idx int64 0 63k | question stringlengths 61 4.03k | target stringlengths 6 1.23k |
|---|---|---|
41,300 | def set_menu ( self , menu ) : self . menu = menu self . in_queue . put ( MPImageMenu ( menu ) ) | set a MPTopMenu on the frame |
41,301 | def set_popup_menu ( self , menu ) : self . popup_menu = menu self . in_queue . put ( MPImagePopupMenu ( menu ) ) | set a popup menu on the frame |
41,302 | def image_coordinates ( self , point ) : 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 |
41,303 | def redraw ( self ) : state = self . state if self . img is None : self . mainSizer . Fit ( self ) self . Refresh ( ) state . frame . Refresh ( ) self . SetFocus ( ) return 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 ) ) 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 pass self . imagePanel . set_image ( scaled_image ) self . need_redraw = False self . mainSizer . Fit ( self ) self . Refresh ( ) state . frame . Refresh ( ) self . SetFocus ( ) | redraw the image with current settings |
41,304 | 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 |
41,305 | 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 |
41,306 | 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 |
41,307 | 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 |
41,308 | 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 ) : 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 |
41,309 | 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 |
41,310 | 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 |
41,311 | 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 |
41,312 | 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 |
41,313 | def full_size ( self ) : self . dragpos = wx . Point ( 0 , 0 ) self . zoom = 1.0 self . need_redraw = True | show image at full size |
41,314 | 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 |
41,315 | def message_checksum ( msg ) : from . mavcrc import x25crc crc = x25crc ( ) crc . accumulate_str ( msg . name + ' ' ) 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 |
41,316 | def merge_enums ( xml ) : emap = { } for x in xml : newenums = [ ] for enum in x . enum : if enum . name in emap : emapitem = emap [ enum . name ] if ( emapitem . start_value <= enum . highest_value and emapitem . highest_value >= enum . start_value ) : for entry in emapitem . entry : if entry . value <= enum . highest_value and entry . autovalue == True : entry . value = enum . highest_value + 1 enum . highest_value = entry . value 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 : emap [ e ] . entry = sorted ( emap [ e ] . entry , key = operator . attrgetter ( 'value' ) , reverse = False ) 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 |
41,317 | 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 |
41,318 | def total_msgs ( xml ) : count = 0 for x in xml : count += len ( x . message ) return count | count total number of msgs |
41,319 | 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 |
41,320 | 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 |
41,321 | 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 |
41,322 | 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 |
41,323 | def mavlink_packet ( self , m ) : now = time . time ( ) if m . get_type ( ) == 'REMOTE_LOG_DATA_BLOCK' : if self . stopped : 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 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 else : if m . block_cnt in self . acking_blocks : pass else : self . blocks_to_ack_and_nack . append ( [ self . master , m . block_cnt , 1 , now , None ] ) self . acking_blocks [ m . block_cnt ] = 1 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 ] ) 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 : 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 |
41,324 | 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 |
41,325 | 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 |
41,326 | 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 = [ ] 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 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 |
41,327 | 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 |
