idx int64 0 251k | question stringlengths 53 3.53k | target stringlengths 5 1.23k | len_question int64 20 893 | len_target int64 3 238 |
|---|---|---|---|---|
229,200 | def set_mode_loiter ( self ) : if self . mavlink10 ( ) : self . mav . command_long_send ( self . target_system , self . target_component , mavlink . MAV_CMD_NAV_LOITER_UNLIM , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 ) else : MAV_ACTION_LOITER = 27 self . mav . action_send ( self . target_system , self . target_component , MAV_ACTION_LOITER ) | enter LOITER mode | 123 | 5 |
229,201 | def set_servo ( self , channel , pwm ) : self . mav . command_long_send ( self . target_system , self . target_component , mavlink . MAV_CMD_DO_SET_SERVO , 0 , channel , pwm , 0 , 0 , 0 , 0 , 0 ) | set a servo value | 71 | 5 |
229,202 | def set_relay ( self , relay_pin = 0 , state = True ) : if self . mavlink10 ( ) : self . mav . command_long_send ( self . target_system , # target_system self . target_component , # target_component mavlink . MAV_CMD_DO_SET_RELAY , # command 0 , # Confirmation relay_pin , # Relay Number int ( state ) , # state (1 to indicate arm) 0 , # param3 (all other params meaningless) 0 , # param4 0 , # param5 0 , # param6 0 ) # param7 else : print ( "Setting relays not supported." ) | Set relay_pin to value of state | 148 | 8 |
229,203 | def reboot_autopilot ( self , hold_in_bootloader = False ) : if self . mavlink10 ( ) : if hold_in_bootloader : param1 = 3 else : param1 = 1 self . mav . command_long_send ( self . target_system , self . target_component , mavlink . MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN , 0 , param1 , 0 , 0 , 0 , 0 , 0 , 0 ) # send an old style reboot immediately afterwards in case it is an older firmware # that doesn't understand the new convention self . mav . command_long_send ( self . target_system , self . target_component , mavlink . MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN , 0 , 1 , 0 , 0 , 0 , 0 , 0 , 0 ) | reboot the autopilot | 193 | 5 |
229,204 | def location ( self , relative_alt = False ) : self . wait_gps_fix ( ) # wait for another VFR_HUD, to ensure we have correct altitude self . recv_match ( type = 'VFR_HUD' , blocking = True ) self . recv_match ( type = 'GLOBAL_POSITION_INT' , blocking = True ) if relative_alt : alt = self . messages [ 'GLOBAL_POSITION_INT' ] . relative_alt * 0.001 else : alt = self . messages [ 'VFR_HUD' ] . alt return location ( self . messages [ 'GPS_RAW_INT' ] . lat * 1.0e-7 , self . messages [ 'GPS_RAW_INT' ] . lon * 1.0e-7 , alt , self . messages [ 'VFR_HUD' ] . heading ) | return current location | 194 | 3 |
229,205 | def motors_armed ( self ) : if not 'HEARTBEAT' in self . messages : return False m = self . messages [ 'HEARTBEAT' ] return ( m . base_mode & mavlink . MAV_MODE_FLAG_SAFETY_ARMED ) != 0 | return true if motors armed | 65 | 5 |
229,206 | def field ( self , type , field , default = None ) : if not type in self . messages : return default return getattr ( self . messages [ type ] , field , default ) | convenient function for returning an arbitrary MAVLink field with a default | 39 | 14 |
229,207 | def setup_signing ( self , secret_key , sign_outgoing = True , allow_unsigned_callback = None , initial_timestamp = None , link_id = None ) : self . mav . signing . secret_key = secret_key self . mav . signing . sign_outgoing = sign_outgoing self . mav . signing . allow_unsigned_callback = allow_unsigned_callback if link_id is None : # auto-increment the link_id for each link global global_link_id link_id = global_link_id global_link_id = min ( global_link_id + 1 , 255 ) self . mav . signing . link_id = link_id if initial_timestamp is None : # timestamp is time since 1/1/2015 epoch_offset = 1420070400 now = max ( time . time ( ) , epoch_offset ) initial_timestamp = now - epoch_offset initial_timestamp = int ( initial_timestamp * 100 * 1000 ) # initial_timestamp is in 10usec units self . mav . signing . timestamp = initial_timestamp | setup for MAVLink2 signing | 245 | 7 |
229,208 | def disable_signing ( self ) : self . mav . signing . secret_key = None self . mav . signing . sign_outgoing = False self . mav . signing . allow_unsigned_callback = None self . mav . signing . link_id = 0 self . mav . signing . timestamp = 0 | disable MAVLink2 signing | 70 | 6 |
229,209 | def scan_timestamp ( self , tbuf ) : while True : ( tusec , ) = struct . unpack ( '>Q' , tbuf ) t = tusec * 1.0e-6 if abs ( t - self . _last_timestamp ) <= 3 * 24 * 60 * 60 : break c = self . f . read ( 1 ) if len ( c ) != 1 : break tbuf = tbuf [ 1 : ] + c return t | scan forward looking in a tlog for a timestamp in a reasonable range | 102 | 14 |
229,210 | def pre_message ( self ) : # read the timestamp if self . filesize != 0 : self . percent = ( 100.0 * self . f . tell ( ) ) / self . filesize if self . notimestamps : return if self . planner_format : tbuf = self . f . read ( 21 ) if len ( tbuf ) != 21 or tbuf [ 0 ] != '-' or tbuf [ 20 ] != ':' : raise RuntimeError ( 'bad planner timestamp %s' % tbuf ) hnsec = self . _two64 + float ( tbuf [ 0 : 20 ] ) t = hnsec * 1.0e-7 # convert to seconds t -= 719163 * 24 * 60 * 60 # convert to 1970 base self . _link = 0 else : tbuf = self . f . read ( 8 ) if len ( tbuf ) != 8 : return ( tusec , ) = struct . unpack ( '>Q' , tbuf ) t = tusec * 1.0e-6 if ( self . _last_timestamp is not None and self . _last_message . get_type ( ) == "BAD_DATA" and abs ( t - self . _last_timestamp ) > 3 * 24 * 60 * 60 ) : t = self . scan_timestamp ( tbuf ) self . _link = tusec & 0x3 self . _timestamp = t | read timestamp if needed | 310 | 4 |
229,211 | def post_message ( self , msg ) : # read the timestamp super ( mavlogfile , self ) . post_message ( msg ) if self . planner_format : self . f . read ( 1 ) # trailing newline self . timestamp = msg . _timestamp self . _last_message = msg if msg . get_type ( ) != "BAD_DATA" : self . _last_timestamp = msg . _timestamp msg . _link = self . _link | add timestamp to message | 104 | 4 |
229,212 | def trigger ( self ) : tnow = time . time ( ) if tnow < self . last_time : print ( "Warning, time moved backwards. Restarting timer." ) self . last_time = tnow if self . last_time + ( 1.0 / self . frequency ) <= tnow : self . last_time = tnow return True return False | return True if we should trigger now | 79 | 7 |
229,213 | def write ( self , b ) : from . import mavutil self . debug ( "sending '%s' (0x%02x) of len %u\n" % ( b , ord ( b [ 0 ] ) , len ( b ) ) , 2 ) while len ( b ) > 0 : n = len ( b ) if n > 70 : n = 70 buf = [ ord ( x ) for x in b [ : n ] ] buf . extend ( [ 0 ] * ( 70 - len ( buf ) ) ) self . mav . mav . serial_control_send ( self . port , mavutil . mavlink . SERIAL_CONTROL_FLAG_EXCLUSIVE | mavutil . mavlink . SERIAL_CONTROL_FLAG_RESPOND , 0 , 0 , n , buf ) b = b [ n : ] | write some bytes | 189 | 3 |
