def update_position(self):
'''update position text'''
state = self.state
pos = self.mouse_pos
newtext = ''
alt = 0
if pos is not None:
(lat,lon) = self.coordinates(pos.x, pos.y)
newtext += 'Cursor: %f %f' % (lat, lon)
if state.elevation:
alt = self.ElevationMap.GetElevation(lat, lon)
newtext += ' %.1fm' % alt
pending = state.mt.tiles_pending()
if pending:
newtext += ' Map Downloading %u ' % pending
if alt == -1:
newtext += ' SRTM Downloading '
newtext += '\n'
if self.click_pos is not None:
newtext += 'Click: %f %f (%s %s)' % (self.click_pos[0], self.click_pos[1],
mp_util.degrees_to_dms(self.click_pos[0]),
mp_util.degrees_to_dms(self.click_pos[1]))
if self.last_click_pos is not None:
distance = mp_util.gps_distance(self.last_click_pos[0], self.last_click_pos[1],
self.click_pos[0], self.click_pos[1])
bearing = mp_util.gps_bearing(self.last_click_pos[0], self.last_click_pos[1],
self.click_pos[0], self.click_pos[1])
newtext += ' Distance: %.1fm Bearing %.1f' % (distance, bearing)
if newtext != state.oldtext:
self.position.Clear()
self.position.WriteText(newtext)
state.oldtext = newtext
def re_center(self, x, y, lat, lon):
'''re-center view for pixel x,y'''
state = self.state
if lat is None or lon is None:
return
(lat2,lon2) = self.coordinates(x, y)
distance = mp_util.gps_distance(lat2, lon2, lat, lon)
bearing = mp_util.gps_bearing(lat2, lon2, lat, lon)
(state.lat, state.lon) = mp_util.gps_newpos(state.lat, state.lon, bearing, distance)
def re_center(self, x, y, lat, lon):
'''re-center view for pixel x,y'''
state = self.state
if lat is None or lon is None:
return
(lat2, lon2) = self.coordinates(x, y)
distance = mp_util.gps_distance(lat2, lon2, lat, lon)
bearing = mp_util.gps_bearing(lat2, lon2, lat, lon)
(state.lat, state.lon) = mp_util.gps_newpos(state.lat, state.lon,
bearing, distance)
def update_position(self):
'''update position text'''
state = self.state
pos = self.mouse_pos
newtext = ''
alt = 0
if pos is not None:
(lat, lon) = self.coordinates(pos.x, pos.y)
newtext += 'Cursor: %.8f %.8f (%s)' % (lat, lon,
mp_util.latlon_to_grid(
(lat, lon)))
if state.elevation:
alt = self.ElevationMap.GetElevation(lat, lon)
if alt is not None:
newtext += ' %.1fm %uft' % (alt, alt * 3.28084)
state.mt.set_download(state.download)
pending = 0
if state.download:
pending = state.mt.tiles_pending()
if pending:
newtext += ' Map Downloading %u ' % pending
if alt == -1:
newtext += ' SRTM Downloading '
newtext += '\n'
if self.click_pos is not None:
newtext += 'Click: %.8f %.8f (%s %s) (%s)' % (
self.click_pos[0], self.click_pos[1],
mp_util.degrees_to_dms(self.click_pos[0]),
mp_util.degrees_to_dms(
self.click_pos[1]), mp_util.latlon_to_grid(self.click_pos))
if self.last_click_pos is not None:
distance = mp_util.gps_distance(self.last_click_pos[0],
self.last_click_pos[1],
self.click_pos[0],
self.click_pos[1])
bearing = mp_util.gps_bearing(self.last_click_pos[0],
self.last_click_pos[1],
self.click_pos[0], self.click_pos[1])
newtext += ' Distance: %.3fm %.3fnm Bearing %.1f' % (
distance, distance * 0.000539957, bearing)
if newtext != state.oldtext:
self.position.Clear()
self.position.WriteText(newtext)
