Keelson connector for Mavlink, mostly used to connect towards flightcontrollers.
Primary package pymavlink
Requires:
- python >= 3.11
- docker and docker-compose
Install the python requirements in a virtual environment:
python3 -m venv env
source venv/bin/activate
pip install -r requirements_dev.txtTo generate from proto use protoc generator
RC model config
Rudder 0 = Port rudder 1 = Starboard rudder
zenoh info
zenoh network
python bin/main.py -r rise -e masslab -di dev --log-level 10
python bin/main.py -r rise -e masslab -di dev --log-level 10 -sub start
sudo chmod a+rw /dev/ttyACM0
data example
| Parameter | Value |
|---|---|
| Vcc | 0 |
| Vservo | 0 |
| flags | 0 |
| Parameter | Value |
|---|---|
| brkval | 0 |
| freemem | 46240 |
| freemem32 | 46240 |
| Parameter | Value |
|---|---|
| seq | 0 |
| total | 0 |
| mission_state | 0 |
| mission_mode | 0 |
| Parameter | Value |
|---|---|
| time_usec | 1854881584 |
| port | 0 |
| servo1_raw | 1500 |
| servo2_raw | 1500 |
| servo3_raw | 0 |
| ... | ... |
| servo16_raw | 0 |
| Parameter | Value |
|---|---|
| time_boot_ms | 1854881 |
| chancount | 16 |
| chan1_raw | 1500 |
| chan2_raw | 1500 |
| ... | ... |
| chan18_raw | 0 |
| rssi | 255 |
| Parameter | Value |
|---|---|
| time_usec | 1854881692 |
| xacc | -888 |
| yacc | 17 |
| zacc | -459 |
| xgyro | 0 |
| ygyro | 0 |
| zgyro | 0 |
| xmag | 0 |
| ymag | 0 |
| zmag | 0 |
| id | 0 |
| temperature | 3369 |
| Parameter | Value |
|---|---|
| time_boot_ms | 1854881 |
| press_abs | 1019.5732421875 |
| press_diff | 0.0 |
| temperature | 3656 |
| temperature_press_diff | 0 |
| Parameter | Value |
|---|---|
| time_usec | 0 |
| fix_type | 0 |
| lat | 0 |
| lon | 0 |
| alt | 0 |
| eph | 65535 |
| epv | 65535 |
| vel | 0 |
| cog | 0 |
| satellites_visible | 0 |
| alt_ellipsoid | 0 |
| h_acc | 0 |
| v_acc | 0 |
| vel_acc | 0 |
| hdg_acc | 0 |
| yaw | 0 |
| Parameter | Value |
|---|---|
| time_unix_usec | 0 |
| time_boot_ms | 1854881 |
| Parameter | Value |
|---|---|
| omegaIx | -0.00020578244584612548 |
| omegaIy | 1.7825033864937723e-05 |
| omegaIz | 0.00021514587569981813 |
| accel_weight | 0.0 |
| renorm_val | 0.0 |
| error_rp | 0.00012932810932397842 |
| error_yaw | 1.0 |
| Parameter | Value |
|---|---|
| flags | 167 |
| velocity_variance | 0.0 |
| pos_horiz_variance | 0.0003704401315189898 |
| pos_vert_variance | 0.0030375404749065638 |
| compass_variance | 0.0 |
| terrain_alt_variance | 0.0 |
| airspeed_variance | 0.0 |
| Parameter | Value |
|---|---|
| time_usec | 1854900660 |
| vibration_x | 0.009094780310988426 |
| vibration_y | 0.006576085463166237 |
| vibration_z | 0.00686581851914525 |
| clipping_0 | 0 |
| clipping_1 | 0 |
| clipping_2 | 0 |
| Parameter | Value |
|---|---|
| id | 0 |
| battery_function | 0 |
| type | 0 |
| temperature | 32767 |
| voltages | [4966, 65535, ...] |
| current_battery | 44 |
| current_consumed | 229 |
| energy_consumed | 41 |
| battery_remaining | 93 |
| time_remaining | 0 |
| charge_state | 1 |
| voltages_ext | [0, 0, 0, 0] |
| mode | 0 |
| fault_bitmask | 0 |