Added more angles to drone gimbal tilting.

Author: brittleru

drone_base/control/manual/keyboard_controller.py

@@ -29,8 +29,12 @@ class KeyboardController:
         - y - Land the drone.
         - p - Takes a photo.
         - z - Resets the gimbal camera position.
-        - x - Tilts the gimbal camera position 30 degrees.
-        - c - Tilts the gimbal camera position 90 degrees.
+        - x - Tilts the gimbal camera position 15 degrees.
+        - c - Tilts the gimbal camera position 30 degrees.
+        - v - Tilts the gimbal camera position 45 degrees.
+        - s - Tilts the gimbal camera position 60 degrees.
+        - d - Tilts the gimbal camera position 75 degrees.
+        - f - Tilts the gimbal camera position 90 degrees.
     """
 
     MOVEMENT_KEYS: Final[dict[str, tuple[str, int]]] = {
@@ -49,8 +53,12 @@ class KeyboardController:
         "y": DroneCommand.LAND,
         "p": DroneCommand.PHOTO,
         "z": DroneCommand.TILT_RESET,
-        "x": DroneCommand.TILT_30,
-        "c": DroneCommand.TILT_90,
+        "x": DroneCommand.TILT_15,
+        "c": DroneCommand.TILT_30,
+        "v": DroneCommand.TILT_45,
+        "s": DroneCommand.TILT_60,
+        "d": DroneCommand.TILT_75,
+        "f": DroneCommand.TILT_90,
         "q": DroneCommand.EMERGENCY_STOP,
     }
 
@@ -143,8 +151,16 @@ def _execute_command(self, command: DroneCommand):
                 self.logger.info("Photo taken.")
             elif command == DroneCommand.TILT_RESET:
                 self.commander.tilt_camera(pitch_deg=0, reference_type=GimbalType.REF_ABSOLUTE)
+            elif command == DroneCommand.TILT_15:
+                self.commander.tilt_camera(pitch_deg=-15, reference_type=GimbalType.REF_ABSOLUTE)
             elif command == DroneCommand.TILT_30:
                 self.commander.tilt_camera(pitch_deg=-30, reference_type=GimbalType.REF_ABSOLUTE)
+            elif command == DroneCommand.TILT_45:
+                self.commander.tilt_camera(pitch_deg=-45, reference_type=GimbalType.REF_ABSOLUTE)
+            elif command == DroneCommand.TILT_60:
+                self.commander.tilt_camera(pitch_deg=-60, reference_type=GimbalType.REF_ABSOLUTE)
+            elif command == DroneCommand.TILT_75:
+                self.commander.tilt_camera(pitch_deg=-75, reference_type=GimbalType.REF_ABSOLUTE)
             elif command == DroneCommand.TILT_90:
                 self.commander.tilt_camera(pitch_deg=-90, reference_type=GimbalType.REF_ABSOLUTE)
             elif command == DroneCommand.EMERGENCY_STOP:

drone_base/control/manual/operations.py

@@ -7,7 +7,11 @@ class DroneCommand(Enum):
     LAND = auto()
     PHOTO = auto()
     TILT_RESET = auto()
+    TILT_15 = auto()
     TILT_30 = auto()
+    TILT_45 = auto()
+    TILT_60 = auto()
+    TILT_75 = auto()
     TILT_90 = auto()
     EMERGENCY_STOP = auto()