"""Drone interface GPS to easily command drones with Aerostack2."""
# Copyright 2022 Universidad Politécnica de Madrid
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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)