41,328 | 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 |
41,329 | 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 |
41,330 | 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 |
41,331 | 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 |
41,332 | 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 |
41,333 | def complete_filename ( text ) : 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 |
41,334 | 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 |
41,335 | 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 |
41,336 | 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 |
41,337 | 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 |
41,338 | def complete ( text , state ) : global last_clist global rline_mpstate if state != 0 and last_clist is not None : return last_clist [ state ] cmd = readline . get_line_buffer ( ) . split ( ) if len ( cmd ) == 1 : last_clist = complete_command ( text ) + complete_alias ( text ) elif cmd [ 0 ] in rline_mpstate . completions : last_clist = complete_rules ( rline_mpstate . completions [ cmd [ 0 ] ] , cmd [ 1 : ] ) else : 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 : 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 |
41,339 | def laserScan2LaserData ( scan ) : laser = LaserData ( ) laser . values = scan . ranges 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 . |
41,340 | def __callback ( self , scan ) : laser = laserScan2LaserData ( scan ) self . lock . acquire ( ) self . data = laser self . lock . release ( ) | Callback function to receive and save Laser Scans . |
41,341 | def add_to_linestring ( position_data , kml_linestring ) : global kml position_data [ 2 ] += float ( args . aoff ) kml_linestring . coords . addcoordinates ( [ position_data ] ) | add a point to the kml file |
41,342 | def sniff_field_spelling ( mlog , source ) : position_field_type_default = position_field_types [ 0 ] msg = mlog . recv_match ( source ) mlog . _rewind ( ) 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 |
41,343 | 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 |
41,344 | 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 |
41,345 | def match_extension ( f ) : ( root , ext ) = os . path . splitext ( f ) return ext . lower ( ) in extensions | see if the path matches a extension |
41,346 | 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 |
41,347 | 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 |
41,348 | def tile_to_path ( self , tile ) : return os . path . join ( self . cache_path , self . service , tile . path ( ) ) | return full path to a tile |
41,349 | 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 |
41,350 | 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 |
41,351 | 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 |
41,352 | 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 |
41,353 | 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 |
41,354 | 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 |
41,355 | 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 |
41,356 | 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 |
41,357 | 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 |
41,358 | 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 |
41,359 | 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 |
41,360 | 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 |
41,361 | 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 |
41,362 | 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 |
41,363 | 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 |
41,364 | 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 |
41,365 | 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 |
41,366 | 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 |
41,367 | def watch_thread ( self ) : from mp_settings import MPSetting while True : setting = self . child_pipe . recv ( ) if not isinstance ( setting , MPSetting ) : break try : self . settings . set ( setting . name , setting . value ) except Exception : print ( "Unable to set %s to %s" % ( setting . name , setting . value ) ) | watch for settings changes from child |
41,368 | def report ( self , name , ok , msg = None , deltat = 20 ) : r = self . reports [ name ] if time . time ( ) < r . last_report + deltat : r . ok = ok return r . last_report = time . time ( ) if ok and not r . ok : self . say ( "%s OK" % name ) r . ok = ok if not r . ok : self . say ( msg ) | report a sensor error |
41,369 | def report_change ( self , name , value , maxdiff = 1 , deltat = 10 ) : r = self . reports [ name ] if time . time ( ) < r . last_report + deltat : return r . last_report = time . time ( ) if math . fabs ( r . value - value ) < maxdiff : return r . value = value self . say ( "%s %u" % ( name , value ) ) | report a sensor change |
41,370 | def close ( self ) : self . close_window . release ( ) count = 0 while self . child . is_alive ( ) and count < 30 : time . sleep ( 0.1 ) count += 1 if self . child . is_alive ( ) : self . child . terminate ( ) self . child . join ( ) | close the window |
41,371 | def hide_object ( self , key , hide = True ) : self . object_queue . put ( SlipHideObject ( key , hide ) ) | hide an object on the map by key |
41,372 | def set_position ( self , key , latlon , layer = None , rotation = 0 ) : self . object_queue . put ( SlipPosition ( key , latlon , layer , rotation ) ) | move an object on the map |
41,373 | def check_events ( self ) : while self . event_count ( ) > 0 : event = self . get_event ( ) for callback in self . _callbacks : callback ( event ) | check for events calling registered callbacks as needed |
41,374 | def radius_cmp ( a , b , offsets ) : diff = radius ( a , offsets ) - radius ( b , offsets ) if diff > 0 : return 1 if diff < 0 : return - 1 return 0 | return + 1 or - 1 for for sorting |
41,375 | def plot_data ( orig_data , data ) : import numpy as np from mpl_toolkits . mplot3d import Axes3D import matplotlib . pyplot as plt for dd , c in [ ( orig_data , 'r' ) , ( data , 'b' ) ] : fig = plt . figure ( ) ax = fig . add_subplot ( 111 , projection = '3d' ) xs = [ d . x for d in dd ] ys = [ d . y for d in dd ] zs = [ d . z for d in dd ] ax . scatter ( xs , ys , zs , c = c , marker = 'o' ) ax . set_xlabel ( 'X Label' ) ax . set_ylabel ( 'Y Label' ) ax . set_zlabel ( 'Z Label' ) plt . show ( ) | plot data in 3D |
41,376 | def find_end ( self , text , start_token , end_token , ignore_end_token = None ) : if not text . startswith ( start_token ) : raise MAVParseError ( "invalid token start" ) offset = len ( start_token ) nesting = 1 while nesting > 0 : idx1 = text [ offset : ] . find ( start_token ) idx2 = text [ offset : ] . find ( end_token ) if ignore_end_token : combined_token = ignore_end_token + end_token if text [ offset + idx2 : offset + idx2 + len ( combined_token ) ] == combined_token : idx2 += len ( ignore_end_token ) if idx1 == - 1 and idx2 == - 1 : raise MAVParseError ( "token nesting error" ) if idx1 == - 1 or idx1 > idx2 : offset += idx2 + len ( end_token ) nesting -= 1 else : offset += idx1 + len ( start_token ) nesting += 1 return offset | find the of a token . Returns the offset in the string immediately after the matching end_token |
41,377 | def find_var_end ( self , text ) : return self . find_end ( text , self . start_var_token , self . end_var_token ) | find the of a variable |
41,378 | def find_rep_end ( self , text ) : return self . find_end ( text , self . start_rep_token , self . end_rep_token , ignore_end_token = self . end_var_token ) | find the of a repitition |
41,379 | def write ( self , file , text , subvars = { } , trim_leading_lf = True ) : file . write ( self . substitute ( text , subvars = subvars , trim_leading_lf = trim_leading_lf ) ) | write to a file with variable substitution |
41,380 | def flight_time ( logfile ) : print ( "Processing log %s" % filename ) mlog = mavutil . mavlink_connection ( filename ) in_air = False start_time = 0.0 total_time = 0.0 total_dist = 0.0 t = None last_msg = None last_time_usec = None while True : m = mlog . recv_match ( type = [ 'GPS' , 'GPS_RAW_INT' ] , condition = args . condition ) if m is None : if in_air : total_time += time . mktime ( t ) - start_time if total_time > 0 : print ( "Flight time : %u:%02u" % ( int ( total_time ) / 60 , int ( total_time ) % 60 ) ) return ( total_time , total_dist ) if m . get_type ( ) == 'GPS_RAW_INT' : groundspeed = m . vel * 0.01 status = m . fix_type time_usec = m . time_usec else : groundspeed = m . Spd status = m . Status time_usec = m . TimeUS if status < 3 : continue t = time . localtime ( m . _timestamp ) if groundspeed > args . groundspeed and not in_air : print ( "In air at %s (percent %.0f%% groundspeed %.1f)" % ( time . asctime ( t ) , mlog . percent , groundspeed ) ) in_air = True start_time = time . mktime ( t ) elif groundspeed < args . groundspeed and in_air : print ( "On ground at %s (percent %.1f%% groundspeed %.1f time=%.1f seconds)" % ( time . asctime ( t ) , mlog . percent , groundspeed , time . mktime ( t ) - start_time ) ) in_air = False total_time += time . mktime ( t ) - start_time if last_msg is None or time_usec > last_time_usec or time_usec + 30e6 < last_time_usec : if last_msg is not None : total_dist += distance_two ( last_msg , m ) last_msg = m last_time_usec = time_usec return ( total_time , total_dist ) | work out flight time for a log file |
41,381 | def match_type ( mtype , patterns ) : for p in patterns : if fnmatch . fnmatch ( mtype , p ) : return True return False | return True if mtype matches pattern |
41,382 | def apply ( self , img ) : yup , uup , vup = self . getUpLimit ( ) ydwn , udwn , vdwn = self . getDownLimit ( ) yuv = cv2 . cvtColor ( img , cv2 . COLOR_BGR2YUV ) minValues = np . array ( [ ydwn , udwn , vdwn ] , dtype = np . uint8 ) maxValues = np . array ( [ yup , uup , vup ] , dtype = np . uint8 ) mask = cv2 . inRange ( yuv , minValues , maxValues ) res = cv2 . bitwise_and ( img , img , mask = mask ) return res | We convert RGB as BGR because OpenCV with RGB pass to YVU instead of YUV |
41,383 | def on_menu ( self , event ) : state = self . state ret = self . menu . find_selected ( event ) if ret is None : return ret . call_handler ( ) state . child_pipe_send . send ( ret ) | handle menu selections |
41,384 | def aslctrl_data_encode ( self , timestamp , aslctrl_mode , h , hRef , hRef_t , PitchAngle , PitchAngleRef , q , qRef , uElev , uThrot , uThrot2 , nZ , AirspeedRef , SpoilersEngaged , YawAngle , YawAngleRef , RollAngle , RollAngleRef , p , pRef , r , rRef , uAil , uRud ) : return MAVLink_aslctrl_data_message ( timestamp , aslctrl_mode , h , hRef , hRef_t , PitchAngle , PitchAngleRef , q , qRef , uElev , uThrot , uThrot2 , nZ , AirspeedRef , SpoilersEngaged , YawAngle , YawAngleRef , RollAngle , RollAngleRef , p , pRef , r , rRef , uAil , uRud ) | ASL - fixed - wing controller data |
41,385 | def average ( var , key , N ) : global average_data if not key in average_data : average_data [ key ] = [ var ] * N return var average_data [ key ] . pop ( 0 ) average_data [ key ] . append ( var ) return sum ( average_data [ key ] ) / N | average over N points |
41,386 | def second_derivative_5 ( var , key ) : global derivative_data import mavutil tnow = mavutil . mavfile_global . timestamp if not key in derivative_data : derivative_data [ key ] = ( tnow , [ var ] * 5 ) return 0 ( last_time , data ) = derivative_data [ key ] data . pop ( 0 ) data . append ( var ) derivative_data [ key ] = ( tnow , data ) h = ( tnow - last_time ) ret = ( ( data [ 4 ] + data [ 0 ] ) - 2 * data [ 2 ] ) / ( 4 * h ** 2 ) return ret | 5 point 2nd derivative |
41,387 | def lowpass ( var , key , factor ) : global lowpass_data if not key in lowpass_data : lowpass_data [ key ] = var else : lowpass_data [ key ] = factor * lowpass_data [ key ] + ( 1.0 - factor ) * var return lowpass_data [ key ] | a simple lowpass filter |
41,388 | def diff ( var , key ) : global last_diff ret = 0 if not key in last_diff : last_diff [ key ] = var return 0 ret = var - last_diff [ key ] last_diff [ key ] = var return ret | calculate differences between values |
