def master_msg_handling(self, m, master):
'''link message handling for an upstream link'''
if self.settings.target_system != 0 and m.get_srcSystem(
) != self.settings.target_system:
# don't process messages not from our target
if m.get_type() == "BAD_DATA":
if self.mpstate.settings.shownoise and mavutil.all_printable(
m.data):
out = m.data
if type(m.data) == bytearray:
out = m.data.decode('ascii')
self.mpstate.console.write(out, bg='red')
return
if self.settings.target_system != 0 and master.target_system != self.settings.target_system:
# keep the pymavlink level target system aligned with the MAVProxy setting
master.target_system = self.settings.target_system
if self.settings.target_component != 0 and master.target_component != self.settings.target_component:
# keep the pymavlink level target component aligned with the MAVProxy setting
print("change target_component %u" %
self.settings.target_component)
master.target_component = self.settings.target_component
mtype = m.get_type()
if mtype == 'HEARTBEAT' and m.type != mavutil.mavlink.MAV_TYPE_GCS:
if self.settings.target_system == 0 and self.settings.target_system != m.get_srcSystem(
):
self.settings.target_system = m.get_srcSystem()
self.say("online system %u" % self.settings.target_system,
'message')
for mav in self.mpstate.mav_master:
mav.target_system = self.settings.target_system
if self.status.heartbeat_error:
self.status.heartbeat_error = False
self.say("heartbeat OK")
if master.linkerror:
master.linkerror = False
self.say("link %s OK" % (self.link_label(master)))
self.status.last_heartbeat = time.time()
master.last_heartbeat = self.status.last_heartbeat
armed = self.master.motors_armed()
if armed != self.status.armed:
self.status.armed = armed
if armed:
self.say("ARMED")
else:
self.say("DISARMED")
if master.flightmode != self.status.flightmode:
self.status.flightmode = master.flightmode
if self.mpstate.functions.input_handler is None:
self.set_prompt(self.status.flightmode + "> ")
if master.flightmode != self.status.last_mode_announced and time.time(
) > self.status.last_mode_announce + 2:
self.status.last_mode_announce = time.time()
self.status.last_mode_announced = master.flightmode
self.say("Mode " + self.status.flightmode)
if m.type == mavutil.mavlink.MAV_TYPE_FIXED_WING:
self.mpstate.vehicle_type = 'plane'
self.mpstate.vehicle_name = 'ArduPlane'
elif m.type in [
mavutil.mavlink.MAV_TYPE_GROUND_ROVER,
mavutil.mavlink.MAV_TYPE_SURFACE_BOAT
]:
self.mpstate.vehicle_type = 'rover'
self.mpstate.vehicle_name = 'APMrover2'
elif m.type in [mavutil.mavlink.MAV_TYPE_SUBMARINE]:
self.mpstate.vehicle_type = 'sub'
self.mpstate.vehicle_name = 'ArduSub'
elif m.type in [
mavutil.mavlink.MAV_TYPE_QUADROTOR,
mavutil.mavlink.MAV_TYPE_COAXIAL,
mavutil.mavlink.MAV_TYPE_HEXAROTOR,
mavutil.mavlink.MAV_TYPE_OCTOROTOR,
mavutil.mavlink.MAV_TYPE_TRICOPTER,
mavutil.mavlink.MAV_TYPE_HELICOPTER,
mavutil.mavlink.MAV_TYPE_DODECAROTOR
]:
self.mpstate.vehicle_type = 'copter'
self.mpstate.vehicle_name = 'ArduCopter'
elif m.type in [mavutil.mavlink.MAV_TYPE_ANTENNA_TRACKER]:
self.mpstate.vehicle_type = 'antenna'
self.mpstate.vehicle_name = 'AntennaTracker'
elif mtype == 'STATUSTEXT':
if m.text != self.status.last_apm_msg or time.time(
) > self.status.last_apm_msg_time + 2:
(fg, bg) = self.colors_for_severity(m.severity)
self.mpstate.console.writeln("APM: %s" %
mp_util.null_term(m.text),
bg=bg,
fg=fg)
awsprint("APM: %s" % mp_util.null_term(m.text), bg=bg, fg=fg)
self.status.last_apm_msg = m.text
