def set_pwm_ch3(mavfile):
#set_servo doesn't work in mavproxy. Toggle servos doesn't work in Mission Planer either
#master.set_servo(args.servo_channel, args.pwm)
#Overriding RC command (works in MAVProxy)
unused = 0xFFFF #rc_channels_override_send(target_system, target_component, chan_i_raw) unused channels have UInt16_max
while not command.end_entered():
pwm_ch3 = raw_input('PWM value (range:1000-2000, safety and test purposes limited 1400-1600) for channel 3 or end/0 : ')
if pwm_ch3 == 'end':
set_motor_pwm(mavfile, 1500)
print('Module override motor ended. Releasing the channel')
release_channel(mavfile)
break
try:
pwm_ch3 = int(pwm_ch3)
except:
print('couldnt handle input')
pass
if pwm_ch3 >= 1000 and pwm_ch3 <= 2000 and isinstance(pwm_ch3, int):
set_motor_pwm(mavfile, pwm_ch3)
elif pwm_ch3 == 0:
#First 2 parameters are target_system, target_component, last 8 are to release override
#mavfile.mav.rc_channels_override_send(0,0,0,0,0,0,0,0,0,0)
set_motor_pwm(mavfile, 1500)
print('Motor in idle mode: PWM 1500')
pass
else:
print('PWM has to be integer between 1400 and 1550')
def set_pwm_ch4(mavfile):
#set_servo doesn't work in mavproxy. Toggle servos doesn't work in Mission Planer either
#master.set_servo(args.servo_channel, args.pwm)
#Overriding RC command (works in MAVProxy)
unused = 0xFFFF #rc_channels_override_send(target_system, target_component, chan_i_raw) unused channels have UInt16_max
while not command.end_entered():
pwm_ch4 = raw_input('PWM value for channel 4 or end : ')
#pwm_ch4 = int(pwm_ch4)
#mavfile.mav.rc_channels_override_send(mavfile.target_system,mavfile.target_component,unused,unused,unused,pwm_ch4,unused,unused,unused,unused)
if pwm_ch4 == 'end':
set_servo_pwm(mavfile, 1500)
time.sleep(1)
print('Releasing channel. Ending now')
release_channel(mavfile)
break
try:
pwm_ch4 = int(pwm_ch4)
except:
print('couldnt handle input')
pass
if pwm_ch4 >= 1000 and pwm_ch4 <= 20000 and isinstance(pwm_ch4, int):
print("OK")
#print(mavfile.target_system)
#print(mavfile.target_component)
#mavfile.mav.rc_channels_override_send(1,1,unused,unused,unused,pwm_ch4,unused,unused,unused,unused)
#mavfile.mav.rc_channels_override_send(mavfile.target_system,mavfile.target_component,unused,unused,unused,pwm_ch4,unused,unused,unused,unused)
set_servo_pwm(mavfile, pwm_ch4)
else:
print('PWM has to be integer between 1000 and 2000')
def autopilot(mavfile):
print('Starting')
while not command.end_entered():
mode = raw_input('Which mode: (idle, circle, line) ')
t_sleep = int(raw_input('Autopilot time: '))
if mode == 'end':
break
elif mode == 'circle':
print('Driving a circle')
print('Moving servo')
set_servo(mavfile, 2000)
sleep(1)
print('Starting motor')
set_motor(mavfile,1530)
sleep(t_sleep)
print('Turning off motor')
set_motor(mavfile, convert_speed(v = 0))
sleep(1)
print('idle')
set_servo(mavfile, 1500)
release_channel(mavfile)
print('done')
elif mode == 'line':
print('Forward starting')
set_motor(mavfile, 1530)
sleep(t_sleep)
print('Stopping for 2 seconds')
set_motor(mavfile, convert_speed(v = 0))
sleep(2)
print('Backward starting')
set_motor(mavfile, 1470)
sleep(t_sleep)
print('idle')
set_motor(mavfile, convert_speed(v = 0))
release_channel(mavfile)
elif mode == 'idle':
print('doing nothing')
else:
print('Mode not supported (yet)')
