def find_board():
""" Lists serial port names
:raises EnvironmentError:
On unsupported or unknown platforms
:returns:
A list of the serial ports available on the system
"""
if sys.platform.startswith('win'):
ports = ['COM%s' % (i + 1) for i in range(256)]
elif sys.platform.startswith('linux') or sys.platform.startswith('cygwin'):
# this excludes your current terminal "/dev/tty"
ports = glob.glob('/dev/tty[A-Za-z]*')
elif sys.platform.startswith('darwin'):
ports = glob.glob('/dev/tty.*')
else:
raise EnvironmentError('Unsupported platform')
for port in ports:
board = None
try:
s = serial.Serial(port)
s.close()
board = MultiWii(port)
board.getData(MultiWii.RC)
return board
except (OSError, serial.SerialException):
if board:
board.disconnect()
pass
return None
def __init__(self):
#INIT MULTIWII
self.WiiProtocol = [
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0
]
self.USBPort = "COM4"
self.Board = MultiWii(self.USBPort)
self.Board.arm()
print("ARMED")
def run(self):
global RUNNING
values = {
'roll': INITIAL_ROLL,
'pitch': INITIAL_PITCH,
'yaw': INITIAL_YAW,
'throttle': INITIAL_THROTTLE
}
board = MultiWii(SERIAL, PRINT=False)
last_command = time.time()
armed = False
try:
while RUNNING:
command = None
try:
command = QUEUE.get_nowait()
QUEUE.task_done() # we don't retry commands
except Empty:
if (time.time() - last_command) > 2:
#fail safe - if no commands stop the drone
board.disarm()
armed = False
continue
if armed:
data = [values['roll'], values['pitch'], values['yaw'], values['throttle']]
board.sendCMD(8,MultiWii.SET_RAW_RC,data)
time.sleep(0.05)
continue
last_command = time.time()
if not command or not 'action' in command:
continue
print "got command: %s" % command
if command['action'] == 'arm':
board.arm()
armed = True
elif command['action'] == 'disarm':
board.disarm()
armed = False
elif command['action'] == 'update':
try:
values.update(command['data'])
except:
logging.exception('error update values')
else:
logging.debug('invalid command %s' % command)
except:
logging.exception("Error")
board.disarm()
def __init__(self):
self.rcData = RCData()
self.cam = CameraData()
self.cmdManager = CommandManager()
self.actionManager = ActionManager()
self.heightController = heightControl(self.rcData)
#self.recog = Recognition(self.cam)
self.symbolList = []
self.currentCommand = None
self.board = MultiWii('/dev/ttyUSB0')
#self.loadActions()
#self.loadCommands()
#self.loadSymbols()
self.Load.loadAction()
self.Load.loadCommands()
self.Load.loadSymbols()
time.sleep(1)
def __init__(self, attitude_reader_port, anchor_configs):
self.locations = []
for anchor_config in anchor_configs:
self.anchors.append(
SerialDistanceReader(anchor_config["serial_port"],
anchor_config["bias"]))
self.locations.append([
float(anchor_config["x"]),
float(anchor_config["y"]),
float(anchor_config["z"])
])
print("Initializing anchor " + anchor_config["serial_port"] +
" with locations: " + str(self.locations[-1]))
thread = Thread(target=bg_update_distances,
args=(self.anchors, self.thread_lock))
thread.daemon = True
thread.start()
time.sleep(5)
self.trilateration = Trilateration(self.locations, 100)
self.attitude_reader = MultiWii(attitude_reader_port)
print("Initialized multiwii on " + attitude_reader_port)
"""test-send.py: Test script to send RC commands to a MultiWii Board."""