229,214 | def _recv ( self ) : from . import mavutil start_time = time . time ( ) while time . time ( ) < start_time + self . timeout : m = self . mav . recv_match ( condition = 'SERIAL_CONTROL.count!=0' , type = 'SERIAL_CONTROL' , blocking = False , timeout = 0 ) if m is not None and m . count != 0 : break self . mav . mav . serial_control_send ( self . port , mavutil . mavlink . SERIAL_CONTROL_FLAG_EXCLUSIVE | mavutil . mavlink . SERIAL_CONTROL_FLAG_RESPOND , 0 , 0 , 0 , [ 0 ] * 70 ) m = self . mav . recv_match ( condition = 'SERIAL_CONTROL.count!=0' , type = 'SERIAL_CONTROL' , blocking = True , timeout = 0.01 ) if m is not None and m . count != 0 : break if m is not None : if self . _debug > 2 : print ( m ) data = m . data [ : m . count ] self . buf += '' . join ( str ( chr ( x ) ) for x in data ) | read some bytes into self . buf | 282 | 7 |
229,215 | def read ( self , n ) : if len ( self . buf ) == 0 : self . _recv ( ) if len ( self . buf ) > 0 : if n > len ( self . buf ) : n = len ( self . buf ) ret = self . buf [ : n ] self . buf = self . buf [ n : ] if self . _debug >= 2 : for b in ret : self . debug ( "read 0x%x" % ord ( b ) , 2 ) return ret return '' | read some bytes | 109 | 3 |
229,216 | def flushInput ( self ) : self . buf = '' saved_timeout = self . timeout self . timeout = 0.5 self . _recv ( ) self . timeout = saved_timeout self . buf = '' self . debug ( "flushInput" ) | flush any pending input | 54 | 4 |
229,217 | def stop ( self ) : self . mpstate . rl . set_prompt ( self . status . flightmode + "> " ) self . mpstate . functions . input_handler = None self . started = False # unlock the port mav = self . master . mav mav . serial_control_send ( self . serial_settings . port , 0 , 0 , self . serial_settings . baudrate , 0 , [ 0 ] * 70 ) | stop nsh input | 99 | 4 |
229,218 | def cmd_nsh ( self , args ) : usage = "Usage: nsh <start|stop|set>" if len ( args ) < 1 : print ( usage ) return if args [ 0 ] == "start" : self . mpstate . functions . input_handler = self . send self . started = True self . mpstate . rl . set_prompt ( "" ) elif args [ 0 ] == "stop" : self . stop ( ) elif args [ 0 ] == "set" : self . serial_settings . command ( args [ 1 : ] ) else : print ( usage ) | nsh shell commands | 129 | 4 |
229,219 | def process_waypoint_request ( self , m , master ) : if ( not self . loading_waypoints or time . time ( ) > self . loading_waypoint_lasttime + 10.0 ) : self . loading_waypoints = False self . console . error ( "not loading waypoints" ) return if m . seq >= self . wploader . count ( ) : self . console . error ( "Request for bad waypoint %u (max %u)" % ( m . seq , self . wploader . count ( ) ) ) return wp = self . wploader . wp ( m . seq ) wp . target_system = self . target_system wp . target_component = self . target_component self . master . mav . send ( self . wploader . wp ( m . seq ) ) self . loading_waypoint_lasttime = time . time ( ) self . console . writeln ( "Sent waypoint %u : %s" % ( m . seq , self . wploader . wp ( m . seq ) ) ) if m . seq == self . wploader . count ( ) - 1 : self . loading_waypoints = False self . console . writeln ( "Sent all %u waypoints" % self . wploader . count ( ) ) | process a waypoint request from the master | 287 | 8 |
229,220 | def send_all_waypoints ( self ) : self . master . waypoint_clear_all_send ( ) if self . wploader . count ( ) == 0 : return self . loading_waypoints = True self . loading_waypoint_lasttime = time . time ( ) self . master . waypoint_count_send ( self . wploader . count ( ) ) | send all waypoints to vehicle | 83 | 6 |
229,221 | def load_waypoints ( self , filename ) : self . wploader . target_system = self . target_system self . wploader . target_component = self . target_component try : self . wploader . load ( filename ) except Exception as msg : print ( "Unable to load %s - %s" % ( filename , msg ) ) return print ( "Loaded %u waypoints from %s" % ( self . wploader . count ( ) , filename ) ) self . send_all_waypoints ( ) | load waypoints from a file | 117 | 6 |
229,222 | def update_waypoints ( self , filename , wpnum ) : self . wploader . target_system = self . target_system self . wploader . target_component = self . target_component try : self . wploader . load ( filename ) except Exception as msg : print ( "Unable to load %s - %s" % ( filename , msg ) ) return if self . wploader . count ( ) == 0 : print ( "No waypoints found in %s" % filename ) return if wpnum == - 1 : print ( "Loaded %u updated waypoints from %s" % ( self . wploader . count ( ) , filename ) ) elif wpnum >= self . wploader . count ( ) : print ( "Invalid waypoint number %u" % wpnum ) return else : print ( "Loaded updated waypoint %u from %s" % ( wpnum , filename ) ) self . loading_waypoints = True self . loading_waypoint_lasttime = time . time ( ) if wpnum == - 1 : start = 0 end = self . wploader . count ( ) - 1 else : start = wpnum end = wpnum self . master . mav . mission_write_partial_list_send ( self . target_system , self . target_component , start , end ) | update waypoints from a file | 297 | 6 |
229,223 | def get_default_frame ( self ) : if self . settings . terrainalt == 'Auto' : if self . get_mav_param ( 'TERRAIN_FOLLOW' , 0 ) == 1 : return mavutil . mavlink . MAV_FRAME_GLOBAL_TERRAIN_ALT return mavutil . mavlink . MAV_FRAME_GLOBAL_RELATIVE_ALT if self . settings . terrainalt == 'True' : return mavutil . mavlink . MAV_FRAME_GLOBAL_TERRAIN_ALT return mavutil . mavlink . MAV_FRAME_GLOBAL_RELATIVE_ALT | default frame for waypoints | 152 | 5 |
229,224 | def wp_draw_callback ( self , points ) : if len ( points ) < 3 : return from MAVProxy . modules . lib import mp_util home = self . wploader . wp ( 0 ) self . wploader . clear ( ) self . wploader . target_system = self . target_system self . wploader . target_component = self . target_component self . wploader . add ( home ) if self . get_default_frame ( ) == mavutil . mavlink . MAV_FRAME_GLOBAL_TERRAIN_ALT : use_terrain = True else : use_terrain = False for p in points : self . wploader . add_latlonalt ( p [ 0 ] , p [ 1 ] , self . settings . wpalt , terrain_alt = use_terrain ) self . send_all_waypoints ( ) | callback from drawing waypoints | 199 | 5 |
229,225 | def wp_loop ( self ) : loader = self . wploader if loader . count ( ) < 2 : print ( "Not enough waypoints (%u)" % loader . count ( ) ) return wp = loader . wp ( loader . count ( ) - 2 ) if wp . command == mavutil . mavlink . MAV_CMD_DO_JUMP : print ( "Mission is already looped" ) return wp = mavutil . mavlink . MAVLink_mission_item_message ( 0 , 0 , 0 , 0 , mavutil . mavlink . MAV_CMD_DO_JUMP , 0 , 1 , 1 , - 1 , 0 , 0 , 0 , 0 , 0 ) loader . add ( wp ) self . loading_waypoints = True self . loading_waypoint_lasttime = time . time ( ) self . master . waypoint_count_send ( self . wploader . count ( ) ) print ( "Closed loop on mission" ) | close the loop on a mission | 223 | 6 |