state.oldtext = newtext
def mavlink_packet(self, m):
'''handle an incoming mavlink packet'''
if not self.mpstate.map:
# don't draw if no map
return
if m.get_type() != 'GLOBAL_POSITION_INT':
return
self.update_target(m.time_boot_ms)
if self.target_pos is None:
return
if self.follow_settings.disable_msg:
return
if self.follow_settings.type == 'guided':
# send normal guided mode packet
self.master.mav.mission_item_int_send(
self.settings.target_system, self.settings.target_component, 0,
self.module('wp').get_default_frame(),
mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 2, 0, 0, 0, 0, 0,
int(self.target_pos[0] * 1.0e7),
int(self.target_pos[1] * 1.0e7), self.follow_settings.altitude)
elif self.follow_settings.type == 'yaw':
# display yaw from vehicle to target
vehicle = (m.lat * 1.0e-7, m.lon * 1.0e-7)
vehicle_yaw = math.degrees(self.master.field('ATTITUDE', 'yaw', 0))
target_bearing = mp_util.gps_bearing(vehicle[0], vehicle[1],
self.target_pos[0],
self.target_pos[1])
# wrap the angle from -180 to 180 thus commanding the vehicle to turn left or right
# note its in centi-degrees so *100
relyaw = self.wrap_180(target_bearing - vehicle_yaw) * 100
self.master.mav.command_long_send(
self.settings.target_system, self.settings.target_component,
mavutil.mavlink.MAV_CMD_NAV_SET_YAW_SPEED, 0, relyaw,
self.follow_settings.vehicle_throttle, 0, 0, 0, 0, 0)
def update(self, pkt, tnow):
dt = tnow - self.last_time
if dt < 0 or dt > 10:
self.last_time = tnow
return
if dt < 0.1:
return
self.last_time = tnow
dist = mp_util.gps_distance(self.pkt.lat * 1e-7, self.pkt.lon * 1e-7,
pkt.lat * 1e-7, pkt.lon * 1e-7)
if dist > 0.01:
heading = mp_util.gps_bearing(self.pkt.lat * 1e-7,
self.pkt.lon * 1e-7, pkt.lat * 1e-7,
pkt.lon * 1e-7)
spd = dist / dt
pkt.heading = int(heading * 100)
new_vel = int(spd * 100)
#print(pkt.ICAO_address, new_vel*0.01, pkt.hor_velocity*0.01)
pkt.hor_velocity = new_vel
if pkt.hor_velocity > 65535:
pkt.hor_velocity = 65535
self.pkt = pkt
def update_position(self):
'''update position text'''
state = self.state
pos = self.mouse_pos
newtext = ''
alt = 0
if pos is not None:
(lat, lon) = self.coordinates(pos.x, pos.y)
newtext += 'Cursor: %f %f' % (lat, lon)
if state.elevation:
alt = self.ElevationMap.GetElevation(lat, lon)
newtext += ' %.1fm' % alt
pending = state.mt.tiles_pending()
if pending:
newtext += ' Map Downloading %u ' % pending
if alt == -1:
newtext += ' SRTM Downloading '
newtext += '\n'
if self.click_pos is not None:
newtext += 'Click: %f %f (%s %s)' % (
self.click_pos[0], self.click_pos[1],
mp_util.degrees_to_dms(self.click_pos[0]),
mp_util.degrees_to_dms(self.click_pos[1]))
if self.last_click_pos is not None:
distance = mp_util.gps_distance(self.last_click_pos[0],
self.last_click_pos[1],
self.click_pos[0],
self.click_pos[1])
bearing = mp_util.gps_bearing(self.last_click_pos[0],
self.last_click_pos[1],
self.click_pos[0], self.click_pos[1])
newtext += ' Distance: %.1fm Bearing %.1f' % (distance, bearing)
if newtext != state.oldtext:
self.position.Clear()
self.position.WriteText(newtext)
state.oldtext = newtext
def cmd_wp_movemulti(self, args, latlon=None):
