def __init__(self, connection_string, baud_rate=115200): print 'Connecting Clients....' self.avoid_sys = AvoidanceSystem(self) self.in_client = IncomingClient(self) self.out_client = OutgoingClient(self) self.telem_client = TelemetryClient(self) self._commands = None def dronekit_printer(text): print text self.out_client.send_messages('d' + text) print 'Connecting Plane....' self.vehicle = connect(connection_string, baud=baud_rate, rate=25, status_printer=dronekit_printer, heartbeat_timeout=300) print 'Waiting until plane is ready....' self.vehicle.wait_ready(timeout=300) print 'Getting commands....' self.update_commands() self._bank_angle = deg_to_rad(self.vehicle.parameters['LIM_ROLL_CD'] / 100) self._wp_radius = self.vehicle.parameters['WP_RADIUS'] / 100 self._prev_wp = 0 self.out_client.start() self.telem_client.start()
def __init__(self): self._telemetry_client = TelemetryClient() self.diagnostic_info = ""