def __init__(self):
self.first_msg_ok = False
self.busy = False
self.confirmation = 0
self.retries = 0
self.lat = 0
self.lon = 0
self.alt = 0
self.home_alt = 0
self.cmd_lib = command_lib.command_lib()
self.sys_id = 0 # reset when receiving first msg
self.comp_id = 0
self.mavlink_msg = mavlink_lora_msg()
self.command_timer = None
self.active_command = ""
# topic handlers
self.mavlink_msg_pub = rospy.Publisher("/mavlink_tx",
mavlink_lora_msg,
queue_size=0)
self.cmd_retry_fail_pub = rospy.Publisher("/telemetry/cmd_retry_fail",
telemetry_cmd_retry_fail,
queue_size=0)
rospy.Subscriber("/mavlink_pos", mavlink_lora_pos,
self.on_mavlink_lora_pos)
def __init__(self, stream_id, stream_rate, stream_start_stop):
# save variables
self.stream_id = stream_id
self.stream_rate = stream_rate
self.stream_start_stop = stream_start_stop
# initiate variables
self.stop = False
self.target_sys = 0
self.target_comp = 0
self.first_msg_ok = False
self.request_sent = False
self.msg = mavlink_lora_msg()
# initiate node
rospy.init_node(ros_node_name)
self.mavlink_msg_pub = rospy.Publisher(mavlink_lora_tx_pub,
mavlink_lora_msg,
queue_size=0)
rospy.Subscriber(mavlink_lora_rx_sub, mavlink_lora_msg,
self.on_mavlink_msg)
self.rate = rospy.Rate(ros_node_update_interval)
# wait until everything is running (important)
rospy.sleep(3)
def __init__(self):
self.msg = mavlink_lora_msg()
self.request_sent = False
# status variables
self.batt_volt = 0.0
self.last_heard = 0
self.last_heard_sys_status = 0
self.lat = 0.0
self.lon = 0.0
self.alt = 0.0
self.home_lat = 0.0
self.home_lon = 0.0
self.yaw = 0.0
self.pitch = 0.0
self.roll = 0.0
# launch node
rospy.init_node('mavlink_lora_gcs_simple', disable_signals=True)
self.mavlink_msg_pub = rospy.Publisher(mavlink_lora_pub_topic,
mavlink_lora_msg,
queue_size=0)
rospy.Subscriber(mavlink_lora_sub_topic, mavlink_lora_msg,
self.on_mavlink_msg)
rospy.Subscriber(mavlink_lora_status_sub_topic, mavlink_lora_status,
self.on_mavlink_lora_status)
rospy.Subscriber(mavlink_lora_pos_sub_topic, mavlink_lora_pos,
self.on_mavlink_lora_pos)
rospy.Subscriber(mavlink_lora_atti_sub_topic, mavlink_lora_attitude,
self.on_mavlink_lora_attitude)
rospy.Subscriber(mavlink_lora_keypress_sub_topic, Int8,
self.on_keypress)
self.rate = rospy.Rate(update_interval)
rospy.sleep(1) # wait until everything is running
def __init__(self):
self.msg = mavlink_lora_msg()
self.local_pos_msg = mavlink_lora_local_ned_pos()
# status variables
# launch node
rospy.init_node('local_position_publisher', disable_signals = True)
rospy.Subscriber(mavlink_lora_sub_topic, mavlink_lora_msg,
self.on_mavlink_msg)
self.local_ned_pub = rospy.Publisher(mavlink_lora_local_ned_pos_pub,
mavlink_lora_local_ned_pos,
queue_size=0)
self.rate = rospy.Rate(update_interval)
rospy.sleep (1) # wait until everything is running
def __init__(self):
self.msg = mavlink_lora_msg()
# status variables
self.armed = False
self.arm_request_sent = False
self.disarm_request_sent = False