'''handle wp move of multiple waypoints'''
if len(args) < 3:
print("usage: wp movemulti WPNUM WPSTART WPEND <rotation>")
return
idx = int(args[0])
if idx < 1 or idx > self.wploader.count():
print("Invalid wp number %u" % idx)
return
wpstart = int(args[1])
if wpstart < 1 or wpstart > self.wploader.count():
print("Invalid wp number %u" % wpstart)
return
wpend = int(args[2])
if wpend < 1 or wpend > self.wploader.count():
print("Invalid wp number %u" % wpend)
return
if idx < wpstart or idx > wpend:
print("WPNUM must be between WPSTART and WPEND")
return
# optional rotation about center point
if len(args) > 3:
rotation = float(args[3])
else:
rotation = 0
if latlon is None:
latlon = self.mpstate.click_location
if latlon is None:
print("No map click position available")
return
wp = self.wploader.wp(idx)
if not self.wploader.is_location_command(wp.command):
print("WP must be a location command")
return
(lat, lon) = latlon
distance = mp_util.gps_distance(wp.x, wp.y, lat, lon)
bearing = mp_util.gps_bearing(wp.x, wp.y, lat, lon)
for wpnum in range(wpstart, wpend + 1):
wp = self.wploader.wp(wpnum)
if not self.wploader.is_location_command(wp.command):
continue
(newlat, newlon) = mp_util.gps_newpos(wp.x, wp.y, bearing,
distance)
if wpnum != idx and rotation != 0:
# add in rotation
d2 = mp_util.gps_distance(lat, lon, newlat, newlon)
b2 = mp_util.gps_bearing(lat, lon, newlat, newlon)
(newlat, newlon) = mp_util.gps_newpos(lat, lon, b2 + rotation,
d2)
if (getattr(self.console, 'ElevationMap', None) is not None and
wp.frame != mavutil.mavlink.MAV_FRAME_GLOBAL_TERRAIN_ALT
and self.settings.wpterrainadjust):
alt1 = self.console.ElevationMap.GetElevation(newlat, newlon)
alt2 = self.console.ElevationMap.GetElevation(wp.x, wp.y)
if alt1 is not None and alt2 is not None:
wp.z += alt1 - alt2
wp.x = newlat
wp.y = newlon
wp.target_system = self.target_system
wp.target_component = self.target_component
self.wploader.set(wp, wpnum)
self.loading_waypoints = True
self.loading_waypoint_lasttime = time.time()
self.master.mav.mission_write_partial_list_send(
self.target_system, self.target_component, wpstart, wpend + 1)
print("Moved WPs %u:%u to %f, %f rotation=%.1f" %
(wpstart, wpend, lat, lon, rotation))
def mavlink_packet(self, m):
'''handle an incoming mavlink packet'''
from modules.mavproxy_map import mp_slipmap
mtype = m.get_type()
sysid = m.get_srcSystem()
if mtype == "HEARTBEAT":
vname = 'plane'
if m.type in [mavutil.mavlink.MAV_TYPE_FIXED_WING]:
vname = 'plane'
elif m.type in [mavutil.mavlink.MAV_TYPE_GROUND_ROVER]:
vname = 'rover'
elif m.type in [mavutil.mavlink.MAV_TYPE_SUBMARINE]:
vname = 'sub'
elif m.type in [mavutil.mavlink.MAV_TYPE_SURFACE_BOAT]:
vname = 'boat'
elif m.type in [
mavutil.mavlink.MAV_TYPE_QUADROTOR,
mavutil.mavlink.MAV_TYPE_HEXAROTOR,
mavutil.mavlink.MAV_TYPE_OCTOROTOR,
mavutil.mavlink.MAV_TYPE_TRICOPTER
]:
vname = 'copter'
elif m.type in [mavutil.mavlink.MAV_TYPE_COAXIAL]:
vname = 'singlecopter'
elif m.type in [mavutil.mavlink.MAV_TYPE_HELICOPTER]:
vname = 'heli'
elif m.type in [mavutil.mavlink.MAV_TYPE_ANTENNA_TRACKER]:
vname = 'antenna'
