if not input_queue.empty():
arg = input_queue.get().lower().strip()
if arg != "":
# Arm
if arg == "a":
print "arm"
broadcast(state.ARM)
# Disarm
if arg == "d":
print "disarm"
broadcast(state.IDLE)
# Start logger (i.e. ready for launch)
if arg == "l":
print "start logging"
broadcast(state.ARM + state.LOGGING)
# Deploy chute
if arg == "c":
print "deploy chute"
broadcast(state.ARM + state.LOGGING + state.CHUTE)
# Shutdown Carlson
if arg == "k":
print "power off"
broadcast(state.POWER_OFF)
# Read (non-blocking) from telemetry radio
received = radio.read()
if received != "":
state.set(ord(received))
print "Air State: %s" % state
(rad2deg(data["fusionPose"][0]),
rad2deg(data["fusionPose"][1]),
rad2deg(data["fusionPose"][2]), accel_norm, theta,
_freefall_detected, _apogee_detected))
# Set chute pin high if we are using automatic apogee detection algorithm.
if AUTO_APOGEE_DETECT and _freefall_detected and _armed:
if _apogee_detected and not _chute_deployed:
trigger_chute_pin()
# Set chute pin back to LOW if blast cap burn time is reached
if _nicrome_on and (time.time() - time_chute_deployed >
BLAST_CAP_BURN_TIME):
untrigger_chute_pin()
#######################################################################
## Update GROUND station
#######################################################################
# Update ground station once per HEARTBEAT_DELAY
if time.time() - state_last_sent > HEARTBEAT_DELAY:
state.set(state.IDLE) # clear state and rebuild
if _armed: state.add(state.ARM)
if _logging_on: state.add(state.LOGGING)
if _chute_deployed: state.add(state.CHUTE)
if _freefall_detected: state.add(state.FREEFALL)
if _apogee_detected: state.add(state.APOGEE)
radio.write(chr(state.state))
state_last_sent = time.time()
debug("Sent heartbeat (%d)" % state.state)