def __init__(self, fd, address, source_system=255):
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.mav = None
self.target_system = 0
self.target_component = 0
self.mav = mavlink.MAVLink(self, srcSystem=source_system)
self.mav.robust_parsing = True
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.usec = 0
self.notimestamps = False
self._timestamp = time.time()
def getdata(s, f, csvgri, csvms):
grinames = getdatafields(mavlink.MAVLink_gps_raw_int_message(0,0,0,0,0,0,0,0,0,0))
msnames = getdatafields(mavlink.MAVLink_mpiovd_sensors_message(0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,))
csvgri.writerow(grinames)
csvms.writerow(msnames)
mav.oblique_storage_request_send(20, 0, s, f)
while s < f:
try:
m = master.recv_msg()
if type(m) == mavlink.MAVLink_gps_raw_int_message:
print "gps_raw_int ", m.time_usec / 1000
store(m.__dict__, grinames, csvgri)
s += 0.5
elif type(m) == mavlink.MAVLink_mpiovd_sensors_message:
print "mpiovd_sensors", m.time_usec / 1000
store(m.__dict__, msnames, csvms)
s += 0.5
except socket.timeout:
pass
print "-----------------------------------------"
print "done"