mirror of https://github.com/ArduPilot/ardupilot
SITL: fix Morse simulator camera and changed default mission to indoor
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@ -0,0 +1,6 @@
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QGC WPL 110
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0 1 0 16 0 0 0 0 -35.363261 149.165230 584.099976 1
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1 0 3 16 0.00000000 0.00000000 0.00000000 0.00000000 -35.36338840 149.16519640 0.000000 1
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2 0 3 16 0.00000000 0.00000000 0.00000000 0.00000000 -35.36328010 149.16527290 0.000000 1
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3 0 3 16 0.00000000 0.00000000 0.00000000 0.00000000 -35.36319320 149.16520510 0.000000 1
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4 0 3 177 1.00000000 -1.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.000000 1
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@ -24,13 +24,15 @@ from morse.builder import *
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vehicle = ATRV()
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vehicle.properties(Object = True, Graspable = False, Label = "Vehicle")
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vehicle.translate(x=0.0, z=0.0)
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vehicle.rotate(z=math.pi)
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# add a camera
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camera = SemanticCamera(name="Camera")
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camera.translate(x=0.2, y=0.3, z=0.9)
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vehicle.append(camera)
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camera.properties(cam_far=800)
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camera.properties(Vertical_Flip=True)
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camera.properties(Vertical_Flip=False)
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camera.rotate(z=math.pi)
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# we could optionally stream the video to a port
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#camera.add_stream('socket')
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@ -83,7 +85,7 @@ motion.add_stream('socket')
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#vehicle.append(keyboard)
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# Environment
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env = Environment('land-1/trees', fastmode=False)
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env = Environment('indoors-1/boxes', fastmode=False)
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env.set_camera_location([10.0, -10.0, 10.0])
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env.set_camera_rotation([1.0470, 0, 0.7854])
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env.select_display_camera(camera)
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