برمجة طائرة بدون طيار باستخدام Python - كتاب الذكاء الإصطناعي - الصف 12 - الفصل 1 - المملكة العربية السعودية

# specifies the patrol coordinates waypoints = [[-30, 20], [-60, 30], [-75, 0], [-40, -10]] # target altitude of the drone in meters self.target_altitude = 8

while self.step(self.time_step) != -1:

# reads sensors roll, pitch, yaw = self.imu.getRollPitchYaw() x_pos, y_pos, altitude = self.gps.getValues() roll_acceleration, pitch_acceleration, _ = self.gyro.getValues() self.current_pose = [x_pos, y_pos, altitude, roll, pitch, yaw]

if altitude > self.target_altitude - 1: # as soon as it reaches the target altitude, # computes the disturbances to go to the given waypoints if self.getTime() - t1 > 0.1: yaw_disturbance, pitch_disturbance = self.move_to_target( waypoints) t1 = self.getTime()

# calculates the desired input values for roll, pitch, yaw, # and altitude using various constants and disturbance values roll_input = self.K_ROLL_P * clamp(roll, -1, 1) + \ roll_acceleration + roll_disturbance pitch_input = self.K_PITCH_P * clamp(pitch, -1, 1) + \ pitch_acceleration + pitch_disturbance yaw_input = yaw_disturbance clamped_difference_altitude = clamp(self.target_altitude - \ altitude + self.K_VERTICAL_OFFSET, -1, 1) vertical_input = self.K_VERTICAL_P * \ pow(clamped_difference_altitude, 3.0)

# calculates the motors' input values based on the # desired roll, pitch, yaw, and altitude values front_left_motor_input = self.K_VERTICAL_THRUST + vertical_input \ - yaw_input + pitch_input - roll_input front_right_motor_input = self.K_VERTICAL_THRUST + vertical_input \ + yaw_input + pitch_input + roll_input rear_left_motor_input = self.K_VERTICAL_THRUST + vertical_input \ + yaw_input - pitch_input - roll_input rear_right_motor_input = self.K_VERTICAL_THRUST + vertical_input \ - yaw_input - pitch_input + roll_input

# sets the velocity of each motor based on the motors' input values calculated above self.front_left_motor.setVelocity(front_left_motor_input) self.front_right_motor.setVelocity(-front_right_motor_input) self.rear_left_motor.setVelocity(rear_left_motor_input) self.rear_right_motor.setVelocity(rear_right_motor_input)

robot = Mavic() robot.run()

وزارة التعليم 323 Ministry of Education 2025 - 1447

# specifies the patrol coordinates waypoints = [[-30, 20], [-60, 30], [-75, 0], [-40, -10]] # target altitude of the drone in meters self.target_altitude = 8 while self.step(self.time_step) != -1: # reads sensors roll, pitch, yaw = self.imu.getRollPitchYaw() x_pos, y_pos, altitude = self.gps.getValues() roll_acceleration, pitch_acceleration, _ = self.gyro.getValues() self.current_pose = [x_pos, y_pos, altitude, roll, pitch, yaw] if altitude > self.target_altitude - 1: # as soon as it reaches the target altitude, # computes the disturbances to go to the given waypoints if self.getTime() - t1 > 0.1: yaw_disturbance, pitch_disturbance = self.move_to_target( waypoints) t1 = self.getTime() # calculates the desired input values for roll, pitch, yaw, # and altitude using various constants and disturbance values roll_input = self.K_ROLL_P * clamp(roll, -1, 1) + \ roll_acceleration + roll_disturbance pitch_input = self.K_PITCH_P * clamp(pitch, -1, 1) + \ pitch_acceleration + pitch_disturbance yaw_input = yaw_disturbance clamped_difference_altitude = clamp(self.target_altitude - \ altitude + self.K_VERTICAL_OFFSET, -1, 1) vertical_input = self.K_VERTICAL_P * \ pow(clamped_difference_altitude, 3.0) # calculates the motors' input values based on the # desired roll, pitch, yaw, and altitude values front_left_motor_input = self.K_VERTICAL_THRUST + vertical_input \ - yaw_input + pitch_input - roll_input front_right_motor_input = self.K_VERTICAL_THRUST + vertical_input \ + yaw_input + pitch_input + roll_input rear_left_motor_input = self.K_VERTICAL_THRUST + vertical_input \ + yaw_input - pitch_input - roll_input rear_right_motor_input = self.K_VERTICAL_THRUST + vertical_input \ - yaw_input - pitch_input + roll_input # sets the velocity of each motor based on the motors' input values calculated above self.front_left_motor.setVelocity(front_left_motor_input) self.front_right_motor.setVelocity(-front_right_motor_input) self.rear_left_motor.setVelocity(rear_left_motor_input) self.rear_right_motor.setVelocity(rear_right_motor_input) robot = Mavic() robot.run() وزارة التعليم 323 Ministry of Education 2025 - 1447 --- VISUAL CONTEXT --- **FIGURE**: waypoints (نقاط الطريق) Description: A blue callout box with an arrow pointing to the 'waypoints' variable in the Python code. The box contains Arabic text explaining the term. Context: Provides an Arabic translation and explanation for the 'waypoints' variable, clarifying that it refers to the specific path the drone will fly.