aleks/flix
1
0
Fork 0
mirror of https://github.com/okalachev/flix.git synced 2026-08-16 00:38:56 +00:00
Code Issues Packages Projects Releases Wiki Activity

Add rates_extra argument to pyflix' set_attitude method

Browse Source 
For controlling rates feed forward.
This commit is contained in:
Oleg Kalachev
2026-08-14 05:32:39 +03:00
parent 4d77c6c369
commit f99a9998b1
1 changed files with 3 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
tools/pyflix/flix.py
+3 -2
View File
@@ -326,7 +326,7 @@ class Flix:
def set_velocity(self, velocity: List[float], yaw: Optional[float] = None): def set_velocity(self, velocity: List[float], yaw: Optional[float] = None):
raise NotImplementedError('Velocity control is not implemented yet') raise NotImplementedError('Velocity control is not implemented yet')
def set_attitude(self, attitude: List[float], thrust: float): def set_attitude(self, attitude: List[float], thrust: float, rates_extra: List[float] = [0, 0, 0]):
if len(attitude) == 3: if len(attitude) == 3:
attitude = Quaternion([attitude[0], attitude[1], attitude[2]]).q # type: ignore attitude = Quaternion([attitude[0], attitude[1], attitude[2]]).q # type: ignore
elif len(attitude) != 4: elif len(attitude) != 4:
@@ -334,10 +334,11 @@ class Flix:
if not (0 <= thrust <= 1): if not (0 <= thrust <= 1):
raise ValueError('Thrust must be in range [0, 1]') raise ValueError('Thrust must be in range [0, 1]')
attitude = self._flu_to_mavlink(attitude) attitude = self._flu_to_mavlink(attitude)
rates_extra = self._flu_to_mavlink(rates_extra)
for _ in range(2): # duplicate to ensure delivery for _ in range(2): # duplicate to ensure delivery
self.mavlink.set_attitude_target_send(0, self.system_id, 0, 0, self.mavlink.set_attitude_target_send(0, self.system_id, 0, 0,
[attitude[0], attitude[1], attitude[2], attitude[3]], [attitude[0], attitude[1], attitude[2], attitude[3]],
0, 0, 0, thrust) rates_extra[0], rates_extra[1], rates_extra[2], thrust)
def set_rates(self, rates: List[float], thrust: float): def set_rates(self, rates: List[float], thrust: float):
if len(rates) != 3: if len(rates) != 3: