INSTRUCTION stringlengths 1 46.3k | RESPONSE stringlengths 75 80.2k |
|---|---|
handle an incoming mavlink packet | def mavlink_packet(self, msg):
'''handle an incoming mavlink packet'''
type = msg.get_type()
master = self.master
# add some status fields
if type in [ 'RC_CHANNELS_RAW' ]:
rc6 = msg.chan6_raw
if rc6 > 1500:
ign_colour = 'green'
... |
check starter settings | def valid_starter_settings(self):
'''check starter settings'''
if self.gasheli_settings.ignition_chan <= 0 or self.gasheli_settings.ignition_chan > 8:
print("Invalid ignition channel %d" % self.gasheli_settings.ignition_chan)
return False
if self.gasheli_settings.starter_... |
run periodic tasks | def idle_task(self):
'''run periodic tasks'''
if self.starting_motor:
if self.gasheli_settings.ignition_disable_time > 0:
elapsed = time.time() - self.motor_t1
if elapsed >= self.gasheli_settings.ignition_disable_time:
self.module('rc').set... |
start motor | def start_motor(self):
'''start motor'''
if not self.valid_starter_settings():
return
self.motor_t1 = time.time()
self.stopping_motor = False
if self.gasheli_settings.ignition_disable_time > 0:
self.old_override = self.module('rc').get_override_chan(self.... |
stop motor | def stop_motor(self):
'''stop motor'''
if not self.valid_starter_settings():
return
self.motor_t1 = time.time()
self.starting_motor = False
self.stopping_motor = True
self.old_override = self.module('rc').get_override_chan(self.gasheli_settings.ignition_chan-1... |
gas help commands | def cmd_gasheli(self, args):
'''gas help commands'''
usage = "Usage: gasheli <start|stop|set>"
if len(args) < 1:
print(usage)
return
if args[0] == "start":
self.start_motor()
elif args[0] == "stop":
self.stop_motor()
elif ar... |
per-sysid wploader | def wploader(self):
'''per-sysid wploader'''
if self.target_system not in self.wploader_by_sysid:
self.wploader_by_sysid[self.target_system] = mavwp.MAVWPLoader()
return self.wploader_by_sysid[self.target_system] |
send some more WP requests | def send_wp_requests(self, wps=None):
'''send some more WP requests'''
if wps is None:
wps = self.missing_wps_to_request()
tnow = time.time()
for seq in wps:
#print("REQUESTING %u/%u (%u)" % (seq, self.wploader.expected_count, i))
self.wp_requested[seq... |
show status of wp download | def wp_status(self):
'''show status of wp download'''
try:
print("Have %u of %u waypoints" % (self.wploader.count()+len(self.wp_received), self.wploader.expected_count))
except Exception:
print("Have %u waypoints" % (self.wploader.count()+len(self.wp_received))) |
show slope of waypoints | def wp_slope(self):
'''show slope of waypoints'''
last_w = None
for i in range(1, self.wploader.count()):
w = self.wploader.wp(i)
if w.command not in [mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, mavutil.mavlink.MAV_CMD_NAV_LAND]:
continue
if last_w i... |
handle an incoming mavlink packet | def mavlink_packet(self, m):
'''handle an incoming mavlink packet'''
mtype = m.get_type()
if mtype in ['WAYPOINT_COUNT','MISSION_COUNT']:
self.wploader.expected_count = m.count
if self.wp_op is None:
#self.console.error("No waypoint load started")
... |
handle missing waypoints | def idle_task(self):
'''handle missing waypoints'''
if self.wp_period.trigger():
# cope with packet loss fetching mission
if self.master is not None and self.master.time_since('MISSION_ITEM') >= 2 and self.wploader.count() < getattr(self.wploader,'expected_count',0):
... |
save waypoints to a file | def save_waypoints(self, filename):
'''save waypoints to a file'''
try:
#need to remove the leading and trailing quotes in filename
self.wploader.save(filename.strip('"'))
except Exception as msg:
print("Failed to save %s - %s" % (filename, msg))
r... |
save waypoints to a file in a human readable CSV file | def save_waypoints_csv(self, filename):
'''save waypoints to a file in a human readable CSV file'''
try:
#need to remove the leading and trailing quotes in filename
self.wploader.savecsv(filename.strip('"'))
except Exception as msg:
print("Failed to save %s - ... |
get home location | def get_home(self):
'''get home location'''
if 'HOME_POSITION' in self.master.messages:
h = self.master.messages['HOME_POSITION']
return mavutil.mavlink.MAVLink_mission_item_message(self.target_system,
