Source code for as2_python_api.drone_interface_gps

"""Drone interface GPS to easily command drones with Aerostack2."""

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__authors__ = 'Miguel Fernández Cortizas, Pedro Arias Pérez, David Pérez Saura, Rafael Pérez Seguí'
__copyright__ = 'Copyright (c) 2022 Universidad Politécnica de Madrid'
__license__ = 'BSD-3-Clause'

from as2_python_api.drone_interface_base import DroneInterfaceBase
from as2_python_api.modules.follow_path_gps_module import FollowPathGpsModule
from as2_python_api.modules.go_to_gps_module import GoToGpsModule
from as2_python_api.modules.gps_module import GpsModule
from as2_python_api.modules.land_module import LandModule
from as2_python_api.modules.takeoff_module import TakeoffModule


[docs] class DroneInterfaceGPS(DroneInterfaceBase): """Drone interface node.""" def __init__(self, drone_id: str = 'drone0', verbose: bool = False, use_sim_time: bool = False, spin_rate: float = 20.0) -> None: """ Create DroneInterfaceGPS. :param drone_id: drone namespace, defaults to "drone0" :type drone_id: str, optional :param verbose: output mode, defaults to False :type verbose: bool, optional :param use_sim_time: use simulation time, defaults to False :type use_sim_time: bool, optional :param spin_rate: spin rate (Hz), defaults to 20 :type spin_rate: float, optional """ super().__init__(drone_id=drone_id, verbose=verbose, use_sim_time=use_sim_time, spin_rate=spin_rate) self.gps = GpsModule(drone=self) self.takeoff = TakeoffModule(drone=self) self.go_to = GoToGpsModule(drone=self) self.follow_path = FollowPathGpsModule(drone=self) self.land = LandModule(drone=self)