333 lines
13 KiB
Python
333 lines
13 KiB
Python
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/ttyAMA1', 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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# 线程锁：保护多线程共享的遥测数据
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self.data_lock = threading.Lock()
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# 飞控实时状态变量（受锁保护）
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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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# 无人机电量信息
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self._battery_voltage = 0.0
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self._battery_remaining = -1
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# 看门狗与异步事件
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self.last_heartbeat_time = 0.0
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self.arm_ack_event = threading.Event()
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self.arm_ack_result = -1
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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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# --- 线程安全的数据访问属性 (Properties) ---
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@property
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def current_mode(self):
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with self.data_lock: return self._current_mode
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@property
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def is_armed(self):
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with self.data_lock: return self._is_armed
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@property
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def local_position(self):
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with self.data_lock: return self._local_x, self._local_y, self._local_z
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@property
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def yaw(self):
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with self.data_lock: return self._yaw
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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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self.last_heartbeat_time = time.time()
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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
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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：高频接收飞控状态反馈，并包含看门狗与ACK劫持"""
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while self.running:
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if not self.is_connected:
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# 触发断线自动重连机制
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print("⚠️ 检测到连接断开，尝试重新连接...")
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if self.connect():
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time.sleep(1.0)
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else:
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time.sleep(2.0)
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continue
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try:
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# 阻塞式接收
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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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# 心跳看门狗：超过5秒没收到任何包，判定掉线
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if time.time() - self.last_heartbeat_time > 5.0:
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print("\n🚨 [警告] 飞控心跳超时！数传或串口可能已断开！")
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self.is_connected = False
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continue
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msg_type = msg.get_type()
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# 1. 解析心跳包
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if msg_type == 'HEARTBEAT':
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self.last_heartbeat_time = time.time()
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mode_id = msg.custom_mode
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is_armed_status = bool(msg.base_mode & mavutil.mavlink.MAV_MODE_FLAG_SAFETY_ARMED)
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# 反向查找模式名称
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matched_mode = None
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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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matched_mode = name
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break
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with self.data_lock:
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self._current_mode = matched_mode
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self._is_armed = is_armed_status
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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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with self.data_lock:
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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, 负数代表无人机在空中)
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# 3. 解析姿态角
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elif msg_type == 'ATTITUDE':
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with self.data_lock:
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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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# 4. 劫持命令响应 ACK (解决原代码抢不到包的 Bug)
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elif msg_type == 'COMMAND_ACK':
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if msg.command == mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM:
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self.arm_ack_result = msg.result
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self.arm_ack_event.set() # 通知主线程解锁结果已到
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elif msg_type == 'BATTERY_STATUS':
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with self.data_lock:
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self._battery_voltage = msg.voltages[0] / 1000.0 # 毫伏转伏特
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self._battery_remaining = msg.battery_remaining # 剩余百分比 %
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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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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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# 连续发送3次，确保机载端切换命令的送达率
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for _ in range(3):
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self.master.set_mode(mode_id)
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time.sleep(0.05)
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if self.current_mode == mode_name:
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print(f" ✅ 成功切换到模式: {mode_name}")
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return True
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print(f" 已发送模式切换指令 -> {mode_name} (等待飞控确认中)")
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return True
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def arm(self):
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"""发送解锁指令（采用线程安全的事件驱动等待机制）"""
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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.arm_ack_event.clear() # 重置事件信号
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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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# 等待后台遥测线程触发通知，超时 3.0 秒
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if self.arm_ack_event.wait(timeout=3.0):
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if self.arm_ack_result == 0:
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print(" ✅ [飞控通信] 飞控解锁成功 (Armed Success)！")
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return True
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else:
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print(f" ❌ [飞控通信] 飞控拒绝解锁，错误码 (Result): {self.arm_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，请检查安全开关或地面站报错。")
