INSTRUCTION stringlengths 1 46.3k | RESPONSE stringlengths 75 80.2k |
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Create DCM from euler angles
:param dcm: Matrix3
:returns: array [roll, pitch, yaw] in rad | def _dcm_to_euler(self, dcm):
"""
Create DCM from euler angles
:param dcm: Matrix3
:returns: array [roll, pitch, yaw] in rad
"""
assert(isinstance(dcm, Matrix3))
return np.array(dcm.to_euler()) |
work out gps lock times for a log file | def lock_time(logfile):
'''work out gps lock times for a log file'''
print("Processing log %s" % filename)
mlog = mavutil.mavlink_connection(filename)
locked = False
start_time = 0.0
total_time = 0.0
t = None
m = mlog.recv_match(type=['GPS_RAW_INT','GPS_RAW'], condition=args.condition)
... |
handle menu selection | def on_menu(self, event):
'''handle menu selection'''
state = self.state
# see if it is a popup menu
if state.popup_object is not None:
obj = state.popup_object
ret = obj.popup_menu.find_selected(event)
if ret is not None:
ret.call_hand... |
follow an object on the map | def follow(self, object):
'''follow an object on the map'''
state = self.state
(px,py) = state.panel.pixmapper(object.latlon)
ratio = 0.25
if (px > ratio*state.width and
px < (1.0-ratio)*state.width and
py > ratio*state.height and
py < (1.0-rat... |
add an object to a later | def add_object(self, obj):
'''add an object to a later'''
state = self.state
if not obj.layer in state.layers:
# its a new layer
state.layers[obj.layer] = {}
state.layers[obj.layer][obj.key] = obj
state.need_redraw = True |
remove an object by key from all layers | def remove_object(self, key):
'''remove an object by key from all layers'''
state = self.state
for layer in state.layers:
state.layers[layer].pop(key, None)
state.need_redraw = True |
prevent the main loop spinning too fast | def on_idle(self, event):
'''prevent the main loop spinning too fast'''
state = self.state
if state.close_window.acquire(False):
self.state.app.ExitMainLoop()
# receive any display objects from the parent
obj = None
while not state.object_queue.empty():
... |
return a tuple representing the current view | def current_view(self):
'''return a tuple representing the current view'''
state = self.state
return (state.lat, state.lon, state.width, state.height,
state.ground_width, state.mt.tiles_pending()) |
return coordinates of a pixel in the map | def coordinates(self, x, y):
'''return coordinates of a pixel in the map'''
state = self.state
return state.mt.coord_from_area(x, y, state.lat, state.lon, state.width, state.ground_width) |
re-center view for pixel x,y | def re_center(self, x, y, lat, lon):
'''re-center view for pixel x,y'''
state = self.state
if lat is None or lon is None:
return
(lat2,lon2) = self.coordinates(x, y)
distance = mp_util.gps_distance(lat2, lon2, lat, lon)
bearing = mp_util.gps_bearing(lat2, lon... |
zoom in or out by zoom factor, keeping centered | def change_zoom(self, zoom):
'''zoom in or out by zoom factor, keeping centered'''
state = self.state
if self.mouse_pos:
(x,y) = (self.mouse_pos.x, self.mouse_pos.y)
else:
(x,y) = (state.width/2, state.height/2)
(lat,lon) = self.coordinates(x, y)
s... |
enter new position | def enter_position(self):
'''enter new position'''
state = self.state
dlg = wx.TextEntryDialog(self, 'Enter new position', 'Position')
dlg.SetValue("%f %f" % (state.lat, state.lon))
if dlg.ShowModal() == wx.ID_OK:
latlon = dlg.GetValue().split()
dlg.Destro... |
update position text | def update_position(self):
'''update position text'''
state = self.state
pos = self.mouse_pos
newtext = ''
alt = 0
if pos is not None:
(lat,lon) = self.coordinates(pos.x, pos.y)
newtext += 'Cursor: %f %f (%s)' % (lat, lon, mp_util.latlon_to_grid((l... |
return pixel coordinates in the map image for a (lat,lon)
if reverse is set, then return lat/lon for a pixel coordinate | def pixel_coords(self, latlon, reverse=False):
'''return pixel coordinates in the map image for a (lat,lon)
if reverse is set, then return lat/lon for a pixel coordinate
'''
state = self.state
if reverse:
(x,y) = latlon
return self.coordinates(x,y)
... |
draw objects on the image | def draw_objects(self, objects, bounds, img):
'''draw objects on the image'''
keys = objects.keys()
keys.sort()
for k in keys:
obj = objects[k]
bounds2 = obj.bounds()
if bounds2 is None or mp_util.bounds_overlap(bounds, bounds2):
obj.dr... |
