LOCO定位系统入门教程-在仿真环境下两只crazyflie同时起飞、着陆

说明：

• 介绍在仿真环境下两只crazyflie同时起飞、着陆

步骤：

• 进入目录

cd ~/crazyswarm/ros_ws/src/crazyswarm/scripts

• 执行脚本文件

python3 example_cmd_pos.py --sim

• 代码如下

from pycrazyswarm import *
import numpy as np

swarm = Crazyswarm()
timeHelper = swarm.timeHelper
allcfs = swarm.allcfs

Z = 0
# takeoff
while Z < 1.0:
    for cf in allcfs.crazyflies:
        pos = np.array(cf.initialPosition) + np.array([0, 0, Z])
        cf.cmdPosition(pos)
    timeHelper.sleep(0.1)
    Z += 0.05

# land
while Z > 0.0:
    for cf in allcfs.crazyflies:
        pos = np.array(cf.initialPosition) + np.array([0, 0, Z])
        cf.cmdPosition(pos)
    timeHelper.sleep(0.1)
    Z -= 0.05

# turn-off motors
for cf in allcfs.crazyflies:
    cf.cmdStop()

• 在仿真环境下两只crazyflie同时起飞、着陆