No horizontal movement API in drone's x, y, z axes

[ICYPOLE]

OS: Win10
AirSim: v1.3.1
Python: v3.6.12

I am currently writing a PC keyboard controller in Python for controlling drone. When trying to control the drone for horizontal movement, I found that all of the APIs, such as moveByVelocityAsync, setVelocityControllerGains, are implemented for world x, y, z axes.

I wonder if there is any possible solution to move the drone horizontally in the drone's x, y, z axes, which is more intuitive.

[rlalpha]

same problem here too.
Try to connect my remote controller: which have format rc: x_velocity, y_velocity, z_velocity, rotate_velocity

[ahmed-elsaharti]

You could create a function that uses the pitch, roll and yaw of the vehicle (from simGetVehiclePose) to break a velocity vector in the Drone's x,y,z axes to components in the world x,y,z axes and then use moveByVelocityAsync to execute those components which would result in an overall motion equivalent to the drone vector you wanted.

Here's a quick 2D example to show what I mean

[jonyMarino]

Hey @ICYPOLE! That would be very handy. Want to submit a PR for a new moveByVelocityBodyFrameAsync and setVelocityControllerGainsBodyFrame with Ahmed's approach?

[jonyMarino]

Thanks, @ahmed-elsaharti, for your PR! Just for curiosity, what tool are you using to make your graphics?

[ahmed-elsaharti]

@jonyMarino I generally use Microsoft Onenote along with my graphics tablet 😃