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Fix langue et altitude relative dans SYSTEM_PROMPT

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- 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
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21
wireclaw_core.py
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@ -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.
Reponds UNIQUEMENT avec un objet JSON valide, sans markdown.
Le champ "message" est TOUJOURS en francais.
Format :
{{
"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>,
"lon": <float, pour goto>,
"radius": <float metres, pour orbit, defaut 10>,
"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}.
Pour goto, calcule des coordonnees proches (max 500m en test).
@ -114,16 +116,17 @@ async def execute_command(drone, cmd):
elif action == "takeoff":
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:
# Déjà en vol : changer l'altitude en conservant la position
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(
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"
await drone.action.set_takeoff_altitude(alt)
await drone.action.set_takeoff_altitude(target_alt)
await drone.action.arm()
await drone.action.takeoff()
await asyncio.sleep(8)
@ -193,20 +196,22 @@ async def execute_command(drone, cmd):
elif action == "altitude":
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:
await drone.action.set_takeoff_altitude(alt)
await drone.action.set_takeoff_altitude(target_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
new_abs_alt = current_pos["abs_alt"] - current_pos["alt"] + target_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)"
return f"OK {msg} — altitude {current_pos['alt']:.1f}m (cible {target_alt:.1f}m)"
elif action == "position_gps":
import datetime