__author__ = "Aldo Vargas"
__copyright__ = "Copyright 2016 Altax.net"
__license__ = "GPL"
__version__ = "1"
__maintainer__ = "Aldo Vargas"
__email__ = "*****@*****.**"
__status__ = "Development"
from pyMultiwii import MultiWii
if __name__ == "__main__":
#board = MultiWii("/dev/ttyUSB0")
board = MultiWii("/dev/tty.usbserial-A801WZA1")
try:
while True:
#example of 8 RC channels to be send
data = [1500, 1550, 1600, 1560, 1000, 1040, 1000, 1000]
# Old function
#board.sendCMD(16,MultiWii.SET_RAW_RC,data)
#New function that will receive attitude after setting the rc commands
board.sendCMDreceiveATT(16, MultiWii.SET_RAW_RC, data)
print board.attitude
except Exception, error:
print "Error on Main: " + str(error)
import socket
import sys
from pyMultiwii import MultiWii
# Some Gloabals
host = 'localhost'
if __name__ == '__main__':
# Initiate the MWC
board = MultiWii("/dev/ttyUSB0")
# Create a TCP/IP socket
sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
# Bind and listen for connections
server_address = (host, 10001)
print >>sys.stderr, 'starting up on %s port %s' % server_address
sock.bind(server_address)
sock.listen(1)
print >>sys.stderr, 'waiting for a connection'
connection, client_address = sock.accept()
print >>sys.stderr, 'client connected:', client_address
data = 'init'
try:
while data!="":
data = connection.recv(19)
print >>sys.stderr, 'received "%s"' % data
pwmValues = data.split()
board.sendCMD(8,MultiWii.SET_RAW_RC,pwmValues)
class App():
def __init__(self):
self.stdin_path = '/dev/null'
self.stdout_path = '/dev/tty'
self.stderr_path = '/dev/tty'
self.pidfile_path = '/tmp/foo.pid'
self.pidfile_timeout = 5
def run(self):
main()
if __name__ == '__main__':
flight_obj = FLIGHTBOARD()
can_obj = can()
bat_obj = bat()
XBEE = "/dev/ttyUSB0"
BATTERY = "/dev/ttyUSB0"
CAN = "/dev/ttyUSB0"
FLIGHT = "/dev/ttyUSB0"
path_can = "/dev/ttyUSB0"
try:
########################## Configure USB ports #################################
list1 = serial.tools.list_ports.comports()
# battery_cable = "USB VID:PID=0403:6001 SNR=A50285BI"
# Xbee1 = "USB VID:PID=0403:6001 SNR=AH03I7PP"
Flight = "USB VID:PID=0403:6001 SNR=AM016X60"
Xbee = "USB VID:PID=0403:6001 SNR=AH03I79P"
Device = "Linux 3.13.0-24-generic ehci_hcd EHCI Host Controller 0000:00:1a.0"
Device_ = 'Linux 3.13.0-24-generic xhci_hcd xHCI Host Controller 0000:02:00.0'
VID = 'USB VID:PID=1a86:7523'
#print(list(serial.tools.list_ports.comports()))s
for a in range(0,len(list1) ):
if((Device == list1[a][1]) & (VID == list1[a][2]) ):
BATTERY = list1[a][0]
if( (Xbee == list1[a][2]) & (Device == list1[a][1]) ):
XBEE = list1[a][0]
if(Flight == list1[a][2]):
FLIGHT = list1[a][0]
if(Device_ == list1[a][1]):
CAN = list1[a][0]
print "\n----------Com Port Configuration--------------"
print 'Battery :'+BATTERY
print 'can :'+CAN
print 'xbee :'+XBEE
print 'Flight :'+FLIGHT +'\n'
# ----------Open Xbee Serial Port----------------------
ser2 = serial.Serial(XBEE, 115200, timeout=2, xonxoff=True, rtscts=True, dsrdtr=False ) #Tried with and without the last 3 parameters, and also at 1Mbps, same happens.
ser2.flushInput()
ser2.flushOutput()
# ------------Open Flight Board Serial Port-------------
try:
flight_obj.board = MultiWii(FLIGHT)
t_flight = Thread(target=flight_obj.Accelerometer, args=())
t_flight_G = Thread(target=flight_obj.GPS, args=())
t_flight.start()
t_flight_G.start()
except Exception,e:
print 'ERROR t_flight : '+str(e)
try:
can.path_can = CAN
t_can = Thread(target=can_obj.read_can, args=())
t_can.start()
except Exception,e:
print 'ERROR t_can : '+str(e)
print 'Battery :'+BATTERY
print 'can :'+CAN
print 'xbee :'+XBEE
print 'Flight :'+FLIGHT +'\n'
# ----------Open Xbee Serial Port----------------------
ser2 = serial.Serial(XBEE, 115200, timeout=2, xonxoff=True, rtscts=True, dsrdtr=False ) #Tried with and without the last 3 parameters, and also at 1Mbps, same happens.
