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teleread.py
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teleread.py
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"""
This script will introduce multiple things:
> Run the simulator inside dronekit
> Read and handle telemetry from the UAV
> Read and change parameters
"""
from dronekit import connect, VehicleMode
import time
#--- Start the Software In The Loop (SITL)
import dronekit_sitl
#
sitl = dronekit_sitl.start_default() #(sitl.start)
connection_string = sitl.connection_string()
#--- Now that we have started the SITL and we have the connection string (basically the ip and udp port)...
print(">>>> Connecting with the UAV <<<")
vehicle = connect(connection_string, wait_ready=True) #- wait_ready flag hold the program untill all the parameters are been read (=, not .)
#-- Read information from the autopilot:
#- Version and attributes
vehicle.wait_ready('autopilot_version')
print('Autopilot version: %s'%vehicle.version)
#- Does the firmware support the companion pc to set the attitude?
print('Supports set attitude from companion: %s'%vehicle.capabilities.set_attitude_target_local_ned)
#- Read the actual position
print('Position: %s'% vehicle.location.global_relative_frame)
#- Read the actual attitude roll, pitch, yaw
print('Attitude: %s'% vehicle.attitude)
#- Read the actual velocity (m/s)
print('Velocity: %s'%vehicle.velocity) #- North, east, down
#- When did we receive the last heartbeat
print('Last Heartbeat: %s'%vehicle.last_heartbeat)
#- Is the vehicle good to Arm?
print('Is the vehicle armable: %s'%vehicle.is_armable)
#- Which is the total ground speed? Note: this is settable
print('Groundspeed: %s'% vehicle.groundspeed) #(%)
#- What is the actual flight mode? Note: this is settable
print('Mode: %s'% vehicle.mode.name)
#- Is the vehicle armed Note: this is settable
print('Armed: %s'%vehicle.armed)
#- Is thestate estimation filter ok?
print('EKF Ok: %s'%vehicle.ekf_ok)
#----- Adding a listener
#-- dronekit updates the variables as soon as it receives an update from the UAV
#-- you can define a callback function for predefined messages or define one for
#-- any mavlink message
def attitude_callback(self, attr_name, value):
print(vehicle.attitude)
print("")
print("Adding an attitude listener")
vehicle.add_attribute_listener('attitude', attitude_callback) #-- message type, callback function
time.sleep(5)
#--- Now we print the attitude from the callback for 5 seconds, then we remove the callback
vehicle.remove_attribute_listener('attitude', attitude_callback) #(.remove)
#--- You can create a callback even with decorators, check the documentation out for more details
#---- PARAMETERS
print("Maximum Throttle: %d"%vehicle.parameters['THR_MIN'])
#-- You can read and write the parameters
vehicle.parameters['THR_MIN'] = 50
time.sleep(1)
print("Maximum Throttle: %d"%vehicle.parameters['THR_MIN'])
#--- Now we close the simulation
vehicle.close()
sitl.stop()
print("done")