如何起飞降落

打开仿真环境

roslaunch px4 mavros_posix_sitl.launch

执行代码

roslaunch uav_code_simple take_off_and_land.launch

uav_code_simple/launch/take_off_and_land.launch中含有各种参数

<?xml version="1.0"?>
<launch>
    <node pkg="uav_code_simple" type="take_off_and_land_simple" name="take_off_and_land_simple_node" output="screen">
        <!--if_physical代表实物 等待遥控器切入offboard模式 false代表仿真 会自动切入起飞模式-->
        <param name="if_physical" value="false"/>
        <!--是否修改最大速度参数-->
        <param name="if_modify_vel_param" value="true"/>
        <param name="max_vel_xy" value="0.5"/>
        <param name="max_vel_z" value="0.5"/>
        <!--起飞高度-->
        <param name="take_off_z" value="1"/>
        <!--到点的阈值-->
        <param name="threshold_distance" value="0.2"/>
        <!--距离多近的圆判定为目标圆 防止误识别-->
        <param name="distance_to_circle" value="0.4"/>
        <!--降落参数-->
        <param name="land_x" value="0"/>
        <param name="land_y" value="1.6"/>
        <param name="land_z" value="0.1"/>
        <param name="threshold_distance_land" value="0.1"/>
        <param name="threshold_distance_land_alignment" value="0.1"/>
    </node>
</launch>

uav_code_simple/src/take_off_and_land_simple.cpp为该程序源代码