Программирование на Python

from pioneer_sdk2 import Pioneer

drone = Pioneer()                                   # TCP 127.0.0.1:20556 (PlazLink)
# Pioneer(serial="/dev/ttyS3", baudrate=57600)       # прямое подключение по UART
# Pioneer(tcp="host:port", wait_callback=True, safety_command=True, logger=True)

drone.close_connection()

from pioneer_sdk2 import Pioneer, FlyState, NavSystem

state = drone.get_fly_state()          # ON_LAND / ARMED / IN_SKY
nav   = drone.get_nav_system()         # GPS / LPS / OPT
drone.set_param("Copter_flyWithoutRc", 1.0)
drone.led_control(255, 0, 1, 0)          # все LED — зелёный
drone.grab_open(velocity=100)

from pioneer_sdk2 import Pioneer, Event

def on_point(ev):
    print("Точка достигнута")

drone.subscribe(on_point, Event.POINT_REACHED)

# подписка на изменение произвольного поля телеметрии
watcher = {"comp": "SmartBoard", "field": "rcServo",
           "callback": lambda v: print("rcServo =", v),
           "last_value": None}
drone.field_watcher.append(watcher)

from pioneer_sdk2 import Camera, CameraType, ImageViewer, RecorderControl

cam = Camera(CameraType.MAIN)            # MAIN / OPT (из board_config.json)
frame = cam.get_cv_frame(timeout=5.0)   # numpy BGR

iv = ImageViewer()                       # публикация в RTSP mediamtx
iv.imshow("test", frame)                 # rtsp://localhost:8554/test

rec = RecorderControl()
rec.get_camera_recording_configs(CameraType.MAIN)   # [RecordingConfig(w,h,fps)]
rec.start_recording(CameraType.MAIN, output_dir="/mnt/media/videos/")
rec.take_photo("shot.jpg", CameraType.MAIN, output_dir="/mnt/media/photos/")
rec.stop_recording(CameraType.MAIN)

cam.stop(); iv.close()

from pioneer_sdk2 import ServoCamera, ServoPriority

servo = ServoCamera()
servo.set_angle(-45, ServoPriority.HIGH)   # диапазон -80…+30°, HIGH/MEDIUM/LOW

Copter_man_rcMode0 = 6.0
Copter_man_rcMode1 = 3.0
Copter_man_rcMode2 = 3.0
Copter_flyWithoutRc = 1.0
SensorMux_rc = 2.0

# непрерывная отправка каналов для поддержания связи
drone.send_rc_channels(channel_1=0, channel_2=0, channel_3=0,
                       channel_4=0, channel_5=1)
ch5, ch7 = drone.rc_sdk1_to_sdk2(...)   # конвертация из SDK1

from pioneer_rknn import Yolo, YoloPose, PaddleOCR, ModelRegistry

model = Yolo(model_name="yolov8n", object_thresh=0.5)     # arch: yolov8, yolov11
boxes, classes, scores = model.run([img])            # img: (1,640,640,3) uint8 BGR
model.release()

pose = YoloPose(model_name="yolov8n-pose")            # 17 кейпойнтов COCO
ocr  = PaddleOCR(det_model_name="PP-OCRv5_mobile_det",
                 rec_model_name="eslav_PP-OCRv5_mobile_rec")
boxes, texts = ocr.run(img)                          # [(текст, уверенность), …]

reg = ModelRegistry()
reg.list_model()
reg.get_model_info("yolov8n")
reg.upload_model("my_model", "1.0.0", "model.rknn", "yolov8")
reg.delete_model("my_model")

pioneer.arm()
pioneer.takeoff()
pioneer.go_to_local_point(0, 1, 1, 0, 0)
while not pioneer.point_reached():
    img = cam_main.get_cv_frame()
    iv.imshow("test", img)
pioneer.land()

from pioneer_sdk2 import Pioneer
import pioneer_sdk2, threading, time

drone = Pioneer()
point_event = threading.Event()

def point_reached(event): point_event.set()

drone.subscribe(point_reached, pioneer_sdk2.Event.POINT_REACHED)

try:
    drone.arm()
    drone.takeoff()
    time.sleep(3)
    for (x, y) in [(0,0), (1,0), (1,2), (-1,2), (-1,0), (0,0)]:
        drone.go_to_local_point(x=x, y=y, z=1, yaw=0, time=3)
        point_event.wait(); point_event.clear()
    drone.land()
except KeyboardInterrupt:
    drone.land()
finally:
    drone.close_connection()

from pioneer_sdk2 import Camera, ImageViewer, Pioneer
from pioneer_rknn import Yolo
import cv2, numpy as np

model = Yolo(model_name="yolov8n", object_thresh=0.5)
cam   = Camera()
iv    = ImageViewer()
aruco = cv2.aruco.getPredefinedDictionary(cv2.aruco.DICT_ARUCO_ORIGINAL)

while True:
    img = cam.get_cv_frame()
    gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
    boxes, classes, scores = model.run([np.expand_dims(cv2.resize(img, [640,640]), 0)])
    corners, ids, _ = cv2.aruco.detectMarkers(gray, aruco)
    iv.imshow("XYZ", img)