nicoboy/wireclaw
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Fix langue et altitude relative dans SYSTEM_PROMPT

Browse Source 
- Ajout instruction explicite : message toujours en français
- Nouveau champ delta dans le schéma JSON : "monte de 5m" → delta=5,
  "descend de 3m" → delta=-3, null pour altitude absolue
- takeoff et altitude calculent target_alt = current_alt + delta
  quand delta est présent, sinon utilisent altitude absolue

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
This commit is contained in:
nicoboy
2026-06-01 14:46:28 +02:00
parent f019470749
commit f7a096c6a7
1 changed files with 13 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files

21
wireclaw_core.py
View File

@ -14,15 +14,17 @@ client = genai.Client(api_key=GEMINI_API_KEY)
SYSTEM_PROMPT = f"""Tu es WireClaw, cerveau d'un drone d'inspection autonome. SYSTEM_PROMPT = f"""Tu es WireClaw, cerveau d'un drone d'inspection autonome.
Reponds UNIQUEMENT avec un objet JSON valide, sans markdown. Reponds UNIQUEMENT avec un objet JSON valide, sans markdown.
Le champ "message" est TOUJOURS en francais.
Format : Format :
{{ {{
"action": "takeoff|land|rtl|hover|goto|orbit|status|position|altitude|position_gps", "action": "takeoff|land|rtl|hover|goto|orbit|status|position|altitude|position_gps",
"altitude": <float metres, defaut 15>, "altitude": <float metres AGL, defaut 15. Utilise pour altitude cible absolue : "monte a 10m" → 10>,
"delta": <float|null. Variation relative : "monte de 5m" → 5, "descend de 3m" → -3, null sinon>,
"lat": <float, pour goto>, "lat": <float, pour goto>,
"lon": <float, pour goto>, "lon": <float, pour goto>,
"radius": <float metres, pour orbit, defaut 10>, "radius": <float metres, pour orbit, defaut 10>,
"speed": <float m/s, pour orbit, defaut 2>, "speed": <float m/s, pour orbit, defaut 2>,
"message": "<confirmation courte>" "message": "<confirmation courte en francais>"
}} }}
Position de base : lat={BASE_LAT}, lon={BASE_LON}. Position de base : lat={BASE_LAT}, lon={BASE_LON}.
Pour goto, calcule des coordonnees proches (max 500m en test). Pour goto, calcule des coordonnees proches (max 500m en test).
@ -114,16 +116,17 @@ async def execute_command(drone, cmd):
elif action == "takeoff": elif action == "takeoff":
await refresh_position(drone) await refresh_position(drone)
delta = cmd.get("delta")
target_alt = current_pos["alt"] + float(delta) if delta is not None else alt
if current_pos["alt"] >= 2.0: if current_pos["alt"] >= 2.0:
# Déjà en vol : changer l'altitude en conservant la position new_abs_alt = current_pos["abs_alt"] - current_pos["alt"] + target_alt
new_abs_alt = current_pos["abs_alt"] - current_pos["alt"] + alt
await drone.action.goto_location( await drone.action.goto_location(
current_pos["lat"], current_pos["lon"], new_abs_alt, float('nan') current_pos["lat"], current_pos["lon"], new_abs_alt, float('nan')
) )
await asyncio.sleep(6) await asyncio.sleep(6)
await refresh_position(drone) await refresh_position(drone)
return f"OK {msg} — altitude {current_pos['alt']:.1f}m" return f"OK {msg} — altitude {current_pos['alt']:.1f}m"
await drone.action.set_takeoff_altitude(alt) await drone.action.set_takeoff_altitude(target_alt)
await drone.action.arm() await drone.action.arm()
await drone.action.takeoff() await drone.action.takeoff()
await asyncio.sleep(8) await asyncio.sleep(8)
@ -193,20 +196,22 @@ async def execute_command(drone, cmd):
elif action == "altitude": elif action == "altitude":
await refresh_position(drone) await refresh_position(drone)
delta = cmd.get("delta")
target_alt = current_pos["alt"] + float(delta) if delta is not None else alt
if current_pos["alt"] < 2.0: if current_pos["alt"] < 2.0:
await drone.action.set_takeoff_altitude(alt) await drone.action.set_takeoff_altitude(target_alt)
await drone.action.arm() await drone.action.arm()
await drone.action.takeoff() await drone.action.takeoff()
await asyncio.sleep(8) await asyncio.sleep(8)
await refresh_position(drone) await refresh_position(drone)
return f"OK {msg} — altitude {current_pos['alt']:.1f}m" return f"OK {msg} — altitude {current_pos['alt']:.1f}m"
new_abs_alt = current_pos["abs_alt"] - current_pos["alt"] + alt new_abs_alt = current_pos["abs_alt"] - current_pos["alt"] + target_alt
await drone.action.goto_location( await drone.action.goto_location(
current_pos["lat"], current_pos["lon"], new_abs_alt, float('nan') current_pos["lat"], current_pos["lon"], new_abs_alt, float('nan')
) )
await asyncio.sleep(6) await asyncio.sleep(6)
await refresh_position(drone) await refresh_position(drone)
return f"OK {msg} — altitude {current_pos['alt']:.1f}m (cible {alt}m)" return f"OK {msg} — altitude {current_pos['alt']:.1f}m (cible {target_alt:.1f}m)"
elif action == "position_gps": elif action == "position_gps":
import datetime import datetime