Core¶

MIT BWSI Autonomous Drone Racing Course - UAV Neo

File Name: drone_core.py File Description: Contains the Drone class, the top level of the drone_core library.

class drone_core.Drone¶

The top level drone module containing several submodules which interface with and control the different pieces of the drone hardware.

abstractmethod get_delta_time() → float¶

Returns the number of seconds elapsed in the previous frame.

Returns:: The number of seconds between the start of the previous frame and the start of the current frame.

Example:

counter += uav.get_delta_time()

abstractmethod go() → None¶: Starts the drone, beginning in default mode.

Note

go blocks execution until the program is exited.

abstractmethod set_start_update(start: Callable[[], None], update: Callable[[], None], update_slow: Callable[[], None] | None = None) → None¶

Sets the start and update functions used in user program mode.

Parameters:

start – A function called once when the drone enters user program mode.
update – A function called every frame in user program mode.
update_slow – A function called once per fixed time interval in user program mode (by default once per second).

Example:

rc = Drone()

def start():
    print("This function is called once")

def update():
    print("This function is called every frame")

rc.set_start_update(start, update)
rc.go()

abstractmethod set_update_slow_time(time: float = 1.0) → None¶

Changes the time between calls to update_slow.

Parameters:: time – The time in seconds between calls to update_slow.

Example:

uav.set_update_slow_time(2)

drone_core.create_drone(isSimulation: bool | None = None) → Drone¶

Generates a drone object based on the isSimulation argument or execution flags.

Parameters:: isSimulation – If True, create a DroneSim. If None, decide based on the command line arguments.
Returns:: A DroneSim object for use with the Unity simulation.

Note

If isSimulation is None, this function will return a DroneSim if the program was executed with the “-s” flag.

If the program was executed with the “-d” flag, a display window is created.

If the program was executed with the “-h” flag, it is run in headless mode, which disables the display module.