def create():
port = findSerialDevice(VectorNav.DEFAULT_VID, VectorNav.DEFAULT_PID)
if port is None:
raise Exception('VectorNav FTDI converter not detected')
return VectorNav(port, VectorNav.DEFAULT_BAUD)
def _detectPort(self):
# find Arduino com port
self._port = findSerialDevice(self.DEFAULT_VID, self.DEFAULT_PID)
# if arduino com port not found, exit with error
if self._port is None:
raise Exception('Arduino %04x:%04x not detected' %
(self.DEFAULT_VID, self.DEFAULT_PID))
self._baud = self.DEFAULT_BAUD
def initPixHawk(device=None, baudrate=115200, rate=4):
"""Start the thread that monitors the PixHawk Mavlink messages.
Parameters
----------
device: str
Address of serialport device.
baudrate: int
Serialport baudrate (defaults to 57600)
rate: int
Requested rate of messages.
"""
global flight_data_log
flight_data_log = SortedDict()
if device is None:
device = findSerialDevice(0x067B, 0x2303)
if device is None:
raise Exception('PixHawk controller %04x:%04x not detected' %
(0x067B, 0x2303))
#
# Create the auvsi data folder.
#
if not os.path.exists(gs.AUVSI_BASE_FOLDER):
os.makedirs(gs.AUVSI_BASE_FOLDER)
if not os.path.exists(gs.FLIGHT_DATA_FOLDER):
os.makedirs(gs.FLIGHT_DATA_FOLDER)
#
# create a mavlink serial instance
#
master = mavutil.mavlink_connection(device, baud=baudrate)
#
# Start the messages thread
#
d = threads.deferToThread(monitorMessages, master, rate)