229,226 | def set_home_location ( self ) : try : latlon = self . module ( 'map' ) . click_position except Exception : print ( "No map available" ) return lat = float ( latlon [ 0 ] ) lon = float ( latlon [ 1 ] ) if self . wploader . count ( ) == 0 : self . wploader . add_latlonalt ( lat , lon , 0 ) w = self . wploader . wp ( 0 ) w . x = lat w . y = lon self . wploader . set ( w , 0 ) self . loading_waypoints = True self . loading_waypoint_lasttime = time . time ( ) self . master . mav . mission_write_partial_list_send ( self . target_system , self . target_component , 0 , 0 ) | set home location from last map click | 184 | 7 |
229,227 | def cmd_wp_move ( self , args ) : if len ( args ) != 1 : print ( "usage: wp move WPNUM" ) return idx = int ( args [ 0 ] ) if idx < 1 or idx > self . wploader . count ( ) : print ( "Invalid wp number %u" % idx ) return try : latlon = self . module ( 'map' ) . click_position except Exception : print ( "No map available" ) return if latlon is None : print ( "No map click position available" ) return wp = self . wploader . wp ( idx ) # setup for undo self . undo_wp = copy . copy ( wp ) self . undo_wp_idx = idx self . undo_type = "move" ( lat , lon ) = latlon if getattr ( self . console , 'ElevationMap' , None ) is not None and wp . frame != mavutil . mavlink . MAV_FRAME_GLOBAL_TERRAIN_ALT : alt1 = self . console . ElevationMap . GetElevation ( lat , lon ) alt2 = self . console . ElevationMap . GetElevation ( wp . x , wp . y ) if alt1 is not None and alt2 is not None : wp . z += alt1 - alt2 wp . x = lat wp . y = lon wp . target_system = self . target_system wp . target_component = self . target_component self . loading_waypoints = True self . loading_waypoint_lasttime = time . time ( ) self . master . mav . mission_write_partial_list_send ( self . target_system , self . target_component , idx , idx ) self . wploader . set ( wp , idx ) print ( "Moved WP %u to %f, %f at %.1fm" % ( idx , lat , lon , wp . z ) ) | handle wp move | 450 | 4 |
229,228 | def cmd_wp_param ( self , args ) : if len ( args ) < 2 : print ( "usage: wp param WPNUM PNUM <VALUE>" ) return idx = int ( args [ 0 ] ) if idx < 1 or idx > self . wploader . count ( ) : print ( "Invalid wp number %u" % idx ) return wp = self . wploader . wp ( idx ) param = [ wp . param1 , wp . param2 , wp . param3 , wp . param4 ] pnum = int ( args [ 1 ] ) if pnum < 1 or pnum > 4 : print ( "Invalid param number %u" % pnum ) return if len ( args ) == 2 : print ( "Param %u: %f" % ( pnum , param [ pnum - 1 ] ) ) return param [ pnum - 1 ] = float ( args [ 2 ] ) wp . param1 = param [ 0 ] wp . param2 = param [ 1 ] wp . param3 = param [ 2 ] wp . param4 = param [ 3 ] wp . target_system = self . target_system wp . target_component = self . target_component self . loading_waypoints = True self . loading_waypoint_lasttime = time . time ( ) self . master . mav . mission_write_partial_list_send ( self . target_system , self . target_component , idx , idx ) self . wploader . set ( wp , idx ) print ( "Set param %u for %u to %f" % ( pnum , idx , param [ pnum - 1 ] ) ) | handle wp parameter change | 374 | 5 |
229,229 | def depthToRGB8 ( float_img_buff , encoding ) : gray_image = None if ( encoding [ - 3 : - 2 ] == "U" ) : gray_image = float_img_buff else : float_img = np . zeros ( ( float_img_buff . shape [ 0 ] , float_img_buff . shape [ 1 ] , 1 ) , dtype = "float32" ) float_img . data = float_img_buff . data gray_image = cv2 . convertScaleAbs ( float_img , alpha = 255 / MAXRANGE ) cv_image = cv2 . cvtColor ( gray_image , cv2 . COLOR_GRAY2RGB ) return cv_image | Translates from Distance Image format to RGB . Inf values are represented by NaN when converting to RGB NaN passed to 0 | 161 | 26 |
229,230 | def __callback ( self , img ) : image = imageMsg2Image ( img , self . bridge ) self . lock . acquire ( ) self . data = image self . lock . release ( ) | Callback function to receive and save Images . | 41 | 8 |
229,231 | def noise ( ) : from random import gauss v = Vector3 ( gauss ( 0 , 1 ) , gauss ( 0 , 1 ) , gauss ( 0 , 1 ) ) v . normalize ( ) return v * args . noise | a noise vector | 51 | 3 |
229,232 | def find_offsets ( data , ofs ) : # a limit on the maximum change in each step max_change = args . max_change # the gain factor for the algorithm gain = args . gain data2 = [ ] for d in data : d = d . copy ( ) + noise ( ) d . x = float ( int ( d . x + 0.5 ) ) d . y = float ( int ( d . y + 0.5 ) ) d . z = float ( int ( d . z + 0.5 ) ) data2 . append ( d ) data = data2 history_idx = 0 mag_history = data [ 0 : args . history ] for i in range ( args . history , len ( data ) ) : B1 = mag_history [ history_idx ] + ofs B2 = data [ i ] + ofs diff = B2 - B1 diff_length = diff . length ( ) if diff_length <= args . min_diff : # the mag vector hasn't changed enough - we don't get any # information from this history_idx = ( history_idx + 1 ) % args . history continue mag_history [ history_idx ] = data [ i ] history_idx = ( history_idx + 1 ) % args . history # equation 6 of Bills paper delta = diff * ( gain * ( B2 . length ( ) - B1 . length ( ) ) / diff_length ) # limit the change from any one reading. This is to prevent # single crazy readings from throwing off the offsets for a long # time delta_length = delta . length ( ) if max_change != 0 and delta_length > max_change : delta *= max_change / delta_length # set the new offsets ofs = ofs - delta if args . verbose : print ( ofs ) return ofs | find mag offsets by applying Bills offsets revisited algorithm on the data | 398 | 13 |
229,233 | def set_menu ( self , menu ) : self . menu = menu self . in_queue . put ( MPImageMenu ( menu ) ) | set a MPTopMenu on the frame | 30 | 8 |
229,234 | def set_popup_menu ( self , menu ) : self . popup_menu = menu self . in_queue . put ( MPImagePopupMenu ( menu ) ) | set a popup menu on the frame | 37 | 7 |
229,235 | def image_coordinates ( self , point ) : # the dragpos is the top left position in image coordinates ret = wx . Point ( int ( self . dragpos . x + point . x / self . zoom ) , int ( self . dragpos . y + point . y / self . zoom ) ) return ret | given a point in window coordinates calculate image coordinates | 68 | 9 |