self.target_co... |
add a square flight exclusion zone | def nofly_add(self):
'''add a square flight exclusion zone'''
try:
latlon = self.module('map').click_position
except Exception:
print("No position chosen")
return
loader = self.wploader
(center_lat, center_lon) = latlon
points = []
... |
handle wp change target alt of multiple waypoints | def cmd_wp_changealt(self, args):
'''handle wp change target alt of multiple waypoints'''
if len(args) < 2:
print("usage: wp changealt WPNUM NEWALT <NUMWP>")
return
idx = int(args[0])
if idx < 1 or idx > self.wploader.count():
print("Invalid wp number ... |
fix up jumps when we add/remove rows | def fix_jumps(self, idx, delta):
'''fix up jumps when we add/remove rows'''
numrows = self.wploader.count()
for row in range(numrows):
wp = self.wploader.wp(row)
jump_cmds = [mavutil.mavlink.MAV_CMD_DO_JUMP]
if hasattr(mavutil.mavlink, "MAV_CMD_DO_CONDITION_JU... |
handle wp remove | def cmd_wp_remove(self, args):
'''handle wp remove'''
if len(args) != 1:
print("usage: wp remove WPNUM")
return
idx = int(args[0])
if idx < 0 or idx >= self.wploader.count():
print("Invalid wp number %u" % idx)
return
wp = self.wplo... |
handle wp undo | def cmd_wp_undo(self):
'''handle wp undo'''
if self.undo_wp_idx == -1 or self.undo_wp is None:
print("No undo information")
return
wp = self.undo_wp
if self.undo_type == 'move':
wp.target_system = self.target_system
wp.target_component =... |
waypoint commands | def cmd_wp(self, args):
'''waypoint commands'''
usage = "usage: wp <editor|list|load|update|save|set|clear|loop|remove|move|movemulti|changealt>"
if len(args) < 1:
print(usage)
return
if args[0] == "load":
if len(args) != 2:
print("usa... |
turn a list of values into a CSV line | def csv_line(self, line):
'''turn a list of values into a CSV line'''
self.csv_sep = ","
return self.csv_sep.join(['"' + str(x) + '"' for x in line]) |
save waypoints to a file in human-readable CSV file | def savecsv(self, filename):
'''save waypoints to a file in human-readable CSV file'''
f = open(filename, mode='w')
headers = ["Seq", "Frame", "Cmd", "P1", "P2", "P3", "P4", "X", "Y", "Z"]
print(self.csv_line(headers))
f.write(self.csv_line(headers) + "\n")
for w in self.... |
Print a list of available joysticks | def list_joysticks():
'''Print a list of available joysticks'''
print('Available joysticks:')
print()
for jid in range(pygame.joystick.get_count()):
j = pygame.joystick.Joystick(jid)
print('({}) {}'.format(jid, j.get_name())) |
Allow user to select a joystick from a menu | def select_joystick():
'''Allow user to select a joystick from a menu'''
list_joysticks()
while True:
print('Select a joystick (L to list, Q to quit)'),
choice = sys.stdin.readline().strip()
if choice.lower() == 'l':
list_joysticks()
elif choice.lower() == 'q':... |
Search for a wxPython installation that matches version. If one
is found then sys.path is modified so that version will be
imported with a 'import wx', otherwise a VersionError exception is
raised. This function should only be called once at the beginning
of the application before wxPython is imported... | def select(versions, optionsRequired=False):
"""
Search for a wxPython installation that matches version. If one
is found then sys.path is modified so that version will be
imported with a 'import wx', otherwise a VersionError exception is
raised. This function should only be called once at the beg... |
Checks to see if the default version of wxPython is greater-than
or equal to `minVersion`. If not then it will try to find an
installed version that is >= minVersion. If none are available
then a message is displayed that will inform the user and will
offer to open their web browser to the wxPython do... | def ensureMinimal(minVersion, optionsRequired=False):
"""
Checks to see if the default version of wxPython is greater-than
or equal to `minVersion`. If not then it will try to find an
installed version that is >= minVersion. If none are available
then a message is displayed that will inform the us... |
Check if there is a version of wxPython installed that matches one
of the versions given. Returns True if so, False if not. This
can be used to determine if calling `select` will succeed or not.
