def __init__(self, connection_string, baud_rate=115200):
print 'Connecting Clients....'
self.avoid_sys = AvoidanceSystem(self)
self.in_client = IncomingClient(self)
self.out_client = OutgoingClient(self)
self.telem_client = TelemetryClient(self)
self._commands = None
def dronekit_printer(text):
print text
self.out_client.send_messages('d' + text)
print 'Connecting Plane....'
self.vehicle = connect(connection_string,
baud=baud_rate,
rate=25,
status_printer=dronekit_printer,
heartbeat_timeout=300)
print 'Waiting until plane is ready....'
self.vehicle.wait_ready(timeout=300)
print 'Getting commands....'
self.update_commands()
self._bank_angle = deg_to_rad(self.vehicle.parameters['LIM_ROLL_CD'] /
100)
self._wp_radius = self.vehicle.parameters['WP_RADIUS'] / 100
self._prev_wp = 0
self.out_client.start()
self.telem_client.start()
def __init__(self):
self._telemetry_client = TelemetryClient()
self.diagnostic_info = ""