ser2.flushInput()
ser2.flushOutput()
# ------------Open Flight Board Serial Port-------------
path_ = '/dev/ttyUSB1'
# board = MultiWii(path_)
try:
board = MultiWii(FLIGHT)
t_flight = Thread(target=Accelerometer, args=(board,))
t_flight_G = Thread(target=GPS, args=(board,))
t_flight.start()
t_flight_G.start()
except Exception,e:
print 'ERROR : '+str(e)
print "-----------------------------------------------"
if t_flight.isAlive():
print "Flight started state : Alive"
print "-----------------------------------------------"
# ------------Start Main Threads-------------------------
try:
__author__ = "Aldo Vargas"
__copyright__ = "Copyright 2016 Altax.net"
__license__ = "GPL"
__version__ = "1"
__maintainer__ = "Aldo Vargas"
__email__ = "*****@*****.**"
__status__ = "Development"
from pyMultiwii import MultiWii
import pyqtgraph as pg
from pyqtgraph.Qt import QtCore, QtGui
#board = MultiWii("/dev/tty.usbserial-A801WZA1")
board = MultiWii("/dev/tty.SLAB_USBtoUART")
win = pg.GraphicsWindow()
win.setWindowTitle('MultiWii IMU plotting')
p1 = win.addPlot()
win.nextRow()
p2 = win.addPlot()
data1 = [0] * 300
data2 = [0] * 300
data3 = [0] * 300
data4 = [0] * 300
data5 = [0] * 300
data6 = [0] * 300
curve1 = p1.plot(data1, name="ax", pen=(255, 0, 0))
curve2 = p1.plot(data2, name="ay", pen=(0, 255, 0))
curve3 = p1.plot(data3, name="az", pen=(0, 0, 255))
label='GX')
plt.plot([self.sb, self.senses], [self.gybuf, gy],
color='black',
label='GY')
plt.plot([self.sb, self.senses], [self.gzbuf, gz],
color='pink',
label='GZ')
self.fig.canvas.draw()
self.sb, self.axbuf, self.aybuf, self.azbuf, self.gxbuf, self.gybuf, self.gzbuf = self.senses, ax, ay, az, gx, gy, gz
if __name__ == "__main__":
chart = Chart()
serialPort = "/dev/tty.usbserial-A801WZA1"
#serialPort = "/dev/tty.SLAB_USBtoUART"
board = MultiWii(serialPort)
try:
while True:
board.getData(MultiWii.RAW_IMU)
#print board.rawIMU
t = float(board.rawIMU['timestamp'])
ax = board.rawIMU['ax']
ay = board.rawIMU['ay']
az = board.rawIMU['az']
gx = board.rawIMU['gx']
gy = board.rawIMU['gy']
gz = board.rawIMU['gz']
chart.plot(ax, ay, az, gx, gy, gz)
except Exception, error:
print "Error on Main: " + str(error)
from pyMultiwii import MultiWii
import time
import sys
"""
In config.h of the multiwii source code, there is a parameter called
ESC_CALIB_CANNOT_FLY. Enabling that will pass the raw throttle values
through to the ESCs. This is useful for calibrating the ESCs all at once.
This script will set the PWM range on the ESCs and allow you to test motor
speeds after calibrating.