:param versions: Same as in `select`, either a string or a list
of strings specifying the vers... | def checkInstalled(versions, optionsRequired=False):
"""
Check if there is a version of wxPython installed that matches one
of the versions given. Returns True if so, False if not. This
can be used to determine if calling `select` will succeed or not.
:param versions: Same as in `select`, eit... |
Returns a list of strings representing the installed wxPython
versions that are found on the system. | def getInstalled():
"""
Returns a list of strings representing the installed wxPython
versions that are found on the system.
"""
installed = _find_installed()
return [os.path.basename(p.pathname)[3:] for p in installed] |
called on menu selection | def menu_callback(m):
'''called on menu selection'''
if m.returnkey.startswith('# '):
cmd = m.returnkey[2:]
if m.handler is not None:
if m.handler_result is None:
return
cmd += m.handler_result
process_stdin(cmd)
elif m.returnkey == 'menuSettin... |
construct flightmode menu | def flightmode_menu():
'''construct flightmode menu'''
global flightmodes
ret = []
idx = 0
for (mode,t1,t2) in flightmodes:
modestr = "%s %us" % (mode, (t2-t1))
ret.append(MPMenuCheckbox(modestr, modestr, 'mode-%u' % idx))
idx += 1
mestate.flightmode_selections.append... |
setup console menus | def setup_menus():
'''setup console menus'''
global TopMenu
TopMenu.add(MPMenuSubMenu('Display',
items=[MPMenuItem('Map', 'Map', '# map'),
MPMenuItem('Save Graph', 'Save', '# save'),
MPMenuItem('Reload Graphs', 'R... |
load graphs from mavgraphs.xml | def load_graphs():
'''load graphs from mavgraphs.xml'''
mestate.graphs = []
gfiles = ['mavgraphs.xml']
if 'HOME' in os.environ:
for dirname, dirnames, filenames in os.walk(os.path.join(os.environ['HOME'], ".mavproxy")):
for filename in filenames:
if filename.lower().e... |
graph command | def cmd_graph(args):
'''graph command'''
usage = "usage: graph <FIELD...>"
if len(args) < 1:
print(usage)
return
if args[0][0] == ':':
i = int(args[0][1:])
g = mestate.graphs[i]
expression = g.expression
args = expression.split()
mestate.console.wr... |
return mapping of flight mode to colours | def flightmode_colours():
'''return mapping of flight mode to colours'''
from MAVProxy.modules.lib.grapher import flightmode_colours
mapping = {}
idx = 0
for (mode,t0,t1) in flightmodes:
if not mode in mapping:
mapping[mode] = flightmode_colours[idx]
idx += 1
... |
map command | def cmd_map(args):
'''map command'''
import mavflightview
#mestate.mlog.reduce_by_flightmodes(mestate.flightmode_selections)
#setup and process the map
options = mavflightview.mavflightview_options()
options.condition = mestate.settings.condition
options._flightmodes = mestate.mlog._flightmo... |
display fft from log | def cmd_fft(args):
'''display fft from log'''
from MAVProxy.modules.lib import mav_fft
if len(args) > 0:
condition = args[0]
else:
condition = None
child = multiproc.Process(target=mav_fft.mavfft_display, args=[mestate.filename,condition])
child.start() |
save a graph as XML | def save_graph(graphdef):
'''save a graph as XML'''
if graphdef.filename is None:
if 'HOME' in os.environ:
dname = os.path.join(os.environ['HOME'], '.mavproxy')
if os.path.exists(dname):
mp_util.mkdir_p(dname)
graphdef.filename = os.path.join(dname... |
callback from save thread | def save_callback(operation, graphdef):
'''callback from save thread'''
if operation == 'test':
for e in graphdef.expressions:
