// Editor QoL
private void Reset()
{
// Auto detect quadcopter
if (drone == null)
{
drone = GetComponent <Quadcopter>();
}
}
public void Run()
{
var speedController = new SpeedController(Pca9685PwmController.Default);
var aircraft = new Quadcopter(speedController);
WindowsPilot.Create(
aircraft,
L3gd20hGyroscope.Default,
Lsm303dAccelerometer.Default,
Lsm303dMagnetometer.Default,
FlightController.FromGamepad(LogitechF710Gamepad.Default),
thrustMax: 0.8d,
angularPositionPitchMax: AngleConvert.ToRadians(15d),
angularPositionRollMax: AngleConvert.ToRadians(15d),
angularVelocityYawMax: AngleConvert.ToRadians(90 /*dps*/));
}
private void Start()
{
// Get all quadcopters in the scene
Quadcopter[] drones = FindObjectsOfType <Quadcopter>();
// Throw an exception if there is more than one quadcopter
if (drones.Length > 1)
{
throw new System.Exception("Multiple quadcopters detected.");
}
// Initialization
drone = drones[0];
motorThrust = (drone.MotorNE.maxThrust + drone.MotorNW.maxThrust + drone.MotorSE.maxThrust + drone.MotorSW.maxThrust) / 4.0f;
rBody = drone.GetComponent <Rigidbody>();
// Make sure the quadcopter has a rigidbody
if (rBody == null)
{
throw new System.Exception("Rigidbody on quadcopter is missing.");
}
// Make sure the rigidbody parameters have not been modified
if (rBody.isKinematic == true || rBody.useGravity == false || rBody.constraints != RigidbodyConstraints.None)
{
throw new System.Exception("Quadcopter rigidbody paramters do not match.");
}
// Initiazation
lastPos = drone.transform.position;
lastVel = rBody.velocity;
lastMotors = new float[] { drone.MotorNE.Power, drone.MotorNW.Power, drone.MotorSE.Power, drone.MotorSW.Power };
}