redraw the map with current settings | def redraw_map(self):
'''redraw the map with current settings'''
state = self.state
view_same = (self.last_view and self.map_img and self.last_view == self.current_view())
if view_same and not state.need_redraw:
return
# get the new map
self.map_img = state... |
handle window size changes | def on_size(self, event):
'''handle window size changes'''
state = self.state
size = event.GetSize()
state.width = size.width
state.height = size.height
self.redraw_map() |
return a list of matching objects for a position | def selected_objects(self, pos):
'''return a list of matching objects for a position'''
state = self.state
selected = []
(px, py) = pos
for layer in state.layers:
for key in state.layers[layer]:
obj = state.layers[layer][key]
distance =... |
show default popup menu | def show_default_popup(self, pos):
'''show default popup menu'''
state = self.state
if state.default_popup.popup is not None:
wx_menu = state.default_popup.popup.wx_menu()
state.frame.PopupMenu(wx_menu, pos) |
clear all thumbnails from the map | def clear_thumbnails(self):
'''clear all thumbnails from the map'''
state = self.state
for l in state.layers:
keys = state.layers[l].keys()[:]
for key in keys:
if (isinstance(state.layers[l][key], SlipThumbnail)
and not isinstance(state... |
handle keyboard input | def on_key_down(self, event):
'''handle keyboard input'''
state = self.state
# send all key events to the parent
if self.mouse_pos:
latlon = self.coordinates(self.mouse_pos.x, self.mouse_pos.y)
selected = self.selected_objects(self.mouse_pos)
state.ev... |
evaluation an expression | def evaluate_expression(expression, vars):
'''evaluation an expression'''
try:
v = eval(expression, globals(), vars)
except NameError:
return None
except ZeroDivisionError:
return None
return v |
Compile style.qrc using rcc, pyside-rcc and pyrcc4 | def compile_all():
"""
Compile style.qrc using rcc, pyside-rcc and pyrcc4
"""
# print("Compiling for Qt: style.qrc -> style.rcc")
# os.system("rcc style.qrc -o style.rcc")
print("Compiling for PyQt4: style.qrc -> pyqt_style_rc.py")
os.system("pyrcc4 -py3 style.qrc -o pyqt_style_rc.py")
p... |
plot a set of graphs using date for x axis | def plotit(self, x, y, fields, colors=[]):
'''plot a set of graphs using date for x axis'''
pylab.ion()
fig = pylab.figure(num=1, figsize=(12,6))
ax1 = fig.gca()
ax2 = None
xrange = 0.0
for i in range(0, len(fields)):
if len(x[i]) == 0: continue
... |
add some data | def add_data(self, t, msg, vars, flightmode):
'''add some data'''
mtype = msg.get_type()
if self.flightmode is not None and (len(self.modes) == 0 or self.modes[-1][1] != flightmode):
self.modes.append((t, flightmode))
for i in range(0, len(self.fields)):
if mtype ... |
process one file | def process_mav(self, mlog, timeshift):
'''process one file'''
self.vars = {}
while True:
msg = mlog.recv_msg()
if msg is None:
break
if msg.get_type() not in self.msg_types:
continue
if self.condition:
... |
process and display graph | def process(self, block=True):
'''process and display graph'''
self.msg_types = set()
self.multiplier = []
self.field_types = []
# work out msg types we are interested in
self.x = []
self.y = []
self.modes = []
self.axes = []
self.first_on... |
null terminate a string | def null_term(str):
'''null terminate a string'''
idx = str.find("\0")
if idx != -1:
str = str[:idx]
return str |
return True if a file appears to be a valid text log | def DFReader_is_text_log(filename):
'''return True if a file appears to be a valid text log'''
f = open(filename)
ret = (f.read(8000).find('FMT, ') != -1)
f.close()
return ret |
create a binary message buffer for a message | def get_msgbuf(self):
'''create a binary message buffer for a message'''
values = []
for i in range(len(self.fmt.columns)):
if i >= len(self.fmt.msg_mults):
continue
mul = self.fmt.msg_mults[i]
name = self.fmt.columns[i]
if name == ... |
work out time basis for the log - even newer style | def find_time_base(self, gps, first_us_stamp):
'''work out time basis for the log - even newer style'''
t = self._gpsTimeToTime(gps.GWk, gps.GMS)
self.set_timebase(t - gps.TimeUS*0.000001)
# this ensures FMT messages get appropriate timestamp:
self.timestamp = self.timebase + fir... |
The TimeMS in some messages is not from *our* clock! | def type_has_good_TimeMS(self, type):
'''The TimeMS in some messages is not from *our* clock!'''