self.status.last_apm_msg_time = time.time()
elif mtype == "VFR_HUD":
have_gps_lock = False
if 'GPS_RAW' in self.status.msgs and self.status.msgs[
'GPS_RAW'].fix_type == 2:
have_gps_lock = True
elif 'GPS_RAW_INT' in self.status.msgs and self.status.msgs[
'GPS_RAW_INT'].fix_type == 3:
have_gps_lock = True
if have_gps_lock and not self.status.have_gps_lock and m.alt != 0:
self.say("GPS lock at %u meters" % m.alt,
priority='notification')
self.status.have_gps_lock = True
elif mtype == "GPS_RAW":
if self.status.have_gps_lock:
if m.fix_type != 2 and not self.status.lost_gps_lock and (
time.time() - self.status.last_gps_lock) > 3:
self.say("GPS fix lost")
self.status.lost_gps_lock = True
if m.fix_type == 2 and self.status.lost_gps_lock:
self.say("GPS OK")
self.status.lost_gps_lock = False
if m.fix_type == 2:
self.status.last_gps_lock = time.time()
elif mtype == "GPS_RAW_INT":
if self.status.have_gps_lock:
if m.fix_type < 3 and not self.status.lost_gps_lock and (
time.time() - self.status.last_gps_lock) > 3:
self.say("GPS fix lost")
self.status.lost_gps_lock = True
if m.fix_type >= 3 and self.status.lost_gps_lock:
self.say("GPS OK")
self.status.lost_gps_lock = False
if m.fix_type >= 3:
self.status.last_gps_lock = time.time()
elif mtype == "NAV_CONTROLLER_OUTPUT" and self.status.flightmode == "AUTO" and self.mpstate.settings.distreadout:
rounded_dist = int(m.wp_dist / self.mpstate.settings.distreadout
) * self.mpstate.settings.distreadout
if math.fabs(rounded_dist - self.status.last_distance_announce
) >= self.mpstate.settings.distreadout:
if rounded_dist != 0:
self.say("%u" % rounded_dist, priority="progress")
self.status.last_distance_announce = rounded_dist
elif mtype == "GLOBAL_POSITION_INT":
self.report_altitude(m.relative_alt * 0.001)
elif mtype == "COMPASSMOT_STATUS":
print(m)
elif mtype == "SIMSTATE":
self.mpstate.is_sitl = True
elif mtype == "ATTITUDE":
att_time = m.time_boot_ms * 0.001
self.mpstate.attitude_time_s = max(self.mpstate.attitude_time_s,
att_time)
if self.mpstate.attitude_time_s - att_time > 120:
# cope with wrap
self.mpstate.attitude_time_s = att_time
elif mtype in ["COMMAND_ACK", "MISSION_ACK"]:
self.mpstate.console.writeln("Got MAVLink msg: %s" % m)
awsprint("Got MAVLink msg: %s" % m)
if mtype == "COMMAND_ACK" and m.command == mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION:
if m.result == mavutil.mavlink.MAV_RESULT_ACCEPTED:
self.say("Calibrated")
elif m.result == mavutil.mavlink.MAV_RESULT_FAILED:
self.say("Calibration failed")
elif m.result == mavutil.mavlink.MAV_RESULT_UNSUPPORTED:
self.say("Calibration unsupported")
elif m.result == mavutil.mavlink.MAV_RESULT_TEMPORARILY_REJECTED:
self.say("Calibration temporarily rejected")
else:
self.say("Calibration response (%u)" % m.result)
else:
#self.mpstate.console.writeln("Got MAVLink msg: %s" % m)
pass
if self.status.watch is not None:
for msg_type in self.status.watch:
if fnmatch.fnmatch(mtype.upper(), msg_type.upper()):
self.mpstate.console.writeln('< ' + str(m))
break
def master_msg_handling(self, m, master):
'''link message handling for an upstream link'''
if self.settings.target_system != 0 and m.get_srcSystem() != self.settings.target_system:
# don't process messages not from our target
if m.get_type() == "BAD_DATA":
if self.mpstate.settings.shownoise and mavutil.all_printable(m.data):
self.mpstate.console.write(str(m.data), bg='red')
return
if self.settings.target_system != 0 and master.target_system != self.settings.target_system:
