Question

我尝试从dronekit运行示例脚本。代码如下所示：

import gps
import socket
import time
from droneapi.lib import VehicleMode, Location

def followme():
"""
followme - A DroneAPI example

This is a somewhat more 'meaty' example on how to use the DroneAPI.  It uses the
python gps package to read positions from the GPS attached to your laptop an
every two seconds it sends a new goto command to the vehicle.

To use this example:
* Run mavproxy.py with the correct options to connect to your vehicle
* module load api
* api start <path-to-follow_me.py>

When you want to stop follow-me, either change vehicle modes from your RC
transmitter or type "api stop".
"""
try:
    # First get an instance of the API endpoint (the connect via web case will be similar)
    api = local_connect()

    # Now get our vehicle (we assume the user is trying to control the first vehicle attached to the GCS)
    v = api.get_vehicles()[0]

    # Don't let the user try to fly while the board is still booting
    if v.mode.name == "INITIALISING":
        print "Vehicle still booting, try again later"
        return

    cmds = v.commands
    is_guided = False  # Have we sent at least one destination point?

    # Use the python gps package to access the laptop GPS
    gpsd = gps.gps(mode=gps.WATCH_ENABLE)

    while not api.exit:
        # This is necessary to read the GPS state from the laptop
        gpsd.next()

        if is_guided and v.mode.name != "GUIDED":
            print "User has changed flight modes - aborting follow-me"
            break

        # Once we have a valid location (see gpsd documentation) we can start moving our vehicle around
        if (gpsd.valid & gps.LATLON_SET) != 0:
            altitude = 30  # in meters
            dest = Location(gpsd.fix.latitude, gpsd.fix.longitude, altitude, is_relative=True)
            print "Going to: %s" % dest

            # A better implementation would only send new waypoints if the position had changed significantly
            cmds.goto(dest)
            is_guided = True
            v.flush()

            # Send a new target every two seconds
            # For a complete implementation of follow me you'd want adjust this delay
            time.sleep(2)
except socket.error:
    print "Error: gpsd service does not seem to be running, plug in USB GPS or run run-fake-gps.sh"

followme()

我尝试使用Raspbian OS在我的Raspberry中运行它，但是我收到如下错误消息：

Error : gpsd service does not seem to be running, plug in USB GPS or run run-fake-gps.sh

我感觉我的覆盆子在运行这个脚本之前需要一个gps类型的设备，但我真的不知道。请告诉我它有什么问题..

我从这里得到的完整教学路径： http://python.dronekit.io/1.5.0/examples/follow_me.html

Answer 1

如例子所示：

[此示例]将使用连接到笔记本电脑的USB GPS，让车辆在您走动时跟随您。

没有GPS设备，代码不知道你在哪里，所以不可能实现任何类型的＆＃34;跟随＆＃34;行为。在运行示例之前，您需要：

获取某种GPS设备（我使用one of these，但有很多选择）。
在笔记本电脑上配置gpsd以与GPS设备连接。

Dronekit示例关注我Python脚本无法正常工作

1 个答案: