def __init__(self):
MicroServerComs.__init__(self, "TurnRateComputed")
self._raw_heading_rate = list()
self.last_heading = None
self.last_time = None
self.filter_coefficient = .2
self.turn_rate_computed = 0.0
def __init__(self, conf_mult=0.01):
MicroServerComs.__init__(self, "Altitude")
self.altitude = None
self.gps_altitude = None
self.altitude_confidence = 0.0
# Default 1 degree per minute
self.confidence_multiplier = conf_mult
def __init__(self, conf_mult=0.1):
MicroServerComs.__init__(self, "MagneticDeclination")
self.gps_lat = None
self.gps_lng = None
self.gps_altitude = None
self.last_time = 0
self.magnetic_declination = None
def __init__(self, pubsub_cfg):
self.temperature = None
MicroServerComs.__init__(self,
"RawTemperatureSensors",
channel='temperaturesensors',
config=pubsub_cfg)
SampleCounter.__init__(self, 10)
def __init__(self, starting_port, config_file=None):
if config_file is not None:
with open(config_file, 'r') as yml:
cfg = yaml.load(yml, Loader=yaml.SafeLoader)
yml.close()
assign_all_ports(cfg, starting_port)
else:
cfg = None
self.pubsub_config = cfg
MicroServerComs.__init__(self, "Display", config=cfg, timeout=0)
self._system_command = SystemCommand(cfg)
self.altitude = None
self.airspeed = None
self.tas = None
self.heading = None
self.roll = None
self.pitch = None
self.yaw = None
self.climb_rate = None
self.turn_rate = None
self.gps_utc = None
self.gps_lat = None
self.gps_lng = None
self.gps_ground_speed = None
self.gps_ground_track = None
self.ground_vector_confidence = None
self.magnetic_declination = None
self.update_period = 1.0 / 30.0
self.callback = None
def __init__(self, cfg=None):
self.command = None
self.args = None
MicroServerComs.__init__(self,
"SystemCommand",
channel='systemcommand',
config=cfg)
def __init__(self, pubsub_cfg):
self.static_pressure = None
self.timestamp = None
MicroServerComs.__init__(self,
"RawPressureSensors",
channel='pressuresensors',
config=pubsub_cfg)
SampleCounter.__init__(self, 10)
def __init__(self, input_config, output_config):
MicroServerComs.__init__(self, "AdmCmdDistributor",
config=output_config)
assert(isinstance(input_config,list))
self.outputs = list()
for ic in input_config:
self.outputs.append(MicroServerComs("AdminCommand",
channel="admincommand", config=ic))
def __init__(self):
MicroServerComs.__init__(self, "HeadingTasEstimate")
self.wind_heading = 0
self.wind_speed = 0
self.gps_ground_track = None
self.gps_ground_speed = None
self.estimated_tas = None
self.estimated_heading_true = None
def __init__(self, airspeed_config):
MicroServerComs.__init__(self, "AirspeedComputed")
self.static_pressure = None
self.pitot_pressure = None
self.airspeed_computed = None
self.ascurve = None
if isinstance(airspeed_config, dict):
self.ascurve = airspeed_config['airspeed_pressure_curve']
def __init__(self, cor_rate=1.0, conf_mult=1.0):
MicroServerComs.__init__(self, "RollRate")
self.roll_rate = None
self.roll_rate_estimate = None
self.flight_mode = Globals.FLIGHT_MODE_GROUND
self.roll_rate_confidence = 0.0
# Default 1 degree per minute
self.confidence_multiplier = conf_mult
def __init__(self, pubsub_cfg):
self.pitot = None
self.timestamp = None
MicroServerComs.__init__(self,
"RawPitotSensor",
channel='pitotsensor',
config=pubsub_cfg)
SampleCounter.__init__(self, 10)
def __init__(self, conf_mult=1.0):
MicroServerComs.__init__(self, "GroundVector")