# keep the pymavlink level target system aligned with the MAVProxy setting
master.target_system = self.settings.target_system
if self.settings.target_component != 0 and master.target_component != self.settings.target_component:
# keep the pymavlink level target component aligned with the MAVProxy setting
print("change target_component %u" % self.settings.target_component)
master.target_component = self.settings.target_component
mtype = m.get_type()
if mtype == 'HEARTBEAT' and m.type != mavutil.mavlink.MAV_TYPE_GCS:
if self.settings.target_system == 0 and self.settings.target_system != m.get_srcSystem():
self.settings.target_system = m.get_srcSystem()
self.say("online system %u" % self.settings.target_system,'message')
for mav in self.mpstate.mav_master:
mav.target_system = self.settings.target_system
if self.status.heartbeat_error:
self.status.heartbeat_error = False
self.say("heartbeat OK")
if master.linkerror:
master.linkerror = False
self.say("link %s OK" % (self.link_label(master)))
self.status.last_heartbeat = time.time()
master.last_heartbeat = self.status.last_heartbeat
armed = self.master.motors_armed()
if armed != self.status.armed:
self.status.armed = armed
if armed:
self.say("ARMED")
else:
self.say("DISARMED")
if master.flightmode != self.status.flightmode:
self.status.flightmode = master.flightmode
if self.mpstate.functions.input_handler is None:
self.set_prompt(self.status.flightmode + "> ")
if master.flightmode != self.status.last_mode_announced and time.time() > self.status.last_mode_announce + 2:
self.status.last_mode_announce = time.time()
self.status.last_mode_announced = master.flightmode
self.say("Mode " + self.status.flightmode)
if m.type == mavutil.mavlink.MAV_TYPE_FIXED_WING:
self.mpstate.vehicle_type = 'plane'
self.mpstate.vehicle_name = 'ArduPlane'
elif m.type in [mavutil.mavlink.MAV_TYPE_GROUND_ROVER,
mavutil.mavlink.MAV_TYPE_SURFACE_BOAT]:
self.mpstate.vehicle_type = 'rover'
self.mpstate.vehicle_name = 'APMrover2'
elif m.type in [mavutil.mavlink.MAV_TYPE_SUBMARINE]:
self.mpstate.vehicle_type = 'sub'
self.mpstate.vehicle_name = 'ArduSub'
elif m.type in [mavutil.mavlink.MAV_TYPE_QUADROTOR,
mavutil.mavlink.MAV_TYPE_COAXIAL,
mavutil.mavlink.MAV_TYPE_HEXAROTOR,
mavutil.mavlink.MAV_TYPE_OCTOROTOR,
mavutil.mavlink.MAV_TYPE_TRICOPTER,
mavutil.mavlink.MAV_TYPE_HELICOPTER,
mavutil.mavlink.MAV_TYPE_DODECAROTOR]:
self.mpstate.vehicle_type = 'copter'
self.mpstate.vehicle_name = 'ArduCopter'
elif m.type in [mavutil.mavlink.MAV_TYPE_ANTENNA_TRACKER]:
self.mpstate.vehicle_type = 'antenna'
self.mpstate.vehicle_name = 'AntennaTracker'
elif mtype == 'STATUSTEXT':
if m.text != self.status.last_apm_msg or time.time() > self.status.last_apm_msg_time+2:
(fg, bg) = self.colors_for_severity(m.severity)
self.mpstate.console.writeln("APM: %s" % mp_util.null_term(m.text), bg=bg, fg=fg)
self.status.last_apm_msg = m.text
self.status.last_apm_msg_time = time.time()
elif mtype == "VFR_HUD":
have_gps_lock = False
if 'GPS_RAW' in self.status.msgs and self.status.msgs['GPS_RAW'].fix_type == 2:
have_gps_lock = True
elif 'GPS_RAW_INT' in self.status.msgs and self.status.msgs['GPS_RAW_INT'].fix_type == 3:
have_gps_lock = True
if have_gps_lock and not self.status.have_gps_lock and m.alt != 0:
self.say("GPS lock at %u meters" % m.alt, priority='notification')
self.status.have_gps_lock = True
elif mtype == "GPS_RAW":
if self.status.have_gps_lock:
if m.fix_type != 2 and not self.status.lost_gps_lock and (time.time() - self.status.last_gps_lock) > 3:
self.say("GPS fix lost")