if expression_ok(e, msgs):
graphdef.expression = e
pipe_graph_input.send('graph ' + graphdef.expression)
return
... |
process for saving a graph | def save_process(MAVExpLastGraph, child_pipe_console_input, child_pipe_graph_input, statusMsgs):
'''process for saving a graph'''
from MAVProxy.modules.lib import wx_processguard
from MAVProxy.modules.lib.wx_loader import wx
from MAVProxy.modules.lib.wxgrapheditor import GraphDialog
#This pipe ... |
save a graph | def cmd_save(args):
'''save a graph'''
child = multiproc.Process(target=save_process, args=[mestate.last_graph, mestate.child_pipe_send_console, mestate.child_pipe_send_graph, mestate.status.msgs])
child.start() |
show messages | def cmd_messages(args):
'''show messages'''
if len(args) > 0:
wildcard = args[0]
if wildcard.find('*') == -1 and wildcard.find('?') == -1:
wildcard = "*" + wildcard + "*"
else:
wildcard = '*'
mestate.mlog.rewind()
types = set(['MSG','STATUSTEXT'])
while True:
... |
show parameters | def cmd_devid(args):
'''show parameters'''
params = mestate.mlog.params
k = sorted(params.keys())
for p in k:
if p.startswith('COMPASS_DEV_ID'):
mp_util.decode_devid(params[p], p)
if p.startswith('INS_') and p.endswith('_ID'):
mp_util.decode_devid(params[p], p) |
callback from menu to load a log file | def cmd_loadfile(args):
'''callback from menu to load a log file'''
if len(args) != 1:
fileargs = " ".join(args)
else:
fileargs = args[0]
if not os.path.exists(fileargs):
print("Error loading file ", fileargs);
return
if os.name == 'nt':
#convert slashes in Wi... |
load a log file (path given by arg) | def loadfile(args):
'''load a log file (path given by arg)'''
mestate.console.write("Loading %s...\n" % args)
t0 = time.time()
mlog = mavutil.mavlink_connection(args, notimestamps=False,
zero_time_base=False,
progress_callback=p... |
handle commands from user | def process_stdin(line):
'''handle commands from user'''
if line is None:
sys.exit(0)
line = line.strip()
if not line:
return
args = shlex.split(line)
cmd = args[0]
if cmd == 'help':
k = command_map.keys()
k.sort()
for cmd in k:
(fn, help... |
wait for user input | def input_loop():
'''wait for user input'''
while mestate.exit != True:
try:
if mestate.exit != True:
line = input(mestate.rl.prompt)
except EOFError:
mestate.exit = True
sys.exit(1)
mestate.input_queue.put(line) |
main processing loop, display graphs and maps | def main_loop():
'''main processing loop, display graphs and maps'''
global grui, last_xlim
while True:
if mestate is None or mestate.exit:
return
while not mestate.input_queue.empty():
line = mestate.input_queue.get()
cmds = line.split(';')
fo... |
watch for piped data from save dialog | def pipeRecvConsole(self):
'''watch for piped data from save dialog'''
try:
while True:
console_msg = self.parent_pipe_recv_console.recv()
if console_msg is not None:
self.console.writeln(console_msg)
time.sleep(0.1)
... |
watch for piped data from save dialog | def pipeRecvGraph(self):
'''watch for piped data from save dialog'''
try:
while True:
graph_rec = self.parent_pipe_recv_graph.recv()
if graph_rec is not None:
mestate.input_queue.put(graph_rec)
time.sleep(0.1)
except... |
handle a mavlink packet | def mavlink_packet(self, m):
'''handle a mavlink packet'''
mtype = m.get_type()
if mtype == "GLOBAL_POSITION_INT":
for cam in self.camera_list:
cam.boSet_GPS(m)
if mtype == "ATTITUDE":
for cam in self.camera_list:
cam.boSet_Attitude... |
called in idle time | def idle_task(self):