229,236 | def redraw ( self ) : state = self . state if self . img is None : self . mainSizer . Fit ( self ) self . Refresh ( ) state . frame . Refresh ( ) self . SetFocus ( ) return # get the current size of the containing window frame size = self . frame . GetSize ( ) ( width , height ) = ( self . img . GetWidth ( ) , self . img . GetHeight ( ) ) rect = wx . Rect ( self . dragpos . x , self . dragpos . y , int ( size . x / self . zoom ) , int ( size . y / self . zoom ) ) #print("redraw", self.zoom, self.dragpos, size, rect); if rect . x > width - 1 : rect . x = width - 1 if rect . y > height - 1 : rect . y = height - 1 if rect . width > width - rect . x : rect . width = width - rect . x if rect . height > height - rect . y : rect . height = height - rect . y scaled_image = self . img . Copy ( ) scaled_image = scaled_image . GetSubImage ( rect ) scaled_image = scaled_image . Rescale ( int ( rect . width * self . zoom ) , int ( rect . height * self . zoom ) ) if state . brightness != 1.0 : try : from PIL import Image pimg = mp_util . wxToPIL ( scaled_image ) pimg = Image . eval ( pimg , lambda x : int ( x * state . brightness ) ) scaled_image = mp_util . PILTowx ( pimg ) except Exception : if not self . done_PIL_warning : print ( "Please install PIL for brightness control" ) self . done_PIL_warning = True # ignore lack of PIL library pass self . imagePanel . set_image ( scaled_image ) self . need_redraw = False self . mainSizer . Fit ( self ) self . Refresh ( ) state . frame . Refresh ( ) self . SetFocus ( ) ''' from guppy import hpy h = hpy() print h.heap() ''' | redraw the image with current settings | 473 | 7 |
229,237 | def limit_dragpos ( self ) : if self . dragpos . x < 0 : self . dragpos . x = 0 if self . dragpos . y < 0 : self . dragpos . y = 0 if self . img is None : return if self . dragpos . x >= self . img . GetWidth ( ) : self . dragpos . x = self . img . GetWidth ( ) - 1 if self . dragpos . y >= self . img . GetHeight ( ) : self . dragpos . y = self . img . GetHeight ( ) - 1 | limit dragpos to sane values | 122 | 6 |
229,238 | def on_drag_event ( self , event ) : state = self . state if not state . can_drag : return newpos = self . image_coordinates ( event . GetPosition ( ) ) dx = - ( newpos . x - self . mouse_down . x ) dy = - ( newpos . y - self . mouse_down . y ) self . dragpos = wx . Point ( self . dragpos . x + dx , self . dragpos . y + dy ) self . limit_dragpos ( ) self . mouse_down = newpos self . need_redraw = True self . redraw ( ) | handle mouse drags | 138 | 4 |
229,239 | def show_popup_menu ( self , pos ) : self . popup_pos = self . image_coordinates ( pos ) self . frame . PopupMenu ( self . wx_popup_menu , pos ) | show a popup menu | 48 | 4 |
229,240 | def on_key_event ( self , event ) : keycode = event . GetKeyCode ( ) if keycode == wx . WXK_HOME : self . zoom = 1.0 self . dragpos = wx . Point ( 0 , 0 ) self . need_redraw = True | handle key events | 64 | 3 |
229,241 | def on_event ( self , event ) : state = self . state if isinstance ( event , wx . MouseEvent ) : self . on_mouse_event ( event ) if isinstance ( event , wx . KeyEvent ) : self . on_key_event ( event ) if ( isinstance ( event , wx . MouseEvent ) and not event . ButtonIsDown ( wx . MOUSE_BTN_ANY ) and event . GetWheelRotation ( ) == 0 ) : # don't flood the queue with mouse movement return evt = mp_util . object_container ( event ) pt = self . image_coordinates ( wx . Point ( evt . X , evt . Y ) ) evt . X = pt . x evt . Y = pt . y state . out_queue . put ( evt ) | pass events to the parent | 182 | 5 |
229,242 | def on_menu ( self , event ) : state = self . state if self . popup_menu is not None : ret = self . popup_menu . find_selected ( event ) if ret is not None : ret . popup_pos = self . popup_pos if ret . returnkey == 'fitWindow' : self . fit_to_window ( ) elif ret . returnkey == 'fullSize' : self . full_size ( ) else : state . out_queue . put ( ret ) return if self . menu is not None : ret = self . menu . find_selected ( event ) if ret is not None : state . out_queue . put ( ret ) return | called on menu event | 145 | 4 |
229,243 | def set_menu ( self , menu ) : self . menu = menu wx_menu = menu . wx_menu ( ) self . frame . SetMenuBar ( wx_menu ) self . frame . Bind ( wx . EVT_MENU , self . on_menu ) | add a menu from the parent | 62 | 6 |
229,244 | def set_popup_menu ( self , menu ) : self . popup_menu = menu if menu is None : self . wx_popup_menu = None else : self . wx_popup_menu = menu . wx_menu ( ) self . frame . Bind ( wx . EVT_MENU , self . on_menu ) | add a popup menu from the parent | 77 | 7 |
229,245 | def fit_to_window ( self ) : state = self . state self . dragpos = wx . Point ( 0 , 0 ) client_area = state . frame . GetClientSize ( ) self . zoom = min ( float ( client_area . x ) / self . img . GetWidth ( ) , float ( client_area . y ) / self . img . GetHeight ( ) ) self . need_redraw = True | fit image to window | 92 | 4 |
229,246 | def full_size ( self ) : self . dragpos = wx . Point ( 0 , 0 ) self . zoom = 1.0 self . need_redraw = True | show image at full size | 37 | 5 |
229,247 | def mavmission ( logfile ) : mlog = mavutil . mavlink_connection ( filename ) wp = mavwp . MAVWPLoader ( ) while True : m = mlog . recv_match ( type = [ 'MISSION_ITEM' , 'CMD' , 'WAYPOINT' ] ) if m is None : break if m . get_type ( ) == 'CMD' : m = mavutil . mavlink . MAVLink_mission_item_message ( 0 , 0 , m . CNum , mavutil . mavlink . MAV_FRAME_GLOBAL_RELATIVE_ALT , m . CId , 0 , 1 , m . Prm1 , m . Prm2 , m . Prm3 , m . Prm4 , m . Lat , m . Lng , m . Alt ) if m . current >= 2 : continue while m . seq > wp . count ( ) : print ( "Adding dummy WP %u" % wp . count ( ) ) wp . set ( m , wp . count ( ) ) wp . set ( m , m . seq ) wp . save ( args . output ) print ( "Saved %u waypoints to %s" % ( wp . count ( ) , args . output ) ) | extract mavlink mission | 290 | 6 |
229,248 | def message_checksum ( msg ) : from . mavcrc import x25crc crc = x25crc ( ) crc . accumulate_str ( msg . name + ' ' ) # in order to allow for extensions the crc does not include # any field extensions crc_end = msg . base_fields ( ) for i in range ( crc_end ) : f = msg . ordered_fields [ i ] crc . accumulate_str ( f . type + ' ' ) crc . accumulate_str ( f . name + ' ' ) if f . array_length : crc . accumulate ( [ f . array_length ] ) return ( crc . crc & 0xFF ) ^ ( crc . crc >> 8 ) | calculate a 8 - bit checksum of the key fields of a message so we can detect incompatible XML changes | 163 | 23 |
229,249 | def merge_enums ( xml ) : emap = { } for x in xml : newenums = [ ] for enum in x . enum : if enum . name in emap : emapitem = emap [ enum . name ] # check for possible conflicting auto-assigned values after merge if ( emapitem . start_value <= enum . highest_value and emapitem . highest_value >= enum . start_value ) : for entry in emapitem . entry : # correct the value if necessary, but only if it was auto-assigned to begin with if entry . value <= enum . highest_value and entry . autovalue == True : entry . value = enum . highest_value + 1 enum . highest_value = entry . value # merge the entries emapitem . entry . extend ( enum . entry ) if not emapitem . description : emapitem . description = enum . description print ( "Merged enum %s" % enum . name ) else : newenums . append ( enum ) emap [ enum . name ] = enum x . enum = newenums for e in emap : # sort by value emap [ e ] . entry = sorted ( emap [ e ] . entry , key = operator . attrgetter ( 'value' ) , reverse = False ) # add a ENUM_END emap [ e ] . entry . append ( MAVEnumEntry ( "%s_ENUM_END" % emap [ e ] . name , emap [ e ] . entry [ - 1 ] . value + 1 , end_marker = True ) ) | merge enums between XML files | 344 | 7 |