self.status.lost_gps_lock = True
if m.fix_type == 2 and self.status.lost_gps_lock:
self.say("GPS OK")
self.status.lost_gps_lock = False
if m.fix_type == 2:
self.status.last_gps_lock = time.time()
elif mtype == "GPS_RAW_INT":
if self.status.have_gps_lock:
if m.fix_type < 3 and not self.status.lost_gps_lock and (time.time() - self.status.last_gps_lock) > 3:
self.say("GPS fix lost")
self.status.lost_gps_lock = True
if m.fix_type >= 3 and self.status.lost_gps_lock:
self.say("GPS OK")
self.status.lost_gps_lock = False
if m.fix_type >= 3:
self.status.last_gps_lock = time.time()
elif mtype == "NAV_CONTROLLER_OUTPUT" and self.status.flightmode == "AUTO" and self.mpstate.settings.distreadout:
rounded_dist = int(m.wp_dist/self.mpstate.settings.distreadout)*self.mpstate.settings.distreadout
if math.fabs(rounded_dist - self.status.last_distance_announce) >= self.mpstate.settings.distreadout:
if rounded_dist != 0:
self.say("%u" % rounded_dist, priority="progress")
self.status.last_distance_announce = rounded_dist
elif mtype == "GLOBAL_POSITION_INT":
self.report_altitude(m.relative_alt*0.001)
elif mtype == "COMPASSMOT_STATUS":
print(m)
elif mtype == "SIMSTATE":
self.mpstate.is_sitl = True
elif mtype == "ATTITUDE":
att_time = m.time_boot_ms * 0.001
self.mpstate.attitude_time_s = max(self.mpstate.attitude_time_s, att_time)
if self.mpstate.attitude_time_s - att_time > 120:
# cope with wrap
self.mpstate.attitude_time_s = att_time
elif mtype in [ "COMMAND_ACK", "MISSION_ACK" ]:
self.mpstate.console.writeln("Got MAVLink msg: %s" % m)
if mtype == "COMMAND_ACK" and m.command == mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION:
if m.result == mavutil.mavlink.MAV_RESULT_ACCEPTED:
self.say("Calibrated")
elif m.result == mavutil.mavlink.MAV_RESULT_FAILED:
self.say("Calibration failed")
elif m.result == mavutil.mavlink.MAV_RESULT_UNSUPPORTED:
self.say("Calibration unsupported")
elif m.result == mavutil.mavlink.MAV_RESULT_TEMPORARILY_REJECTED:
self.say("Calibration temporarily rejected")
else:
self.say("Calibration response (%u)" % m.result)
else:
#self.mpstate.console.writeln("Got MAVLink msg: %s" % m)
pass
if self.status.watch is not None:
for msg_type in self.status.watch:
if fnmatch.fnmatch(mtype.upper(), msg_type.upper()):
self.mpstate.console.writeln('< '+ str(m))
break
def master_callback(self, m, master):
'''process mavlink message m on master, sending any messages to recipients'''
# see if it is handled by a specialised sysid connection
sysid = m.get_srcSystem()
if sysid in self.mpstate.sysid_outputs:
self.mpstate.sysid_outputs[sysid].write(m.get_msgbuf())
if m.get_type() == "GLOBAL_POSITION_INT":
for modname in 'map', 'asterix', 'NMEA', 'NMEA2':
mod = self.module(modname)
if mod is not None:
mod.set_secondary_vehicle_position(m)
return
if getattr(m, '_timestamp', None) is None:
master.post_message(m)
self.status.counters['MasterIn'][master.linknum] += 1
mtype = m.get_type()
if mtype == 'GLOBAL_POSITION_INT':
# send GLOBAL_POSITION_INT to 2nd GCS for 2nd vehicle display
for sysid in self.mpstate.sysid_outputs:
self.mpstate.sysid_outputs[sysid].write(m.get_msgbuf())
# and log them
if mtype not in dataPackets and self.mpstate.logqueue:
# put link number in bottom 2 bits, so we can analyse packet
# delay in saved logs
usec = self.get_usec()
usec = (usec & ~3) | master.linknum
self.mpstate.logqueue.put(
bytearray(struct.pack('>Q', usec) + m.get_msgbuf()))
# keep the last message of each type around
self.status.msgs[m.get_type()] = m
if not m.get_type() in self.status.msg_count:
