def __init__(self, root, canvas):
self.root = root
self.canvas = canvas
self.fmuport = serial.Serial(FMUPORT, 115200)
# MSPPG
self.parser = msppg.MSP_Parser()
self.parser.set_ATTITUDE_Handler(self._attitude_message_handler)
self.request = msppg.serialize_ATTITUDE_Request()
self.yaw, self.pitch, self.roll = 0, 0, 0
thread = threading.Thread(target = self._read_fmu)
thread.daemon = True
thread.start()
self._send_request()
def __init__(self, root, canvas):
self.root = root
self.canvas = canvas
self.fmuport = serial.Serial(FMUPORT, 115200)
# MSPPG
self.parser = msppg.MSP_Parser()
self.parser.set_ATTITUDE_Handler(self._attitude_message_handler)
self.request = msppg.serialize_ATTITUDE_Request()
self.yaw, self.pitch, self.roll = 0, 0, 0
thread = threading.Thread(target=self._read_fmu)
thread.daemon = True
thread.start()
self._send_request()
def __init__(self, root, canvas):
self.root = root
self.canvas = canvas
self.sock = bluetooth.BluetoothSocket(bluetooth.RFCOMM )
self.sock.connect((BT_ADDR, BT_PORT))
# MSPPG
self.parser = msppg.MSP_Parser()
self.parser.set_ATTITUDE_Handler(self._attitude_message_handler)
self.request = msppg.serialize_ATTITUDE_Request()
self.yaw, self.pitch, self.roll = 0, 0, 0
thread = threading.Thread(target = self._read_fmu)
thread.daemon = True
thread.start()
self._send_request()
def __init__(self, root, canvas):
self.root = root
self.canvas = canvas
#self.sock = bluetooth.BluetoothSocket(bluetooth.RFCOMM )
self.sock = socket.socket(socket.AF_BLUETOOTH, socket.SOCK_STREAM, socket.BTPROTO_RFCOMM)
self.sock.connect((BT_ADDR, BT_PORT))
# MSPPG
self.parser = msppg.MSP_Parser()
self.parser.set_ATTITUDE_Handler(self._attitude_message_handler)
self.request = msppg.serialize_ATTITUDE_Request()
self.yaw, self.pitch, self.roll = 0, 0, 0
thread = threading.Thread(target = self._read_fmu)
thread.daemon = True
thread.start()
self._send_request()
self.altitude = altitude
def attitudeHandler(self, pitch, roll, yaw):
self.heading = yaw
if __name__ == '__main__':
# Create an MSP parser and messages for telemetry requests
parser = MyParser()
parser.set_ATTITUDE_Handler(parser.attitudeHandler)
parser.set_ALTITUDE_Handler(parser.altitudeHandler)
# Serialize the telemetry message requests that we'll send to the "firwmare"
attitude_request = serialize_ATTITUDE_Request()
altitude_request = serialize_ALTITUDE_Request()
# More than two command-line arguments means simulation mode. First arg is camera-client port,
# second is MSP port, third is input image file name, fourth is outpt image file name.
if len(sys.argv) > 2:
from socket_server import serve_socket
# Serve a socket for camera synching, and a socket for comms
camera_client = serve_socket(int(sys.argv[1]))
comms_to_client = serve_socket(int(sys.argv[2]))
comms_from_client = serve_socket(int(sys.argv[3]))
image_from_sim_name = sys.argv[4]
image_to_sim_name = sys.argv[5]
self.altitude = altitude
def attitudeHandler(self, pitch, roll, yaw):
self.heading = yaw
if __name__ == '__main__':
# Create an MSP parser and messages for telemetry requests
parser = MyParser()
parser.set_ATTITUDE_Handler(parser.attitudeHandler)
parser.set_ALTITUDE_Handler(parser.altitudeHandler)
# Serialize the telemetry message requests that we'll send to the "firwmare"
attitude_request = serialize_ATTITUDE_Request()
altitude_request = serialize_ALTITUDE_Request()
# More than two command-line arguments means simulation mode. First arg is camera-client port,
# second is MSP port, third is input image file name, fourth is outpt image file name.
if len(sys.argv) > 2:
from socket_server import serve_socket
# Serve a socket for camera synching, and a socket for comms
camera_client = serve_socket(int(sys.argv[1]))
comms_to_client = serve_socket(int(sys.argv[2]))
comms_from_client = serve_socket(int(sys.argv[3]))
image_from_sim_name = sys.argv[4]
image_to_sim_name = sys.argv[5]
BAUD = 115200
from msppg import MSP_Parser as Parser, serialize_ATTITUDE_Request
import serial
from sys import argv
if len(argv) < 2:
print('Usage: python3 %s PORT' % argv[0])
print('Example: python3 %s /dev/ttyUSB0' % argv[0])
exit(1)
parser = Parser()
request = serialize_ATTITUDE_Request()
port = serial.Serial(argv[1], BAUD)
def handler(pitch, roll, yaw):
print(pitch, roll, yaw)
port.write(request)
parser.set_ATTITUDE_Handler(handler)
port.write(request)
while True:
try:
BAUD = 115200
from msppg import MSP_Parser as Parser, serialize_ATTITUDE_Request
import serial
from sys import argv
if len(argv) < 2:
print('Usage: python3 %s PORT' % argv[0])
print('Example: python3 %s /dev/ttyUSB0' % argv[0])
exit(1)
parser = Parser()
request = serialize_ATTITUDE_Request()
port = serial.Serial(argv[1], BAUD)
def handler(pitch, roll, yaw):
print(pitch, roll, yaw)
port.write(request)
parser.set_ATTITUDE_Handler(handler)
port.write(request)
while True:
