def mavlink_packet(m):
'''handle an incoming mavlink packet'''
state = mpstate.cameraview_state
if m.get_type() == 'GLOBAL_POSITION_INT':
state.lat, state.lon = m.lat*scale_latlon, m.lon*scale_latlon
state.hdg = m.hdg*scale_hdg
state.height = m.relative_alt*scale_relative_alt + state.home_height - state.elevation_model.GetElevation(state.lat, state.lon)
elif m.get_type() == 'ATTITUDE':
state.roll, state.pitch, state.yaw = math.degrees(m.roll), math.degrees(m.pitch), math.degrees(m.yaw)
elif m.get_type() in ['GPS_RAW', 'GPS_RAW_INT']:
if mpstate.wp_state.wploader.count() > 0:
home = mpstate.wp_state.wploader.wp(0).x, mpstate.wp_state.wploader.wp(0).y
else:
home = [mpstate.master().field('HOME', c)*scale_latlon for c in ['lat', 'lon']]
old = state.home_height # TODO TMP
state.home_height = state.elevation_model.GetElevation(*home)
# TODO TMP
if state.home_height != old:
# tridge said to get home pos from wploader,
# but this is not the same as from master() below...!!
# using master() gives the right coordinates
# (i.e. matches GLOBAL_POSITION_INT coords, and $IMHOME in sim_arduplane.sh)
# and wploader is a bit off
print 'home height changed from',old,'to',state.home_height
elif m.get_type() == 'SERVO_OUTPUT_RAW':
for (axis, attr) in [('ROLL', 'mount_roll'), ('TILT', 'mount_pitch'), ('PAN', 'mount_yaw')]:
channel = int(mpstate.mav_param.get('MNT_RC_IN_{0}'.format(axis), 0))
if mpstate.mav_param.get('MNT_STAB_{0}'.format(axis), 0) and channel:
# enabled stabilisation on this axis
# TODO just guessing that RC_IN_ROLL gives the servo number, but no idea if this is really the case
servo = 'servo{0}_raw'.format(channel)
centidegrees = scale_rc(getattr(m, servo),
mpstate.mav_param.get('MNT_ANGMIN_{0}'.format(axis[:3])),
mpstate.mav_param.get('MNT_ANGMAX_{0}'.format(axis[:3])),
param='RC{0}'.format(channel))
setattr(state, attr, centidegrees*0.01)
#state.mount_roll = min(max(-state.roll,-45),45)#TODO TMP
#state.mount_yaw = min(max(-state.yaw,-45),45)#TODO TMP
#state.mount_pitch = min(max(-state.pitch,-45),45)#TODO TMP
else:
return
if mpstate.map: # if the map module is loaded, redraw polygon
# get rid of the old polygon
mpstate.map.add_object(mp_slipmap.SlipClearLayer('CameraView'))
# camera view polygon determined by projecting corner pixels of the image onto the ground
pixel_positions = [cuav_util.pixel_position(px[0],px[1], state.height, state.pitch+state.mount_pitch, state.roll+state.mount_roll, state.yaw+state.mount_yaw, state.camera_params) for px in [(0,0), (state.camera_params.xresolution,0), (state.camera_params.xresolution,state.camera_params.yresolution), (0,state.camera_params.yresolution)]]
if any(pixel_position is None for pixel_position in pixel_positions):
# at least one of the pixels is not on the ground
# so it doesn't make sense to try to draw the polygon
return
gps_positions = [mp_util.gps_newpos(state.lat, state.lon, math.degrees(math.atan2(*pixel_position)), math.hypot(*pixel_position)) for pixel_position in pixel_positions]
# draw new polygon
mpstate.map.add_object(mp_slipmap.SlipPolygon('cameraview', gps_positions+[gps_positions[0]], # append first element to close polygon
layer='CameraView', linewidth=2, colour=state.col))
def mavlink_packet(self, m):
'''handle an incoming mavlink packet'''
state = self
if m.get_type() == 'GLOBAL_POSITION_INT':
state.lat, state.lon = m.lat*scale_latlon, m.lon*scale_latlon
state.hdg = m.hdg*scale_hdg
state.height = m.relative_alt*scale_relative_alt + state.home_height - state.elevation_model.GetElevation(state.lat, state.lon)
elif m.get_type() == 'ATTITUDE':
state.roll, state.pitch, state.yaw = math.degrees(m.roll), math.degrees(m.pitch), math.degrees(m.yaw)
elif m.get_type() in ['GPS_RAW', 'GPS_RAW_INT']:
if self.module('wp').wploader.count() > 0:
home = self.module('wp').wploader.wp(0).x, self.module('wp').wploader.wp(0).y
else:
home = [self.master.field('HOME', c)*scale_latlon for c in ['lat', 'lon']]
old = state.home_height # TODO TMP
state.home_height = state.elevation_model.GetElevation(*home)
# TODO TMP
if state.home_height != old:
# tridge said to get home pos from wploader,
# but this is not the same as from master() below...!!
# using master() gives the right coordinates
# (i.e. matches GLOBAL_POSITION_INT coords, and $IMHOME in sim_arduplane.sh)
# and wploader is a bit off
print 'home height changed from',old,'to',state.home_height
elif m.get_type() == 'SERVO_OUTPUT_RAW':
for (axis, attr) in [('ROLL', 'mount_roll'), ('TILT', 'mount_pitch'), ('PAN', 'mount_yaw')]:
channel = int(self.get_mav_param('MNT_RC_IN_{0}'.format(axis), 0))
if self.get_mav_param('MNT_STAB_{0}'.format(axis), 0) and channel:
# enabled stabilisation on this axis
# TODO just guessing that RC_IN_ROLL gives the servo number, but no idea if this is really the case
servo = 'servo{0}_raw'.format(channel)
centidegrees = self.scale_rc(getattr(m, servo),
self.get_mav_param('MNT_ANGMIN_{0}'.format(axis[:3])),
self.get_mav_param('MNT_ANGMAX_{0}'.format(axis[:3])),
param='RC{0}'.format(channel))
setattr(state, attr, centidegrees*0.01)
#state.mount_roll = min(max(-state.roll,-45),45)#TODO TMP
#state.mount_yaw = min(max(-state.yaw,-45),45)#TODO TMP
#state.mount_pitch = min(max(-state.pitch,-45),45)#TODO TMP
else:
return
if self.mpstate.map: # if the map module is loaded, redraw polygon
# get rid of the old polygon
self.mpstate.map.add_object(mp_slipmap.SlipClearLayer('CameraView'))
# camera view polygon determined by projecting corner pixels of the image onto the ground
pixel_positions = [cuav_util.pixel_position(px[0],px[1], state.height, state.pitch+state.mount_pitch, state.roll+state.mount_roll, state.yaw+state.mount_yaw, state.camera_params) for px in [(0,0), (state.camera_params.xresolution,0), (state.camera_params.xresolution,state.camera_params.yresolution), (0,state.camera_params.yresolution)]]
if any(pixel_position is None for pixel_position in pixel_positions):
# at least one of the pixels is not on the ground
# so it doesn't make sense to try to draw the polygon
return
gps_positions = [mp_util.gps_newpos(state.lat, state.lon, math.degrees(math.atan2(*pixel_position)), math.hypot(*pixel_position)) for pixel_position in pixel_positions]
# draw new polygon
self.mpstate.map.add_object(mp_slipmap.SlipPolygon('cameraview', gps_positions+[gps_positions[0]], # append first element to close polygon
layer='CameraView', linewidth=2, colour=state.col))