229,250 | def check_duplicates ( xml ) : merge_enums ( xml ) msgmap = { } enummap = { } for x in xml : for m in x . message : key = m . id if key in msgmap : print ( "ERROR: Duplicate message id %u for %s (%s:%u) also used by %s" % ( m . id , m . name , x . filename , m . linenumber , msgmap [ key ] ) ) return True fieldset = set ( ) for f in m . fields : if f . name in fieldset : print ( "ERROR: Duplicate field %s in message %s (%s:%u)" % ( f . name , m . name , x . filename , m . linenumber ) ) return True fieldset . add ( f . name ) msgmap [ key ] = '%s (%s:%u)' % ( m . name , x . filename , m . linenumber ) for enum in x . enum : for entry in enum . entry : if entry . autovalue == True and "common.xml" not in entry . origin_file : print ( "Note: An enum value was auto-generated: %s = %u" % ( entry . name , entry . value ) ) s1 = "%s.%s" % ( enum . name , entry . name ) s2 = "%s.%s" % ( enum . name , entry . value ) if s1 in enummap or s2 in enummap : print ( "ERROR: Duplicate enum %s:\n\t%s = %s @ %s:%u\n\t%s" % ( "names" if s1 in enummap else "values" , s1 , entry . value , entry . origin_file , entry . origin_line , enummap . get ( s1 ) or enummap . get ( s2 ) ) ) return True enummap [ s1 ] = enummap [ s2 ] = "%s.%s = %s @ %s:%u" % ( enum . name , entry . name , entry . value , entry . origin_file , entry . origin_line ) return False | check for duplicate message IDs | 468 | 5 |
229,251 | def total_msgs ( xml ) : count = 0 for x in xml : count += len ( x . message ) return count | count total number of msgs | 27 | 6 |
229,252 | def base_fields ( self ) : if self . extensions_start is None : return len ( self . fields ) return len ( self . fields [ : self . extensions_start ] ) | return number of non - extended fields | 39 | 7 |
229,253 | def _dataflash_dir ( self , mpstate ) : if mpstate . settings . state_basedir is None : ret = 'dataflash' else : ret = os . path . join ( mpstate . settings . state_basedir , 'dataflash' ) try : os . makedirs ( ret ) except OSError as e : if e . errno != errno . EEXIST : print ( "DFLogger: OSError making (%s): %s" % ( ret , str ( e ) ) ) except Exception as e : print ( "DFLogger: Unknown exception making (%s): %s" % ( ret , str ( e ) ) ) return ret | returns directory path to store DF logs in . May be relative | 151 | 13 |
229,254 | def new_log_filepath ( self ) : lastlog_filename = os . path . join ( self . dataflash_dir , 'LASTLOG.TXT' ) if os . path . exists ( lastlog_filename ) and os . stat ( lastlog_filename ) . st_size != 0 : fh = open ( lastlog_filename , 'rb' ) log_cnt = int ( fh . read ( ) ) + 1 fh . close ( ) else : log_cnt = 1 self . lastlog_file = open ( lastlog_filename , 'w+b' ) self . lastlog_file . write ( log_cnt . __str__ ( ) ) self . lastlog_file . close ( ) return os . path . join ( self . dataflash_dir , '%u.BIN' % ( log_cnt , ) ) | returns a filepath to a log which does not currently exist and is suitable for DF logging | 191 | 19 |
229,255 | def start_new_log ( self ) : filename = self . new_log_filepath ( ) self . block_cnt = 0 self . logfile = open ( filename , 'w+b' ) print ( "DFLogger: logging started (%s)" % ( filename ) ) self . prev_cnt = 0 self . download = 0 self . prev_download = 0 self . last_idle_status_printed_time = time . time ( ) self . last_status_time = time . time ( ) self . missing_blocks = { } self . acking_blocks = { } self . blocks_to_ack_and_nack = [ ] self . missing_found = 0 self . abandoned = 0 | open a new dataflash log reset state | 158 | 8 |
229,256 | def mavlink_packet ( self , m ) : now = time . time ( ) if m . get_type ( ) == 'REMOTE_LOG_DATA_BLOCK' : if self . stopped : # send a stop packet every second until the other end gets the idea: if now - self . time_last_stop_packet_sent > 1 : if self . log_settings . verbose : print ( "DFLogger: Sending stop packet" ) self . master . mav . remote_log_block_status_send ( mavutil . mavlink . MAV_REMOTE_LOG_DATA_BLOCK_STOP , 1 ) return # if random.random() < 0.1: # drop 1 packet in 10 # return if not self . new_log_started : if self . log_settings . verbose : print ( "DFLogger: Received data packet - starting new log" ) self . start_new_log ( ) self . new_log_started = True if self . new_log_started == True : size = m . block_size data = '' . join ( str ( chr ( x ) ) for x in m . data [ : size ] ) ofs = size * ( m . block_cnt ) self . logfile . seek ( ofs ) self . logfile . write ( data ) if m . block_cnt in self . missing_blocks : if self . log_settings . verbose : print ( "DFLogger: Received missing block: %d" % ( m . block_cnt , ) ) del self . missing_blocks [ m . block_cnt ] self . missing_found += 1 self . blocks_to_ack_and_nack . append ( [ self . master , m . block_cnt , 1 , now , None ] ) self . acking_blocks [ m . block_cnt ] = 1 # print("DFLogger: missing blocks: %s" % (str(self.missing_blocks),)) else : # ACK the block we just got: if m . block_cnt in self . acking_blocks : # already acking this one; we probably sent # multiple nacks and received this one # multiple times pass else : self . blocks_to_ack_and_nack . append ( [ self . master , m . block_cnt , 1 , now , None ] ) self . acking_blocks [ m . block_cnt ] = 1 # NACK any blocks we haven't seen and should have: if ( m . block_cnt - self . block_cnt > 1 ) : for block in range ( self . block_cnt + 1 , m . block_cnt ) : if block not in self . missing_blocks and block not in self . acking_blocks : self . missing_blocks [ block ] = 1 if self . log_settings . verbose : print ( "DFLogger: setting %d for nacking" % ( block , ) ) self . blocks_to_ack_and_nack . append ( [ self . master , block , 0 , now , None ] ) #print "\nmissed blocks: ",self.missing_blocks if self . block_cnt < m . block_cnt : self . block_cnt = m . block_cnt self . download += size elif not self . new_log_started and not self . stopped : # send a start packet every second until the other end gets the idea: if now - self . time_last_start_packet_sent > 1 : if self . log_settings . verbose : print ( "DFLogger: Sending start packet" ) self . master . mav . remote_log_block_status_send ( mavutil . mavlink . MAV_REMOTE_LOG_DATA_BLOCK_START , 1 ) self . time_last_start_packet_sent = now | handle REMOTE_LOG_DATA_BLOCK packets | 861 | 11 |