if type.startswith('ACC'):
return False;
if type.startswith('GYR'):
return False;
return True |
work out time basis for the log - new style | def find_time_base(self, gps, first_ms_stamp):
'''work out time basis for the log - new style'''
t = self._gpsTimeToTime(gps.Week, gps.TimeMS)
self.set_timebase(t - gps.T*0.001)
self.timestamp = self.timebase + first_ms_stamp*0.001 |
work out time basis for the log - PX4 native | def find_time_base(self, gps):
'''work out time basis for the log - PX4 native'''
t = gps.GPSTime * 1.0e-6
self.timebase = t - self.px4_timebase |
adjust time base from GPS message | def gps_message_arrived(self, m):
'''adjust time base from GPS message'''
# msec-style GPS message?
gps_week = getattr(m, 'Week', None)
gps_timems = getattr(m, 'TimeMS', None)
if gps_week is None:
# usec-style GPS message?
gps_week = getattr(m, 'GWk', None... |
reset state on rewind | def _rewind(self):
'''reset state on rewind'''
self.messages = { 'MAV' : self }
self.flightmode = "UNKNOWN"
self.percent = 0
if self.clock:
self.clock.rewind_event() |
work out time basis for the log | def init_clock(self):
'''work out time basis for the log'''
self._rewind()
# speculatively create a gps clock in case we don't find anything
# better
gps_clock = DFReaderClock_gps_interpolated()
self.clock = gps_clock
px4_msg_time = None
px4_msg_gps = N... |
set time for a message | def _set_time(self, m):
'''set time for a message'''
# really just left here for profiling
m._timestamp = self.timestamp
if len(m._fieldnames) > 0 and self.clock is not None:
self.clock.set_message_timestamp(m) |
add a new message | def _add_msg(self, m):
'''add a new message'''
type = m.get_type()
self.messages[type] = m
if self.clock:
self.clock.message_arrived(m)
if type == 'MSG':
if m.Message.find("Rover") != -1:
self.mav_type = mavutil.mavlink.MAV_TYPE_GROUND_RO... |
recv the next message that matches the given condition
type can be a string or a list of strings | def recv_match(self, condition=None, type=None, blocking=False):
'''recv the next message that matches the given condition
type can be a string or a list of strings'''
if type is not None and not isinstance(type, list):
type = [type]
while True:
m = self.recv_msg(... |
convenient function for returning an arbitrary MAVLink
parameter with a default | def param(self, name, default=None):
'''convenient function for returning an arbitrary MAVLink
parameter with a default'''
if not name in self.params:
return default
return self.params[name] |
rewind to start of log | def _rewind(self):
'''rewind to start of log'''
DFReader._rewind(self)
self.offset = 0
self.remaining = self.data_len |
read one message, returning it as an object | def _parse_next(self):
'''read one message, returning it as an object'''
if self.data_len - self.offset < 3:
return None
hdr = self.data[self.offset:self.offset+3]
skip_bytes = 0
skip_type = None
# skip over bad messages
while (ord(hdr[0])... |
rewind to start of log | def _rewind(self):
'''rewind to start of log'''
DFReader._rewind(self)
self.line = 0
# find the first valid line
while self.line < len(self.lines):
if self.lines[self.line].startswith("FMT, "):
break
self.line += 1 |
read one message, returning it as an object | def _parse_next(self):
'''read one message, returning it as an object'''
this_line = self.line
while self.line < len(self.lines):
s = self.lines[self.line].rstrip()
elements = s.split(", ")
this_line = self.line
# move to next line
sel... |
Translates from JderobotTypes CMDVel to ROS Twist.
@param vel: JderobotTypes CMDVel to translate
@type img: JdeRobotTypes.CMDVel
@return a Twist translated from vel | def cmdvel2PosTarget(vel):
'''
Translates from JderobotTypes CMDVel to ROS Twist.
@param vel: JderobotTypes CMDVel to translate
@type img: JdeRobotTypes.CMDVel
@return a Twist translated from vel
'''
msg=PositionTarget(
header=Header(
stamp=rospy.Time.now(),
... |
Function to publish cmdvel. | def publish (self):
'''
Function to publish cmdvel.
'''
#print(self)
#self.using_event.wait()
self.lock.acquire()
msg = cmdvel2PosTarget(self.vel)
self.lock.release()
self.pub.publish(msg) |
Sends CMDVel.