"""
THROTTLE_MIN = 1000
THROTTLE_MAX = 2000
board = MultiWii("/dev/ttyACM0")
print 'Setting throttle to', THROTTLE_MAX
start = time.time()
board.sendCMD(8, MultiWii.SET_RAW_RC, [1500, 1500, 1500, THROTTLE_MAX])
raw_input('Press enter to advance.')
print time.time() - start, 'seconds elapsed.'
print 'Setting throttle to', THROTTLE_MIN
start = time.time()
board.sendCMD(8, MultiWii.SET_RAW_RC, [1500, 1500, 1500, THROTTLE_MIN])
raw_input('Press enter to advance.')
print time.time() - start, 'seconds elapsed.'
while True:
class Main(object): if __name__ == '__main__': flight_obj = FLIGHTBOARD() can_obj = can() bat_obj = bat() XBEE = "/dev/ttyUSB0" BATTERY = "/dev/ttyUSB0" CAN = "/dev/ttyUSB0" FLIGHT = "/dev/ttyUSB0" path_can = "/dev/ttyUSB0" try: ########################## Configure USB ports ################################# list1 = serial.tools.list_ports.comports() # battery_cable = "USB VID:PID=0403:6001 SNR=A50285BI" # Xbee1 = "USB VID:PID=0403:6001 SNR=AH03I7PP" Flight = "USB VID:PID=0403:6001 SNR=AM016X60" Xbee = "USB VID:PID=0403:6001 SNR=AH03I79P" Device = "Linux 3.13.0-24-generic ehci_hcd EHCI Host Controller 0000:00:1a.0" Device_ = 'Linux 3.13.0-24-generic xhci_hcd xHCI Host Controller 0000:02:00.0' VID = 'USB VID:PID=1a86:7523' #print(list(serial.tools.list_ports.comports()))s for a in range(0,len(list1) ): if((Device == list1[a][1]) & (VID == list1[a][2]) ): BATTERY = list1[a][0] if( (Xbee == list1[a][2]) & (Device == list1[a][1]) ): XBEE = list1[a][0] if(Flight == list1[a][2]): FLIGHT = list1[a][0] if(Device_ == list1[a][1]): CAN = list1[a][0] print "\n----------Com Port Configuration--------------" print 'Battery :'+BATTERY print 'can :'+CAN print 'xbee :'+XBEE print 'Flight :'+FLIGHT +'\n' # ----------Open Xbee Serial Port---------------------- ser2 = serial.Serial(XBEE, 115200, timeout=2, xonxoff=True, rtscts=True, dsrdtr=False ) #Tried with and without the last 3 parameters, and also at 1Mbps, same happens. ser2.flushInput() ser2.flushOutput() # ------------Open Flight Board Serial Port------------- try: flight_obj.board = MultiWii(FLIGHT) t_flight = Thread(target=flight_obj.Accelerometer, args=()) t_flight_G = Thread(target=flight_obj.GPS, args=()) t_flight.start() t_flight_G.start() can.path_can = CAN t_can = Thread(target=can_obj.read_can, args=()) t_can.start() bat.path_can = BATTERY # t_bat = Thread(target=bat_obj.read_battery, args=()) # t_bat.start() except Exception,e: print 'ERROR : '+str(e) print 'Pass' # ----------------Run and print-------------------- count=0 past_load='' while True: count = count + 1 load = data_H.q.get() x = len(load) # print "length : "+str(x)+" Size : "+str(sys.getsizeof(q.get()))+" bytes Pht No : "+str(count)+"\n"+ q.get() # print data_H.q.get() send = "####,"+str(x)+","+str(count)+","+load+"!!" print send if load != past_load: ser2.write(send) past_load = load # print str(data_H.q.get()) except Exception,e: print 'ERROR : '+str(e)
import zmq
from pyMultiwii import MultiWii
import time
IP = '0.0.0.0'
port = '8080'
c = zmq.Context()
s = c.socket(zmq.REP)
s.bind("tcp://" + IP + ":" + port)
drone = MultiWii("/dev/ttyUSB0")
drone_state = {}
goon = True
while goon:
reply = s.recv_json()
if reply.has_key("pad"):
att = drone.getData(MultiWii.ATTITUDE)
mot = drone.getData(MultiWii.MOTOR)
vbat = drone.getData(MultiWii.ANALOG)
if not att is None:
drone_state["angx"] = float(att['angx'])
drone_state["angy"] = float(att['angy'])
drone_state["heading"] = float(att['heading'])
if not mot is None:
drone_state["m1"] = float(mot['m1'])
drone_state["m2"] = float(mot['m2'])
drone_state["m3"] = float(mot['m3'])
drone_state["m4"] = float(mot['m4'])
if not vbat is None:
