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mavproxy.py
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mavproxy.py
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#!/usr/bin/env python
'''
mavproxy - a MAVLink proxy program
Copyright Andrew Tridgell 2011
Released under the GNU GPL version 3 or later
'''
import sys, os, struct, math, time, socket
import fnmatch, errno, threading
import serial, Queue, select
import logging
# find the mavlink.py module
for d in [ 'pymavlink',
os.path.join(os.path.dirname(os.path.realpath(__file__)), '..', 'pymavlink'),
os.path.join(os.path.dirname(os.path.realpath(__file__)), '..', 'mavlink', 'pymavlink') ]:
if os.path.exists(d):
sys.path.insert(0, d)
if os.name == 'nt':
try:
# broken python compilation of mavlink.py on windows!
os.unlink(os.path.join(d, 'mavlink.pyc'))
except:
pass
# add modules path
sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), 'modules'))
sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), 'modules', 'lib'))
import select, textconsole
class MPSettings(object):
def __init__(self):
self.vars = [ ('link', int),
('altreadout', int),
('distreadout', int),
('battreadout', int),
('heartbeat', int),
('numcells', int),
('speech', int),
('mavfwd', int),
('mavfwd_rate', int),
('streamrate', int),
('streamrate2', int),
('heartbeatreport', int),
('radiosetup', int),
('paramretry', int),
('moddebug', int),
('rc1mul', int),
('rc2mul', int),
('rc4mul', int)]
self.link = 1
self.altreadout = 10
self.distreadout = 200
self.battreadout = 0
self.basealtitude = -1
self.heartbeat = 1
self.numcells = 0
self.mavfwd = 1
self.mavfwd_rate = 0
self.speech = 0
self.streamrate = 4
self.streamrate2 = 4
self.radiosetup = 0
self.heartbeatreport = 1
self.paramretry = 10
self.rc1mul = 1
self.rc2mul = 1
self.rc4mul = 1
self.moddebug = 2
def set(self, vname, value):
'''set a setting'''
for (v,t) in sorted(self.vars):
if v == vname:
try:
value = t(value)
except:
print("Unable to convert %s to type %s" % (value, t))
return
setattr(self, vname, value)
return
def show(self, v):
'''show settings'''
print("%20s %s" % (v, getattr(self, v)))
def show_all(self):
'''show all settings'''
for (v,t) in sorted(self.vars):
self.show(v)
class MPStatus(object):
'''hold status information about the mavproxy'''
def __init__(self):
if opts.quadcopter:
self.rc_throttle = [ 0.0, 0.0, 0.0, 0.0 ]
else:
self.rc_aileron = 0
self.rc_elevator = 0
self.rc_throttle = 0
self.rc_rudder = 0
self.gps = None
self.msgs = {}
self.msg_count = {}
self.counters = {'MasterIn' : [], 'MasterOut' : 0, 'FGearIn' : 0, 'FGearOut' : 0, 'Slave' : 0}
self.setup_mode = opts.setup
self.wp_op = None
self.wp_save_filename = None
self.wploader = mavwp.MAVWPLoader()
self.fenceloader = mavwp.MAVFenceLoader()
self.loading_waypoints = False
self.loading_waypoint_lasttime = time.time()
self.mav_error = 0
self.target_system = 1
self.target_component = 1
self.speech = None
self.altitude = 0
self.last_altitude_announce = 0.0
self.last_distance_announce = 0.0
self.last_battery_announce = 0
self.last_avionics_battery_announce = 0
self.battery_level = -1
self.avionics_battery_level = -1
self.last_waypoint = 0
self.exit = False
self.override = [ 0 ] * 8
self.last_override = [ 0 ] * 8
self.override_counter = 0
self.flightmode = 'MAV'
self.logdir = None
self.last_heartbeat = 0
self.heartbeat_error = False
self.last_apm_msg = None
self.highest_usec = 0
self.fence_enabled = False
self.last_fence_breach = 0
self.last_fence_status = 0
self.have_gps_lock = False
self.lost_gps_lock = False
self.watch = None
self.last_streamrate1 = -1
self.last_streamrate2 = -1
self.last_paramretry = 0
self.last_seq = 0
def show(self, f, pattern=None):
'''write status to status.txt'''
if pattern is None:
f.write('Counters: ')
for c in self.counters:
f.write('%s:%s ' % (c, self.counters[c]))
f.write('\n')
f.write('MAV Errors: %u\n' % self.mav_error)
f.write(str(self.gps)+'\n')
for m in sorted(self.msgs.keys()):
if pattern is not None and not fnmatch.fnmatch(str(m).upper(), pattern.upper()):
continue
f.write("%u: %s\n" % (self.msg_count[m], str(self.msgs[m])))
def write(self):
'''write status to status.txt'''
f = open('status.txt', mode='w')
self.show(f)
f.close()
class MAVFunctions(object):
pass
class MPState(object):
'''holds state of mavproxy'''
def __init__(self):
self.console = textconsole.SimpleConsole()
self.map = None
self.settings = MPSettings()
self.status = MPStatus()
# master mavlink device
self.mav_master = None
# mavlink outputs
self.mav_outputs = []
# SITL output
self.sitl_output = None
self.mav_param = {}
self.modules = []
self.functions = MAVFunctions()
self.functions.say = say
self.functions.process_stdin = process_stdin
self.select_extra = {}
self.msg_queue = Queue.Queue()
def queue_message(self, message):
logging.info('Queueing message %s', message)
self.msg_queue.put(message)
def master(self):
'''return the currently chosen mavlink master object'''
if self.settings.link > len(self.mav_master):
self.settings.link = 1
# try to use one with no link error
if not self.mav_master[self.settings.link-1].linkerror:
return self.mav_master[self.settings.link-1]
for m in self.mav_master:
if not m.linkerror:
return m
return self.mav_master[self.settings.link-1]
def get_usec():
'''time since 1970 in microseconds'''
return int(time.time() * 1.0e6)
class rline(object):
'''async readline abstraction'''
def __init__(self, prompt):
import threading
self.prompt = prompt
self.line = None
try:
import readline
except Exception:
pass
def set_prompt(self, prompt):
if prompt != self.prompt:
self.prompt = prompt
sys.stdout.write(prompt)
def say(text, priority='important'):
'''speak some text'''
''' http://cvs.freebsoft.org/doc/speechd/ssip.html see 4.3.1 for priorities'''
mpstate.console.writeln(text)
if mpstate.settings.speech:
import speechd
mpstate.status.speech = speechd.SSIPClient('MAVProxy%u' % os.getpid())
mpstate.status.speech.set_output_module('festival')
mpstate.status.speech.set_language('en')
mpstate.status.speech.set_priority(priority)
mpstate.status.speech.set_punctuation(speechd.PunctuationMode.SOME)
mpstate.status.speech.speak(text)
mpstate.status.speech.close()
def get_mav_param(param, default=None):
'''return a EEPROM parameter value'''
if not param in mpstate.mav_param:
return default
return mpstate.mav_param[param]
def send_rc_override():
'''send RC override packet'''
if mpstate.sitl_output:
buf = struct.pack('<HHHHHHHH',
*mpstate.status.override)
mpstate.sitl_output.write(buf)
else:
mpstate.master().mav.rc_channels_override_send(mpstate.status.target_system,
mpstate.status.target_component,
*mpstate.status.override)
def cmd_switch(args):
'''handle RC switch changes'''
mapping = [ 0, 1165, 1295, 1425, 1555, 1685, 1815 ]