self.mavlink_msg_pub = rospy.Publisher(mavlink_lora_pub_topic,
mavlink_lora_msg,
queue_size=0)
rospy.Subscriber(mavlink_lora_sub_topic, mavlink_lora_msg,
self.on_mavlink_msg)
self.rate = rospy.Rate(update_interval)
rospy.sleep(1) # wait until everything is running
def upload_partial_mission(self, srv):
msg = mavlink_lora_mission_partial_list(start_index=4, end_index=4)
msg.waypoints.append(self.waypoints[1])
self.partial_mission_upload_pub.publish(msg)
mav_msg = mavlink_lora_msg(
msg_id=MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST,
payload_len=6,
sys_id=0,
comp_id=0)
mav_msg.payload = struct.pack('<hhBB', 4, 4, 1, 0)
self.mavlink_msg_pub.publish(mav_msg)
return TriggerResponse()
def __init__(self, arm_request):
pass
self.msg = mavlink_lora_msg()
# status variables
self.arm_request = arm_request
self.request_sent = False
self.arm_request_sent = False
self.disarm_request_sent = False
self.stop = False
# initiate node
rospy.init_node("mavlink_command_node") # change to variable
self.mavlink_msg_pub = rospy.Publisher(mavlink_lora_pub_topic,
mavlink_lora_msg,
queue_size=0)
rospy.Subscriber(mavlink_lora_sub_topic, mavlink_lora_msg,
self.on_mavlink_arm_msg)
self.rate = rospy.Rate(update_interval)
rospy.sleep(1) # wait until everything is running
mavlink_lora_sub_topic = '/mavlink_rx'
mavlink_lora_pub_topic = '/mavlink_tx'
update_interval = 10
# defines
MAVLINK_MSG_ID_PARAM_REQUEST_LIST = 21
MAVLINK_MSG_ID_PARAM_REQUEST_LIST_LEN = 2
MAVLINK_MSG_ID_PARAM_VALUE = 22
# imports
import rospy
import struct
from mavlink_lora.msg import mavlink_lora_msg
# variables
msg = mavlink_lora_msg()
request_sent = False
first_msg_ok = False
target_sys = 0 # reset by first message
target_comp = 0
def on_mavlink_msg(msg):
global first_msg_ok
global target_sys
if first_msg_ok == False:
first_msg_ok = True
target_sys = msg.sys_id
if msg.msg_id == MAVLINK_MSG_ID_PARAM_VALUE:
(param_value, param_count, param_index, param_id,
def __init__(self): self.msg = mavlink_lora_msg()
def __init__(self):
# initiate variables
self.msg = mavlink_lora_msg()
self.current_lat = 0
self.current_lon = 0
self.current_alt = 0
self.battery_volt = None
self.min_batt_volt = 13.5
self.emergency = False
self.emergency_prot_started = False
self.battery_history = []
self.battery_average = None
self.status = 0
# init GPIO
GPIO.setmode(GPIO.BOARD)
GPIO.setwarnings(False)
GPIO.setup(38, GPIO.OUT)
GPIO.setup(40, GPIO.OUT)
# initiate node
rospy.init_node(ros_node_name)
self.rate = rospy.Rate(ros_node_update_interval)
# publishers
self.msg_to_fc_pub = rospy.Publisher(tx_to_fc_topic,
mavlink_lora_msg,
queue_size=0)
self.msg_to_gc_pub = rospy.Publisher(tx_to_gc_topic,
mavlink_lora_msg,
queue_size=0)
self.mission_pub = rospy.Publisher("/fc" + mission_topic,
mavlink_lora_mission_list,
queue_size=0)
self.land_pub = rospy.Publisher(land_pub_topic,
mavlink_lora_command_land,
queue_size=0)
self.mission_start_pub = rospy.Publisher(
mission_start_topic,