'''called in idle time'''
try:
datagram = self.port.recvfrom(self.BUFFER_SIZE)
data = json.loads(datagram[0])
except socket.error as e:
if e.errno in [ errno.EAGAIN, errno.EWOULDBLOCK ]:
return
... |
handle port selection | def cmd_port(self, args):
'handle port selection'
if len(args) != 1:
print("Usage: port <number>")
return
self.port.close()
self.portnum = int(args[0])
self.port = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
self.port.setsockopt(socke... |
substitute variables in a string | def substitute(self, text, subvars={},
checkmissing=None):
'''substitute variables in a string'''
if checkmissing is None:
checkmissing = self.checkmissing
while True:
idx = text.find(self.start_var_token)
if idx == -1:
ret... |
Actuate on the vehicle through a script. The script is a sequence of
commands. Each command is a sequence with the first element as the
command name and the remaining values as parameters.
The script is executed asynchronously by a timer with a period of 0.1
seconds. At each timer tick,... | def RunScript(self, script):
'''
Actuate on the vehicle through a script. The script is a sequence of
commands. Each command is a sequence with the first element as the
command name and the remaining values as parameters.
The script is executed asynchronously by a timer with a p... |
called from main select loop in mavproxy when the pppd child
sends us some data | def ppp_read(self, ppp_fd):
'''called from main select loop in mavproxy when the pppd child
sends us some data'''
buf = os.read(ppp_fd, 100)
if len(buf) == 0:
# EOF on the child fd
self.stop_ppp_link()
return
print("ppp packet len=%u" % len(buf... |
startup the link | def start_ppp_link(self):
'''startup the link'''
cmd = ['pppd']
cmd.extend(self.command)
(self.pid, self.ppp_fd) = pty.fork()
if self.pid == 0:
os.execvp("pppd", cmd)
raise RuntimeError("pppd exited")
if self.ppp_fd == -1:
print("Failed... |
stop the link | def stop_ppp_link(self):
'''stop the link'''
if self.ppp_fd == -1:
return
try:
self.mpself.select_extra.pop(self.ppp_fd)
os.close(self.ppp_fd)
os.waitpid(self.pid, 0)
except Exception:
pass
self.pid = -1
self.ppp... |
set ppp parameters and start link | def cmd_ppp(self, args):
'''set ppp parameters and start link'''
usage = "ppp <command|start|stop>"
if len(args) == 0:
print(usage)
return
if args[0] == "command":
if len(args) == 1:
print("ppp.command=%s" % " ".join(self.command))
... |
handle an incoming mavlink packet | def mavlink_packet(self, m):
'''handle an incoming mavlink packet'''
if m.get_type() == 'PPP' and self.ppp_fd != -1:
print("got ppp mavlink pkt len=%u" % m.length)
os.write(self.ppp_fd, m.data[:m.length]) |
Find a list of modules matching a wildcard pattern | def module_matching(self, name):
'''Find a list of modules matching a wildcard pattern'''
import fnmatch
ret = []
for mname in self.mpstate.public_modules.keys():
if fnmatch.fnmatch(mname, name):
ret.append(self.mpstate.public_modules[mname])
return re... |
get time, using ATTITUDE.time_boot_ms if in SITL with SIM_SPEEDUP != 1 | def get_time(self):
'''get time, using ATTITUDE.time_boot_ms if in SITL with SIM_SPEEDUP != 1'''
systime = time.time() - self.mpstate.start_time_s
if not self.mpstate.is_sitl:
return systime
try:
speedup = int(self.get_mav_param('SIM_SPEEDUP',1))
except Ex... |
return a distance as a string | def dist_string(self, val_meters):
'''return a distance as a string'''
if self.settings.dist_unit == 'nm':
return "%.1fnm" % (val_meters * 0.000539957)