229,257 | def meminfo_send ( self , brkval , freemem , force_mavlink1 = False ) : return self . send ( self . meminfo_encode ( brkval , freemem ) , force_mavlink1 = force_mavlink1 ) | state of APM memory | 62 | 5 |
229,258 | def older_message ( m , lastm ) : atts = { 'time_boot_ms' : 1.0e-3 , 'time_unix_usec' : 1.0e-6 , 'time_usec' : 1.0e-6 } for a in atts . keys ( ) : if hasattr ( m , a ) : mul = atts [ a ] t1 = m . getattr ( a ) * mul t2 = lastm . getattr ( a ) * mul if t2 >= t1 and t2 - t1 < 60 : return True return False | return true if m is older than lastm by timestamp | 131 | 11 |
229,259 | def process ( filename ) : print ( "Processing %s" % filename ) mlog = mavutil . mavlink_connection ( filename , notimestamps = args . notimestamps , robust_parsing = args . robust ) ext = os . path . splitext ( filename ) [ 1 ] isbin = ext in [ '.bin' , '.BIN' ] islog = ext in [ '.log' , '.LOG' ] output = None count = 1 dirname = os . path . dirname ( filename ) if isbin or islog : extension = "bin" else : extension = "tlog" file_header = '' messages = [ ] # we allow a list of modes that map to one mode number. This allows for --mode=AUTO,RTL and consider the RTL as part of AUTO modes = args . mode . upper ( ) . split ( ',' ) flightmode = None while True : m = mlog . recv_match ( ) if m is None : break if args . link is not None and m . _link != args . link : continue mtype = m . get_type ( ) if mtype in messages : if older_message ( m , messages [ mtype ] ) : continue # we don't use mlog.flightmode as that can be wrong if we are extracting a single link if mtype == 'HEARTBEAT' and m . get_srcComponent ( ) != mavutil . mavlink . MAV_COMP_ID_GIMBAL and m . type != mavutil . mavlink . MAV_TYPE_GCS : flightmode = mavutil . mode_string_v10 ( m ) . upper ( ) if mtype == 'MODE' : flightmode = mlog . flightmode if ( isbin or islog ) and m . get_type ( ) in [ "FMT" , "PARM" , "CMD" ] : file_header += m . get_msgbuf ( ) if ( isbin or islog ) and m . get_type ( ) == 'MSG' and m . Message . startswith ( "Ardu" ) : file_header += m . get_msgbuf ( ) if m . get_type ( ) in [ 'PARAM_VALUE' , 'MISSION_ITEM' ] : timestamp = getattr ( m , '_timestamp' , None ) file_header += struct . pack ( '>Q' , timestamp * 1.0e6 ) + m . get_msgbuf ( ) if not mavutil . evaluate_condition ( args . condition , mlog . messages ) : continue if flightmode in modes : if output is None : path = os . path . join ( dirname , "%s%u.%s" % ( modes [ 0 ] , count , extension ) ) count += 1 print ( "Creating %s" % path ) output = open ( path , mode = 'wb' ) output . write ( file_header ) else : if output is not None : output . close ( ) output = None if output and m . get_type ( ) != 'BAD_DATA' : timestamp = getattr ( m , '_timestamp' , None ) if not isbin : output . write ( struct . pack ( '>Q' , timestamp * 1.0e6 ) ) output . write ( m . get_msgbuf ( ) ) | process one logfile | 737 | 4 |
229,260 | def handle_log_entry ( self , m ) : if m . time_utc == 0 : tstring = '' else : tstring = time . ctime ( m . time_utc ) self . entries [ m . id ] = m print ( "Log %u numLogs %u lastLog %u size %u %s" % ( m . id , m . num_logs , m . last_log_num , m . size , tstring ) ) | handling incoming log entry | 103 | 5 |
229,261 | def handle_log_data_missing ( self ) : if len ( self . download_set ) == 0 : return highest = max ( self . download_set ) diff = set ( range ( highest ) ) . difference ( self . download_set ) if len ( diff ) == 0 : self . master . mav . log_request_data_send ( self . target_system , self . target_component , self . download_lognum , ( 1 + highest ) * 90 , 0xffffffff ) self . retries += 1 else : num_requests = 0 while num_requests < 20 : start = min ( diff ) diff . remove ( start ) end = start while end + 1 in diff : end += 1 diff . remove ( end ) self . master . mav . log_request_data_send ( self . target_system , self . target_component , self . download_lognum , start * 90 , ( end + 1 - start ) * 90 ) num_requests += 1 self . retries += 1 if len ( diff ) == 0 : break | handling missing incoming log data | 232 | 6 |
229,262 | def log_status ( self ) : if self . download_filename is None : print ( "No download" ) return dt = time . time ( ) - self . download_start speed = os . path . getsize ( self . download_filename ) / ( 1000.0 * dt ) m = self . entries . get ( self . download_lognum , None ) if m is None : size = 0 else : size = m . size highest = max ( self . download_set ) diff = set ( range ( highest ) ) . difference ( self . download_set ) print ( "Downloading %s - %u/%u bytes %.1f kbyte/s (%u retries %u missing)" % ( self . download_filename , os . path . getsize ( self . download_filename ) , size , speed , self . retries , len ( diff ) ) ) | show download status | 191 | 3 |
229,263 | def log_download ( self , log_num , filename ) : print ( "Downloading log %u as %s" % ( log_num , filename ) ) self . download_lognum = log_num self . download_file = open ( filename , "wb" ) self . master . mav . log_request_data_send ( self . target_system , self . target_component , log_num , 0 , 0xFFFFFFFF ) self . download_filename = filename self . download_set = set ( ) self . download_start = time . time ( ) self . download_last_timestamp = time . time ( ) self . download_ofs = 0 self . retries = 0 | download a log file | 153 | 4 |
229,264 | def idle_task ( self ) : if self . download_last_timestamp is not None and time . time ( ) - self . download_last_timestamp > 0.7 : self . download_last_timestamp = time . time ( ) self . handle_log_data_missing ( ) | handle missing log data | 65 | 4 |
229,265 | def complete_modules ( text ) : import MAVProxy . modules , pkgutil modlist = [ x [ 1 ] for x in pkgutil . iter_modules ( MAVProxy . modules . __path__ ) ] ret = [ ] loaded = set ( complete_loadedmodules ( '' ) ) for m in modlist : if not m . startswith ( "mavproxy_" ) : continue name = m [ 9 : ] if not name in loaded : ret . append ( name ) return ret | complete mavproxy module names | 108 | 6 |
229,266 | def complete_filename ( text ) : #ensure directories have trailing slashes: list = glob . glob ( text + '*' ) for idx , val in enumerate ( list ) : if os . path . isdir ( val ) : list [ idx ] = ( val + os . path . sep ) return list | complete a filename | 69 | 3 |
229,267 | def complete_variable ( text ) : if text . find ( '.' ) != - 1 : var = text . split ( '.' ) [ 0 ] if var in rline_mpstate . status . msgs : ret = [ ] for f in rline_mpstate . status . msgs [ var ] . get_fieldnames ( ) : ret . append ( var + '.' + f ) return ret return [ ] return rline_mpstate . status . msgs . keys ( ) | complete a MAVLink variable | 105 | 6 |
