Added some constants that are commonly changed to flightconfig.py.

flight/AIs/test_hover.py

@@ -1,13 +1,14 @@
 from ..drone.drone_controller import DroneController
 from .. import constants as c
+from ... import flightconfig as f
 
 HOVERTASK_DURATION = 10
 
 controller = DroneController(c.Drones.LEONARDO_SIM)
 
-controller.add_takeoff_task(c.DEFAULT_ALTITUDE)
+controller.add_takeoff_task(f.DEFAULT_ALTITUDE)
 controller.add_hover_task(
-    c.DEFAULT_ALTITUDE, HOVERTASK_DURATION, c.Priorities.MEDIUM)
+    f.DEFAULT_ALTITUDE, HOVERTASK_DURATION, c.Priorities.MEDIUM)
 controller.add_land_task(c.Priorities.MEDIUM)
 
 controller.run()

flight/constants.py

@@ -75,35 +75,9 @@ class MavBitmasks(Enum):
         Drones.LEONARDO: '/dev/serial/by-id/usb-3D_Robotics_PX4_FMU_v2.x_0-if00'
         }
 
-# Set to true for more detailed error messages and backtraces
-DEBUG = True
-
-# How high in meters the drone will default flight
-DEFAULT_ALTITUDE = 1
-
-# How fast (in meters/s) to move by default
-DEFAULT_SPEED = 0.50
-
-# Maximum speed (in meters/s) before being considered unsafe
-SPEED_THRESHOLD = 1
-
-# Maximum altitude (in meters) before being considered unsafe
-MAXIMUM_ALLOWED_ALTITUDE = 1.5
-
 # How often to run safety checks
 SAFETY_CHECKS_DELAY = 0.5
 
-# Thrust level during takeoff
-DEFAULT_TAKEOFF_THRUST = 0.7
-
-# Consider takeoff complete after reaching this percent of target takeoff
-# altitude
-PERCENT_TARGET_ALTITUDE = 0.3
-
-# Expands or contracts time calculations (divide 1 by your average real-time
-# factor in Gazebo simulator)
-SIMULATION_MULTIPLIER = 1
-
 # How often to run main control loop
 DELAY_INTERVAL = 0.1
 

flight/drone/drone_controller.py

@@ -16,6 +16,7 @@
 from ..tasks.task_base import TaskBase
 from ..utils.priority_queue import PriorityQueue
 from ..utils.timer import Timer
+from ... import flightconfig as f
 
 class DroneController(object):
     """Controls the actions of a drone.
@@ -89,7 +90,7 @@ def run(self):
 
             # Only print stack trace for completely unexpected things
             self._logger.critical(type(e).__name__)
-            if c.DEBUG is True:
+            if f.DEBUG is True:
                 exc_type, exc_value, exc_traceback = sys.exc_info()
                 traceback.print_exception(exc_type, exc_value, exc_traceback,
                               limit=2, file=sys.stdout)
@@ -200,10 +201,10 @@ def _update(self):
     def _do_safety_checks(self):
         """Check for exceptional conditions."""
         try:
-            if self._drone.airspeed > c.SPEED_THRESHOLD:
+            if self._drone.airspeed > f.SPEED_THRESHOLD:
                 raise exceptions.VelocityExceededThreshold()
 
-            if (self._drone.rangefinder.distance > c.MAXIMUM_ALLOWED_ALTITUDE):
+            if (self._drone.rangefinder.distance > f.MAXIMUM_ALLOWED_ALTITUDE):
                 raise exceptions.AltitudeExceededThreshold()
 
         except Exception as e:

flight/tasks/takeoff_task.py

@@ -1,5 +1,6 @@
 from task_base import TaskBase
 from .. import constants as c
+from ... import flightconfig as f
 
 class TakeoffTask(TaskBase):
     """A task that takes off the drone from the ground.
@@ -25,10 +26,10 @@ def __init__(self, drone, altitude):
     def perform(self):
         current_altitude = self._drone.rangefinder.distance
 
-        if current_altitude >= self._target_alt * c.PERCENT_TARGET_ALTITUDE:
+        if current_altitude >= self._target_alt * f.PERCENT_TARGET_ALTITUDE:
             return True
 
-        thrust = c.DEFAULT_TAKEOFF_THRUST
+        thrust = f.DEFAULT_TAKEOFF_THRUST
 
         self._drone.set_attitude(0, 0, 0, thrust)
         return False

flightconfig.py

@@ -0,0 +1,25 @@
+# Set to true for more detailed error messages and backtraces
+DEBUG = True
+
+# How high in meters the drone will default flight
+DEFAULT_ALTITUDE = 1
+
+# How fast (in meters/s) to move by default
+DEFAULT_SPEED = 0.50
+
+# Maximum speed (in meters/s) before being considered unsafe
+SPEED_THRESHOLD = 1
+
+# Maximum altitude (in meters) before being considered unsafe
+MAXIMUM_ALLOWED_ALTITUDE = 1.5
+
+# Consider takeoff complete after reaching this percent of target takeoff
+# altitude
+PERCENT_TARGET_ALTITUDE = 0.3
+
+# Expands or contracts time calculations (divide 1 by your average real-time
+# factor in Gazebo simulator)
+SIMULATION_MULTIPLIER = 1
+
+# Thrust level during takeoff
+DEFAULT_TAKEOFF_THRUST = 0.7