if len(args) != 1:
print("Usage: switch <pwmvalue>")
return
value = int(args[0])
if value < 0 or value > 6:
print("Invalid switch value. Use 1-6 for flight modes, '0' to disable")
return
if opts.quadcopter:
default_channel = 5
else:
default_channel = 8
flite_mode_ch_parm = int(get_mav_param("FLTMODE_CH", default_channel))
mpstate.status.override[flite_mode_ch_parm-1] = mapping[value]
mpstate.status.override_counter = 10
send_rc_override()
if value == 0:
print("Disabled RC switch override")
else:
print("Set RC switch override to %u (PWM=%u channel=%u)" % (
value, mapping[value], flite_mode_ch_parm))
def cmd_trim(args):
'''trim aileron, elevator and rudder to current values'''
if not 'RC_CHANNELS_RAW' in mpstate.status.msgs:
print("No RC_CHANNELS_RAW to trim with")
return
m = mpstate.status.msgs['RC_CHANNELS_RAW']
mpstate.master().param_set_send('ROLL_TRIM', m.chan1_raw)
mpstate.master().param_set_send('PITCH_TRIM', m.chan2_raw)
mpstate.master().param_set_send('YAW_TRIM', m.chan4_raw)
print("Trimmed to aileron=%u elevator=%u rudder=%u" % (
m.chan1_raw, m.chan2_raw, m.chan4_raw))
def cmd_rc(args):
'''handle RC value override'''
if len(args) != 2:
print("Usage: rc <channel> <pwmvalue>")
return
channel = int(args[0])
value = int(args[1])
if value == -1:
value = 65535
if channel < 1 or channel > 8:
print("Channel must be between 1 and 8")
return
mpstate.status.override[channel-1] = value
mpstate.status.override_counter = 10
send_rc_override()
def cmd_loiter(args):
'''set LOITER mode'''
mpstate.master().set_mode_loiter()
def cmd_auto(args):
'''set AUTO mode'''
mpstate.master().set_mode_auto()
def cmd_ground(args):
'''do a ground start mode'''
mpstate.master().calibrate_imu()
def cmd_level(args):
'''do a ground start mode'''
mpstate.master().calibrate_level()
def cmd_rtl(args):
'''set RTL mode'''
mpstate.master().set_mode_rtl()
def cmd_manual(args):
'''set MANUAL mode'''
MAV_ACTION_SET_MANUAL = 12
mpstate.master().mav.action_send(mpstate.status.target_system, mpstate.status.target_component, MAV_ACTION_SET_MANUAL)
def process_waypoint_request(m, master):
'''process a waypoint request from the master'''
if (not mpstate.status.loading_waypoints or
time.time() > mpstate.status.loading_waypoint_lasttime + 10.0):
mpstate.status.loading_waypoints = False
mpstate.console.error("not loading waypoints")
return
if m.seq >= mpstate.status.wploader.count():
mpstate.console.error("Request for bad waypoint %u (max %u)" % (m.seq, mpstate.status.wploader.count()))
return
master.mav.send(mpstate.status.wploader.wp(m.seq))
mpstate.status.loading_waypoint_lasttime = time.time()
mpstate.console.writeln("Sent waypoint %u : %s" % (m.seq, mpstate.status.wploader.wp(m.seq)))
if m.seq == mpstate.status.wploader.count() - 1:
mpstate.status.loading_waypoints = False
mpstate.console.writeln("Sent all %u waypoints" % mpstate.status.wploader.count())
def load_waypoints(filename):
'''load waypoints from a file'''
mpstate.status.wploader.target_system = mpstate.status.target_system
mpstate.status.wploader.target_component = mpstate.status.target_component
try:
mpstate.status.wploader.load(filename)
except Exception, msg:
print("Unable to load %s - %s" % (filename, msg))
return
print("Loaded %u waypoints from %s" % (mpstate.status.wploader.count(), filename))
mpstate.master().waypoint_clear_all_send()
