Sebi/Sim-Tello-KI-fun
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add KI

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Sebastian Unterschütz
2026-04-21 11:35:04 +02:00
parent 8c77744cad
commit f5d344cf75
3 changed files with 48 additions and 91 deletions
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16
drone_pilot/flight.py
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@@ -69,9 +69,9 @@ class FlightController:
# Remember which side it was on
self.last_target_side = 1 if err_x > 0 else -1
# Rotation (Yaw) - FULL SPEED CAPABLE
# Rotation (Yaw) - SMOOTHER
if abs(err_x) > Config.FACE_DEADZONE:
yv = int(np.clip(Config.YAW_GAIN * err_x, -100, 100))
yv = int(np.clip(Config.YAW_GAIN * err_x, -50, 50))
# Forward/Backward pursuit - EXTREME SPEED
alignment_factor = max(0.4, 1.0 - (abs(err_x) / Config.FACE_ROT_ONLY))
@@ -85,18 +85,18 @@ class FlightController:
elapsed = time.time() - self.lost_time
if elapsed < 10.0: # Search longer and faster
yv = 80 * self.last_target_side
self.status = f"LOST TARGET: RAPID SCAN {'RIGHT' if self.last_target_side > 0 else 'LEFT'}"
yv = 40 * self.last_target_side
self.status = f"LOST TARGET: SCANNING {'RIGHT' if self.last_target_side > 0 else 'LEFT'}"
else:
self.status = "TARGET LOST: AGGRESSIVE PATROL"
yv = 60
yv = 30
elif self.smooth_face is not None:
# Face found but not locked
(x, y, w, h) = self.smooth_face
err_x = (x + w // 2) - (Config.WIDTH // 2)
if abs(err_x) > Config.FACE_DEADZONE:
yv = int(np.clip(Config.YAW_GAIN * err_x, -80, 80))
yv = int(np.clip(Config.YAW_GAIN * err_x, -40, 40))
self.status = "AWAITING LOCK"
else:
# Patrol mode - faster
@@ -105,8 +105,8 @@ class FlightController:
self.status = "PATROL: DASH"
fb = 40
else:
self.status = "PATROL: FAST SPIN"
yv = 60
self.status = "PATROL: SCAN"
yv = 30
return self._smooth(lr, fb, ud, yv)