self.gps_lat = None
self.gps_lng = None
self.gps_ground_speed = None
self.gps_ground_track = None
self.gps_signal_quality = None
self.confidence_multiplier = conf_mult
def __init__(self, pressure_calibration):
MicroServerComs.__init__(self, "PressureFactors")
self.known_altitude = None
self.static_pressure = None
self.sea_level_pressure = None
self.temperature = None
self.static_pressure = None
self.standard_sea_level_temp = None
self.pressure_calibration = pressure_calibration
def __init__(self, conf_mult=0.05):
MicroServerComs.__init__(self, "Airspeed")
self.airspeed = None
self.airspeed_estimate = None
self.airspeed_computed = None
self.airspeed_is_estimated = True
self.airspeed_confidence = 0.0
# Default 1 degree per minute
self.confidence_multiplier = conf_mult
def __init__(self, conf_mult=0.01):
MicroServerComs.__init__(self, "ClimbRate")
self.last_time = None
self.last_altitude = None
self.climb_rate = None
self.climb_rate_estimate = None
self._raw_alt_rate = list()
self.climb_rate_confidence = 0.0
# Default 1 degree per minute
self.confidence_multiplier = conf_mult
def __init__(self, pubsub_cfg):
self.a_x = None
self.a_y = None
self.a_z = None
self.timestamp = None
MicroServerComs.__init__(self,
"RawAccelerometers",
channel='accelerometers',
config=pubsub_cfg)
SampleCounter.__init__(self)
def __init__(self, conf_mult=0.1):
MicroServerComs.__init__(self, "Heading")
self.heading = None
self.estimated_heading_true = None
self.magnetic_variation = None
self.flight_mode = Globals.FLIGHT_MODE_GROUND
self.heading_confidence = 0.0
self.gps_magnetic_variation = 0
# Default 1 degree per minute
self.confidence_multiplier = conf_mult
def __init__(self, pubsub_cfg):
self.m_x = None
self.m_y = None
self.m_z = None
self.samples = [list(), list(), list()]
self.timestamp = None
MicroServerComs.__init__(self,
"RawMagneticSensors",
channel='magneticsensors',
config=pubsub_cfg)
SampleCounter.__init__(self)
def __init__(self):
MicroServerComs.__init__(self, "WindEstimate")
self.airspeed_is_estimated = False
self.winds_aloft_reports = dict()
self.gps_ground_track = None
self.gps_ground_speed = None
self.airspeed = None
self.true_airspeed = None
self.cas2tas = None
self.heading = None
self.wind_heading = 0
self.wind_speed = 0
def __init__(self, airspeed_config):
MicroServerComs.__init__(self, "AirspeedComputed")
self.pitot = None
self.airspeed_computed = None
self.intercept = None
self.A = None
self.in_curve_fitting = False
if isinstance(airspeed_config,dict):
self.rais_id = airspeed_config['rais_id']
if 'intercept' in airspeed_config:
self.intercept = airspeed_config['intercept']
self.A = airspeed_config['A']
else:
self.compute_curve()
def __init__(self, pubsub_cfg):
self.gps_utc = None
self.gps_lat = None
self.gps_lng = None
self.gps_altitude = None
self.gps_ground_speed = None
self.gps_ground_track = None
self.gps_signal_quality = None
self.HaveNewPosition = False
self.enable_printing = False
MicroServerComs.__init__(self,
"GPSFeed",
channel='gpsfeed',
config=pubsub_cfg)
def __init__(self, pubsub_cfg):
self.r_x = None
self.r_y = None
self.r_z = None
self.cal_collection_count = 0
self.current_bias = [0.0, 0.0, 0.0]
self.samples = [list(), list(), list()]
self.timestamp = None
self.print_count = 0
MicroServerComs.__init__(self,
"RawRotationSensors",
channel='rotationsensors',
config=pubsub_cfg)
SampleCounter.__init__(self)
