def OrbitAnimal()

in resources/search_sample.py [0:0]

• 30 lines of code
• 2 McCabe index (conditional complexity)

def OrbitAnimal(cx, cy, radius, speed, altitude, camera_angle, animal):
    """
    @param cx: The x position of our orbit starting location
    @param cy: The x position of our orbit starting location
    @param radius: The radius of the orbit circle
    @param speed: The speed the drone should more, it's hard to take photos when flying fast
    @param altitude: The altidude we want to fly at, dont fly too high!
    @param camera_angle: The angle of the camera
    @param animal: The name of the animal, used to prefix the photos
    """

    x = cx - radius
    y = cy

    # set camera angle
    client.simSetCameraOrientation(0, airsim.to_quaternion(
        camera_angle * math.pi / 180, 0, 0))  # radians

    # move the drone to the requested location
    print("moving to position...")
    client.moveToPositionAsync(
        x, y, z, 1, 60, drivetrain=airsim.DrivetrainType.MaxDegreeOfFreedom, yaw_mode=airsim.YawMode(False, 0)).join()
    pos = client.getMultirotorState().kinematics_estimated.position

    dx = x - pos.x_val
    dy = y - pos.y_val
    yaw = airsim.to_eularian_angles(
        client.getMultirotorState().kinematics_estimated.orientation)[2]

    # keep the drone on target, it's windy out there!
    print("correcting position and yaw...")
    while abs(dx) > 1 or abs(dy) > 1 or abs(yaw) > 0.1:
        client.moveToPositionAsync(
            x, y, z, 0.25, 60, drivetrain=airsim.DrivetrainType.MaxDegreeOfFreedom, yaw_mode=airsim.YawMode(False, 0)).join()
        pos = client.getMultirotorState().kinematics_estimated.position
        dx = x - pos.x_val
        dy = y - pos.y_val
        yaw = airsim.to_eularian_angles(
            client.getMultirotorState().kinematics_estimated.orientation)[2]
        print("yaw is {}".format(yaw))

    print("location is off by {},{}".format(dx, dy))

    o = airsim.to_eularian_angles(
        client.getMultirotorState().kinematics_estimated.orientation)
    print("yaw is {}".format(o[2]))

    # let's orbit around the animal and take some photos
    nav = drone_orbit.OrbitNavigator(photo_prefix=animal, radius=radius, altitude=altitude, speed=speed, iterations=1, center=[
                                     cx - pos.x_val, cy - pos.y_val], snapshots=30, image_dir="./drone_images/")
    nav.start()