def __init__()

in resources/drone_orbit.py [0:0]

• 47 lines of code
• 8 McCabe index (conditional complexity)

    def __init__(self, photo_prefix="photo_", radius=2, altitude=10, speed=2, iterations=1, center=[1, 0], snapshots=None, image_dir="./images/"):
        self.radius = radius
        self.altitude = altitude
        self.speed = speed
        self.iterations = iterations
        self.snapshots = snapshots
        self.snapshot_delta = None
        self.next_snapshot = None
        self.image_dir = image_dir
        self.z = None
        self.snapshot_index = 0
        self.photo_prefix = photo_prefix
        self.takeoff = True  # whether we did a take off

        if self.snapshots is not None and self.snapshots > 0:
            self.snapshot_delta = 360 / self.snapshots

        if self.iterations <= 0:
            self.iterations = 1

        if len(center) != 2:
            raise Exception(
                "Expecting '[x,y]' for the center direction vector")

        # center is just a direction vector, so normalize it to compute the actual cx,cy locations.
        cx = float(center[0])
        cy = float(center[1])
        length = math.sqrt((cx*cx)+(cy*cy))
        cx /= length
        cy /= length
        cx *= self.radius
        cy *= self.radius

        self.client = airsim.MultirotorClient()
        self.client.confirmConnection()
        self.client.enableApiControl(True)

        self.home = self.client.getMultirotorState().kinematics_estimated.position
        # check that our home position is stable
        start = time.time()
        count = 0
        while count < 100:
            pos = self.home
            if abs(pos.z_val - self.home.z_val) > 1:
                count = 0
                self.home = pos
                if time.time() - start > 10:
                    print(
                        "Drone position is drifting, we are waiting for it to settle down...")
                    start = time
            else:
                count += 1

        self.center = self.client.getMultirotorState().kinematics_estimated.position
        self.center.x_val += cx
        self.center.y_val += cy