self.status.msg_count[m.get_type()] = 0
self.status.msg_count[m.get_type()] += 1
if m.get_srcComponent(
) == mavutil.mavlink.MAV_COMP_ID_GIMBAL and m.get_type(
) == 'HEARTBEAT':
# silence gimbal heartbeat packets for now
return
if getattr(
m, 'time_boot_ms', None
) is not None and self.settings.target_system == m.get_srcSystem():
# update link_delayed attribute
self.handle_msec_timestamp(m, master)
if mtype in activityPackets:
if master.linkerror:
master.linkerror = False
self.say("link %s OK" % (self.link_label(master)))
self.status.last_message = time.time()
master.last_message = self.status.last_message
if master.link_delayed:
# don't process delayed packets that cause double reporting
if mtype in delayedPackets:
return
if mtype == 'HEARTBEAT' and m.type != mavutil.mavlink.MAV_TYPE_GCS:
if self.settings.target_system == 0 and self.settings.target_system != m.get_srcSystem(
):
self.settings.target_system = m.get_srcSystem()
self.say("online system %u" % self.settings.target_system,
'message')
if self.status.heartbeat_error:
self.status.heartbeat_error = False
self.say("heartbeat OK")
if master.linkerror:
master.linkerror = False
self.say("link %s OK" % (self.link_label(master)))
self.status.last_heartbeat = time.time()
master.last_heartbeat = self.status.last_heartbeat
armed = self.master.motors_armed()
if armed != self.status.armed:
self.status.armed = armed
if armed:
self.say("ARMED")
else:
self.say("DISARMED")
if master.flightmode != self.status.flightmode:
self.status.flightmode = master.flightmode
if self.mpstate.functions.input_handler is None:
self.set_prompt(self.status.flightmode + "> ")
if master.flightmode != self.status.last_mode_announced and time.time(
) > self.status.last_mode_announce + 2:
self.status.last_mode_announce = time.time()
self.status.last_mode_announced = master.flightmode
self.say("Mode " + self.status.flightmode)
if m.type == mavutil.mavlink.MAV_TYPE_FIXED_WING:
self.mpstate.vehicle_type = 'plane'
self.mpstate.vehicle_name = 'ArduPlane'
elif m.type in [
mavutil.mavlink.MAV_TYPE_GROUND_ROVER,
mavutil.mavlink.MAV_TYPE_SURFACE_BOAT
]:
self.mpstate.vehicle_type = 'rover'
self.mpstate.vehicle_name = 'APMrover2'
elif m.type in [mavutil.mavlink.MAV_TYPE_SUBMARINE]:
self.mpstate.vehicle_type = 'sub'
self.mpstate.vehicle_name = 'ArduSub'
elif m.type in [
mavutil.mavlink.MAV_TYPE_QUADROTOR,
mavutil.mavlink.MAV_TYPE_COAXIAL,
mavutil.mavlink.MAV_TYPE_HEXAROTOR,
mavutil.mavlink.MAV_TYPE_OCTOROTOR,
mavutil.mavlink.MAV_TYPE_TRICOPTER,
mavutil.mavlink.MAV_TYPE_HELICOPTER,
mavutil.mavlink.MAV_TYPE_DODECAROTOR
]:
self.mpstate.vehicle_type = 'copter'
self.mpstate.vehicle_name = 'ArduCopter'
elif m.type in [mavutil.mavlink.MAV_TYPE_ANTENNA_TRACKER]:
self.mpstate.vehicle_type = 'antenna'
self.mpstate.vehicle_name = 'AntennaTracker'
elif mtype == 'STATUSTEXT':
if m.text != self.status.last_apm_msg or time.time(
) > self.status.last_apm_msg_time + 2:
(fg, bg) = self.colors_for_severity(m.severity)
self.mpstate.console.writeln("APM: %s" %
mp_util.null_term(m.text),
bg=bg,
fg=fg)
self.status.last_apm_msg = m.text
self.status.last_apm_msg_time = time.time()
elif mtype == "VFR_HUD":
have_gps_lock = False
if 'GPS_RAW' in self.status.msgs and self.status.msgs[
'GPS_RAW'].fix_type == 2:
have_gps_lock = True
elif 'GPS_RAW_INT' in self.status.msgs and self.status.msgs[
'GPS_RAW_INT'].fix_type == 3:
have_gps_lock = True
if have_gps_lock and not self.status.have_gps_lock and m.alt != 0:
self.say("GPS lock at %u meters" % m.alt,
