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Make dronekit working with the PX4 Pro #652

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Merged
peterbarker merged 2 commits into from
Aug 15, 2016
Merged

Make dronekit working with the PX4 Pro #652

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8a5191a
Make dronekit working with the PX4 Pro as https://github.com/mavlink/…
Aug 14, 2016
59dc368
base_mode is now optional to success on unit tests
Aug 14, 2016
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21 changes: 15 additions & 6 deletions dronekit/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1177,9 +1177,12 @@ def listener(self, name, m):
self.notify_attribute_listeners('armed', self.armed, cache=True)
self._autopilot_type = m.autopilot
self._vehicle_type = m.type
if self._is_mode_available(m.custom_mode) == False:
if self._is_mode_available(m.custom_mode, m.base_mode) == False:
raise APIException("mode %s not available on mavlink definition" % m.custom_mode)
self._flightmode = self._mode_mapping_bynumber[m.custom_mode]
if self._autopilot_type == mavutil.mavlink.MAV_AUTOPILOT_PX4:
self._flightmode = mavutil.interpret_px4_mode(m.base_mode, m.custom_mode)
else:
self._flightmode = self._mode_mapping_bynumber[m.custom_mode]
self.notify_attribute_listeners('mode', self.mode, cache=True)
self._system_status = m.system_status
self.notify_attribute_listeners('system_status', self.system_status, cache=True)
Expand Down Expand Up @@ -1525,9 +1528,12 @@ def _mode_mapping(self):
def _mode_mapping_bynumber(self):
return mavutil.mode_mapping_bynumber(self._vehicle_type)

def _is_mode_available(self, mode_code):
try:
return mode_code in self._mode_mapping_bynumber
def _is_mode_available(self, custommode_code, basemode_code=0):
try:
if self._autopilot_type == mavutil.mavlink.MAV_AUTOPILOT_PX4:
mode = mavutil.interpret_px4_mode(basemode_code, custommode_code)
return mode in self._mode_mapping
return custommode_code in self._mode_mapping_bynumber
except:
return False

Expand All @@ -1546,7 +1552,10 @@ def mode(self):

@mode.setter
def mode(self, v):
self._master.set_mode(self._mode_mapping[v.name])
if self._autopilot_type == mavutil.mavlink.MAV_AUTOPILOT_PX4:
self._master.set_mode(v.name)
else:
self._master.set_mode(self._mode_mapping[v.name])

@property
def location(self):
Expand Down