if mpstate.status.wploader.count() == 0:
return
mpstate.status.loading_waypoints = True
mpstate.status.loading_waypoint_lasttime = time.time()
mpstate.master().waypoint_count_send(mpstate.status.wploader.count())
def save_waypoints(filename):
'''save waypoints to a file'''
try:
mpstate.status.wploader.save(filename)
except Exception, msg:
print("Failed to save %s - %s" % (filename, msg))
return
print("Saved %u waypoints to %s" % (mpstate.status.wploader.count(), filename))
def cmd_wp(args):
'''waypoint commands'''
if len(args) < 1:
print("usage: wp <list|load|save|set|clear>")
return
if args[0] == "load":
if len(args) != 2:
print("usage: wp load <filename>")
return
load_waypoints(args[1])
elif args[0] == "list":
mpstate.status.wp_op = "list"
mpstate.master().waypoint_request_list_send()
elif args[0] == "save":
if len(args) != 2:
print("usage: wp save <filename>")
return
mpstate.status.wp_save_filename = args[1]
mpstate.status.wp_op = "save"
mpstate.master().waypoint_request_list_send()
elif args[0] == "set":
if len(args) != 2:
print("usage: wp set <wpindex>")
return
mpstate.master().waypoint_set_current_send(int(args[1]))
elif args[0] == "clear":
mpstate.master().waypoint_clear_all_send()
else:
print("Usage: wp <list|load|save|set|clear>")
def fetch_fence_point(i):
'''fetch one fence point'''
mpstate.master().mav.fence_fetch_point_send(mpstate.status.target_system,
mpstate.status.target_component, i)
tstart = time.time()
p = None
while time.time() - tstart < 1:
p = mpstate.master().recv_match(type='FENCE_POINT', blocking=False)
if p is not None:
break
time.sleep(0.1)
continue
if p is None:
mpstate.console.error("Failed to fetch point %u" % i)
return None
return p
def load_fence(filename):
'''load fence points from a file'''
try:
mpstate.status.fenceloader.target_system = mpstate.status.target_system
mpstate.status.fenceloader.target_component = mpstate.status.target_component
mpstate.status.fenceloader.load(filename)
except Exception, msg:
print("Unable to load %s - %s" % (filename, msg))
return
print("Loaded %u geo-fence points from %s" % (mpstate.status.fenceloader.count(), filename))
# must disable geo-fencing when loading
action = get_mav_param('FENCE_ACTION', mavutil.mavlink.FENCE_ACTION_NONE)
param_set('FENCE_ACTION', mavutil.mavlink.FENCE_ACTION_NONE)
param_set('FENCE_TOTAL', mpstate.status.fenceloader.count())
for i in range(mpstate.status.fenceloader.count()):
p = mpstate.status.fenceloader.point(i)
mpstate.master().mav.send(p)
p2 = fetch_fence_point(i)
if p2 is None:
param_set('FENCE_ACTION', action)
return
if (p.idx != p2.idx or
abs(p.lat - p2.lat) >= 0.00001 or
abs(p.lng - p2.lng) >= 0.00001):
print("Failed to send fence point %u" % i)
param_set('FENCE_ACTION', action)
return
param_set('FENCE_ACTION', action)
def list_fence(filename):
'''list fence points, optionally saving to a file'''
mpstate.status.fenceloader.clear()
count = get_mav_param('FENCE_TOTAL', 0)
if count == 0:
print("No geo-fence points")
return
for i in range(int(count)):
p = fetch_fence_point(i)
if p is None:
return
mpstate.status.fenceloader.add(p)
if filename is not None:
try:
mpstate.status.fenceloader.save(filename)
except Exception, msg:
print("Unable to save %s - %s" % (filename, msg))
return
print("Saved %u geo-fence points to %s" % (mpstate.status.fenceloader.count(), filename))
else:
for i in range(mpstate.status.fenceloader.count()):
p = mpstate.status.fenceloader.point(i)
mpstate.console.writeln("lat=%f lng=%f" % (p.lat, p.lng))
def cmd_fence(args):
'''geo-fence commands'''
if len(args) < 1:
print("usage: fence <list|load|save|clear>")
return
if args[0] == "load":
if len(args) != 2:
print("usage: fence load <filename>")
return
load_fence(args[1])
elif args[0] == "list":
list_fence(None)
elif args[0] == "save":
if len(args) != 2:
print("usage: fence save <filename>")
return
list_fence(args[1])
elif args[0] == "clear":
param_set('FENCE_TOTAL', 0)
else:
print("Usage: fence <list|load|save|clear>")
def param_set(name, value, retries=3):
'''set a parameter'''
got_ack = False
while retries > 0 and not got_ack:
retries -= 1
mpstate.master().param_set_send(name.upper(), float(value))
tstart = time.time()
while time.time() - tstart < 1:
ack = mpstate.master().recv_match(type='PARAM_VALUE', blocking=False)
if ack == None:
time.sleep(0.1)
continue
if str(name).upper() == str(ack.param_id).upper():
got_ack = True
break
if not got_ack:
print("timeout setting %s to %f" % (name, float(value)))
return False
return True
def param_save(filename, wildcard):
'''save parameters to a file'''
f = open(filename, mode='w')
k = mpstate.mav_param.keys()
k.sort()
count = 0
for p in k:
if p and fnmatch.fnmatch(str(p).upper(), wildcard.upper()):
f.write("%-15.15s %f\n" % (p, mpstate.mav_param[p]))
count += 1
f.close()
print("Saved %u parameters to %s" % (count, filename))
def param_load_file(filename, wildcard):
'''load parameters from a file'''
try:
f = open(filename, mode='r')
except:
print("Failed to open file '%s'" % filename)
return
count = 0
changed = 0
for line in f:
line = line.strip()
if not line or line[0] == "#":
continue
a = line.split()
if len(a) != 2:
print("Invalid line: %s" % line)
continue
# some parameters should not be loaded from file
if a[0] in ['SYSID_SW_MREV', 'SYS_NUM_RESETS', 'ARSPD_OFFSET', 'GND_ABS_PRESS',
'GND_TEMP', 'CMD_TOTAL', 'CMD_INDEX', 'LOG_LASTFILE', 'FENCE_TOTAL',
'FORMAT_VERSION' ]:
continue
if not fnmatch.fnmatch(a[0].upper(), wildcard.upper()):
continue
if a[0] not in mpstate.mav_param:
print("Unknown parameter %s" % a[0])
continue
old_value = mpstate.mav_param[a[0]]
if math.fabs(old_value - float(a[1])) > 0.000001:
if param_set(a[0], a[1]):
print("changed %s from %f to %f" % (a[0], old_value, float(a[1])))
changed += 1
count += 1
f.close()
print("Loaded %u parameters from %s (changed %u)" % (count, filename, changed))
param_wildcard = "*"
def cmd_param(args):
'''control parameters'''
if len(args) < 1:
print("usage: param <fetch|edit|set|show>")
return
if args[0] == "fetch":
mpstate.master().param_fetch_all()
print("Requested parameter list")
elif args[0] == "save":
if len(args) < 2:
print("usage: param save <filename> [wildcard]")
return
if len(args) > 2:
param_wildcard = args[2]
else:
param_wildcard = "*"
param_save(args[1], param_wildcard)
elif args[0] == "set":
if len(args) != 3:
print("Usage: param set PARMNAME VALUE")
return
param = args[1]
value = args[2]
if not param.upper() in mpstate.mav_param:
print("Unable to find parameter '%s'" % param)
return
param_set(param, value)
elif args[0] == "load":
if len(args) < 2:
print("Usage: param load <filename> [wildcard]")
return
if len(args) > 2:
param_wildcard = args[2]
else:
param_wildcard = "*"
param_load_file(args[1], param_wildcard)
elif args[0] == "show":
if len(args) > 1:
pattern = args[1]
else:
pattern = "*"
k = sorted(mpstate.mav_param.keys())
for p in k:
if fnmatch.fnmatch(str(p).upper(), pattern.upper()):
print("%-15.15s %f" % (str(p), mpstate.mav_param[p]))
else:
print("Unknown subcommand '%s' (try 'fetch', 'save', 'set', 'show', 'load')" % args[0])
def cmd_set(args):
'''control mavproxy options'''
if len(args) == 0:
mpstate.settings.show_all()
return
if getattr(mpstate.settings, args[0], None) is None:
print("Unknown setting '%s'" % args[0])
return
if len(args) == 1:
mpstate.settings.show(args[0])
else:
mpstate.settings.set(args[0], args[1])
def cmd_status(args):
'''show status'''
if len(args) == 0:
mpstate.status.show(sys.stdout, pattern=None)
else:
for pattern in args:
mpstate.status.show(sys.stdout, pattern=pattern)
def cmd_bat(args):
'''show battery levels'''
print("Flight battery: %u%%" % mpstate.status.battery_level)
print("Avionics battery: %u%%" % mpstate.status.avionics_battery_level)
def cmd_alt(args):
'''show altitude'''
print("Altitude: %.1f" % mpstate.status.altitude)
def cmd_up(args):
'''adjust TRIM_PITCH_CD up by 5 degrees'''
if len(args) == 0:
adjust = 5.0
else:
adjust = float(args[0])
old_trim = 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))
param_set('TRIM_PITCH_CD', new_trim)
def cmd_setup(args):
mpstate.status.setup_mode = True
mpstate.rl.set_prompt("")
def cmd_reset(args):
print("Resetting master")
mpstate.master().reset()
def cmd_link(args):
for master in mpstate.mav_master:
linkdelay = (mpstate.status.highest_usec - master.highest_usec)*1e-6
if master.linkerror:
print("link %u down" % (master.linknum+1))
elif master.link_delayed:
print("link %u delayed by %.2f seconds" % (master.linknum+1, linkdelay))
else:
print("link %u OK (%u packets, %.2fs delay, %u lost, %.1f%% loss)" % (master.linknum+1,
mpstate.status.counters['MasterIn'][master.linknum],
linkdelay,
master.mav_loss,
master.packet_loss()))
def cmd_watch(args):
'''watch a mavlink packet pattern'''
if len(args) == 0:
mpstate.status.watch = None
return
mpstate.status.watch = args[0]
print("Watching %s" % mpstate.status.watch)
def cmd_module(args):
'''module commands'''
usage = "usage: module <list|load|reload>"
if len(args) < 1:
print(usage)
return
if args[0] == "list":
for m in mpstate.modules:
print("%s: %s" % (m.name(), m.description()))
elif args[0] == "load":
if len(args) < 2:
print("usage: module load <name>")
return
try:
directory = os.path.dirname(args[1])
modname = os.path.basename(args[1])
if directory:
sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)),
'modules', directory))
m = __import__(modname)
if m in mpstate.modules:
raise RuntimeError("module already loaded")
m.init(mpstate)
mpstate.modules.append(m)
print("Loaded module %s" % modname)
except Exception, msg:
print("Unable to load module %s: %s" % (modname, msg))
raise
elif args[0] == "reload":
if len(args) < 2:
print("usage: module reload <name>")
return
modname = os.path.basename(args[1])
for m in mpstate.modules:
if m.name() == modname:
try:
m.unload()
except Exception:
pass
reload(m)
m.init(mpstate)
print("Reloaded module %s" % modname)
return
print("Unable to find module %s" % modname)
else:
print(usage)
command_map = {
'switch' : (cmd_switch, 'set RC switch (1-5), 0 disables'),
'rc' : (cmd_rc, 'override a RC channel value'),
'wp' : (cmd_wp, 'waypoint management'),
'fence' : (cmd_fence, 'geo-fence management'),
'param' : (cmd_param, 'manage APM parameters'),
'setup' : (cmd_setup, 'go into setup mode'),
'reset' : (cmd_reset, 'reopen the connection to the MAVLink master'),
'status' : (cmd_status, 'show status'),
'trim' : (cmd_trim, 'trim aileron, elevator and rudder to current values'),
'auto' : (cmd_auto, 'set AUTO mode'),
'ground' : (cmd_ground, 'do a ground start'),
'level' : (cmd_level, 'set level on a multicopter'),
'loiter' : (cmd_loiter, 'set LOITER mode'),
'rtl' : (cmd_rtl, 'set RTL mode'),
'manual' : (cmd_manual, 'set MANUAL mode'),
'set' : (cmd_set, 'mavproxy settings'),
'bat' : (cmd_bat, 'show battery levels'),
'alt' : (cmd_alt, 'show relative altitude'),
'link' : (cmd_link, 'show link status'),
'up' : (cmd_up, 'adjust TRIM_PITCH_CD up by 5 degrees'),
'watch' : (cmd_watch, 'watch a MAVLink pattern'),
'module' : (cmd_module, 'module commands'),
}
def process_stdin(line):
'''handle commands from user'''
if line is None:
sys.exit(0)
line = line.strip()
if mpstate.status.setup_mode:
# in setup mode we send strings straight to the master
if line == '.':
mpstate.status.setup_mode = False
mpstate.status.flightmode = "MAV"
mpstate.rl.set_prompt("MAV> ")
return
if line == '+++':
mpstate.master().write(line)
else:
mpstate.master().write(line + '\r')
return
if not line:
return
args = line.split()
cmd = args[0]
if cmd == 'help':
k = command_map.keys()
k.sort()
for cmd in k:
(fn, help) = command_map[cmd]
print("%-15s : %s" % (cmd, help))
return
if not cmd in command_map:
print("Unknown command '%s'" % line)
return
(fn, help) = command_map[cmd]
try:
fn(args[1:])
except Exception as e:
print("ERROR in command: %s" % str(e))
def scale_rc(servo, min, max, param):
'''scale a PWM value'''
# default to servo range of 1000 to 2000
min_pwm = get_mav_param('%s_MIN' % param, 0)
max_pwm = get_mav_param('%s_MAX' % param, 0)
if min_pwm == 0 or max_pwm == 0:
return 0
if max_pwm == min_pwm:
p = 0.0
else:
p = (servo-min_pwm) / float(max_pwm-min_pwm)
v = min + p*(max-min)
if v < min:
v = min
if v > max:
v = max
return v
def system_check():
'''check that the system is ready to fly'''
ok = True
if mavutil.mavlink.WIRE_PROTOCOL_VERSION == '1.0':
if not 'GPS_RAW_INT' in mpstate.status.msgs:
say("WARNING no GPS status")
return
if mpstate.status.msgs['GPS_RAW_INT'].fix_type != 3:
say("WARNING no GPS lock")
ok = False
else:
if not 'GPS_RAW' in mpstate.status.msgs and not 'GPS_RAW_INT' in mpstate.status.msgs:
say("WARNING no GPS status")
return
if mpstate.status.msgs['GPS_RAW'].fix_type != 2:
say("WARNING no GPS lock")
ok = False
if not 'PITCH_MIN' in mpstate.mav_param:
say("WARNING no pitch parameter available")
return
if int(mpstate.mav_param['PITCH_MIN']) > 1300:
say("WARNING PITCH MINIMUM not set")
ok = False
if not 'ATTITUDE' in mpstate.status.msgs:
say("WARNING no attitude recorded")
return
if math.fabs(mpstate.status.msgs['ATTITUDE'].pitch) > math.radians(5):
say("WARNING pitch is %u degrees" % math.degrees(mpstate.status.msgs['ATTITUDE'].pitch))
ok = False
if math.fabs(mpstate.status.msgs['ATTITUDE'].roll) > math.radians(5):
say("WARNING roll is %u degrees" % math.degrees(mpstate.status.msgs['ATTITUDE'].roll))
ok = False
if ok:
say("All OK SYSTEM READY TO FLY")
def beep():
f = open("/dev/tty", mode="w")
f.write(chr(7))
f.close()
def vcell_to_battery_percent(vcell):
'''convert a cell voltage to a percentage battery level'''
if vcell > 4.1:
# above 4.1 is 100% battery
return 100.0
elif vcell > 3.81:
# 3.81 is 17% remaining, from flight logs
return 17.0 + 83.0 * (vcell - 3.81) / (4.1 - 3.81)
elif vcell > 3.81:
# below 3.2 it degrades fast. It's dead at 3.2
return 0.0 + 17.0 * (vcell - 3.20) / (3.81 - 3.20)
# it's dead or disconnected
return 0.0
def battery_update(SYS_STATUS):
'''update battery level'''
# main flight battery
mpstate.status.battery_level = SYS_STATUS.battery_remaining/10.0
# avionics battery
if not 'AP_ADC' in mpstate.status.msgs:
return
rawvalue = float(mpstate.status.msgs['AP_ADC'].adc2)
INPUT_VOLTAGE = 4.68
VOLT_DIV_RATIO = 3.56
voltage = rawvalue*(INPUT_VOLTAGE/1024.0)*VOLT_DIV_RATIO
vcell = voltage / mpstate.settings.numcells
avionics_battery_level = vcell_to_battery_percent(vcell)
if mpstate.status.avionics_battery_level == -1 or abs(avionics_battery_level-mpstate.status.avionics_battery_level) > 70:
mpstate.status.avionics_battery_level = avionics_battery_level
else:
mpstate.status.avionics_battery_level = (95*mpstate.status.avionics_battery_level + 5*avionics_battery_level)/100
def battery_report():
'''report battery level'''
if int(mpstate.settings.battreadout) == 0:
return
rbattery_level = int((mpstate.status.battery_level+5)/10)*10
if rbattery_level != mpstate.status.last_battery_announce:
say("Flight battery %u percent" % rbattery_level,priority='notification')
mpstate.status.last_battery_announce = rbattery_level
if rbattery_level <= 20:
say("Flight battery warning")
# avionics battery reporting disabled for now
return
avionics_rbattery_level = int((mpstate.status.avionics_battery_level+5)/10)*10
if avionics_rbattery_level != mpstate.status.last_avionics_battery_announce:
say("Avionics Battery %u percent" % avionics_rbattery_level,priority='notification')
mpstate.status.last_avionics_battery_announce = avionics_rbattery_level
if avionics_rbattery_level <= 20:
say("Avionics battery warning")
def handle_usec_timestamp(m, master):
'''special handling for MAVLink packets with a usec field'''
usec = m.time_usec
if usec + 6.0e7 < master.highest_usec:
say('Time has wrapped')
mpstate.console.writeln("usec %u highest_usec %u" % (usec, master.highest_usec))
mpstate.status.highest_usec = usec
for mm in mpstate.mav_master:
mm.link_delayed = False
mm.highest_usec = usec
return
# we want to detect when a link has significant buffering, causing us to receive
# old packets. If we get packets that are more than 1 second old, then mark the link
# as being delayed. We will not act on packets from this link until it has caught up
master.highest_usec = usec
if usec > mpstate.status.highest_usec:
mpstate.status.highest_usec = usec
if usec + 1e6 < mpstate.status.highest_usec and not master.link_delayed and len(mpstate.mav_master) > 1:
master.link_delayed = True
mpstate.console.writeln("link %u delayed" % (master.linknum+1))
elif usec + 0.5e6 > mpstate.status.highest_usec and master.link_delayed:
master.link_delayed = False
mpstate.console.writeln("link %u OK" % (master.linknum+1))
def report_altitude(altitude):
'''possibly report a new altitude'''
mpstate.status.altitude = altitude
if (int(mpstate.settings.altreadout) > 0 and
math.fabs(mpstate.status.altitude - mpstate.status.last_altitude_announce) >= int(mpstate.settings.altreadout)):