def simulatorThreadHandler(self):
timeVal = time.time()
self.dataValue.roll = math.sin(timeVal * self.fRoll) * self.aRoll
self.dataValue.pitch = math.sin(timeVal * self.fPitch) * self.aPitch
self.dataValue.yaw += math.sin(timeVal * self.fYaw) * self.aYaw + self.mYaw
if self.dataValue.yaw > 3.14:
self.dataValue.yaw -= 2 * 3.14
if self.dataValue.yaw < -3.14:
self.dataValue.yaw += 2 * 3.14
self.dataValue.lat += math.sin(timeVal * self.fLat) * self.aLat + self.mLat
self.dataValue.lon += math.sin(timeVal * self.fLon) * self.aLon + self.mLon
self.dataValue.alt += math.sin(timeVal * self.fAlt) * self.aAlt + self.mAlt
self.dataValue.speed = self.dataValue.alt / 2.3
self.dataValue.controllerState = self.receivedCommand
temp = DebugData(self.dataValue)
self.dataValue.CRC = temp.computeCrc()
debugMessage = DebugData(self.dataValue)
self.onReceiveEvent(debugMessage)
log_msg = 'DroneSimulator: DebugData: [' + str(debugMessage) + ']'
self.logWriter.noteEvent(log_msg)
def onReceiveControl(self, debugDataMsg):
debugData = DebugData(debugDataMsg)
if debugData.isValid():
# forward data to DronController
self.onReceiveEvent(debugData)
log_msg = 'DroneController: DebugData received: [' + str(debugData) + ']'
else:
log_msg = 'DroneController: INVALID DebugData received: [' + debugDataMsg + ']'
self.logWriter.noteEvent(log_msg)
def onReceiveControl(self, debugDataMsg):
debugData = DebugData(debugDataMsg)
if debugData.isValid():
# forward data to DronController
self.onReceiveEvent(debugData)
log_msg = 'DroneController: DebugData received: [' + str(
debugData) + ']'
else:
log_msg = 'DroneController: INVALID DebugData received: [' + debugDataMsg + ']'
self.logWriter.noteEvent(log_msg)
