def send_emergency_stop_watchdog(self):
"""
Send emergency stop watchdog
"""
pk = CRTPPacket()
pk.port = CRTPPort.LOCALIZATION
pk.channel = self.GENERIC_CH
pk.data = struct.pack('<B', self.EMERGENCY_STOP_WATCHDOG)
self._ed.send_packet(pk)
def send_emergency_reset(self):
"""
Send emergency reset
"""
pk = CRTPPacket()
pk.port = CRTPPort.LOCALIZATION
pk.channel = self.GENERIC_CH
pk.data = struct.pack('<B', self.EMERGENCY_RESET)
self._ed.send_packet(pk)
def send_short_lpp_packet(self, dest_id, data):
"""
Send ultra-wide-band LPP packet to dest_id
"""
pk = CRTPPacket()
pk.port = CRTPPort.LOCALIZATION
pk.channel = self.GENERIC_CH
pk.data = struct.pack('<BB', self.LPS_SHORT_LPP_PACKET, dest_id) + data
self._ed.send_packet(pk)
def send_extpos(self, pos):
"""
Send the current Espdrone X, Y, Z position. This is going to be
forwarded to the Espdrone's position estimator.
"""
pk = CRTPPacket()
pk.port = CRTPPort.LOCALIZATION
pk.channel = self.POSITION_CH
pk.data = struct.pack('<fff', pos[0], pos[1], pos[2])
self._ed.send_packet(pk)
def send_extpose(self, pos, quat):
"""
Send the current Espdrone pose (position [x, y, z] and
attitude quaternion [qx, qy, qz, qw]). This is going to be forwarded
to the Espdrone's position estimator.
"""
pk = CRTPPacket()
pk.port = CRTPPort.LOCALIZATION
pk.channel = self.GENERIC_CH
pk.data = struct.pack('<Bfffffff', self.EXT_POSE, pos[0], pos[1],
pos[2], quat[0], quat[1], quat[2], quat[3])
self._ed.send_packet(pk)
