__author__ = "Aldo Vargas"
__copyright__ = "Copyright 2016 Altax.net"
__license__ = "GPL"
__version__ = "1"
__maintainer__ = "Aldo Vargas"
__email__ = "*****@*****.**"
__status__ = "Development"
from pymultiwii import MultiWii
if __name__ == "__main__":
#board = MultiWii("/dev/ttyUSB0")
board = MultiWii("/dev/tty.usbserial-A801WZA1")
try:
while True:
#example of 8 RC channels to be send
data = [1500,1550,1600,1560,1000,1040,1000,1000]
# Old function
#board.sendCMD(16,MultiWii.SET_RAW_RC,data)
#New function that will receive attitude after setting the rc commands
board.sendCMDreceiveATT(16,MultiWii.SET_RAW_RC,data)
print (board.attitude)
except Exception,error:
print ("Error on Main: "+str(error))
aux2 = board.rcChannels['aux2']
aux3 = board.rcChannels['aux3']
aux4 = board.rcChannels['aux4']
data = [r,p,y,t,aux1,aux2,aux3,aux4]
print "DATA:",data
print "\r",v,"\r"
print "----<--->----"
altitude = board.getData(MultiWii.ALTITUDE)
box = board.getData(MultiWii.BOX)
print "Altitude:",altitude," - box:",box
if(i%2==1):
print "--------"
print "\r\r\r Dans test RAW RC"
data2 = [r,p,1200,y,1800,1800,1800,1800]
#board.arm()
board.sendCMDreceiveATT(16,MultiWii.SET_RAW_RC,data2)
#data3 = [990,990,1200,990]
#board.sendCMDreceiveATT(8,MultiWii.SET_RAW_RC,data3)
v = board.getData(MultiWii.RC)
print "\r -------> RC -->:",v,"\r"
print "----fin raw rc----\r\r"
time.sleep(0.2)
#data = [r,p,y,990,990,990,990,990]
#board.arm()
#print board.sendCMDreceiveATT(16,MultiWii.SET_RAW_RC,data)'''
#board.sendCMDreceiveATT(16,MultiWii.BOX,data)
#print(board.getData(MultiWii.ATTITUDE))
#print "----<--gg->----"
i = i+1
boton_up = mando[5] boton_down = mando[4] print 'Iniciando bucle principal' while Done == False: bat = ina.read() if boton_up == 12 and arm == 0: placa.arm() arm = 1 elif boton_up == 12 and arm ==1: placa.disarm() arm = 0 if arm ==1: data =[roll,pitch,yaw,trothle,1000,1000,1000,1000] placa.sendCMDreceiveATT(16,MultiWii.SET_RAW_RC,data) x = int(placa.attitude['angx']) y = int(placa.attitude['angy']) z = int(placa.attitude['heading']) array = [x,y,z,bat] msg = pickle.dumps(array) sock.sendto(msg, (UDP_HOST,UDP_PORT)) elif arm ==0: placa.getData(MultiWii.ATTITUDE) x = int(placa.attitude['angx']) y = int(placa.attitude['angy']) z = int(placa.attitude['heading']) array = [x,y,z,bat] msg = pickle.dumps(array) sock.sendto(msg, (UDP_HOST,UDP_PORT)) HayDatosSocket = select.select([sock],[],[],0.5)