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fix: reduce position error

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russian_proger
2025-10-06 12:55:33 +03:00
parent e5715e17da
commit 15a013d85e
4 changed files with 274 additions and 135 deletions
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146
test_autopilot.ipynb
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@@ -6,81 +6,11 @@
"metadata": {},
"outputs": [
{
"name": "stdout",
"name": "stderr",
"output_type": "stream",
"text": [
"\n",
" [Pilot] translate: 0.05017116751607286 9.687502397756333\n",
" [Pilot] Drone Position: (9.63, 1.05)\n",
" [Pilot] Angle: 5.9°\n",
" [Pilot] Target Index: 0\n",
" [Pilot] Target Position: (1500, 1000)\n",
" [Pilot] Distance: 1802.7756377319947\n",
" [Pilot] translate: 34.49815603085627 29.137861884347547\n",
"\n",
" [Pilot] translate: -3.880257616756106 51.463125720098006\n",
" [Pilot] Drone Position: (60.82, 7.61)\n",
" [Pilot] Angle: 11.6°\n",
" [Pilot] Target Index: 0\n",
" [Pilot] Target Position: (1500, 1000)\n",
" [Pilot] Distance: 1794.1861357457751\n",
" [Pilot] translate: -81.10123958005454 -137.34212482489963\n",
"\n",
" [Pilot] translate: -4.965415715097187 51.25399608516978\n",
" [Pilot] Drone Position: (111.23, 18.11)\n",
" [Pilot] Angle: 17.3°\n",
" [Pilot] Target Index: 0\n",
" [Pilot] Target Position: (1500, 1000)\n",
" [Pilot] Distance: 1748.165148948221\n",
" [Pilot] translate: 45.12386596220679 -80.30038654495203\n",
"\n",
" [Pilot] translate: -4.306576877574656 51.03219412293733\n",
" [Pilot] Drone Position: (159.88, 34.13)\n",
" [Pilot] Angle: 23.1°\n",
" [Pilot] Target Index: 0\n",
" [Pilot] Target Position: (1500, 1000)\n",
" [Pilot] Distance: 1700.8189617850037\n",
" [Pilot] translate: 21.716104890355993 -140.57795924978092\n",
"\n",
" [Pilot] translate: -4.698241337005581 50.82696807577958\n",
" [Pilot] Drone Position: (206.68, 54.50)\n",
" [Pilot] Angle: 28.8°\n",
" [Pilot] Target Index: 0\n",
" [Pilot] Target Position: (1500, 1000)\n",
" [Pilot] Distance: 1651.9184793917282\n",
" [Pilot] translate: -105.83895859495036 -240.1764870881905\n",
"\n",
" [Pilot] translate: -4.958766997526737 51.41923183115156\n",
" [Pilot] Drone Position: (251.86, 79.55)\n",
" [Pilot] Angle: 34.5°\n",
" [Pilot] Target Index: 0\n",
" [Pilot] Target Position: (1500, 1000)\n",
" [Pilot] Distance: 1602.0752180361662\n",
" [Pilot] translate: -148.22727851217576 277.70124157634604\n",
"\n",
" [Pilot] translate: -3.092076978507596 51.453303771043075\n",
" [Pilot] Drone Position: (294.20, 108.95)\n",
" [Pilot] Angle: 38.2°\n",
" [Pilot] Target Index: 0\n",
" [Pilot] Target Position: (1500, 1000)\n",
" [Pilot] Distance: 1550.834822541291\n",
" [Pilot] translate: 84.73919078536481 6.965084966855142\n",
"\n",
" [Pilot] translate: 0.6990361118758528 51.266860568260554\n",
" [Pilot] Drone Position: (333.90, 141.39)\n",
" [Pilot] Angle: 38.5°\n",
" [Pilot] Target Index: 0\n",
" [Pilot] Target Position: (1500, 1000)\n",
" [Pilot] Distance: 1499.310186566892\n",
" [Pilot] translate: -169.29950811743842 109.96288683148794\n",
"\n",
" [Pilot] translate: 0.06894026606203722 51.71176082802062\n",
" [Pilot] Drone Position: (374.40, 173.54)\n",
" [Pilot] Angle: 38.4°\n",
" [Pilot] Target Index: 0\n",
" [Pilot] Target Position: (1500, 1000)\n",
" [Pilot] Distance: 1448.1010213418751\n",
" [Pilot] translate: -175.2651402920743 -178.56804299442655\n"
"c:\\Users\\admin\\Projects\\autopilot\\visualization.py:113: UserWarning: This figure includes Axes that are not compatible with tight_layout, so results might be incorrect.\n",
" plt.tight_layout()\n"
]
}
],
@@ -91,27 +21,81 @@
"from autopilot import AutoPilot\n",
"from visualization import VisualizationManager\n",
"\n",
"autopilot = AutoPilot([(1500, 1000)], [])\n",
"imgs = [Image.open(Path('images') / f'photo_{i}.png') for i in range(10)]\n",
"autopilot.handle(imgs[0])\n",
"for i in range(1, 10):\n",
" print()\n",
" autopilot.handle(imgs[i])\n"
"vzm = VisualizationManager()\n",
"\n"
]
},
{
"cell_type": "code",
"execution_count": 6,
"execution_count": 3,
"metadata": {},
"outputs": [
{
"data": {
"text/plain": [
"<autopilot.PilotCommand at 0x2696e2decd0>"
]
},
"execution_count": 3,
"metadata": {},
"output_type": "execute_result"
}
],
"source": [
"autopilot = AutoPilot([(0, 0), (1500, 1000)], [], vzm)\n",
"imgs = [Image.open(Path('images') / f'photo_{i}.png') for i in range(10)]\n",
"autopilot.handle(imgs[0])\n"
]
},
{
"cell_type": "code",
"execution_count": 4,
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"None\n"
"\n",
" [Pilot] translate: -0.28939364297583925 8.879763334079307\n",
" [Pilot] Drone Position: (8.87, 0.58)\n",
" [Pilot] Angle: 5.6°\n",
" [Pilot] Target Index: 0\n",
" [Pilot] Target Position: (0, 0)\n",
" [Pilot] Distance: 0.0\n",
"0.1 50.0\n",
"\n",
" [Pilot] translate: -4.194654791266826 51.7432078133843\n",
" [Pilot] Drone Position: (60.43, 6.60)\n",
" [Pilot] Angle: 11.3°\n",
" [Pilot] Target Index: 1\n",
" [Pilot] Target Position: (1500, 1000)\n",
" [Pilot] Distance: 1795.0821692652123\n",
"0.1 50.0\n",
"\n",
" [Pilot] translate: -4.752188299516379 51.16691704857423\n",
" [Pilot] Drone Position: (110.73, 17.12)\n",
" [Pilot] Angle: 17.1°\n",
" [Pilot] Target Index: 1\n",
" [Pilot] Target Position: (1500, 1000)\n",
" [Pilot] Distance: 1749.0606665752869\n",
"0.1 50.0\n"
]
}
],
"source": [
"for i in range(1, 4):\n",
" print()\n",
" command = autopilot.handle(imgs[i])\n",
" print(command.dangle, command.velocity)\n",
" vzm.pause(0.5)\n"
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": []
}
],