = 0b0000101111111000 # 只保留位置 (x, y, z) 和偏航角 (yaw)
self.master.mav.set_position_target_local_ned_send(
0,
self.master.target_system,
self.master.target_component,
coordinate_frame,
type_mask,
0, self.master.target_system, self.master.target_component,
coordinate_frame, type_mask,
x, y, z,
0, 0, 0,
0, 0, 0,
math.radians(yaw),
0
math.radians(yaw), 0
)
def send_relative_position(self, delta_x, delta_y, delta_z, yaw_offset=0.0):
"""
增量式（相对当前位置）位置控制
delta_x: 前向偏移量 (米)
delta_y: 右向偏移量 (米)
delta_z: 下向偏移量 (米，注意：若要相对当前高度爬升，需传负数)
"""
if not self.is_connected or self.current_mode not in ['GUIDED', 'OFFBOARD']: return
coordinate_frame = mavutil.mavlink.MAV_FRAME_LOCAL_OFFSET_NED
type_mask = 0b0000101111111000 # 只开放位置和偏航角
self.master.mav.set_position_target_local_ned_send(
0, self.master.target_system, self.master.target_component,
coordinate_frame, type_mask,
delta_x, delta_y, delta_z,
0, 0, 0,
0, 0, 0,
math.radians(yaw_offset), 0
)
def condition_yaw(self, target_angle, speed=20, direction=1, relative=0):
"""
控制无人机偏航角 (Yaw)
target_angle: 目标角度 (0-360 度)
speed: 旋转速度 (度/秒)
direction: 1 为顺时针，-1 为逆时针
relative: 0 树立为绝对航向（0度为正北），1 树立为相对当前航向的偏移
"""
if not self.is_connected: return False
self.master.mav.command_long_send(
self.master.target_system,
self.master.target_component,
mavutil.mavlink.MAV_CMD_CONDITION_YAW,
0,
target_angle, # param 1: 目标角度
speed, # param 2: 旋转速度
direction, # param 3: 方向
relative, # param 4: 相对还是绝对
0, 0, 0 # param 5-7: 未使用
)
return True
def print_status(self):
"""利用 \r 实现终端单行丝滑刷新"""
x, y, z = self.local_position
print(
f"\r[Status] Mode: {self.current_mode} | Armed: {self.is_armed} | "
f"Pos(N,E,D): ({x:+.2f}, {y:+.2f}, {z:+.2f}) | "
f"Yaw: {self.yaw:+.1f}°\033[K |"
f"Batt: {self._battery_voltage}({self._battery_remaining})",
end="", flush=True
)
def return_to_launch(self):
"""触发飞控自主返航 (RTL / Return to Launch)"""
print("[特殊情况] 触发自主返航流程！")
return self.set_mode('RTL')
def land(self):
"""原地垂直降落"""
print("[特殊情况] 触发原地降落！")
return self.set_mode('LAND')
def close(self):
"""释放线程，关闭串口连接"""
self.running = False