def __init__(self, data_name, dcfg, tm=time.time()):
self.mock_period = 0
self.cur_seq = 0
self.cur_period = 0
self.channel = data_name
self.mock_period = dcfg['period']
self.next_time = tm + self.mock_period
self.function = dcfg['function']
self.sequences = dcfg['sequences']
MicroServerComs.__init__(self, self.function, channel=self.channel)
print("MockRawData init complete. pub = %s, output values = %s" %
(self.pubchannel, self.output_values))
def __init__(self, command_channel, config, pubsub_cfg):
self._mainCmd = command_channel
self._config = config
self._sensors = dict()
sensor_chnum = 0
self._accelerometers = Accelerometers(pubsub_cfg)
self._rotation = Rotation(pubsub_cfg)
self._magnetic = Magnetic(pubsub_cfg)
self._pressure = Pressure(pubsub_cfg)
self._temperature = Temperature(pubsub_cfg)
self._gps = GPS(pubsub_cfg)
self._calibrations = dict()
for config_term, cfg in self._config.items():
if config_term.startswith('cal'):
self._calibrations.update(cfg)
elif cfg[0].startswith('sensor'):
function = cfg[1]
if cfg[0] == 'sensor_digital':
resp = self._mainCmd.sendCmd("setup_digital_sensor",
[sensor_chnum] + cfg[1:])
function = 'd'
elif cfg[0] == 'sensor_analog':
resp = self._mainCmd.sendCmd("setup_analog_sensor",
[sensor_chnum] + cfg[1:])
function = 'n'
elif cfg[0] == 'sensor_i2c':
resp = self._mainCmd.sendCmd("setup_i2c_sensor",
[sensor_chnum] + cfg[1:])
elif cfg[0] == 'sensor_spi':
resp = self._mainCmd.sendCmd("setup_spi_sensor",
[sensor_chnum] + cfg[1:])
elif cfg[0] == 'sensor_serial':
resp = self._mainCmd.sendCmd("setup_serial_sensor",
[sensor_chnum] + cfg[1:])
else:
raise RuntimeError("Unsupported sensor type: %s" % cfg[0])
if resp is not None:
for r in resp:
self.ProcessResponse(r)
self._sensors[sensor_chnum] = function
sensor_chnum += 1
MicroServerComs.__init__(self, "ControlSlave", config=pubsub_cfg)
def pub_channel (self, channel):
if not channel in self.outputs:
self.outputs[channel] = MicroServerComs(channel, config=self.config)
o = self.outputs[channel]
ts_name = channel + '_updated'
for vname in o.output_values:
invname = vname
if 'timestamp' == vname:
invname = ts_name
setattr (o, vname, getattr(self, invname))
o.publish()
def __init__(self):
MicroServerComs.__init__(self, "Display")
self.gps_magnetic_variation = None
self.altitude = None
self.airspeed = None
self.heading = None
self.roll = None
self.pitch = None
self.yaw = None
self.climb_rate = None
self.turn_rate = None
self.gps_utc = None
self.gps_lat = None
self.gps_lng = None
self.gps_ground_speed = None
self.gps_ground_track = None
self.gps_signal_quality = None
self.gps_magnetic_variation = None
self.display_window = StartDisplayWindow()
self.update_period = 1.0 / 30.0
self.next_update_time = time.time() + self.update_period
def __init__(self, pubsub_cfg=None):
MicroServerComs.__init__(self, "Autopilot", config=pubsub_cfg)
self.magnetic_variation = None
self._known_altitude = KnownAltitude()
self._flight_mode = FlightModeSource()
self._wind_report = WindsAloftReport()
self.altitude = None
self.airspeed = None
self.heading = None
self.roll = None
self.roll_rate = None
self.pitch = None
self.pitch_rate = None
self.yaw = None
self.climb_rate = None
self.turn_rate = None
self.gps_utc = None
self.gps_lat = None
self.gps_lng = None
self.gps_ground_speed = None
self.gps_ground_track = None
self.gps_signal_quality = None