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return False
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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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机体坐标系（Body Frame）下的速度控制
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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）。
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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']: return
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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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# vz 取反：转换为符合直觉的（+为上升，-为下降）
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mavlink_vz = -vz
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self.master.mav.set_position_target_local_ned_send(
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0, self.master.target_system, self.master.target_component,
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coordinate_frame, type_mask,
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0, 0, 0, # 位置 (屏蔽)
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vx, vy, mavlink_vz, # 速度 (前后、左右、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 (rad/s)
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)
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def takeoff(self, altitude):
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"""发送起飞指令(自动帮用户先切入控制模式)"""
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if not self.is_connected: return False
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# 自动兜底：强制切入自主模式，否则飞控不响应起飞指令
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if self.current_mode not in ['GUIDED', 'OFFBOARD']:
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# 优先尝试 GUIDED (ArduPilot)，不行则 OFFBOARD (PX4)
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target_m = 'GUIDED' if 'GUIDED' in self.master.mode_mapping() else 'OFFBOARD'
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self.set_mode(target_m)
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time.sleep(0.2)
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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_NAV_TAKEOFF,
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0, 0, 0, 0, 0, 0, 0, altitude
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)
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print(f"已下发自动起飞指令 -> 目标高度: {altitude} 米")
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return True
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def send_target_position(self, x, y, z, yaw):
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"""发送绝对局部位置 (NED 坐标系)"""
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if not self.is_connected: return
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if self.current_mode not in ['GUIDED', 'OFFBOARD']: return
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coordinate_frame = mavutil.mavlink.MAV_FRAME_NED
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type_mask = 0b0000101111111000 # 只保留位置 (x, y, z) 和偏航角 (yaw)
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self.master.mav.set_position_target_local_ned_send(
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0, self.master.target_system, self.master.target_component,
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coordinate_frame, type_mask,
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x, y, z,
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0, 0, 0,
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0, 0, 0,
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math.radians(yaw), 0
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)
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def send_relative_position(self, delta_x, delta_y, delta_z, yaw_offset=0.0):
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"""
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增量式（相对当前位置）位置控制
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delta_x: 前向偏移量 (米)
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delta_y: 右向偏移量 (米)
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delta_z: 下向偏移量 (米，注意：若要相对当前高度爬升，需传负数)
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"""
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if not self.is_connected or self.current_mode not in ['GUIDED', 'OFFBOARD']: return
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coordinate_frame = mavutil.mavlink.MAV_FRAME_LOCAL_OFFSET_NED
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type_mask = 0b0000101111111000 # 只开放位置和偏航角
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self.master.mav.set_position_target_local_ned_send(
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0, self.master.target_system, self.master.target_component,
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coordinate_frame, type_mask,
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delta_x, delta_y, delta_z,
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0, 0, 0,
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0, 0, 0,
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math.radians(yaw_offset), 0
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)
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def condition_yaw(self, target_angle, speed=20, direction=1, relative=0):
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"""
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控制无人机偏航角 (Yaw)
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target_angle: 目标角度 (0-360 度)
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speed: 旋转速度 (度/秒)
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direction: 1 为顺时针，-1 为逆时针
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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
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"""
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if not self.is_connected: return False
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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_CONDITION_YAW,
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0,
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target_angle, # param 1: 目标角度
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speed, # param 2: 旋转速度
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direction, # param 3: 方向
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relative, # param 4: 相对还是绝对
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0, 0, 0 # param 5-7: 未使用
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)
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return True
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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"""
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x, y, z = self.local_position
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print(
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f"\r[Status] Mode: {self.current_mode} | Armed: {self.is_armed} | "
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f"Pos(N,E,D): ({x:+.2f}, {y:+.2f}, {z:+.2f}) | "
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f"Yaw: {self.yaw:+.1f}°\033[K |"
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f"Batt: {self._battery_voltage}({self._battery_remaining})",
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end="", flush=True
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)
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def return_to_launch(self):
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"""触发飞控自主返航 (RTL / Return to Launch)"""
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print("[特殊情况] 触发自主返航流程！")
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return self.set_mode('RTL')
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def land(self):
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"""原地垂直降落"""
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print("[特殊情况] 触发原地降落！")
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return self.set_mode('LAND')
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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=1.0)
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print("\n底层控制接口已安全断开。") |