if self.settings.dist_unit == 'miles':
return "%.1fmiles" % (val_meters * 0.000621371)
return "%um" % val_meters |
return a speed in configured units | def speed_convert_units(self, val_ms):
'''return a speed in configured units'''
if self.settings.speed_unit == 'knots':
return val_ms * 1.94384
elif self.settings.speed_unit == 'mph':
return val_ms * 2.23694
return val_ms |
set prompt for command line | def set_prompt(self, prompt):
'''set prompt for command line'''
if prompt and self.settings.vehicle_name:
# add in optional vehicle name
prompt = self.settings.vehicle_name + ':' + prompt
self.mpstate.rl.set_prompt(prompt) |
return a link label as a string | def link_label(link):
'''return a link label as a string'''
if hasattr(link, 'label'):
label = link.label
else:
label = str(link.linknum+1)
return label |
see if a msg is from our primary vehicle | def is_primary_vehicle(self, msg):
'''see if a msg is from our primary vehicle'''
sysid = msg.get_srcSystem()
if self.target_system == 0 or self.target_system == sysid:
return True
return False |
allocate a colour to be used for a flight mode | def next_flightmode_colour(self):
'''allocate a colour to be used for a flight mode'''
if self.flightmode_colour_index > len(flightmode_colours):
print("Out of colours; reusing")
self.flightmode_colour_index = 0
ret = flightmode_colours[self.flightmode_colour_index]
... |
return colour to be used for rendering a flight mode background | def flightmode_colour(self, flightmode):
'''return colour to be used for rendering a flight mode background'''
if flightmode not in self.flightmode_colourmap:
self.flightmode_colourmap[flightmode] = self.next_flightmode_colour()
return self.flightmode_colourmap[flightmode] |
setup plotting ticks on x axis | def setup_xrange(self, xrange):
'''setup plotting ticks on x axis'''
if self.xaxis:
return
xrange *= 24 * 60 * 60
interval = 1
intervals = [ 1, 2, 5, 10, 15, 30, 60, 120, 240, 300, 600,
900, 1800, 3600, 7200, 5*3600, 10*3600, 24*3600 ]
fo... |
called when x limits are changed | def xlim_changed(self, axsubplot):
'''called when x limits are changed'''
xrange = axsubplot.get_xbound()
xlim = axsubplot.get_xlim()
self.setup_xrange(xrange[1] - xrange[0])
if self.draw_events == 0:
# ignore limit change before first draw event
return
... |
plot a set of graphs using date for x axis | def plotit(self, x, y, fields, colors=[], title=None):
'''plot a set of graphs using date for x axis'''
pylab.ion()
self.fig = pylab.figure(num=1, figsize=(12,6))
self.ax1 = self.fig.gca()
ax2 = None
for i in range(0, len(fields)):
if len(x[i]) == 0: continue
... |
add some data | def add_data(self, t, msg, vars):
'''add some data'''
mtype = msg.get_type()
for i in range(0, len(self.fields)):
if mtype not in self.field_types[i]:
continue
f = self.fields[i]
simple = self.simple_field[i]
if simple is not None:
... |
convert log timestamp to days | def timestamp_to_days(self, timestamp):
'''convert log timestamp to days'''
if self.tday_base is None:
try:
self.tday_base = matplotlib.dates.date2num(datetime.datetime.fromtimestamp(timestamp+self.timeshift))
self.tday_basetime = timestamp
except ... |
process one file | def process_mav(self, mlog, flightmode_selections):
'''process one file'''
self.vars = {}
idx = 0
all_false = True
for s in flightmode_selections:
if s:
all_false = False
# pre-calc right/left axes
self.num_fields = len(self.fields)
... |
