برمجة تحكم الطائرة المسيرة - كتاب الذكاء الإصطناعي - الصف 12 - الفصل 1 - المملكة العربية السعودية

self.current_pose = 6 * [0] #X, Y, Z, yaw, pitch, roll self.target_position = [0, 0, 0] self.target_index = 0 self.target_altitude = 0

تهيئة موضع المسيرة (X, Y, Z) ودورانه (الالتفاف، الانحدار، الانعراج).

def move_to_target(self, waypoints):

# Moves the drone to the given coordinates # Parameters: # waypoints (list): list of X,Y coordinates # Returns: # yaw_disturbance (float): yaw disturbance (negative value to go on the right) # pitch_disturbance (float): pitch disturbance (negative value to go forward)

if self.target_position[0:2] == [0, 0]: # initialization self.target_position[0:2] = waypoints[0]

# if the drone is at the position with a precision of target_precision if all([(abs(x1 - x2) < self.target_precision for (x1, x2) in zip(self.target_position, self.current_pose[0:2]))]):

self.target_index += 1 if self.target_index > len(waypoints) - 1: self.target_index = 0 self.target_position[0:2] = waypoints[self.target_index]

# computes the angle between the current position of the drone and its target position # and normalizes the resulting angle to be within the range of [-pi, pi]

self.target_position[2] = np.arctan2( self.target_position[1] - self.current_pose[1], self.target_position[0] - self.current_pose[0]) angle_left = self.target_position[2] - self.current_pose[5] angle_left = (angle_left + 2 * np.pi) % (2 * np.pi) if (angle_left > np.pi): angle_left -= 2 * np.pi

# turns the drone to the left or to the right according to the value # and the sign of angle_left and adjusts pitch_disturbance

yaw_disturbance = self.MAX_YAW_DISTURBANCE * angle_left / (2 * np.pi) pitch_disturbance = clamp( np.log10(abs(angle_left)), self.MAX_PITCH_DISTURBANCE, 0.1)

return yaw_disturbance, pitch_disturbance

def run(self):

# time intervals used for adjustments in order to reach the target altitude

t1 = self.getTime() roll_disturbance = 0 pitch_disturbance = 0 yaw_disturbance = 0

وزارة التعليم Ministry of Education 2023 - 1447 322

self.current_pose = 6 * [0] #X, Y, Z, yaw, pitch, roll self.target_position = [0, 0, 0] self.target_index = 0 self.target_altitude = 0 تهيئة موضع المسيرة (X, Y, Z) ودورانه (الالتفاف، الانحدار، الانعراج). def move_to_target(self, waypoints): # Moves the drone to the given coordinates # Parameters: # waypoints (list): list of X,Y coordinates # Returns: # yaw_disturbance (float): yaw disturbance (negative value to go on the right) # pitch_disturbance (float): pitch disturbance (negative value to go forward) if self.target_position[0:2] == [0, 0]: # initialization self.target_position[0:2] = waypoints[0] # if the drone is at the position with a precision of target_precision if all([(abs(x1 - x2) < self.target_precision for (x1, x2) in zip(self.target_position, self.current_pose[0:2]))]): self.target_index += 1 if self.target_index > len(waypoints) - 1: self.target_index = 0 self.target_position[0:2] = waypoints[self.target_index] # computes the angle between the current position of the drone and its target position # and normalizes the resulting angle to be within the range of [-pi, pi] self.target_position[2] = np.arctan2( self.target_position[1] - self.current_pose[1], self.target_position[0] - self.current_pose[0]) angle_left = self.target_position[2] - self.current_pose[5] angle_left = (angle_left + 2 * np.pi) % (2 * np.pi) if (angle_left > np.pi): angle_left -= 2 * np.pi # turns the drone to the left or to the right according to the value # and the sign of angle_left and adjusts pitch_disturbance yaw_disturbance = self.MAX_YAW_DISTURBANCE * angle_left / (2 * np.pi) pitch_disturbance = clamp( np.log10(abs(angle_left)), self.MAX_PITCH_DISTURBANCE, 0.1) return yaw_disturbance, pitch_disturbance def run(self): # time intervals used for adjustments in order to reach the target altitude t1 = self.getTime() roll_disturbance = 0 pitch_disturbance = 0 yaw_disturbance = 0 وزارة التعليم Ministry of Education 2023 - 1447 322 --- VISUAL CONTEXT --- **DIAGRAM**: Untitled Description: A blue callout box with an arrow pointing to the Python code line 'self.current_pose = 6 * [0] #X, Y, Z, yaw, pitch, roll'. The box contains Arabic text explaining the purpose of the variables. Context: This box provides an Arabic explanation for the initial variable assignments in the Python code, clarifying what 'X, Y, Z, yaw, pitch, roll' represent in the context of drone positioning and rotation.