Replace quad with hex to support hexacopter

.travis.yml

@@ -10,4 +10,4 @@ install:
   - pip3 install tox-travis
 
 script:
-  - tox -e lint,vtol -c tox.ini
+  - tox -e lint,hex -c tox.ini

README.md

@@ -1 +1 @@
-[![Build Status](https://travis-ci.com/NGCP/VTOL.svg?token=pzpV4AQm2iKJkxHKKsEz&branch=master)](https://travis-ci.com/NGCP/VTOL)
+[![Build Status](https://travis-ci.com/NGCP/HEX.svg?token=pzpV4AQm2iKJkxHKKsEz&branch=master)](https://travis-ci.com/NGCP/HEX)

archives/detailed_search_autonomy.py

@@ -80,43 +80,43 @@ def orbit_poi(vehicle, poi, configs):
             waypoints.append(LocationGlobalRelative(lat, lon, alt))
 
     # Go to center of POI
-    if (configs["vehicle_type"] == "VTOL"):
+    if (configs["vehicle_type"] == "HEX"):
         cmds.add(
             Command(0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, 0,
                     0, waypoint_tolerance, 0, 0, poi.lat, poi.lon, poi_scan_altitude))
 
-    elif (configs["vehicle_type"] == "Quadcopter"):
+    elif (configs["vehicle_type"] == "Hexcopter"):
         cmds.add(
             Command(0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, 0,
                     0, 0, 0, 0, poi.lat, poi.lon, poi_scan_altitude))
 
-    # Transition to quadcopter if applicable
-    if (configs["vehicle_type"] == "VTOL"):
+    # Transition to hexcopter if applicable
+    if (configs["vehicle_type"] == "HEX"):
         cmds.add(
-            Command(0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_DO_VTOL_TRANSITION,
+            Command(0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_DO_HEX_TRANSITION,
                     0, 0,
-                    mavutil.mavlink.MAV_VTOL_STATE_MC, 0, 0, 0, 0, 0, 0))
+                    mavutil.mavlink.MAV_HEX_STATE_MC, 0, 0, 0, 0, 0, 0))
 
     # Circular waypoints
-    if (configs["vehicle_type"] == "VTOL"):
+    if (configs["vehicle_type"] == "HEX"):
         for point in waypoints:
             cmds.add(
                 Command(0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0,
                         0,
                         waypoint_tolerance, 0, 0, 0, point.lat, point.lon, point.alt))
-    elif (configs["vehicle_type"] == "Quadcopter"):
+    elif (configs["vehicle_type"] == "Hexcopter"):
         for point in waypoints:
             cmds.add(
                 Command(0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0,
                         0,
                         0, 0, 0, 0, point.lat, point.lon, point.alt))
 
     # Transition to forward flight if applicable
-    if (configs["vehicle_type"] == "VTOL"):
+    if (configs["vehicle_type"] == "HEX"):
         cmds.add(
-            Command(0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_DO_VTOL_TRANSITION,
+            Command(0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_DO_HEX_TRANSITION,
                     0, 0,
-                    mavutil.mavlink.MAV_VTOL_STATE_MC, 0, 0, 0, 0, 0, 0))
+                    mavutil.mavlink.MAV_HEX_STATE_MC, 0, 0, 0, 0, 0, 0))
 
     # Add dummy endpoint
     cmds.add(
@@ -139,15 +139,15 @@ def detailed_search_adds_mission(configs, vehicle):
     cmds.clear()
 
     # Due to a bug presumed to be the fault of DroneKit, the first command is ignored. Thus we have two takeoff commands
-    if (configs["vehicle_type"] == "VTOL"):
-        # Separate MAVlink message for a VTOL takeoff. This takes off to altitude and transitions
+    if (configs["vehicle_type"] == "HEX"):
+        # Separate MAVlink message for a HEX takeoff. This takes off to altitude and transitions
         cmds.add(
-            Command(0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_VTOL_TAKEOFF, 0,
+            Command(0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_HEX_TAKEOFF, 0,
                     0, 0, 0, 0, 0, 0, 0, altitude))
         cmds.add(
-            Command(0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_VTOL_TAKEOFF, 0,
+            Command(0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_HEX_TAKEOFF, 0,
                     0, 0, 0, 0, 0, 0, 0, altitude))
-    elif (configs["vehicle_type"] == "Quadcopter"):
+    elif (configs["vehicle_type"] == "Hexcopter"):
         cmds.add(
             Command(0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_TAKEOFF, 0, 0,
                     0, 0, 0, 0, 0, 0, altitude))
@@ -233,9 +233,9 @@ def detailed_search_autonomy(configs, autonomyToCV, GCS_TIMESTAMP, CONNECTION_TI
 
