def start_gcs_bsend(self): '''start up block senders for GCS side''' if self.msend is None: self.msocket = cuav_command.MavSocket(self.mpstate.mav_master[0]) self.msend = block_xmit.BlockSender(mss=96, sock=self.msocket, dest_ip='mavlink', dest_port=0, backlog=5, debug=False) self.msend.set_bandwidth(500) if len(self.bsend) == 0: for lnk in self.camera_settings.air_address.split(','): try: [remoteip, remoteport, localport, bw] = lnk.split(':') newbsnd = block_xmit.BlockSender(bandwidth=int(bw), debug=False, dest_ip=remoteip, dest_port=int(remoteport), port=int(localport)) self.bsend.append(newbsnd) except: print( "Bad Air endpoint (must be remIP:remport:localport:bw): " + str(lnk)) pass
def start_aircraft_bsend(self): '''start bsend for aircraft side''' if self.msend is None: self.msocket = cuav_command.MavSocket(self.mpstate.mav_master[0]) self.msend = block_xmit.BlockSender(mss=96, sock=self.msocket, dest_ip='mavlink', dest_port=0, backlog=5, debug=False) self.msend.set_bandwidth(self.camera_settings.m_bandwidth)