can somebody make sure i can use this code for a self learning drone with a personality that follows you around?
#include <px4_posix.h>
#include <drivers/drv_hrt.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/gps_position.h>
#include <px4_platform_common/log.h>
#include
#include <px4_platform_common/module.h>
// Dummy class for GPS target tracking (You or the phone providing GPS data)
class TargetGPS {
public:
TargetGPS() : target_lat(0.0), target_lon(0.0), target_alt(0.0) {}
void setPosition(double lat, double lon, double alt) {
target_lat = lat;
target_lon = lon;
target_alt = alt;
}
double getLatitude() const { return target_lat; }
double getLongitude() const { return target_lon; }
double getAltitude() const { return target_alt; }
private:
double target_lat;
double target_lon;
double target_alt;
};
// Main drone control class
class DroneControlModule {
public:
DroneControlModule() : _vehicle_command_sub(nullptr), _vehicle_status_pub(nullptr), _gps_sub(nullptr) {
_personality = “cheerful”; // Default personality
}
int init() {
// Initialize the subscription and publication
_vehicle_command_sub = orb_subscribe(ORB_ID(vehicle_command));
_vehicle_status_pub = orb_advertise(ORB_ID(vehicle_status), &_vehicle_status);
_gps_sub = orb_subscribe(ORB_ID(gps_position));
return 0;
}
void armDrone() {
// Arm the drone and express mood
PX4_INFO("Yay! I'm ready to fly!");
vehicle_command_s cmd;
cmd.command = vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM;
cmd.param1 = 1.0f; // Arm the drone (1.0 = arm, 0.0 = disarm)
cmd.param2 = 0.0f; // No extra parameters
orb_publish(ORB_ID(vehicle_command), _vehicle_command_sub, &cmd);
}
void takeoff() {
// Take off and express mood
PX4_INFO("Taking off! Let's soar!");
vehicle_command_s cmd;
cmd.command = vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF;
cmd.param1 = 10.0f; // Altitude for takeoff in meters
orb_publish(ORB_ID(vehicle_command), _vehicle_command_sub, &cmd);
}
void followTarget() {
gps_position_s gps_data;
orb_copy(ORB_ID(gps_position), _gps_sub, &gps_data);
// Assuming we have a method of getting the target's position (you or your phone)
double target_lat = _target_gps.getLatitude();
double target_lon = _target_gps.getLongitude();
double target_alt = _target_gps.getAltitude();
// Calculate the relative position of the drone
double delta_lat = target_lat - gps_data.lat;
double delta_lon = target_lon - gps_data.lon;
double delta_alt = target_alt - gps_data.alt;
// Adjust drone position to follow the target
if (abs(delta_lat) > 0.0001 || abs(delta_lon) > 0.0001) {
PX4_INFO("Following target...");
vehicle_command_s cmd;
cmd.command = vehicle_command_s::VEHICLE_CMD_NAV_WAYPOINT;
cmd.param1 = 0.0f; // Radius (can be set for waypoint radius)
cmd.param2 = target_lat;
cmd.param3 = target_lon;
cmd.param4 = target_alt;
orb_publish(ORB_ID(vehicle_command), _vehicle_command_sub, &cmd);
}
}
void land() {
PX4_INFO("Landing now...");
vehicle_command_s cmd;
cmd.command = vehicle_command_s::VEHICLE_CMD_NAV_LAND;
cmd.param1 = 0.0f; // No additional parameters
orb_publish(ORB_ID(vehicle_command), _vehicle_command_sub, &cmd);
}
private:
orb_subscription_t _vehicle_command_sub;
orb_advertise_t _vehicle_status_pub;
orb_subscription_t _gps_sub;
vehicle_status_s _vehicle_status;
std::string _personality; // Store the personality type
TargetGPS _target_gps; // Target GPS (you or the device you want to follow)
};
// Main entry for PX4 module
extern “C” int px4_main(int argc, char *argv) {
DroneControlModule drone;
if (drone.init() != 0) {
PX4_ERR("Failed to initialize drone control module");
return -1;
}
// Arm the drone and take off
drone.armDrone();
sleep(2); // Allow some time for arming
drone.takeoff();
sleep(10); // Wait for takeoff
// Start following the target
while (true) {
drone.followTarget();
sleep(1); // Update every second
}
return 0;
}
PX4_MODULE