             # Holds the copter in place if receives pause
         if autonomy.PAUSE_MISSION:
-            if (configs["vehicle_type"] == "VTOL"):
+            if (configs["vehicle_type"] == "HEX"):
                 vehicle.mode = VehicleMode("QHOVER")
-            elif (configs["vehicle_type"] == "Quadcopter"):
+            elif (configs["vehicle_type"] == "Hexcopter"):
                 vehicle.mode = VehicleMode("ALT_HOLD")
             change_status("paused")
 

archives/executable_picker.py

@@ -1,13 +1,13 @@
 '''
 The GCS allocates roles to vehicles. The purpose of this program is to connect to the GCS and then
 read a start message from the GCS, which contains a certain job_type. It then runs the
-corresponding VTOL program (quick scan, detailed search, guide) based on the start message.
+corresponding HEX program (quick scan, detailed search, guide) based on the start message.
 '''
 import sys
 import json
 import time
 from util import parse_configs, new_output_file
-from autonomy import VTOL
+from autonomy import HEX
 import autonomy
 
 XBEE = None

archives/quick_scan_autonomy.py

@@ -160,12 +160,12 @@ def quick_scan_adds_mission(configs, vehicle, lla_waypoint_list):
     print(" Define/add new commands.")
 
     # Due to a bug presumed to be the fault of DroneKit, the first command is ignored. Thus we have two takeoff commands
-    if (configs["vehicle_type"] == "VTOL"):
-        # Separate MAVlink message for a VTOL takeoff. This takes off to altitude and transitions
-        cmds.add(Command( 0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_VTOL_TAKEOFF, 0, 0, 0, 0, 0, 0, 0, 0, altitude))
-        cmds.add(Command( 0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_VTOL_TAKEOFF, 0, 0, 0, 0, 0, 0, 0, 0, altitude))
+    if (configs["vehicle_type"] == "HEX"):
+        # Separate MAVlink message for a HEX takeoff. This takes off to altitude and transitions
+        cmds.add(Command( 0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_HEX_TAKEOFF, 0, 0, 0, 0, 0, 0, 0, 0, altitude))
+        cmds.add(Command( 0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_HEX_TAKEOFF, 0, 0, 0, 0, 0, 0, 0, 0, altitude))
 
-    elif (configs["vehicle_type"] == "Quadcopter"):
+    elif (configs["vehicle_type"] == "Hexcopter"):
         cmds.add(Command( 0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_TAKEOFF, 0, 0, 0, 0, 0, 0, 0, 0, altitude))
         cmds.add(Command( 0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_TAKEOFF, 0, 0, 0, 0, 0, 0, 0, 0, altitude))
 
@@ -174,15 +174,15 @@ def quick_scan_adds_mission(configs, vehicle, lla_waypoint_list):
                      0, configs["air_speed"], -1, 0, 0, 0, 0))
 
     # Add waypoints to the auto mission
-    if (configs["vehicle_type"] == "VTOL"):
+    if (configs["vehicle_type"] == "HEX"):
         for point in lla_waypoint_list:
             # Planes need a waypoint tolerance
             cmds.add(Command(0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, 0,
                             0, configs["waypoint_tolerance"], 0, 0, point.lat, point.lon, point.alt))
         # Adds dummy end point - this endpoint is the same as the last waypoint and lets us know we have reached destination.
         cmds.add(Command(0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, 0,
                             0, configs["waypoint_tolerance"], 0, 0, lla_waypoint_list[-1].lat, lla_waypoint_list[-1].lon, lla_waypoint_list[-1].alt))
-    elif (configs["vehicle_type"] == "Quadcopter"):
+    elif (configs["vehicle_type"] == "Hexcopter"):
         for point in lla_waypoint_list:
             cmds.add(Command(0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, 0,
                              0, 0, 0, 0, point.lat, point.lon, point.alt))
@@ -259,9 +259,9 @@ def quick_scan_autonomy(configs, autonomyToCV, GCS_TIMESTAMP, CONNECTION_TIMESTA
         time.sleep(1)
         # Holds the copter in place if receives pause
         if autonomy.PAUSE_MISSION:
-            if (configs["vehicle_type"] == "VTOL"):
+            if (configs["vehicle_type"] == "HEX"):
                 vehicle.mode = VehicleMode("QHOVER")
-            elif (configs["vehicle_type"] == "Quadcopter"):
+            elif (configs["vehicle_type"] == "Hexcopter"):
                 vehicle.mode = VehicleMode("ALT_HOLD")
         # Lands the vehicle if receives stop mission
         elif autonomy.STOP_MISSION:

