AirSim基础使用【Python】

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具体效果可以关注博主的小红书: 42891122102，上面有效果视频

起飞与降落

fly_up&down.py

import airsim# 和 airsim 建立连接
client = airsim.MultirotorClient()
client.confirmConnection()# 使用 API 进行控制
client.enableApiControl(True)# 解锁
client.armDisarm(True)client.takeoffAsync().join()
client.landAsync().join()# 上锁
client.armDisarm(False)# 释放控制
client.enableApiControl(False)

位置控制

Position_Control.py

import airsimclient = airsim.MultirotorClient()
client.enableApiControl(True)
client.armDisarm(True)
client.takeoffAsync().join()client.moveToZAsync(-3, 1).join()  # 以 1 m/s 的速度飞到 3m 高度# 飞正方形
client.moveToPositionAsync(5, 0, -3, 1).join()  # 以 1 m/s 的速度飞到 （5， 0， -3） 的位置
client.moveToPositionAsync(5, 5, -3, 1).join()
client.moveToPositionAsync(0, 5, -3, 1).join()
client.moveToPositionAsync(0, 0, -3, 1).join()client.landAsync().join()
client.armDisarm(False)
client.enableApiControl(False)

速度控制

Velocity_Control.py

import airsim
import timeclient = airsim.MultirotorClient()client.enableApiControl(True)client.armDisarm(True)client.takeoffAsync().join()client.moveToZAsync(-2, 1).join()  # 以 1 m/s 的速度飞到 2m 高度# 飞正方形
client.moveByVelocityZAsync(1, 0, -2, 8).join()  # 以 1 m/s 的速度往前飞 8s
client.moveByVelocityZAsync(0, 1, -2, 8).join()
client.moveByVelocityZAsync(-1, 0, -2, 8).join()
client.moveByVelocityZAsync(0, -1, -2, 8).join()# 悬停 2 秒钟
client.hoverAsync().join()
time.sleep(2)client.landAsync().join()
client.armDisarm(False)
client.enableApiControl(False)

Pygame检测鼠标

pygame_鼠标.py

import pygame
import syspygame.init()
screen = pygame.display.set_mode((640, 480))
pygame.display.set_caption('mouse control')  # 设置屏幕标题
screen.fill((0, 0, 0))  # 用黑色填充屏幕flag = 1while flag:for event in pygame.event.get():if event.type == pygame.QUIT:  # 点击窗口的关闭按钮 × sys.exit()if event.type == pygame.MOUSEBUTTONDOWN:print("Mouse Down", event)if event.type == pygame.MOUSEBUTTONUP:print("Mouse Up", event)if event.type == pygame.MOUSEMOTION:print("Mouse is moving now: ", event)if event.type == pygame.KEYDOWN:if event.key == pygame.K_ESCAPE:print("Keyboard event: ", event)flag = 0

Pygame检测键盘

pygame_键盘.py

import pygame
import syspygame.init()
screen = pygame.display.set_mode((640, 480))
pygame.display.set_caption('keyboard control')  # 设置屏幕标题
screen.fill((0, 0, 0))  # 用黑色填充屏幕while True:for event in pygame.event.get():if event.type == pygame.QUIT:  # 点击窗口的关闭按钮 ×sys.exit()scan_wrapper = pygame.key.get_pressed()print("pressed keys is : ", scan_wrapper)if scan_wrapper[pygame.K_ESCAPE]:pygame.quit()sys.exit()

Pygame检测26个英文字母和方向键

pygame_检测26个英文字母和上下左右.py

import pygame
import syspygame.init()
screen = pygame.display.set_mode((640, 480))
pygame.display.set_caption('keyboard control')  # 设置屏幕标题
screen.fill((0, 0, 0))  # 用黑色填充屏幕while True:for event in pygame.event.get():if event.type == pygame.QUIT:  # 点击窗口的关闭按钮 ×sys.exit()keys = pygame.key.get_pressed()for i in range(26):if keys[pygame.K_a + i]:print(chr(pygame.K_a + i))if keys[pygame.K_UP]:print("Up arrow")if keys[pygame.K_DOWN]:print("Down arrow")if keys[pygame.K_LEFT]:print("Left arrow")if keys[pygame.K_RIGHT]:print("Right arrow")if keys[pygame.K_ESCAPE]:pygame.quit()sys.exit()

使用键盘控制 Airsim 中的无人机运动

Control_AirSim_Drone_With_Keyboard.py

import sys
import time
import airsim
import pygamepygame.init()
screen = pygame.display.set_mode((320, 240))
pygame.display.set_caption('keyboard control')  # 设置屏幕标题
screen.fill((0, 0, 0))  # 用黑色填充屏幕vehicle_name = "Drone"  # 和 settings 中的对应
AirSim_client = airsim.MultirotorClient()
AirSim_client.confirmConnection()
AirSim_client.enableApiControl(True, vehicle_name=vehicle_name)
AirSim_client.armDisarm(True, vehicle_name=vehicle_name)
AirSim_client.takeoffAsync(vehicle_name=vehicle_name).join()vehicle_velocity = 2.0  # 基础的控制速度 m/s
speed_up_ratio = 10.0  # 设置临时加速度比例
speed_up_flag = False  # 用来设置临时加速
vehicle_yaw_rate = 5.0  # 基础的偏航速率while True:yaw_rate = 0.0velocity_x = 0.0velocity_y = 0.0velocity_z = 0.0time.sleep(0.02)for event in pygame.event.get():if event.type == pygame.QUIT:sys.exit()scan_wrapper = pygame.key.get_pressed()# 按下空格键加速 10 倍if scan_wrapper[pygame.K_SPACE]:scale_ratio = speed_up_ratioelse:scale_ratio = speed_up_ratio / speed_up_ratio# 根据 A 和 D 来设置偏航速率变量if scan_wrapper[pygame.K_a] or scan_wrapper[pygame.K_d]:yaw_rate = (scan_wrapper[pygame.K_d] - scan_wrapper[pygame.K_a]) * scale_ratio * vehicle_yaw_rate# 根据 UP 和 DOWN 来设置 pitch 轴速度变量 （NED 坐标系， x 为机头向前）if scan_wrapper[pygame.K_UP] or scan_wrapper[pygame.K_DOWN]:velocity_x = (scan_wrapper[pygame.K_UP] - scan_wrapper[pygame.K_DOWN]) * scale_ratio# 根据 LEFT 和 RIGHT 来设置 roll 轴速度变量 （NED 坐标系， y 为正右方）if scan_wrapper[pygame.K_LEFT] or scan_wrapper[pygame.K_RIGHT]:velocity_y = -(scan_wrapper[pygame.K_LEFT] - scan_wrapper[pygame.K_RIGHT]) * scale_ratio# 根据 W 和 S 来设置 Z 轴速度变量 （NED 坐标系， z 轴向上为负）if scan_wrapper[pygame.K_w] or scan_wrapper[pygame.K_s]:velocity_z = -(scan_wrapper[pygame.K_w] - scan_wrapper[pygame.K_s]) * scale_ratio# 设置速度控制以及设置偏航控制AirSim_client.moveByVelocityBodyFrameAsync(vx=velocity_x, vy=velocity_y, vz=velocity_z,duration=0.02,yaw_mode=airsim.YawMode(True, yaw_or_rate=yaw_rate),vehicle_name=vehicle_name)if scan_wrapper[pygame.K_ESCAPE]:pygame.quit()sys.exit()client.landAsync().join()client.armDisarm(False)client.enableApiControl(False)