priority='notification')
self.status.have_gps_lock = True
elif mtype == "GPS_RAW":
if self.status.have_gps_lock:
if m.fix_type != 2 and not self.status.lost_gps_lock and (
time.time() - self.status.last_gps_lock) > 3:
self.say("GPS fix lost")
self.status.lost_gps_lock = True
if m.fix_type == 2 and self.status.lost_gps_lock:
self.say("GPS OK")
self.status.lost_gps_lock = False
if m.fix_type == 2:
self.status.last_gps_lock = time.time()
elif mtype == "GPS_RAW_INT":
if self.status.have_gps_lock:
if m.fix_type < 3 and not self.status.lost_gps_lock and (
time.time() - self.status.last_gps_lock) > 3:
self.say("GPS fix lost")
self.status.lost_gps_lock = True
if m.fix_type >= 3 and self.status.lost_gps_lock:
self.say("GPS OK")
self.status.lost_gps_lock = False
if m.fix_type >= 3:
self.status.last_gps_lock = time.time()
elif mtype == "NAV_CONTROLLER_OUTPUT" and self.status.flightmode == "AUTO" and self.mpstate.settings.distreadout:
rounded_dist = int(m.wp_dist / self.mpstate.settings.distreadout
) * self.mpstate.settings.distreadout
if math.fabs(rounded_dist - self.status.last_distance_announce
) >= self.mpstate.settings.distreadout:
if rounded_dist != 0:
self.say("%u" % rounded_dist, priority="progress")
self.status.last_distance_announce = rounded_dist
elif mtype == "GLOBAL_POSITION_INT":
self.report_altitude(m.relative_alt * 0.001)
elif mtype == "COMPASSMOT_STATUS":
print(m)
elif mtype == "SIMSTATE":
self.mpstate.is_sitl = True
elif mtype == "ATTITUDE":
att_time = m.time_boot_ms * 0.001
self.mpstate.attitude_time_s = max(self.mpstate.attitude_time_s,
att_time)
if self.mpstate.attitude_time_s - att_time > 120:
# cope with wrap
print("attitude time wrap")
self.mpstate.attitude_time_s = att_time
elif mtype == "BAD_DATA":
if self.mpstate.settings.shownoise and mavutil.all_printable(
m.data):
self.mpstate.console.write(str(m.data), bg='red')
elif mtype in ["COMMAND_ACK", "MISSION_ACK"]:
self.mpstate.console.writeln("Got MAVLink msg: %s" % m)
if mtype == "COMMAND_ACK" and m.command == mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION:
if m.result == mavutil.mavlink.MAV_RESULT_ACCEPTED:
self.say("Calibrated")
elif m.result == mavutil.mavlink.MAV_RESULT_FAILED:
self.say("Calibration failed")
elif m.result == mavutil.mavlink.MAV_RESULT_UNSUPPORTED:
self.say("Calibration unsupported")
elif m.result == mavutil.mavlink.MAV_RESULT_TEMPORARILY_REJECTED:
self.say("Calibration temporarily rejected")
else:
self.say("Calibration response (%u)" % m.result)
else:
#self.mpstate.console.writeln("Got MAVLink msg: %s" % m)
pass
if self.status.watch is not None:
for msg_type in self.status.watch:
if fnmatch.fnmatch(m.get_type().upper(), msg_type.upper()):
self.mpstate.console.writeln('< ' + str(m))
break
# don't pass along bad data
if mtype != 'BAD_DATA':
# pass messages along to listeners, except for REQUEST_DATA_STREAM, which
# would lead a conflict in stream rate setting between mavproxy and the other
# GCS
if self.mpstate.settings.mavfwd_rate or mtype != 'REQUEST_DATA_STREAM':
if not mtype in self.no_fwd_types:
for r in self.mpstate.mav_outputs:
r.write(m.get_msgbuf())
# pass to modules
for (mod, pm) in self.mpstate.modules:
if not hasattr(mod, 'mavlink_packet'):
continue
try:
mod.mavlink_packet(m)
except Exception as msg:
if self.mpstate.settings.moddebug == 1:
print(msg)
elif self.mpstate.settings.moddebug > 1:
exc_type, exc_value, exc_traceback = sys.exc_info()
traceback.print_exception(exc_type,
exc_value,
exc_traceback,
limit=2,
file=sys.stdout)
