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import gps

import socket

import time

from droneapi.lib import VehicleMode, Location

def followme():

"""

followme - A DroneAPI example

This is a somewhat more 'meaty' example on how to use the DroneAPI. It uses the

python gps package to read positions from the GPS attached to your laptop an

every two seconds it sends a new goto command to the vehicle.

To use this example:

* Run mavproxy.py with the correct options to connect to your vehicle

* module load api

* api start <path-to-follow_me.py>

When you want to stop follow-me, either change vehicle modes from your RC

transmitter or type "api stop".

"""

try:

# First get an instance of the API endpoint (the connect via web case will be similar)

api = local_connect()

# Now get our vehicle (we assume the user is trying to control the virst vehicle attached to the GCS)

v = api.get_vehicles()[0]

# Don't let the user try to fly while the board is still boogint

if v.mode.name == "INITIALISING":

print "Vehicle still booting, try again later"

return

cmds = v.commands

is_guided = False # Have we sent at least one destination point?

# Use the python gps package to access the laptop GPS

gpsd = gps.gps(mode=gps.WATCH_ENABLE)

while not api.exit:

# This is necessary to read the GPS state from the laptop

gpsd.next()

if is_guided and v.mode.name != "GUIDED":

print "User has changed flight modes - aborting follow-me"

break

# Once we have a valid location (see gpsd documentation) we can start moving our vehicle around

if (gpsd.valid & gps.LATLON_SET) != 0:

altitude = 30 # in meters

dest = Location(gpsd.fix.latitude, gpsd.fix.longitude, altitude, is_relative=True)

print "Going to: %s" % dest

# A better implementation would only send new waypoints if the position had changed significantly

cmds.goto(dest)

is_guided = True

v.flush()

# Send a new target every two seconds

# For a complete implementation of follow me you'd want adjust this delay

time.sleep(2)

except socket.error:

print "Error: gpsd service does not seem to be running, plug in USB GPS or run run-fake-gps.sh"

followme()