handle xlim change requests from queue | def xlim_change_check(self, idx):
'''handle xlim change requests from queue'''
if not self.xlim_pipe[1].poll():
return
xlim = self.xlim_pipe[1].recv()
if xlim is None:
return
#print("recv: ", self.graph_num, xlim)
if self.ax1 is not None and xlim !... |
process and display graph | def process(self, flightmode_selections, _flightmodes, block=True):
'''process and display graph'''
self.msg_types = set()
self.multiplier = []
self.field_types = []
self.xlim = None
self.flightmode_list = _flightmodes
# work out msg types we are interested in
... |
show graph | def show(self, lenmavlist, block=True, xlim_pipe=None):
'''show graph'''
if xlim_pipe is not None:
xlim_pipe[0].close()
self.xlim_pipe = xlim_pipe
if self.labels is not None:
labels = self.labels.split(',')
if len(labels) != len(fields)*lenmavlist:
... |
control behaviour of the module | def cmd_ublox(self, args):
'''control behaviour of the module'''
if len(args) == 0:
print(self.usage())
elif args[0] == "status":
print(self.cmd_status())
elif args[0] == "set":
self.ublox_settings.command(args[1:])
elif args[0] == "reset":
... |
attempts to cold-reboot (factory-reboot) gps module | def cmd_ublox_reset(self, args):
'''attempts to cold-reboot (factory-reboot) gps module'''
print("Sending uBlox reset")
msg = struct.pack("<HBB", 0xFFFF, 0x0, 0)
self.master.mav.gps_inject_data_send(
self.target_system,
self.target_component,
len(msg),... |
called rapidly by mavproxy | def idle_task(self):
'''called rapidly by mavproxy'''
if self.fix_type >= 3:
# don't do anything if we have a fix
return
if self.mpstate.status.armed:
# do not upload data over telemetry link if we are armed
# perhaps we should just limit rate inst... |
handle mavlink packets | def mavlink_packet(self, m):
'''handle mavlink packets'''
# can't use status.msgs as we need this filtered to our target system
if (self.settings.target_system != 0 and
self.settings.target_system != m.get_srcSystem()):
return
if m.get_type() == 'GPS_RAW_INT':
... |
reboot autopilot | def cmd_reboot(self, args):
'''reboot autopilot'''
if len(args) > 0 and args[0] == 'bootloader':
self.master.reboot_autopilot(True)
else:
self.master.reboot_autopilot() |
lockup autopilot for watchdog testing | def cmd_lockup_autopilot(self, args):
'''lockup autopilot for watchdog testing'''
if len(args) > 0 and args[0] == 'IREALLYMEANIT':
print("Sending lockup command")
self.master.mav.command_long_send(self.settings.target_system, self.settings.target_component,
... |
get home position | def cmd_gethome(self, args):
'''get home position'''
self.master.mav.command_long_send(self.settings.target_system,
0,
mavutil.mavlink.MAV_CMD_GET_HOME_POSITION,
0, 0, 0, 0, 0, 0... |
send LED pattern as override | def cmd_led(self, args):
'''send LED pattern as override'''
if len(args) < 3:
print("Usage: led RED GREEN BLUE <RATE>")
return
pattern = [0] * 24
pattern[0] = int(args[0])
pattern[1] = int(args[1])
pattern[2] = int(args[2])
if len(... |
send LED pattern as override, using OreoLED conventions | def cmd_oreoled(self, args):
'''send LED pattern as override, using OreoLED conventions'''
if len(args) < 4:
print("Usage: oreoled LEDNUM RED GREEN BLUE <RATE>")
return
lednum = int(args[0])
pattern = [0] * 24
pattern[0] = ord('R')
pattern[1] = ord... |
flash bootloader | def cmd_flashbootloader(self, args):
'''flash bootloader'''
self.master.mav.command_long_send(self.settings.target_system,
0,
mavutil.mavlink.MAV_CMD_FLASH_BOOTLOADER,