@param vel: CMDVel to publish
@type vel: CMDVel | def sendCMD (self, vel):
'''
Sends CMDVel.
@param vel: CMDVel to publish
@type vel: CMDVel
'''
self.lock.acquire()
self.vel = vel
self.lock.release() |
work out signal loss times for a log file | def mavloss(logfile):
'''work out signal loss times for a log file'''
print("Processing log %s" % filename)
mlog = mavutil.mavlink_connection(filename,
planner_format=args.planner,
notimestamps=args.notimestamps,
... |
Sensor and DSC control loads.
sensLoad : Sensor DSC Load (uint8_t)
ctrlLoad : Control DSC Load (uint8_t)
batVolt : Battery Voltage in millivolts (uint16_t) | def cpu_load_send(self, sensLoad, ctrlLoad, batVolt, force_mavlink1=False):
'''
Sensor and DSC control loads.
sensLoad : Sensor DSC Load (uint8_t)
ctrlLoad : Control DSC Load (uint8_t)
batVolt ... |
Accelerometer and gyro biases.
axBias : Accelerometer X bias (m/s) (float)
ayBias : Accelerometer Y bias (m/s) (float)
azBias : Accelerometer Z bias (m/s) (float)
gxBias : Gyro X ... | def sensor_bias_encode(self, axBias, ayBias, azBias, gxBias, gyBias, gzBias):
'''
Accelerometer and gyro biases.
axBias : Accelerometer X bias (m/s) (float)
ayBias : Accelerometer Y bias (m/s) (float)
... |
Accelerometer and gyro biases.
axBias : Accelerometer X bias (m/s) (float)
ayBias : Accelerometer Y bias (m/s) (float)
azBias : Accelerometer Z bias (m/s) (float)
gxBias : Gyro X ... | def sensor_bias_send(self, axBias, ayBias, azBias, gxBias, gyBias, gzBias, force_mavlink1=False):
'''
Accelerometer and gyro biases.
axBias : Accelerometer X bias (m/s) (float)
ayBias : Accelerometer Y bias (m/s) (flo... |
Configurable diagnostic messages.
diagFl1 : Diagnostic float 1 (float)
diagFl2 : Diagnostic float 2 (float)
diagFl3 : Diagnostic float 3 (float)
diagSh1 : Diagnostic short 1 (int16_t)... | def diagnostic_encode(self, diagFl1, diagFl2, diagFl3, diagSh1, diagSh2, diagSh3):
'''
Configurable diagnostic messages.
diagFl1 : Diagnostic float 1 (float)
diagFl2 : Diagnostic float 2 (float)
diagFl3 ... |
Configurable diagnostic messages.
diagFl1 : Diagnostic float 1 (float)
diagFl2 : Diagnostic float 2 (float)
diagFl3 : Diagnostic float 3 (float)
diagSh1 : Diagnostic short 1 (int16_t)... | def diagnostic_send(self, diagFl1, diagFl2, diagFl3, diagSh1, diagSh2, diagSh3, force_mavlink1=False):
'''
Configurable diagnostic messages.
diagFl1 : Diagnostic float 1 (float)
diagFl2 : Diagnostic float 2 (float)
... |
Data used in the navigation algorithm.
u_m : Measured Airspeed prior to the nav filter in m/s (float)
phi_c : Commanded Roll (float)
theta_c : Commanded Pitch (float)
psiDot_c : ... | def slugs_navigation_encode(self, u_m, phi_c, theta_c, psiDot_c, ay_body, totalDist, dist2Go, fromWP, toWP, h_c):
'''
Data used in the navigation algorithm.
u_m : Measured Airspeed prior to the nav filter in m/s (float)
phi_c ... |
Data used in the navigation algorithm.
u_m : Measured Airspeed prior to the nav filter in m/s (float)
phi_c : Commanded Roll (float)
theta_c : Commanded Pitch (float)
psiDot_c : ... | def slugs_navigation_send(self, u_m, phi_c, theta_c, psiDot_c, ay_body, totalDist, dist2Go, fromWP, toWP, h_c, force_mavlink1=False):
'''
Data used in the navigation algorithm.
