Add moveByVelocityZBodyFrame #3475
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rajat2004
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Mar 17, 2021
…ring to Python API function
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Hello @rajat2004 👋 , thank you for your review! As I mentioned, the implementation is almost exactly the same as This transformation can certainly be computed in another function, but to be honest, I don't known how and where to add properly such a function, so I prefer to leave it as it is for now. I create a new commit with modifications according to your advice. |
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@meurissemax Yeah, the duplication is pretty small so shouldn't be a problem ig |
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Hi @meurissemax! Thanks for your contribution! |
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Mar 25, 2021
* Update to AirSim version including my contribution (microsoft/AirSim#3475) * Update controllers according to new version of AirSim
meurissemax
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Jul 13, 2021
* Update to AirSim version including my contribution (microsoft/AirSim#3475) * Update controllers according to new version of AirSim
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Fixes: #3476
About
To be consistent, I propose to add function
moveByVelocityZBodyFrameto Multirotor API.Indeed, the function
moveByVelocityhas its associatedmoveByVelocityBodyFrame. It is not the case for the functionmoveByVelocityZ.More over, I experienced a small problem with function
moveByVelocityBodyFrame(when used to move in X-Y plane): multiple calls, separated by a small amount of time (for example, the time to process and analyze an image) leads the UAV to move downwards gradually.A small video illustrating this problem is available here: https://youtu.be/iiWdGzhMKqA.
The use of
moveByVelocityZsolved this problem, but unfortunately its associatedmoveByVelocityZBodyFramedoes not exist, so I propose to add it.The implementation is (almost) exactly the same as this PR: #3169.
Usage:
moveByVelocityZBodyFrameAsync(vx, vy, z, duration, drivetrain (optional), yaw_mode (optional), vehicle_name (optional)).How Has This Been Tested?
I used the modified version of the AirSim plugin in my Python project. I tested the function in multiple environments by simply moving the UAV using
moveByVelocityZBodyFrame. The UAV successfully moves by velocity in its direction's X-Y frame.A use case of my project is available here: https://youtu.be/mODIlYtCzP8?t=15.
In this example, the drone moves using
moveByVelocityZBodyFrame. It can be seen that the drone stops very briefly from time to time to perform calculations and still keeps a constant altitude during its movement.Screenshots (if appropriate):
/