0, 0, ... |
send PLAY_TUNE message | def cmd_playtune(self, args):
'''send PLAY_TUNE message'''
if len(args) < 1:
print("Usage: playtune TUNE")
return
tune = args[0]
str1 = tune[0:30]
str2 = tune[30:]
if sys.version_info.major >= 3 and not isinstance(str1, bytes):
str1 = b... |
decode device IDs from parameters | def cmd_devid(self, args):
'''decode device IDs from parameters'''
for p in self.mav_param.keys():
if p.startswith('COMPASS_DEV_ID'):
mp_util.decode_devid(self.mav_param[p], p)
if p.startswith('INS_') and p.endswith('_ID'):
mp_util.decode_devid(sel... |
add to the default popup menu | def add_menu(self, menu):
'''add to the default popup menu'''
from MAVProxy.modules.mavproxy_map import mp_slipmap
self.default_popup.add(menu)
self.map.add_object(mp_slipmap.SlipDefaultPopup(self.default_popup, combine=True)) |
map commands | def cmd_map(self, args):
'''map commands'''
from MAVProxy.modules.mavproxy_map import mp_slipmap
if len(args) < 1:
print("usage: map <icon|set>")
elif args[0] == "icon":
if len(args) < 3:
print("Usage: map icon <lat> <lon> <icon>")
else... |
return a tuple describing the colour a waypoint should appear on the map | def colour_for_wp(self, wp_num):
'''return a tuple describing the colour a waypoint should appear on the map'''
wp = self.module('wp').wploader.wp(wp_num)
command = wp.command
return self._colour_for_wp_command.get(command, (0,255,0)) |
return the label the waypoint which should appear on the map | def label_for_waypoint(self, wp_num):
'''return the label the waypoint which should appear on the map'''
wp = self.module('wp').wploader.wp(wp_num)
command = wp.command
if command not in self._label_suffix_for_wp_command:
return str(wp_num)
return str(wp_num) + "(" + ... |
display the waypoints | def display_waypoints(self):
'''display the waypoints'''
from MAVProxy.modules.mavproxy_map import mp_slipmap
self.mission_list = self.module('wp').wploader.view_list()
polygons = self.module('wp').wploader.polygon_list()
self.map.add_object(mp_slipmap.SlipClearLayer('Mission'))
... |
remove a mission nofly polygon | def remove_mission_nofly(self, key, selection_index):
'''remove a mission nofly polygon'''
if not self.validate_nofly():
print("NoFly invalid")
return
print("NoFly valid")
idx = self.selection_index_to_idx(key, selection_index)
wploader = self.module('wp'... |
handle a popup menu event from the map | def handle_menu_event(self, obj):
'''handle a popup menu event from the map'''
menuitem = obj.menuitem
if menuitem.returnkey.startswith('# '):
cmd = menuitem.returnkey[2:]
if menuitem.handler is not None:
if menuitem.handler_result is None:
... |
called when an event happens on the slipmap | def map_callback(self, obj):
'''called when an event happens on the slipmap'''
from MAVProxy.modules.mavproxy_map import mp_slipmap
if isinstance(obj, mp_slipmap.SlipMenuEvent):
self.handle_menu_event(obj)
return
if not isinstance(obj, mp_slipmap.SlipMouseEvent):
... |
unload module | def unload(self):
'''unload module'''
super(MapModule, self).unload()
self.map.close()
if self.instance == 1:
self.mpstate.map = None
self.mpstate.map_functions = {} |
end line drawing | def drawing_end(self):
'''end line drawing'''
from MAVProxy.modules.mavproxy_map import mp_slipmap
if self.draw_callback is None:
return
self.draw_callback(self.draw_line)
self.draw_callback = None
self.map.add_object(mp_slipmap.SlipDefaultPopup(self.default_p... |
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