u_m : Measured Airspeed prior to the nav filter in m/s (float)
... |
Configurable data log probes to be used inside Simulink
fl_1 : Log value 1 (float)
fl_2 : Log value 2 (float)
fl_3 : Log value 3 (float)
fl_4 : Log value 4 (float)
... | def data_log_encode(self, fl_1, fl_2, fl_3, fl_4, fl_5, fl_6):
'''
Configurable data log probes to be used inside Simulink
fl_1 : Log value 1 (float)
fl_2 : Log value 2 (float)
fl_3 ... |
Configurable data log probes to be used inside Simulink
fl_1 : Log value 1 (float)
fl_2 : Log value 2 (float)
fl_3 : Log value 3 (float)
fl_4 : Log value 4 (float)
... | def data_log_send(self, fl_1, fl_2, fl_3, fl_4, fl_5, fl_6, force_mavlink1=False):
'''
Configurable data log probes to be used inside Simulink
fl_1 : Log value 1 (float)
fl_2 : Log value 2 (float)
... |
Pilot console PWM messges.
year : Year reported by Gps (uint8_t)
month : Month reported by Gps (uint8_t)
day : Day reported by Gps (uint8_t)
hour : Hour reported by Gps (u... | def gps_date_time_encode(self, year, month, day, hour, min, sec, clockStat, visSat, useSat, GppGl, sigUsedMask, percentUsed):
'''
Pilot console PWM messges.
year : Year reported by Gps (uint8_t)
month : Month repor... |
Pilot console PWM messges.
year : Year reported by Gps (uint8_t)
month : Month reported by Gps (uint8_t)
day : Day reported by Gps (uint8_t)
hour : Hour reported by Gps (u... | def gps_date_time_send(self, year, month, day, hour, min, sec, clockStat, visSat, useSat, GppGl, sigUsedMask, percentUsed, force_mavlink1=False):
'''
Pilot console PWM messges.
year : Year reported by Gps (uint8_t)
month ... |
Mid Level commands sent from the GS to the autopilot. These are only
sent when being operated in mid-level commands mode
from the ground.
target : The system setting the commands (uint8_t)
hCommand : Commanded Altitude ... | def mid_lvl_cmds_encode(self, target, hCommand, uCommand, rCommand):
'''
Mid Level commands sent from the GS to the autopilot. These are only
sent when being operated in mid-level commands mode
from the ground.
target : ... |
Mid Level commands sent from the GS to the autopilot. These are only
sent when being operated in mid-level commands mode
from the ground.
target : The system setting the commands (uint8_t)
hCommand : Commanded Altitude ... | def mid_lvl_cmds_send(self, target, hCommand, uCommand, rCommand, force_mavlink1=False):
'''
Mid Level commands sent from the GS to the autopilot. These are only
sent when being operated in mid-level commands mode
from the ground.
target ... |
This message sets the control surfaces for selective passthrough mode.
target : The system setting the commands (uint8_t)
bitfieldPt : Bitfield containing the passthrough configuration, see CONTROL_SURFACE_FLAG ENUM. (uint16_t) | def ctrl_srfc_pt_send(self, target, bitfieldPt, force_mavlink1=False):
'''
This message sets the control surfaces for selective passthrough mode.
target : The system setting the commands (uint8_t)
bitfieldPt : Bitfield co... |
Orders generated to the SLUGS camera mount.
target : The system reporting the action (uint8_t)
pan : Order the mount to pan: -1 left, 0 No pan motion, +1 right (int8_t)
tilt : Order the mount to tilt: -1 down,... | def slugs_camera_order_encode(self, target, pan, tilt, zoom, moveHome):
'''
Orders generated to the SLUGS camera mount.
target : The system reporting the action (uint8_t)
pan : Order the mount to pan: -1 left, 0 No... |
Orders generated to the SLUGS camera mount.
target : The system reporting the action (uint8_t)
pan : Order the mount to pan: -1 left, 0 No pan motion, +1 right (int8_t)
tilt : Order the mount to tilt: -1 down,... | def slugs_camera_order_send(self, target, pan, tilt, zoom, moveHome, force_mavlink1=False):
'''
Orders generated to the SLUGS camera mount.
target : The system reporting the action (uint8_t)
pan : Order the mount t... |
Control for surface; pending and order to origin.
target : The system setting the commands (uint8_t)
idSurface : ID control surface send 0: throttle 1: aileron 2: elevator 3: rudder (uint8_t)
mControl : Pending (float)
... | def control_surface_encode(self, target, idSurface, mControl, bControl):
'''
Control for surface; pending and order to origin.
target : The system setting the commands (uint8_t)
idSurface : ID control surface send 0: thr... |
Control for surface; pending and order to origin.
target : The system setting the commands (uint8_t)
idSurface : ID control surface send 0: throttle 1: aileron 2: elevator 3: rudder (uint8_t)
mControl : Pending (float)
... | def control_surface_send(self, target, idSurface, mControl, bControl, force_mavlink1=False):
'''
Control for surface; pending and order to origin.
