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Ajout commandes altitude et position_gps

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- altitude : change la hauteur en vol via goto_location,
  ou décollage depuis le sol si alt < 2m
- position_gps : position complète avec horodatage HH:MM:SS,
  fix GPS et nombre de satellites via telemetry.gps_info()
- SYSTEM_PROMPT et message d'accueil mis à jour

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
This commit is contained in:
nicoboy
2026-06-01 14:31:32 +02:00
parent 6024655a50
commit f019470749
1 changed files with 35 additions and 2 deletions
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37
wireclaw_core.py
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@ -16,7 +16,7 @@ SYSTEM_PROMPT = f"""Tu es WireClaw, cerveau d'un drone d'inspection autonome.
Reponds UNIQUEMENT avec un objet JSON valide, sans markdown.
Format :
{{
"action": "takeoff|land|rtl|hover|goto|orbit|status|position",
"action": "takeoff|land|rtl|hover|goto|orbit|status|position|altitude|position_gps",
"altitude": <float metres, defaut 15>,
"lat": <float, pour goto>,
"lon": <float, pour goto>,
@ -191,6 +191,39 @@ async def execute_command(drone, cmd):
f"Centre : ({lat0:.6f}, {lon0:.6f})")
return f"OK {msg} — orbite native {radius}m a {speed}m/s"
elif action == "altitude":
await refresh_position(drone)
if current_pos["alt"] < 2.0:
await drone.action.set_takeoff_altitude(alt)
await drone.action.arm()
await drone.action.takeoff()
await asyncio.sleep(8)
await refresh_position(drone)
return f"OK {msg} — altitude {current_pos['alt']:.1f}m"
new_abs_alt = current_pos["abs_alt"] - current_pos["alt"] + alt
await drone.action.goto_location(
current_pos["lat"], current_pos["lon"], new_abs_alt, float('nan')
)
await asyncio.sleep(6)
await refresh_position(drone)
return f"OK {msg} — altitude {current_pos['alt']:.1f}m (cible {alt}m)"
elif action == "position_gps":
import datetime
await refresh_position(drone)
ts = datetime.datetime.now().strftime("%H:%M:%S")
async for gps in drone.telemetry.gps_info():
fix = gps.fix_type
sats = gps.num_satellites
break
return (f"\nHorodatage : {ts}\n"
f"Latitude : {current_pos['lat']:.7f}\n"
f"Longitude : {current_pos['lon']:.7f}\n"
f"Alt AGL : {current_pos['alt']:.2f} m\n"
f"Alt MSL : {current_pos['abs_alt']:.2f} m\n"
f"Fix GPS : {fix}\n"
f"Satellites : {sats}")
elif action == "hover":
await drone.action.hold()
return "OK " + msg
@ -228,7 +261,7 @@ async def init():
async def main():
await init()
print("\nWireClaw pret")
print("Commandes : takeoff, goto, orbit, status, position, hover, rtl, land\n")
print("Commandes : takeoff, altitude, goto, orbit, status, position, position_gps, hover, rtl, land\n")
while True:
try: