def auto_mavlink_version(self, buf):
'''auto-switch mavlink protocol version'''
global mavlink, GPS_RAW
if len(buf) == 0:
return
if not ord(buf[0]) in [85, 254]:
return
self.first_byte = False
if self.WIRE_PROTOCOL_VERSION == "0.9" and ord(buf[0]) == 254:
import mavlinkv10 as mavlink
GPS_RAW = 'GPS_RAW_INT'
elif self.WIRE_PROTOCOL_VERSION == "1.0" and ord(buf[0]) == 85:
import mavlinkv09 as mavlink
os.environ['MAVLINK09'] = '1'
GPS_RAW = 'GPS_RAW'
else:
return
# switch protocol
(callback, callback_args,
callback_kwargs) = (self.mav.callback, self.mav.callback_args,
self.mav.callback_kwargs)
self.mav = mavlink.MAVLink(self, srcSystem=self.source_system)
self.mav.robust_parsing = self.robust_parsing
self.WIRE_PROTOCOL_VERSION = mavlink.WIRE_PROTOCOL_VERSION
(self.mav.callback, self.mav.callback_args,
self.mav.callback_kwargs) = (callback, callback_args, callback_kwargs)
def __init__(self,
fd,
address,
source_system=255,
notimestamps=False,
input=True):
global mavfile_global
if input:
mavfile_global = self
self.fd = fd
self.address = address
self.messages = {'MAV': self}
if mavlink.WIRE_PROTOCOL_VERSION == "1.0":
self.messages['HOME'] = mavlink.MAVLink_gps_raw_int_message(
0, 0, 0, 0, 0, 0, 0, 0, 0, 0)
mavlink.MAVLink_waypoint_message = mavlink.MAVLink_mission_item_message
else:
self.messages['HOME'] = mavlink.MAVLink_gps_raw_message(
0, 0, 0, 0, 0, 0, 0, 0, 0)
self.params = {}
self.target_system = 0
self.target_component = 0
self.source_system = source_system
self.first_byte = True
self.robust_parsing = True
self.mav = mavlink.MAVLink(self, srcSystem=self.source_system)
self.mav.robust_parsing = self.robust_parsing
self.logfile = None
self.logfile_raw = None
self.param_fetch_in_progress = False
self.param_fetch_complete = False
self.start_time = time.time()
self.flightmode = "UNKNOWN"
self.timestamp = 0
self.message_hooks = []
self.idle_hooks = []
self.uptime = 0.0
self.notimestamps = notimestamps
self._timestamp = None
self.ground_pressure = None
self.ground_temperature = None
self.altitude = 0
self.WIRE_PROTOCOL_VERSION = mavlink.WIRE_PROTOCOL_VERSION
if self.WIRE_PROTOCOL_VERSION == '0.9':
self.GPS_RAW = 'GPS_RAW'
else:
self.GPS_RAW = 'GPS_RAW_INT'
self.last_seq = -1
self.mav_loss = 0
self.mav_count = 0
self.stop_on_EOF = False