41,389 | def roll_estimate ( RAW_IMU , GPS_RAW_INT = None , ATTITUDE = None , SENSOR_OFFSETS = None , ofs = None , mul = None , smooth = 0.7 ) : rx = RAW_IMU . xacc * 9.81 / 1000.0 ry = RAW_IMU . yacc * 9.81 / 1000.0 rz = RAW_IMU . zacc * 9.81 / 1000.0 if ATTITUDE is not None and GPS_RAW_INT is not None : ry -= ATTITUDE . yawspeed * GPS_RAW_INT . vel * 0.01 rz += ATTITUDE . pitchspeed * GPS_RAW_INT . vel * 0.01 if SENSOR_OFFSETS is not None and ofs is not None : rx += SENSOR_OFFSETS . accel_cal_x ry += SENSOR_OFFSETS . accel_cal_y rz += SENSOR_OFFSETS . accel_cal_z rx -= ofs [ 0 ] ry -= ofs [ 1 ] rz -= ofs [ 2 ] if mul is not None : rx *= mul [ 0 ] ry *= mul [ 1 ] rz *= mul [ 2 ] return lowpass ( degrees ( - asin ( ry / sqrt ( rx ** 2 + ry ** 2 + rz ** 2 ) ) ) , '_roll' , smooth ) | estimate roll from accelerometer |
41,390 | def mag_rotation ( RAW_IMU , inclination , declination ) : m_body = Vector3 ( RAW_IMU . xmag , RAW_IMU . ymag , RAW_IMU . zmag ) m_earth = Vector3 ( m_body . length ( ) , 0 , 0 ) r = Matrix3 ( ) r . from_euler ( 0 , - radians ( inclination ) , radians ( declination ) ) m_earth = r * m_earth r . from_two_vectors ( m_earth , m_body ) return r | return an attitude rotation matrix that is consistent with the current mag vector |
41,391 | def mag_yaw ( RAW_IMU , inclination , declination ) : m = mag_rotation ( RAW_IMU , inclination , declination ) ( r , p , y ) = m . to_euler ( ) y = degrees ( y ) if y < 0 : y += 360 return y | estimate yaw from mag |
41,392 | def mag_roll ( RAW_IMU , inclination , declination ) : m = mag_rotation ( RAW_IMU , inclination , declination ) ( r , p , y ) = m . to_euler ( ) return degrees ( r ) | estimate roll from mag |
41,393 | def expected_mag ( RAW_IMU , ATTITUDE , inclination , declination ) : m_body = Vector3 ( RAW_IMU . xmag , RAW_IMU . ymag , RAW_IMU . zmag ) field_strength = m_body . length ( ) m = rotation ( ATTITUDE ) r = Matrix3 ( ) r . from_euler ( 0 , - radians ( inclination ) , radians ( declination ) ) m_earth = r * Vector3 ( field_strength , 0 , 0 ) return m . transposed ( ) * m_earth | return expected mag vector |
41,394 | def gravity ( RAW_IMU , SENSOR_OFFSETS = None , ofs = None , mul = None , smooth = 0.7 ) : if hasattr ( RAW_IMU , 'xacc' ) : rx = RAW_IMU . xacc * 9.81 / 1000.0 ry = RAW_IMU . yacc * 9.81 / 1000.0 rz = RAW_IMU . zacc * 9.81 / 1000.0 else : rx = RAW_IMU . AccX ry = RAW_IMU . AccY rz = RAW_IMU . AccZ if SENSOR_OFFSETS is not None and ofs is not None : rx += SENSOR_OFFSETS . accel_cal_x ry += SENSOR_OFFSETS . accel_cal_y rz += SENSOR_OFFSETS . accel_cal_z rx -= ofs [ 0 ] ry -= ofs [ 1 ] rz -= ofs [ 2 ] if mul is not None : rx *= mul [ 0 ] ry *= mul [ 1 ] rz *= mul [ 2 ] return sqrt ( rx ** 2 + ry ** 2 + rz ** 2 ) | estimate pitch from accelerometer |
41,395 | def pitch_sim ( SIMSTATE , GPS_RAW ) : xacc = SIMSTATE . xacc - lowpass ( delta ( GPS_RAW . v , "v" ) * 6.6 , "v" , 0.9 ) zacc = SIMSTATE . zacc zacc += SIMSTATE . ygyro * GPS_RAW . v if xacc / zacc >= 1 : return 0 if xacc / zacc <= - 1 : return - 0 return degrees ( - asin ( xacc / zacc ) ) | estimate pitch from SIMSTATE accels |
41,396 | def distance_home ( GPS_RAW ) : global first_fix if ( hasattr ( GPS_RAW , 'fix_type' ) and GPS_RAW . fix_type < 2 ) or ( hasattr ( GPS_RAW , 'Status' ) and GPS_RAW . Status < 2 ) : return 0 if first_fix == None : first_fix = GPS_RAW return 0 return distance_two ( GPS_RAW , first_fix ) | distance from first fix point |
41,397 | def sawtooth ( ATTITUDE , amplitude = 2.0 , period = 5.0 ) : mins = ( ATTITUDE . usec * 1.0e-6 ) / 60 p = fmod ( mins , period * 2 ) if p < period : return amplitude * ( p / period ) return amplitude * ( period - ( p - period ) ) / period | sawtooth pattern based on uptime |
41,398 | def EAS2TAS ( ARSP , GPS , BARO , ground_temp = 25 ) : tempK = ground_temp + 273.15 - 0.0065 * GPS . Alt return sqrt ( 1.225 / ( BARO . Press / ( 287.26 * tempK ) ) ) | EAS2TAS from ARSP . Temp |
41,399 | def airspeed_voltage ( VFR_HUD , ratio = None ) : import mavutil mav = mavutil . mavfile_global if ratio is None : ratio = 1.9936 if 'ARSPD_RATIO' in mav . params : used_ratio = mav . params [ 'ARSPD_RATIO' ] else : used_ratio = ratio if 'ARSPD_OFFSET' in mav . params : offset = mav . params [ 'ARSPD_OFFSET' ] else : return - 1 airspeed_pressure = ( pow ( VFR_HUD . airspeed , 2 ) ) / used_ratio raw = airspeed_pressure + offset SCALING_OLD_CALIBRATION = 204.8 voltage = 5.0 * raw / 4096 return voltage | back - calculate the voltage the airspeed sensor must have seen |
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