229,268 | def rule_expand ( component , text ) : global rline_mpstate if component [ 0 ] == '<' and component [ - 1 ] == '>' : return component [ 1 : - 1 ] . split ( '|' ) if component in rline_mpstate . completion_functions : return rline_mpstate . completion_functions [ component ] ( text ) return [ component ] | expand one rule component | 87 | 5 |
229,269 | def rule_match ( component , cmd ) : if component == cmd : return True expanded = rule_expand ( component , cmd ) if cmd in expanded : return True return False | see if one rule component matches | 37 | 6 |
229,270 | def complete_rules ( rules , cmd ) : if not isinstance ( rules , list ) : rules = [ rules ] ret = [ ] for r in rules : ret += complete_rule ( r , cmd ) return ret | complete using a list of completion rules | 46 | 7 |
229,271 | def complete ( text , state ) : global last_clist global rline_mpstate if state != 0 and last_clist is not None : return last_clist [ state ] # split the command so far cmd = readline . get_line_buffer ( ) . split ( ) if len ( cmd ) == 1 : # if on first part then complete on commands and aliases last_clist = complete_command ( text ) + complete_alias ( text ) elif cmd [ 0 ] in rline_mpstate . completions : # we have a completion rule for this command last_clist = complete_rules ( rline_mpstate . completions [ cmd [ 0 ] ] , cmd [ 1 : ] ) else : # assume completion by filename last_clist = glob . glob ( text + '*' ) ret = [ ] for c in last_clist : if c . startswith ( text ) or c . startswith ( text . upper ( ) ) : ret . append ( c ) if len ( ret ) == 0 : # if we had no matches then try case insensitively text = text . lower ( ) for c in last_clist : if c . lower ( ) . startswith ( text ) : ret . append ( c ) ret . append ( None ) last_clist = ret return last_clist [ state ] | completion routine for when user presses tab | 291 | 8 |
229,272 | def laserScan2LaserData ( scan ) : laser = LaserData ( ) laser . values = scan . ranges ''' ROS Angle Map JdeRobot Angle Map 0 PI/2 | | | | PI/2 --------- -PI/2 PI --------- 0 | | | | ''' laser . minAngle = scan . angle_min + PI / 2 laser . maxAngle = scan . angle_max + PI / 2 laser . maxRange = scan . range_max laser . minRange = scan . range_min laser . timeStamp = scan . header . stamp . secs + ( scan . header . stamp . nsecs * 1e-9 ) return laser | Translates from ROS LaserScan to JderobotTypes LaserData . | 143 | 16 |
229,273 | def __callback ( self , scan ) : laser = laserScan2LaserData ( scan ) self . lock . acquire ( ) self . data = laser self . lock . release ( ) | Callback function to receive and save Laser Scans . | 39 | 10 |
229,274 | def add_to_linestring ( position_data , kml_linestring ) : global kml # add altitude offset position_data [ 2 ] += float ( args . aoff ) kml_linestring . coords . addcoordinates ( [ position_data ] ) | add a point to the kml file | 62 | 8 |
229,275 | def sniff_field_spelling ( mlog , source ) : position_field_type_default = position_field_types [ 0 ] # Default to PX4 spelling msg = mlog . recv_match ( source ) mlog . _rewind ( ) # Unfortunately it's either call this or return a mutated object position_field_selection = [ spelling for spelling in position_field_types if hasattr ( msg , spelling [ 0 ] ) ] return position_field_selection [ 0 ] if position_field_selection else position_field_type_default | attempt to detect whether APM or PX4 attributes names are in use | 120 | 16 |
229,276 | def cmd_link_ports ( self ) : ports = mavutil . auto_detect_serial ( preferred_list = [ '*FTDI*' , "*Arduino_Mega_2560*" , "*3D_Robotics*" , "*USB_to_UART*" , '*PX4*' , '*FMU*' ] ) for p in ports : print ( "%s : %s : %s" % ( p . device , p . description , p . hwid ) ) | show available ports | 116 | 3 |
229,277 | def writeln ( self , text , fg = 'black' , bg = 'white' ) : if not isinstance ( text , str ) : text = str ( text ) self . write ( text + '\n' , fg = fg , bg = bg ) | write to the console with linefeed | 62 | 7 |
229,278 | def match_extension ( f ) : ( root , ext ) = os . path . splitext ( f ) return ext . lower ( ) in extensions | see if the path matches a extension | 33 | 7 |
229,279 | def path ( self ) : ( x , y ) = self . tile return os . path . join ( '%u' % self . zoom , '%u' % y , '%u.img' % x ) | return relative path of tile image | 47 | 6 |
229,280 | def url ( self , service ) : if service not in TILE_SERVICES : raise TileException ( 'unknown tile service %s' % service ) url = string . Template ( TILE_SERVICES [ service ] ) ( x , y ) = self . tile tile_info = TileServiceInfo ( x , y , self . zoom ) return url . substitute ( tile_info ) | return URL for a tile | 83 | 5 |
229,281 | def tile_to_path ( self , tile ) : return os . path . join ( self . cache_path , self . service , tile . path ( ) ) | return full path to a tile | 35 | 6 |
229,282 | def start_download_thread ( self ) : if self . _download_thread : return t = threading . Thread ( target = self . downloader ) t . daemon = True self . _download_thread = t t . start ( ) | start the downloader | 51 | 4 |
229,283 | def qnh_estimate ( self ) : alt_gps = self . master . field ( 'GPS_RAW_INT' , 'alt' , 0 ) * 0.001 pressure2 = self . master . field ( 'SCALED_PRESSURE' , 'press_abs' , 0 ) ground_temp = self . get_mav_param ( 'GND_TEMP' , 21 ) temp = ground_temp + 273.15 pressure1 = pressure2 / math . exp ( math . log ( 1.0 - ( alt_gps / ( 153.8462 * temp ) ) ) / 0.190259 ) return pressure1 | estimate QNH pressure from GPS altitude and scaled pressure | 142 | 11 |
229,284 | def cmd_up ( self , args ) : if len ( args ) == 0 : adjust = 5.0 else : adjust = float ( args [ 0 ] ) old_trim = self . get_mav_param ( 'TRIM_PITCH_CD' , None ) if old_trim is None : print ( "Existing trim value unknown!" ) return new_trim = int ( old_trim + ( adjust * 100 ) ) if math . fabs ( new_trim - old_trim ) > 1000 : print ( "Adjustment by %d too large (from %d to %d)" % ( adjust * 100 , old_trim , new_trim ) ) return print ( "Adjusting TRIM_PITCH_CD from %d to %d" % ( old_trim , new_trim ) ) self . param_set ( 'TRIM_PITCH_CD' , new_trim ) | adjust TRIM_PITCH_CD up by 5 degrees | 205 | 12 |
229,285 | def cmd_time ( self , args ) : tusec = self . master . field ( 'SYSTEM_TIME' , 'time_unix_usec' , 0 ) if tusec == 0 : print ( "No SYSTEM_TIME time available" ) return print ( "%s (%s)\n" % ( time . ctime ( tusec * 1.0e-6 ) , time . ctime ( ) ) ) | show autopilot time | 94 | 4 |
229,286 | def cmd_changealt ( self , args ) : if len ( args ) < 1 : print ( "usage: changealt <relaltitude>" ) return relalt = float ( args [ 0 ] ) self . master . mav . mission_item_send ( self . settings . target_system , self . settings . target_component , 0 , 3 , mavutil . mavlink . MAV_CMD_NAV_WAYPOINT , 3 , 1 , 0 , 0 , 0 , 0 , 0 , 0 , relalt ) print ( "Sent change altitude command for %.1f meters" % relalt ) | change target altitude | 134 | 3 |
