控制部分重构
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import time
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import math
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import threading
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from pymavlink import mavutil
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class DroneController:
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def __init__(self, connection_string='/dev/ttyUSB0', baud=115200):
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self.connection_string = connection_string
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self.baud = baud
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self.master = None
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self.is_connected = False
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# 飞控实时状态变量（多线程共享）
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self.current_mode = None
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self.is_armed = False
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self.local_x = 0.0
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self.local_y = 0.0
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self.local_z = 0.0
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self.roll = 0.0
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self.pitch = 0.0
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self.yaw = 0.0
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# 线程控制开关
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self.running = False
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self.telemetry_thread = None
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def connect(self):
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"""初始化 MAVLink 串口连接，并等待首个心跳包"""
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try:
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print(f"正在尝试连接飞控 ({self.connection_string})...")
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self.master = mavutil.mavlink_connection(self.connection_string, baud=self.baud)
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self.master.wait_heartbeat(timeout=5)
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self.is_connected = True
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print("飞控连接成功，已接收到首个心跳包！")
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# 开启后台线程，负责高频监听状态
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self.running = True
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self.telemetry_thread = threading.Thread(target=self._telemetry_loop, daemon=True)
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self.telemetry_thread.start()
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return True
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except Exception as e:
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print(f"连接飞控失败: {e}")
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self.is_connected = False
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return False
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def _telemetry_loop(self):
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"""后台线程：高频高吞吐量接收飞控状态反馈，刷新状态变量"""
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while self.running and self.is_connected:
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try:
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# 阻塞式接收，超时 0.1 秒
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msg = self.master.recv_match(blocking=True, timeout=0.1)
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if not msg:
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continue
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msg_type = msg.get_type()
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# 1. 解析心跳包获取模式与解锁状态
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if msg_type == 'HEARTBEAT':
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mode_id = msg.custom_mode
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self.is_armed = bool(msg.base_mode & mavutil.mavlink.MAV_MODE_FLAG_SAFETY_ARMED)
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# 尝试反向查找模式名称
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if self.master:
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# 寻找数值对应的模式字符串
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for name, num in self.master.mode_mapping().items():
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if num == mode_id:
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self.current_mode = name
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break
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# 2. 解析局部 NED 位置坐标
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elif msg_type == 'LOCAL_POSITION_NED':
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self.local_x = msg.x # 北 (North)
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self.local_y = msg.y # 东 (East)
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self.local_z = msg.z # 地 (Down)
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# 3. 解析姿态角 (弧度转角度)
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elif msg_type == 'ATTITUDE':
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self.roll = math.degrees(msg.roll)
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self.pitch = math.degrees(msg.pitch)
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self.yaw = math.degrees(msg.yaw)
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except Exception as e:
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print(f"\n遥测线程捕获到异常: {e}")
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time.sleep(0.1)
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def set_mode(self, mode_name):
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"""切换飞控模式 (例如 GUIDED 或 OFFBOARD)"""
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if not self.is_connected: return False
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print(f"正在尝试切换到模式: {mode_name}...")
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# 将模式名称转换为飞控可识别的内部数值
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if mode_name not in self.master.mode_mapping():
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print(f"错误,飞控不支持{mode_name}模式")
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return False
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mode_id = self.master.mode_mapping()[mode_name]
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self.master.set_mode(mode_id)
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print(f"已发送模式切换指令 -> {mode_name}")
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return True
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def arm(self):
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"""发送解锁指令"""
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if not self.is_connected: return False
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print("正在发送解锁指令...")
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self.master.mav.command_long_send(
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self.master.target_system,
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self.master.target_component,
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mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
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0, 1, 0, 0, 0, 0, 0, 0
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)
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# 等待并捕获飞控的 ACK 响应，超时时间设为 3 秒
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ack = self.master.recv_match(type='COMMAND_ACK', blocking=True, timeout=3.0)
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if ack and ack.command == mavutil.mavlink.MAV_COMMAND_ACK:
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if ack.result == 0:
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print(" ✅ [飞控通信] 飞控解锁成功 (Armed Success)！")
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else:
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print(f" ❌ [飞控通信] 飞控拒绝了解锁请求，拒绝代码 (Result): {ack.result}")
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else:
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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。")
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return True
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def disarm(self):
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"""发送上锁指令"""
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if not self.is_connected: return False
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print("正在发送强制上锁指令...")
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self.master.mav.command_long_send(
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self.master.target_system,
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self.master.target_component,
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mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
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0, 0, 0, 0, 0, 0, 0, 0
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)
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return True
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def send_body_velocity(self, vx, vy, vz, yaw_rate=0.0):
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"""
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核心控制接口：发送机体坐标系（Body Frame）下的速度指令
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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。
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yaw_rate:单位（弧度/秒，rad/s）,后续使用得转换为角度
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"""
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if not self.is_connected: return
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if self.current_mode not in ['GUIDED', 'OFFBOARD']:
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return
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# 坐标系掩码定义：使用机体坐标系 (MAV_FRAME_BODY_NED)
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# 掩码屏蔽：只保留 vx, vy, vz 和偏航速率 yaw_rate
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coordinate_frame = mavutil.mavlink.MAV_FRAME_BODY_NED
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type_mask = 0b0000111111000111 # 仅开放速度和偏航率
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self.master.mav.set_position_target_local_ned_send(
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0, # 系统时间戳（可传0）
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self.master.target_system,
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self.master.target_component,
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coordinate_frame,
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type_mask,
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0, 0, 0, # 位置 (屏蔽)
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vx, vy, vz, # 速度 (机体前后、机体左右、机体上下)
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0, 0, 0, # 加速度 (屏蔽)
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0, yaw_rate # 偏航，偏航率
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)
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def print_status(self):
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"""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"""
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print(
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f"\r[Status] Armed: {self.is_armed} | "
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f"Pos(N,E,D): ({self.local_x:+.2f}, {self.local_y:+.2f}, {self.local_z:+.2f}) | "
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f"Yaw: {self.yaw:+.1f}°\033[K",
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end="", flush=True
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)
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def close(self):
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"""释放线程，关闭串口连接"""
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self.running = False
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if self.telemetry_thread:
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self.telemetry_thread.join(timeout=1)
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print("\n底层控制接口已安全断开。")
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