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()
#!/usr/bin/env python
"""test-send.py: Test script to send RC commands to a MultiWii Board."""
__author__ = "Aldo Vargas"
__copyright__ = "Copyright 2014 Aldux.net"
__license__ = "GPL"
__version__ = "1"
__maintainer__ = "Aldo Vargas"
__email__ = "*****@*****.**"
__status__ = "Development"
from pyMultiwii import MultiWii
import time
if __name__ == "__main__":
#board = MultiWii("/dev/ttyUSB0")
board = MultiWii("/dev/tty.SLAB_USBtoUART")
try:
board.arm()
print "Board is armed now!"
print "In 3 seconds it will disarm..."
time.sleep(3)
board.disarm()
print "Disarmed."
time.sleep(3)
except Exception,error:
print "Error on Main: "+str(error)
#!/usr/bin/env python3
"""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
import time
if __name__ == "__main__":
#board = MultiWii("/dev/tty.usbserial-AM016WP4")
board = MultiWii("/dev/tty.SLAB_USBtoUART")
try:
board.arm()
print "Board is armed now!"
print "In 3 seconds it will disarm..."
time.sleep(3)
board.disarm()
print "Disarmed."
time.sleep(3)
except Exception, error:
print "Error on Main: " + str(error)