target : The system setting the commands (uint8_t)
idSurface : ID control... |
Transmits the last known position of the mobile GS to the UAV. Very
relevant when Track Mobile is enabled
target : The system reporting the action (uint8_t)
latitude : Mobile Latitude (float)
longitude :... | def slugs_mobile_location_send(self, target, latitude, longitude, force_mavlink1=False):
'''
Transmits the last known position of the mobile GS to the UAV. Very
relevant when Track Mobile is enabled
target : The system reporting the act... |
Control for camara.
target : The system setting the commands (uint8_t)
idOrder : ID 0: brightness 1: aperture 2: iris 3: ICR 4: backlight (uint8_t)
order : 1: up/on 2: down/off 3: auto/reset/no action (uint8_t) | def slugs_configuration_camera_send(self, target, idOrder, order, force_mavlink1=False):
'''
Control for camara.
target : The system setting the commands (uint8_t)
idOrder : ID 0: brightness 1: aperture 2: iris 3: ICR ... |
Transmits the position of watch
target : The system reporting the action (uint8_t)
latitude : ISR Latitude (float)
longitude : ISR Longitude (float)
height : ISR Height (float)
... | def isr_location_encode(self, target, latitude, longitude, height, option1, option2, option3):
'''
Transmits the position of watch
target : The system reporting the action (uint8_t)
latitude : ISR Latitude (float)
... |
Transmits the position of watch
target : The system reporting the action (uint8_t)
latitude : ISR Latitude (float)
longitude : ISR Longitude (float)
height : ISR Height (float)
... | def isr_location_send(self, target, latitude, longitude, height, option1, option2, option3, force_mavlink1=False):
'''
Transmits the position of watch
target : The system reporting the action (uint8_t)
latitude : ISR La... |
Transmits the readings from the voltage and current sensors
r2Type : It is the value of reading 2: 0 - Current, 1 - Foreward Sonar, 2 - Back Sonar, 3 - RPM (uint8_t)
voltage : Voltage in uS of PWM. 0 uS = 0V, 20 uS = 21.5V (uint16_t)
... | def volt_sensor_send(self, r2Type, voltage, reading2, force_mavlink1=False):
'''
Transmits the readings from the voltage and current sensors
r2Type : It is the value of reading 2: 0 - Current, 1 - Foreward Sonar, 2 - Back Sonar, 3 - RPM (uint8_t)
... |
Transmits the actual Pan, Tilt and Zoom values of the camera unit
zoom : The actual Zoom Value (uint8_t)
pan : The Pan value in 10ths of degree (int16_t)
tilt : The Tilt value in 10ths of degree (int16_t) | def ptz_status_send(self, zoom, pan, tilt, force_mavlink1=False):
'''
Transmits the actual Pan, Tilt and Zoom values of the camera unit
zoom : The actual Zoom Value (uint8_t)
pan : The Pan value in 10ths of degre... |
Transmits the actual status values UAV in flight
target : The ID system reporting the action (uint8_t)
latitude : Latitude UAV (float)
longitude : Longitude UAV (float)
altitude : Altitu... | def uav_status_encode(self, target, latitude, longitude, altitude, speed, course):
'''
Transmits the actual status values UAV in flight
target : The ID system reporting the action (uint8_t)
latitude : Latitude UAV (floa... |
Transmits the actual status values UAV in flight
target : The ID system reporting the action (uint8_t)
latitude : Latitude UAV (float)
longitude : Longitude UAV (float)
altitude : Altitu... | def uav_status_send(self, target, latitude, longitude, altitude, speed, course, force_mavlink1=False):
'''
Transmits the actual status values UAV in flight
target : The ID system reporting the action (uint8_t)
latitude ... |
This contains the status of the GPS readings
csFails : Number of times checksum has failed (uint16_t)
gpsQuality : The quality indicator, 0=fix not available or invalid, 1=GPS fix, 2=C/A differential GPS, 6=Dead reckoning mode, 7=Manual input mode (fixed... | def status_gps_encode(self, csFails, gpsQuality, msgsType, posStatus, magVar, magDir, modeInd):
'''
This contains the status of the GPS readings
csFails : Number of times checksum has failed (uint16_t)
gpsQuality : The qua... |
This contains the status of the GPS readings
csFails : Number of times checksum has failed (uint16_t)
gpsQuality : The quality indicator, 0=fix not available or invalid, 1=GPS fix, 2=C/A differential GPS, 6=Dead reckoning mode, 7=Manual input mode (fixed... | def status_gps_send(self, csFails, gpsQuality, msgsType, posStatus, magVar, magDir, modeInd, force_mavlink1=False):
'''
This contains the status of the GPS readings
csFails : Number of times checksum has failed (uint16_t)