simulator/sim.py

@@ -16,7 +16,7 @@
 if DO_DOWNLOAD:
     SIM.download('copter', '3.3', verbose=False)
 
-SIM.launch(['--model', 'quad', ], await_ready=True, restart=False)
+SIM.launch(['--model', 'hex', ], await_ready=True, restart=False)
 print("Simulator lanched")
 
 while True:

src/quad.py → src/hex.py

@@ -1,13 +1,13 @@
-"""Automous tools for VTOL"""
+"""Automous tools for HEX"""
 import time
 import json
 from dronekit import VehicleMode, Vehicle, LocationGlobalRelative
 from coms import Coms
 from util import get_distance_metres
 
 
-class QUAD(Vehicle):
-    """ VTOL basic state isolated"""
+class HEX(Vehicle):
+    """ HEX basic state isolated"""
 
     coms = None
 

src/main.py

@@ -1,13 +1,15 @@
-"""main executable for setting up VTOL"""
+"""main executable for setting up HEX"""
 import json
 from util import setup_vehicle
-from quad import QUAD
+from hex import HEX
 
 
 def main(configs):
-    """Configure vtol and ready for mission"""
-    quad = setup_vehicle(configs, QUAD)
-    quad.land()
+    """Configure hexcopter and ready for mission"""
+    hexa = setup_vehicle(configs, HEX)
+    hexa.takeoff()
+    hexa.go_to(27.28, 153.01)
+    hexa.land()
 
 
 if __name__ == "__main__":

src/tests/test_quad.py → src/tests/test_hex.py

@@ -1,7 +1,7 @@
-"""test for vtol.py"""
+"""test for hex.py"""
 from dronekit_sitl import start_default
 from util import setup_vehicle
-from quad import QUAD
+from hex import HEX
 
 CONFIGS = {
     "vehicle_simulated": True,
@@ -16,19 +16,19 @@
 CON_STR = start_default().connection_string()
 
 with open("configs.json", "r") as data:
-    VEHICLE = setup_vehicle(CONFIGS, QUAD)
+    VEHICLE = setup_vehicle(CONFIGS, HEX)
 
 
 def test_takeoff():
-    """quadcopter dronekit-sitl takeoff"""
+    """hexcopter dronekit-sitl takeoff"""
     global VEHICLE  # pylint: disable=global-statement
     VEHICLE.takeoff()
     alt = VEHICLE.location.global_relative_frame.alt
     assert 4 < alt < 6, "vehicle did not reach target alt"
 
 
 def test_land():
-    """quadcopter dronekit-sitl land"""
+    """hexcopter dronekit-sitl land"""
     global VEHICLE  # pylint: disable=global-statement
     VEHICLE.land()
     alt = VEHICLE.location.global_relative_frame.alt

src/util.py

@@ -1,4 +1,4 @@
-"""Util methods for VTOL"""
+"""Util methods for HEX"""
 import json
 import datetime
 import subprocess
@@ -10,7 +10,7 @@
 
 
 def setup_vehicle(configs, v_type):
-    """Sets up self as a quadplane vehicle"""
+    """Sets up self as a hexcopter vehicle"""
     v_type = partial(v_type, configs)
     veh = scan_ports(configs, v_type)
     return veh

tox.ini

@@ -1,6 +1,6 @@
 [tox]
 minversion = 2.0
-envlist = lint, vtol
+envlist = lint, hex
 skipsdist = True
 
 [testenv]
@@ -13,6 +13,6 @@ passenv = *
 basepython=python3.7
 commands=pylint --rcfile=.pylintrc src
 
-[testenv:vtol]
+[testenv:hex]
 basepython=python3.7
 commands = python3 -m pytest