四旋翼无人机定点航拍控制系统设计 的代码

四旋翼无人机定点航拍控制系统的设计通常涉及到飞行控制器、传感器数据处理、以及地面控制软件的交互。这里提供一个简化版的大致框架，实际操作会更复杂，并需要对硬件有深入理解：

# 导入必要的库
import time
from dronekit import connect, VehicleMode

class PointingControlSystem:
    def __init__(self, vehicle):
        self.vehicle = vehicle
        self.target_latitude = ... # 设定目标纬度
        self.target_longitude = ... # 设定目标经度
        self.desired_height = ... # 预设高度

    def set_point(self, lat, lon):
        self.target_latitude = lat
        self.target_longitude = lon

    def altitude_control(self):
        current_altitude = self.vehicle.location.global_relative_frame.alt
        if current_altitude != self.desired_height:
            alt_command = self.desired_height - current_altitude
            self.vehicle.simple_goto(alt_command)

    def hover_and_shoot(self):
        self.vehicle.mode = VehicleMode("GUIDED")
        while True:
            self.altitude_control()
            if self.is_close_to_target():
                break
            time.sleep(0.5)  # 控制频率

    def is_close_to_target(self):
        # 使用GPS偏差或其他传感器判断距离目标位置是否足够接近
        latitude_diff = abs(self.vehicle.location.global_frame.lat - self.target_latitude)
        longitude_diff = abs(self.vehicle.location.global_frame.lon - self.target_longitude)
        return latitude_diff < 0.01 and longitude_diff < 0.01

# 连接到无人机并启动系统
vehicle = connect('udp:127.0.0.1:14550', wait_ready=True)
control_system = PointingControlSystem(vehicle)
control_system.set_point(latitude, longitude)
control_system.hover_and_shoot()