229,287 | def cmd_land ( self , args ) : if len ( args ) < 1 : self . master . mav . command_long_send ( self . settings . target_system , 0 , mavutil . mavlink . MAV_CMD_DO_LAND_START , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 ) elif args [ 0 ] == 'abort' : self . master . mav . command_long_send ( self . settings . target_system , 0 , mavutil . mavlink . MAV_CMD_DO_GO_AROUND , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 ) else : print ( "Usage: land [abort]" ) | auto land commands | 163 | 3 |
229,288 | def cmd_rcbind ( self , args ) : if len ( args ) < 1 : print ( "Usage: rcbind <dsmmode>" ) return self . master . mav . command_long_send ( self . settings . target_system , self . settings . target_component , mavutil . mavlink . MAV_CMD_START_RX_PAIR , 0 , float ( args [ 0 ] ) , 0 , 0 , 0 , 0 , 0 , 0 ) | start RC bind | 108 | 3 |
229,289 | def cmd_repeat ( self , args ) : if len ( args ) == 0 : if len ( self . repeats ) == 0 : print ( "No repeats" ) return for i in range ( len ( self . repeats ) ) : print ( "%u: %s" % ( i , self . repeats [ i ] ) ) return if args [ 0 ] == 'add' : if len ( args ) < 3 : print ( "Usage: repeat add PERIOD CMD" ) return self . repeats . append ( RepeatCommand ( float ( args [ 1 ] ) , " " . join ( args [ 2 : ] ) ) ) elif args [ 0 ] == 'remove' : if len ( args ) < 2 : print ( "Usage: repeat remove INDEX" ) return i = int ( args [ 1 ] ) if i < 0 or i >= len ( self . repeats ) : print ( "Invalid index %d" % i ) return self . repeats . pop ( i ) return elif args [ 0 ] == 'clean' : self . repeats = [ ] else : print ( "Usage: repeat <add|remove|clean>" ) | repeat a command at regular intervals | 241 | 6 |
229,290 | def show_position ( self ) : pos = self . click_position dms = ( mp_util . degrees_to_dms ( pos [ 0 ] ) , mp_util . degrees_to_dms ( pos [ 1 ] ) ) msg = "Coordinates in WGS84\n" msg += "Decimal: %.6f %.6f\n" % ( pos [ 0 ] , pos [ 1 ] ) msg += "DMS: %s %s\n" % ( dms [ 0 ] , dms [ 1 ] ) msg += "Grid: %s\n" % mp_util . latlon_to_grid ( pos ) if self . logdir : logf = open ( os . path . join ( self . logdir , "positions.txt" ) , "a" ) logf . write ( "Position: %.6f %.6f at %s\n" % ( pos [ 0 ] , pos [ 1 ] , time . ctime ( ) ) ) logf . close ( ) posbox = MPMenuChildMessageDialog ( 'Position' , msg , font_size = 32 ) posbox . show ( ) | show map position click information | 255 | 5 |
229,291 | def display_fence ( self ) : from MAVProxy . modules . mavproxy_map import mp_slipmap self . fence_change_time = self . module ( 'fence' ) . fenceloader . last_change points = self . module ( 'fence' ) . fenceloader . polygon ( ) self . mpstate . map . add_object ( mp_slipmap . SlipClearLayer ( 'Fence' ) ) if len ( points ) > 1 : popup = MPMenuSubMenu ( 'Popup' , items = [ MPMenuItem ( 'FencePoint Remove' , returnkey = 'popupFenceRemove' ) , MPMenuItem ( 'FencePoint Move' , returnkey = 'popupFenceMove' ) ] ) self . mpstate . map . add_object ( mp_slipmap . SlipPolygon ( 'Fence' , points , layer = 1 , linewidth = 2 , colour = ( 0 , 255 , 0 ) , popup_menu = popup ) ) | display the fence | 222 | 3 |
229,292 | def closest_waypoint ( self , latlon ) : ( lat , lon ) = latlon best_distance = - 1 closest = - 1 for i in range ( self . module ( 'wp' ) . wploader . count ( ) ) : w = self . module ( 'wp' ) . wploader . wp ( i ) distance = mp_util . gps_distance ( lat , lon , w . x , w . y ) if best_distance == - 1 or distance < best_distance : best_distance = distance closest = i if best_distance < 20 : return closest else : return - 1 | find closest waypoint to a position | 134 | 7 |
229,293 | def selection_index_to_idx ( self , key , selection_index ) : a = key . split ( ' ' ) if a [ 0 ] != 'mission' or len ( a ) != 2 : print ( "Bad mission object %s" % key ) return None midx = int ( a [ 1 ] ) if midx < 0 or midx >= len ( self . mission_list ) : print ( "Bad mission index %s" % key ) return None mlist = self . mission_list [ midx ] if selection_index < 0 or selection_index >= len ( mlist ) : print ( "Bad mission polygon %s" % selection_index ) return None idx = mlist [ selection_index ] return idx | return a mission idx from a selection_index | 160 | 10 |
229,294 | def move_mission ( self , key , selection_index ) : idx = self . selection_index_to_idx ( key , selection_index ) self . moving_wp = idx print ( "Moving wp %u" % idx ) | move a mission point | 55 | 4 |
229,295 | def remove_mission ( self , key , selection_index ) : idx = self . selection_index_to_idx ( key , selection_index ) self . mpstate . functions . process_stdin ( 'wp remove %u' % idx ) | remove a mission point | 56 | 4 |
229,296 | def create_vehicle_icon ( self , name , colour , follow = False , vehicle_type = None ) : from MAVProxy . modules . mavproxy_map import mp_slipmap if vehicle_type is None : vehicle_type = self . vehicle_type_name if name in self . have_vehicle and self . have_vehicle [ name ] == vehicle_type : return self . have_vehicle [ name ] = vehicle_type icon = self . mpstate . map . icon ( colour + vehicle_type + '.png' ) self . mpstate . map . add_object ( mp_slipmap . SlipIcon ( name , ( 0 , 0 ) , icon , layer = 3 , rotation = 0 , follow = follow , trail = mp_slipmap . SlipTrail ( ) ) ) | add a vehicle to the map | 177 | 6 |
229,297 | def drawing_update ( self ) : from MAVProxy . modules . mavproxy_map import mp_slipmap if self . draw_callback is None : return self . draw_line . append ( self . click_position ) if len ( self . draw_line ) > 1 : self . mpstate . map . add_object ( mp_slipmap . SlipPolygon ( 'drawing' , self . draw_line , layer = 'Drawing' , linewidth = 2 , colour = ( 128 , 128 , 255 ) ) ) | update line drawing | 118 | 3 |
229,298 | def load ( filename ) : filepath = findConfigFile ( filename ) prop = None if ( filepath ) : print ( 'loading Config file %s' % ( filepath ) ) with open ( filepath , 'r' ) as stream : cfg = yaml . load ( stream ) prop = Properties ( cfg ) else : msg = "Ice.Config file '%s' could not being found" % ( filename ) raise ValueError ( msg ) return prop | Returns the configuration as dict | 99 | 5 |
229,299 | def fetch_check ( self , master ) : if self . param_period . trigger ( ) : if master is None : return if len ( self . mav_param_set ) == 0 : master . param_fetch_all ( ) elif self . mav_param_count != 0 and len ( self . mav_param_set ) != self . mav_param_count : if master . time_since ( 'PARAM_VALUE' ) >= 1 : diff = set ( range ( self . mav_param_count ) ) . difference ( self . mav_param_set ) count = 0 while len ( diff ) > 0 and count < 10 : idx = diff . pop ( ) master . param_fetch_one ( idx ) count += 1 | check for missing parameters periodically | 169 | 5 |
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