self.vehicle_type_by_sysid[sysid] = vname
if not sysid in self.vehicle_type_by_sysid:
self.vehicle_type_by_sysid[sysid] = 'plane'
self.vehicle_type_name = self.vehicle_type_by_sysid[sysid]
# this is the beginnings of allowing support for multiple vehicles
# in the air at the same time
vehicle = 'Vehicle%u' % m.get_srcSystem()
if mtype == "SIMSTATE" and self.map_settings.showsimpos:
self.create_vehicle_icon('Sim' + vehicle, 'green')
self.map.set_position('Sim' + vehicle,
(m.lat * 1.0e-7, m.lng * 1.0e-7),
rotation=math.degrees(m.yaw))
elif mtype == "AHRS2" and self.map_settings.showahrs2pos:
self.create_vehicle_icon('AHRS2' + vehicle, 'blue')
self.map.set_position('AHRS2' + vehicle,
(m.lat * 1.0e-7, m.lng * 1.0e-7),
rotation=math.degrees(m.yaw))
elif mtype == "AHRS3" and self.map_settings.showahrs3pos:
self.create_vehicle_icon('AHRS3' + vehicle, 'orange')
self.map.set_position('AHRS3' + vehicle,
(m.lat * 1.0e-7, m.lng * 1.0e-7),
rotation=math.degrees(m.yaw))
elif mtype == "GPS_RAW_INT" and self.map_settings.showgpspos:
(lat, lon) = (m.lat * 1.0e-7, m.lon * 1.0e-7)
if lat != 0 or lon != 0:
if m.vel > 300 or 'ATTITUDE' not in self.master.messages:
cog = m.cog * 0.01
else:
cog = math.degrees(self.master.messages['ATTITUDE'].yaw)
self.create_vehicle_icon('GPS' + vehicle, 'blue')
self.map.set_position('GPS' + vehicle, (lat, lon),
rotation=cog)
elif mtype == "GPS2_RAW" and self.map_settings.showgps2pos:
(lat, lon) = (m.lat * 1.0e-7, m.lon * 1.0e-7)
if lat != 0 or lon != 0:
self.create_vehicle_icon('GPS2' + vehicle, 'green')
self.map.set_position('GPS2' + vehicle, (lat, lon),
rotation=m.cog * 0.01)
elif mtype == 'GLOBAL_POSITION_INT' and self.map_settings.showahrspos:
(lat, lon, heading) = (m.lat * 1.0e-7, m.lon * 1.0e-7,
m.hdg * 0.01)
self.lat_lon[m.get_srcSystem()] = (lat, lon)
if abs(lat) > 1.0e-3 or abs(lon) > 1.0e-3:
self.have_global_position = True
self.create_vehicle_icon('Pos' + vehicle, 'red', follow=True)
if len(self.vehicle_type_by_sysid) > 1:
label = str(sysid)
else:
label = None
self.map.set_position('Pos' + vehicle, (lat, lon),
rotation=heading,
label=label,
colour=(255, 255, 255))
self.map.set_follow_object('Pos' + vehicle,
self.is_primary_vehicle(m))
elif mtype == 'HOME_POSITION':
(lat, lon) = (m.latitude * 1.0e-7, m.longitude * 1.0e-7)
icon = self.map.icon('home.png')
self.map.add_object(
mp_slipmap.SlipIcon('HOME_POSITION', (lat, lon),
icon,
layer=3,
rotation=0,
follow=False))
elif mtype == "NAV_CONTROLLER_OUTPUT":
tlayer = 'Trajectory%u' % m.get_srcSystem()
if (self.master.flightmode in [
"AUTO", "GUIDED", "LOITER", "RTL", "QRTL", "QLOITER",
"QLAND", "FOLLOW"
] and m.get_srcSystem() in self.lat_lon):
(lat, lon) = self.lat_lon[m.get_srcSystem()]
trajectory = [(lat, lon),
mp_util.gps_newpos(lat, lon, m.target_bearing,
m.wp_dist)]
self.map.add_object(
mp_slipmap.SlipPolygon('trajectory',
trajectory,
layer=tlayer,
linewidth=2,
colour=(255, 0, 180)))
self.trajectory_layers.add(tlayer)
else:
if tlayer in self.trajectory_layers:
self.map.add_object(mp_slipmap.SlipClearLayer(tlayer))
self.trajectory_layers.remove(tlayer)
elif mtype == "POSITION_TARGET_GLOBAL_INT":
