def __init__(self, mpstate):
from pymavlink import mavparm
super(TrackerModule, self).__init__(mpstate, "tracker",
"antenna tracker control module")
self.connection = None
self.tracker_param = mavparm.MAVParmDict()
sysid = 2
self.pstate = ParamState(self.tracker_param, self.logdir,
self.vehicle_name, 'tracker.parm', mpstate,
sysid)
self.tracker_settings = mp_settings.MPSettings([
('port', str, "/dev/ttyUSB0"), ('baudrate', int, 57600),
('debug', int, 0)
])
self.add_command(
'tracker', self.cmd_tracker, "antenna tracker control module", [
'<start|arm|disarm|level|mode|position|calpress|mode>',
'set (TRACKERSETTING)',
'param <set|show|fetch|help> (TRACKERPARAMETER)',
'param (TRACKERSETTING)'
])
self.add_completion_function('(TRACKERSETTING)',
self.tracker_settings.completion)
self.add_completion_function('(TRACKERPARAMETER)',
self.complete_parameter)
def __init__(self, *args, **kwargs):
"""Constructor, set up some data that is reused in many tests"""
self.parms = mavparm.MAVParmDict()
self.parms['AFS_ACTION'] = 42
self.parms['PARAM1'] = 34.45
self.parms['PARAM2'] = 0
self.parms['PARAM3'] = -13.4
super(MAVParmDictTest, self).__init__(*args, **kwargs)
def __init__(self):
self.public_modules = {}
self.command_map = {}
self.completions = {}
self.completion_functions = {}
self.map = None
self.mav_param = mavparm.MAVParmDict()
self.functions = mock.Mock()
self.status = mock.Mock()
def __init__(self):
self.public_modules = {}
self.command_map = {}
self.completions = {}
self.completion_functions = {}
self.map = None
self.mav_param = mavparm.MAVParmDict()
self.functions = mock.Mock()
self.status = MPStatusMock()
self.status.logdir = os.path.join(os.getcwd(), 'gnd')
def test_saveload(self):
"""Test the saving and loading to file"""
self.parms.save('prms.txt')
assert os.path.isfile('prms.txt')
newparms = mavparm.MAVParmDict()
newparms.load('prms.txt')
os.remove('prms.txt')
assert newparms['AFS_ACTION'] == self.parms['AFS_ACTION']
assert newparms['PARAM3'] == self.parms['PARAM3']
def ftp_load(self, filename, param_wildcard, master):
'''load parameters with ftp'''
ftp = self.mpstate.module('ftp')
if ftp is None:
print("Need ftp module")
return
newparm = mavparm.MAVParmDict()
newparm.load(filename, param_wildcard, check=False)
fh = SIO()
for k in sorted(newparm.keys()):
v = newparm.get(k)
oldv = self.mav_param.get(k, None)
if oldv is not None and abs(oldv - v) <= newparm.mindelta:
# not changed
newparm.pop(k)
count = len(newparm.keys())
if count == 0:
print("No parameter changes")
return
fh.write(struct.pack("<HHH", 0x671b, count, count))
last_param = ""
for k in sorted(newparm.keys()):
v = newparm.get(k)
vtype = self.best_type(v)
common_len = self.str_common_len(last_param, k)
b1 = vtype
b2 = common_len | ((len(k) - (common_len + 1)) << 4)
fh.write(struct.pack("<BB", b1, b2))
fh.write(k[common_len:].encode("UTF-8"))
if vtype == 1: # int8
fh.write(struct.pack("<b", int(v)))
if vtype == 2: # int16
fh.write(struct.pack("<h", int(v)))
if vtype == 3: # int32
fh.write(struct.pack("<i", int(v)))
if vtype == 4: # float
fh.write(struct.pack("<f", v))
last_param = k
# re-pack with full file length in total_params
file_len = fh.tell()
fh.seek(0)
fh.write(struct.pack("<HHH", 0x671b, count, file_len))
fh.seek(0)
self.ftp_send_param = newparm
print("Sending %u params" % count)
ftp.cmd_put(["-", "@PARAM/param.pck"],
fh=fh,
callback=self.ftp_upload_callback,
progress_callback=self.ftp_upload_progress)
def networkingProcess(server, port, manager, debug):
# Connect to server
print("Connecting to ", server, ":", port, sep="")
# Connect to MAVProxy ground station
master = mavutil.mavlink_connection(server + ":" + str(port))
# Wait for a heartbeat so we know the target system IDs
print("Waiting for heartbeat")
master.wait_heartbeat()
# Wait till armed
print("Waiting for motors to be armed")
master.motors_armed_wait()
# Set that we want to receive data
print("Requesting data")
rate = 25 # Hz
master.mav.request_data_stream_send(
master.target_system,
master.target_component,
mavutil.mavlink.MAV_DATA_STREAM_ALL, rate, 1)
# Manage waypoints, so we can get the home point
wp = mavwp.MAVWPLoader()