gpsQuality ... |
Transmits the diagnostics data from the Novatel OEMStar GPS
timeStatus : The Time Status. See Table 8 page 27 Novatel OEMStar Manual (uint8_t)
receiverStatus : Status Bitfield. See table 69 page 350 Novatel OEMstar Manual (uint32_t)
solStatus ... | def novatel_diag_encode(self, timeStatus, receiverStatus, solStatus, posType, velType, posSolAge, csFails):
'''
Transmits the diagnostics data from the Novatel OEMStar GPS
timeStatus : The Time Status. See Table 8 page 27 Novatel OEMStar Manual (uint8_t)
... |
Transmits the diagnostics data from the Novatel OEMStar GPS
timeStatus : The Time Status. See Table 8 page 27 Novatel OEMStar Manual (uint8_t)
receiverStatus : Status Bitfield. See table 69 page 350 Novatel OEMstar Manual (uint32_t)
solStatus ... | def novatel_diag_send(self, timeStatus, receiverStatus, solStatus, posType, velType, posSolAge, csFails, force_mavlink1=False):
'''
Transmits the diagnostics data from the Novatel OEMStar GPS
timeStatus : The Time Status. See Table 8 page 27 Novatel OEMSta... |
Diagnostic data Sensor MCU
float1 : Float field 1 (float)
float2 : Float field 2 (float)
int1 : Int 16 field 1 (int16_t)
char1 : Int 8 field 1 (int8_t) | def sensor_diag_encode(self, float1, float2, int1, char1):
'''
Diagnostic data Sensor MCU
float1 : Float field 1 (float)
float2 : Float field 2 (float)
int1 : Int 16 field 1 (int16... |
Diagnostic data Sensor MCU
float1 : Float field 1 (float)
float2 : Float field 2 (float)
int1 : Int 16 field 1 (int16_t)
char1 : Int 8 field 1 (int8_t) | def sensor_diag_send(self, float1, float2, int1, char1, force_mavlink1=False):
'''
Diagnostic data Sensor MCU
float1 : Float field 1 (float)
float2 : Float field 2 (float)
int1 : I... |
The boot message indicates that a system is starting. The onboard
software version allows to keep track of onboard
soft/firmware revisions. This message allows the
sensor and control MCUs to communicate version numbers
on startup.
version ... | def boot_send(self, version, force_mavlink1=False):
'''
The boot message indicates that a system is starting. The onboard
software version allows to keep track of onboard
soft/firmware revisions. This message allows the
sensor and control M... |
Message encoding a mission script item. This message is emitted upon a
request for the next script item.
target_system : System ID (uint8_t)
target_component : Component ID (uint8_t)
seq : Sequence (uint16_t)
... | def script_item_encode(self, target_system, target_component, seq, name):
'''
Message encoding a mission script item. This message is emitted upon a
request for the next script item.
target_system : System ID (uint8_t)
target_c... |
Message encoding a mission script item. This message is emitted upon a
request for the next script item.
target_system : System ID (uint8_t)
target_component : Component ID (uint8_t)
seq : Sequence (uint16_t)
... | def script_item_send(self, target_system, target_component, seq, name, force_mavlink1=False):
'''
Message encoding a mission script item. This message is emitted upon a
request for the next script item.
target_system : System ID (uint8_t)
... |
Request script item with the sequence number seq. The response of the
system to this message should be a SCRIPT_ITEM
message.
target_system : System ID (uint8_t)
target_component : Component ID (uint8_t)
seq ... | def script_request_send(self, target_system, target_component, seq, force_mavlink1=False):
'''
Request script item with the sequence number seq. The response of the
system to this message should be a SCRIPT_ITEM
message.
target_system ... |
Request the overall list of mission items from the system/component.
target_system : System ID (uint8_t)
target_component : Component ID (uint8_t) | def script_request_list_send(self, target_system, target_component, force_mavlink1=False):
'''
Request the overall list of mission items from the system/component.
target_system : System ID (uint8_t)
target_component : Component ID (u... |
This message is emitted as response to SCRIPT_REQUEST_LIST by the MAV
to get the number of mission scripts.
target_system : System ID (uint8_t)
target_component : Component ID (uint8_t)
count : Number of script ite... | def script_count_send(self, target_system, target_component, count, force_mavlink1=False):
'''
This message is emitted as response to SCRIPT_REQUEST_LIST by the MAV
to get the number of mission scripts.
target_system : System ID (uint8_t)
... |
This message informs about the currently active SCRIPT.
