def incomingPacket(self, vehname: str, pkt):
"""
Incoming packet
"""
# Send statustext to UI
if pkt.get_type() == "STATUSTEXT":
self.printVeh(pkt.text, vehname)
# Mode change - update prompt (mode and arm status)
if pkt.get_type() == "HEARTBEAT":
if pkt.base_mode & self.vehObj(vehname).mod.MAV_MODE_FLAG_SAFETY_ARMED:
self.changePrompt(vehname, "A|" + mode_toString(pkt, self.getMav(vehname)))
else:
self.changePrompt(vehname, "D|" + mode_toString(pkt, self.getMav(vehname)))
self.application._redraw()
def incomingPacket(self, vehname: str, pkt):
"""
On new packet
"""
# if heartbeat
if pkt.get_type() == "HEARTBEAT":
# if mode changed, tell user
if pkt.custom_mode != self.lastMode[vehname]:
self.printer(vehname, "Mode changed to: " +
str(mode_toString(pkt, self.getMav(vehname))))
self.lastMode[vehname] = pkt.custom_mode
def incomingPacket(self, vehname: str, pkt):
"""
Incoming packet
"""
# Send statustext to UI
if pkt.get_type() == "STATUSTEXT":
self.printVeh(pkt.text, vehname)
# Mode change - update prompt
if pkt.get_type() == "HEARTBEAT":
self.changePrompt(vehname, mode_toString(pkt, self.mod))
self.application._redraw()
def test_modemappings(self):
"""Test the mode_toString() method"""
mavlink = getpymavlinkpackage('ardupilotmega', 2.0)
# PX4
pktIn = mavlink.MAVLink_heartbeat_message(
mavlink.MAV_TYPE_QUADROTOR, mavlink.MAV_AUTOPILOT_PX4, 0, 0, 0, 2)
assert mode_toString(pktIn, mavlink) == "MANUAL"
pktIn = mavlink.MAVLink_heartbeat_message(
mavlink.MAV_TYPE_QUADROTOR, mavlink.MAV_AUTOPILOT_PX4, 0, 5, 0, 2)
assert mode_toString(pktIn, mavlink) == "AUTO_RTL"
# APM:Copter
pktIn = mavlink.MAVLink_heartbeat_message(
mavlink.MAV_TYPE_QUADROTOR, mavlink.MAV_AUTOPILOT_ARDUPILOTMEGA, 0, 0, 0, 2)
assert mode_toString(pktIn, mavlink) == "STABILIZE"
pktIn = mavlink.MAVLink_heartbeat_message(
mavlink.MAV_TYPE_QUADROTOR, mavlink.MAV_AUTOPILOT_ARDUPILOTMEGA, 0, 5, 0, 2)
assert mode_toString(pktIn, mavlink) == "LOITER"
# APM:Rover
pktIn = mavlink.MAVLink_heartbeat_message(
mavlink.MAV_TYPE_GROUND_ROVER, mavlink.MAV_AUTOPILOT_ARDUPILOTMEGA, 0, 0, 0, 2)
assert mode_toString(pktIn, mavlink) == "MANUAL"
pktIn = mavlink.MAVLink_heartbeat_message(
mavlink.MAV_TYPE_GROUND_ROVER, mavlink.MAV_AUTOPILOT_ARDUPILOTMEGA, 0, 10, 0, 2)
assert mode_toString(pktIn, mavlink) == "AUTO"
# APM:Sub
pktIn = mavlink.MAVLink_heartbeat_message(
mavlink.MAV_TYPE_SUBMARINE, mavlink.MAV_AUTOPILOT_ARDUPILOTMEGA, 0, 0, 0, 2)
assert mode_toString(pktIn, mavlink) == "STABILIZE"
pktIn = mavlink.MAVLink_heartbeat_message(
mavlink.MAV_TYPE_SUBMARINE, mavlink.MAV_AUTOPILOT_ARDUPILOTMEGA, 0, 4, 0, 2)
assert mode_toString(pktIn, mavlink) == "GUIDED"
# APM:Plane
pktIn = mavlink.MAVLink_heartbeat_message(
mavlink.MAV_TYPE_FIXED_WING, mavlink.MAV_AUTOPILOT_ARDUPILOTMEGA, 0, 0, 0, 2)
assert mode_toString(pktIn, mavlink) == "MANUAL"
pktIn = mavlink.MAVLink_heartbeat_message(
mavlink.MAV_TYPE_FIXED_WING, mavlink.MAV_AUTOPILOT_ARDUPILOTMEGA, 0, 20, 0, 2)
assert mode_toString(pktIn, mavlink) == "QLAND"
# APM:Antenna Tracker
pktIn = mavlink.MAVLink_heartbeat_message(
mavlink.MAV_TYPE_ANTENNA_TRACKER, mavlink.MAV_AUTOPILOT_ARDUPILOTMEGA, 0, 0, 0, 2)
assert mode_toString(pktIn, mavlink) == "MANUAL"
pktIn = mavlink.MAVLink_heartbeat_message(
mavlink.MAV_TYPE_ANTENNA_TRACKER, mavlink.MAV_AUTOPILOT_ARDUPILOTMEGA, 0, 2, 0, 2)
assert mode_toString(pktIn, mavlink) == "SCAN"