mavlink_lora_command_start_mission,
queue_size=0)
self.mission_clear_pub = rospy.Publisher(clear_all_topic,
std_msgs.msg.Empty,
queue_size=0)
# subscribers
rospy.Subscriber(rx_from_gc_topic, mavlink_lora_msg,
self.incoming_message_from_gc_to_fc)
rospy.Subscriber(rx_from_fc_topic, mavlink_lora_msg,
self.incoming_message_from_fc_to_gc)
rospy.Subscriber(status_sub_topic, mavlink_lora_status,
self.status_callback)
rospy.Subscriber(pos_sub_topic, mavlink_lora_pos, self.pos_callback)
# rospy.Subscriber(mission_ack_topic, mavlink_lora_mission_ack, self.mission_ack)
rospy.Subscriber(command_long_receive_topic, mavlink_lora_command_long,
self.command_long_callback)
rospy.Subscriber(heartbeat_topic_fc, mavlink_lora_heartbeat,
self.heartbeat_callback)
# wait until everything is running (important)
rospy.sleep(3)
def __init__(self):
self.msg = mavlink_lora_msg(sys_id=0, comp_id=0)
self.target_sys = 1
self.target_comp = 1
self.command = ""
def __init__(self):
self.msg = mavlink_lora_msg()
self.setpoint_msg = mavlink_lora_local_setpoint()
self.request_sent = False
self.key_text = 'Unknown'
# status variables
self.batt_volt = 0.0
self.last_heard = 0
self.last_heard_sys_status = 0
self.lat = 0.0
self.lon = 0.0
self.alt = 0.0
self.home_lat = 0.0
self.home_lon = 0.0
self.yaw = 0.0
self.pitch = 0.0
self.roll = 0.0
self.custom_main_mode = ''
self.custom_sub_mode = ''
self.local_alt_target = 0
self.local_lat_target = 0
self.local_lon_target = 0
self.local_x = 0.0
self.local_y = 0.0
self.local_z = 0.0
self.local_vx = 0.0
self.local_vy = 0.0
self.local_vz = 0.0
# launch node
rospy.init_node('gcs_node', disable_signals=True)
self.mavlink_msg_pub = rospy.Publisher(mavlink_lora_pub_topic,
mavlink_lora_msg,
queue_size=0)
rospy.Subscriber(mavlink_lora_sub_topic, mavlink_lora_msg,
self.on_mavlink_msg)
rospy.Subscriber(mavlink_lora_status_sub_topic, mavlink_lora_status,
self.on_mavlink_lora_status)
rospy.Subscriber(mavlink_lora_pos_sub_topic, mavlink_lora_pos,
self.on_mavlink_lora_pos)
rospy.Subscriber(mavlink_lora_atti_sub_topic, mavlink_lora_attitude,
self.on_mavlink_lora_attitude)
rospy.Subscriber(mavlink_lora_keypress_sub_topic, Int8,
self.on_keypress)
rospy.Subscriber(mavlink_lora_modes_pub_topic, mavlink_lora_modes,
self.modes_sub)
rospy.Subscriber(local_target_pub_topic, mavlink_lora_local_setpoint,
self.local_target_sub)
rospy.Subscriber(mavlink_lora_local_ned_pos_sub_topic,
mavlink_lora_local_ned_pos,
self.on_mavlink_lora_local_pos)
self.modes_pub = rospy.Publisher(
mavlink_lora_set_local_target_pub_topic,
mavlink_lora_local_setpoint,
queue_size=0)
self.arm_pub = rospy.Publisher(drone_cmd_handler_arm_sub,
Bool,
queue_size=0)
self.offboard_pub = rospy.Publisher(drone_cmd_handler_offboard_sub,
Bool,
queue_size=0)
self.takeoff_pub = rospy.Publisher(drone_cmd_handler_takeoff_sub,
Bool,
queue_size=0)
self.rate = rospy.Rate(update_interval)
rospy.sleep(1) # wait until everything is running
self.cmd = DroneCommandHandler()