#
# Set glider settings
#
# "Glider Pilots: Set this parameter to 2.0 (The glider will adjust its
# pitch angle to maintain airspeed, ignoring changes in height)."
#
# See: http://ardupilot.org/plane/docs/tecs-total-energy-control-system-for-speed-height-tuning-guide.html
#
params = mavparm.MAVParmDict()
params.mavset(master, b'TECS_SPDWEIGHT', 2.0)
params.mavset(master, b'WP_LOITER_RAD', turnRadius)
# Request the home point, so we can roughly know how high above our
# starting point we are
master.waypoint_request_send(0)
# Start send/recieve threads
receive = NetworkingThreadReceive(master, manager, wp, debug)
send = NetworkingThreadSend(master, manager, wp, debug)
receive.start()
send.start()
receive.join()
send.join()
print("Exiting networkingProcess")
def add_new_target_system(self, sysid):
'''handle a new target_system'''
if sysid in self.pstate:
return
if not sysid in self.mpstate.mav_param_by_sysid:
self.mpstate.mav_param_by_sysid[sysid] = mavparm.MAVParmDict()
self.new_sysid_timestamp = time.time()
fname = 'mav.parm'
if sysid not in [(0,0),(1,1),(1,0)]:
fname = 'mav_%u_%u.parm' % (sysid[0], sysid[1])
self.pstate[sysid] = ParamState(self.mpstate.mav_param_by_sysid[sysid], self.logdir, self.vehicle_name, fname, self.mpstate, sysid)
if self.continue_mode and self.logdir is not None:
parmfile = os.path.join(self.logdir, fname)
if os.path.exists(parmfile):
mpstate.mav_param.load(parmfile)
self.pstate[sysid].mav_param_set = set(self.mav_param.keys())
self.pstate[sysid].xml_filepath = self.xml_filepath
def __init__(self, mpstate):
from pymavlink import mavparm
super(WebServerModule, self).__init__(mpstate, "webserver",
"webserver module")
self.webserver_param = mavparm.MAVParmDict()
logging.basicConfig(filename='example.log', level=logging.DEBUG)
if not mpstate.airapi:
# Make sure we have the waypoints loaded
self.mpstate.public_modules['wp'].fetch()
# put server in a dameon so it dies nicely
self.server = Urls()
serverThread = threading.Thread(target=self.server.start)
serverThread.setDaemon(True)
serverThread.start()
self.in_air = False
self.start_flying_time = 0
def battery():
#create param dictionary
mav_param = mavparm.MAVParmDict()
#get global dronekit vehicle, button, battert MAH,and failsafe readout text
global vehicle, battButton, FS_BATT_MAH, bfs
#if button text says to activate battery failsafe
if battButton.configure('text')[-1] == 'Activate Battery Failsafe':
#set battery FS value above current capacity
vehicle.parameters['FS_BATT_MAH'] = float(4000)
#set readout text
bfs = "Active"
#set button text
battButton.configure(text="Deactivate Battery Failsafe")
else:
#set battery capacity back to normal
vehicle.parameters['FS_BATT_MAH'] = float(FS_BATT_MAH)
#set readout
bfs = "Inactive"
#set button text
battButton.configure(text="Activate Battery Failsafe")
def throttle():
#create parameter dictionary
mav_param = mavparm.MAVParmDict()
#get global dronekit vehiclea, button, current throttle PWM failsafe value, and failsafe readout text
global vehicle, thrButton, THR_FS_VAL, tfs
#if button says to Activate Throttle Failsafe
if thrButton.configure('text')[-1] == 'Activate Throttle Failsafe':
#set throttle failsafe
vehicle.parameters['THR_FS_VALUE'] = float(2000)
#change readout
tfs = "Active"
#change button text
thrButton.configure(text="Deactivate Throttle Failsafe")
else:
#Set Throttle pwn failsafe value back to normal
vehicle.parameters['THR_FS_VALUE'] = float(THR_FS_VAL)
#change button text
thrButton.configure(text="Activate Throttle Failsafe")
#change readout text
tfs = "Inactive"
def gcs():
#create param dict
mav_param = mavparm.MAVParmDict()
#get global dronekit vehicle, button, gcs ID and failsafe readout text
global vehicle, GCSButton, SYSID_MYGCS, gcsfs
#if button says Disconnect GCS