# FIXME: base this off SYS_STATUS.MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL?
if not m.get_srcSystem() in self.lat_lon:
return
tlayer = 'PostionTarget%u' % m.get_srcSystem()
(lat, lon) = self.lat_lon[m.get_srcSystem()]
if (self.master.flightmode in [
"AUTO", "GUIDED", "LOITER", "RTL", "QRTL", "QLOITER",
"QLAND", "FOLLOW"
]):
lat_float = m.lat_int * 1e-7
lon_float = m.lon_int * 1e-7
vec = [(lat_float, lon_float), (lat, lon)]
self.map.add_object(
mp_slipmap.SlipPolygon('position_target',
vec,
layer=tlayer,
linewidth=2,
colour=(0, 255, 0)))
else:
self.map.add_object(mp_slipmap.SlipClearLayer(tlayer))
if not self.is_primary_vehicle(m):
# the rest should only be done for the primary vehicle
return
# if the waypoints have changed, redisplay
last_wp_change = self.module('wp').wploader.last_change
if self.wp_change_time != last_wp_change and abs(time.time() -
last_wp_change) > 1:
self.wp_change_time = last_wp_change
self.display_waypoints()
#this may have affected the landing lines from the rally points:
self.rally_change_time = time.time()
# if the fence has changed, redisplay
if (self.module('fence') and self.fence_change_time !=
self.module('fence').fenceloader.last_change):
self.display_fence()
# if the rallypoints have changed, redisplay
if (self.module('rally') and
self.rally_change_time != self.module('rally').last_change()):
self.rally_change_time = self.module('rally').last_change()
icon = self.map.icon('rallypoint.png')
self.map.add_object(mp_slipmap.SlipClearLayer('RallyPoints'))
for i in range(self.module('rally').rally_count()):
rp = self.module('rally').rally_point(i)
popup = MPMenuSubMenu(
'Popup',
items=[
MPMenuItem('Rally Remove',
returnkey='popupRallyRemove'),
MPMenuItem('Rally Move', returnkey='popupRallyMove')
])
self.map.add_object(
mp_slipmap.SlipIcon('Rally %u' % (i + 1),
(rp.lat * 1.0e-7, rp.lng * 1.0e-7),
icon,
layer='RallyPoints',
rotation=0,
follow=False,
popup_menu=popup))
loiter_rad = self.get_mav_param('WP_LOITER_RAD')
if self.map_settings.rallycircle:
self.map.add_object(
mp_slipmap.SlipCircle(
'Rally Circ %u' % (i + 1),
'RallyPoints', (rp.lat * 1.0e-7, rp.lng * 1.0e-7),
loiter_rad, (255, 255, 0),
2,
arrow=self.map_settings.showdirection))
#draw a line between rally point and nearest landing point
nearest_land_wp = None
nearest_distance = 10000000.0
for j in range(self.module('wp').wploader.count()):
w = self.module('wp').wploader.wp(j)
if (w.command == 21): #if landing waypoint
#get distance between rally point and this waypoint
dis = mp_util.gps_distance(w.x, w.y, rp.lat * 1.0e-7,
rp.lng * 1.0e-7)
if (dis < nearest_distance):
nearest_land_wp = w
nearest_distance = dis
if nearest_land_wp is not None:
points = []
#tangential approach?
if self.get_mav_param('LAND_BREAK_PATH') == 0:
theta = math.degrees(
math.atan(loiter_rad / nearest_distance))
tan_dis = math.sqrt(nearest_distance *
nearest_distance -
(loiter_rad * loiter_rad))
ral_bearing = mp_util.gps_bearing(
nearest_land_wp.x, nearest_land_wp.y,
rp.lat * 1.0e-7, rp.lng * 1.0e-7)
points.append(
mp_util.gps_newpos(nearest_land_wp.x,
nearest_land_wp.y,
ral_bearing + theta, tan_dis))
else: #not tangential approach
points.append((rp.lat * 1.0e-7, rp.lng * 1.0e-7))
points.append((nearest_land_wp.x, nearest_land_wp.y))
self.map.add_object(
mp_slipmap.SlipPolygon('Rally Land %u' % (i + 1),
points, 'RallyPoints',
(255, 255, 0), 2))
# check for any events from the map
self.map.check_events()