seq : Active Sequence (uint16_t) | def script_current_send(self, seq, force_mavlink1=False):
'''
This message informs about the currently active SCRIPT.
seq : Active Sequence (uint16_t)
'''
return self.send(self.script_current_encode(seq), force_mavli... |
generate version.h | def generate_version_h(directory, xml):
'''generate version.h'''
f = open(os.path.join(directory, "version.h"), mode='w')
t.write(f,'''
/** @file
* @brief MAVLink comm protocol built from ${basename}.xml
* @see http://mavlink.org
*/
#pragma once
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#def... |
generate main header per XML file | def generate_main_h(directory, xml):
'''generate main header per XML file'''
f = open(os.path.join(directory, xml.basename + ".h"), mode='w')
t.write(f, '''
/** @file
* @brief MAVLink comm protocol generated from ${basename}.xml
* @see http://mavlink.org
*/
#pragma once
#ifndef MAVLINK_${basename_upper}_... |
generate per-message header for a XML file | def generate_message_h(directory, m):
'''generate per-message header for a XML file'''
f = open(os.path.join(directory, 'mavlink_msg_%s.h' % m.name_lower), mode='w')
t.write(f, '''
#pragma once
// MESSAGE ${name} PACKING
#define MAVLINK_MSG_ID_${name} ${id}
MAVPACKED(
typedef struct __mavlink_${name_lower... |
copy the fixed protocol headers to the target directory | def copy_fixed_headers(directory, xml):
'''copy the fixed protocol headers to the target directory'''
import shutil, filecmp
hlist = {
"0.9": [ 'protocol.h', 'mavlink_helpers.h', 'mavlink_types.h', 'checksum.h' ],
"1.0": [ 'protocol.h', 'mavlink_helpers.h', 'mavlink_types.h', 'checksum.h', '... |
generate headers for one XML file | def generate_one(basename, xml):
'''generate headers for one XML file'''
directory = os.path.join(basename, xml.basename)
print("Generating C implementation in directory %s" % directory)
mavparse.mkdir_p(directory)
if xml.little_endian:
xml.mavlink_endian = "MAVLINK_LITTLE_ENDIAN"
els... |
generate complete MAVLink C implemenation | def generate(basename, xml_list):
'''generate complete MAVLink C implemenation'''
for idx in range(len(xml_list)):
xml = xml_list[idx]
xml.xml_idx = idx
generate_one(basename, xml)
copy_fixed_headers(basename, xml_list[0]) |
Updates Pose3d. | def update(self):
'''
Updates Pose3d.
'''
pos = Pose3d()
if self.hasproxy():
pose = self.proxy.getPose3DData()
pos.yaw = self.quat2Yaw(pose.q0, pose.q1, pose.q2, pose.q3)
pos.pitch = self.quat2Pitch(pose.q0, pose.q1, pose.q2, pose.q3)
... |
Returns last Pose3d.
@return last JdeRobotTypes Pose3d saved | def getPose3d(self):
'''
Returns last Pose3d.
@return last JdeRobotTypes Pose3d saved
'''
self.lock.acquire()
pose = self.pose
self.lock.release()
return pose |
Translates from Quaternion to Roll.
@param qw,qx,qy,qz: Quaternion values
@type qw,qx,qy,qz: float
@return Roll value translated from Quaternion | def quat2Roll (self, qw, qx, qy, qz):
'''
Translates from Quaternion to Roll.
@param qw,qx,qy,qz: Quaternion values
@type qw,qx,qy,qz: float
@return Roll value translated from Quaternion
'''
rotateXa0=2.0*(qy*qz + qw*qx)
rotateXa1=qw*qw - qx*qx - qy*q... |
kill speech dispatcher processs | def kill_speech_dispatcher(self):
'''kill speech dispatcher processs'''
if not 'HOME' in os.environ:
return
pidpath = os.path.join(os.environ['HOME'], '.speech-dispatcher',
'pid', 'speech-dispatcher.pid')
if os.path.exists(pidpath):
... |
unload module | def unload(self):
'''unload module'''
self.settings.set('speech', 0)
if self.mpstate.functions.say == self.mpstate.functions.say:
self.mpstate.functions.say = self.old_mpstate_say_function
self.kill_speech_dispatcher() |
speak some text | def say_speechd(self, text, priority='important'):
'''speak some text'''
''' http://cvs.freebsoft.org/doc/speechd/ssip.html see 4.3.1 for priorities'''
import speechd
self.speech = speechd.SSIPClient('MAVProxy%u' % os.getpid())
self.speech.set_output_module('festival')
se... |
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