if GCSButton.configure('text')[-1] == 'Disconnect GCS':
#set GCS ID to something unrecognizable to the vehicle
vehicle.parameters['SYSID_MYGCS'] = float(0)
#change button text
GCSButton.configure(text="Reconnect GCS")
#change readout
gcsfs = "Active"
else:
#set GCS id back
vehicle.parameters['SYSID_MYGCS'] = float(SYSID_MYGCS)
#change button text
GCSButton.configure(text="Disconnect GCS")
#change readout
gcsfs = "Inactive"
def rc():
#get global button and failsafe readout text
global rcButton, rfs
#create param dictionary
mav_param = mavparm.MAVParmDict()
#if button text says Disable RC
if rcButton.configure('text')[-1] == 'Disable RC':
#Send param to disable RC
vehicle.parameters['SIM_RC_FAIL'] = float(1)
#change readout text
rfs = "Active"
#change button text
rcButton.configure(text='Enable RC')
else:
#reactivate RC
vehicle.parameters['SIM_RC_FAIL'] = float(0)
#change readout text
rfs = "Inactive"
#change button text
rcButton.configure(text='Disable RC')
def gps():
#get global button and failsafe readout text
global gpsButton, gpsfs
#create param dictionary
mav_param = mavparm.MAVParmDict()
# if button's text is to Disable GPS
if gpsButton.configure('text')[-1] == 'Disable GPS':
#set SITL to disable gps
vehicle.parameters['SIM_GPS_DISABLE'] = float(1)
#change button text
gpsButton.configure(text='Enable GPS')
#change readout text
gpsfs = "Active"
#if text is Enable gps
else:
#set SITL to enable gps
vehicle.parameters['SIM_GPS_DISABLE'] = float(0)
#change readout text
gpsfs = "Inactive"
#change button text
gpsButton.configure(text='Disable GPS')
import sys, struct, time, os
from curses import ascii
from pymavlink import mavparm
from pymavlink import mavutil
import socket
from pymavlink.dialects.v10 import common as mavlink
m = mavutil.mavlink_connection('tcp:127.0.0.1:5763',
dialect='ardupilotmega',
write=True,
input=False)
print("Waiting for APM heartbeat")
msg = m.recv_match(type='HEARTBEAT', blocking=True)
print("Heartbeat from APM (system %u, component %u)" %
(m.target_system, m.target_system))
mav_param = mavparm.MAVParmDict()
mav_param.mavset(m, "SIM_WIND_DIR", float(70))
mav_param.mavset(m, "SIM_WIND_SPD", float(1))
#m.parm_set_send("DIM_WIND_DIR", float(70))
def wind(windSPD, windDIR): #create mavproxy parameter dictionary mav_param = mavparm.MAVParmDict() #set mavproxy parameters over sitl vehicle.parameters['SIM_WIND_DIR'] = float(windDIR) vehicle.parameters['SIM_WIND_SPD'] = float(windSPD)
def write_param(master, name, value, param_type) -> bool:
mavparm_handler = mavparm.MAVParmDict()
return mavparm_handler.mavset(master, name, value, param_type)
def diff(filepath1, filepath2):
handler1 = mavparm.MAVParmDict()
if filepath2 is not None:
handler1 = load_file(filepath)
mavparm_handler.diff(filepath)
def load_file(filepath):
mavparm_handler = mavparm.MAVParmDict()
mavparm_handler.load(filepath)
return dict(mavparm_handler)
parser.add_argument("-t",
help="use tabs delimiter between columns for the output",
default=False,
action='store_true',
dest='use_tabs')
parser.add_argument("--full-diff",
help="include volatile and similar parameters",
default=True,
action='store_false',
dest='use_excludes')
parser.add_argument("--hide-only1",
help="hide params only in first file",
default=False,
action='store_true')
parser.add_argument("--hide-only2",
help="hide params only in second file",
default=False,
action='store_true')
args = parser.parse_args()
file1 = args.file1
file2 = args.file2
p1 = mavparm.MAVParmDict()
p2 = mavparm.MAVParmDict()
p1.load(file2, use_excludes=args.use_excludes)
p1.diff(file1, use_excludes=args.use_excludes, use_tabs=args.use_tabs,
show_only1=not args.hide_only1,
show_only2=not args.hide_only2)
def setThrottle(master, throttle=100):
params = mavparm.MAVParmDict()
params.mavset(master, b'TRIM_THROTTLE', throttle)
