async def change_board(self, board: FlightController) -> None:
logger.info(f"Trying to run with '{board.name}'.")
if not board in BoardDetector.detect():
raise ValueError(f"Cannot use '{board.name}'. Board not detected.")
self.set_preferred_board(board)
await self.kill_ardupilot()
await self.start_ardupilot()
async def start_ardupilot(self) -> None:
try:
available_boards = BoardDetector.detect()
if not available_boards:
raise RuntimeError("No boards available.")
if len(available_boards) > 1:
logger.warning(f"More than a single board detected: {available_boards}")
flight_controller = self.get_board_to_be_used(available_boards)
logger.info(f"Using {flight_controller.name} flight-controller.")
if flight_controller.platform == Platform.Navigator:
self.start_navigator(flight_controller)
elif flight_controller.platform.type == PlatformType.Serial:
self.start_serial(flight_controller)
elif flight_controller.platform == Platform.SITL:
self.start_sitl(self.current_sitl_frame)
else:
raise RuntimeError(f"Invalid board type: {flight_controller}")
finally:
self.should_be_running = True
def run_with_board(self) -> None:
if not self.start_board(BoardDetector.detect()):
logger.warning("Flight controller board not detected.")
def run(self) -> None:
ArduPilotManager.check_running_as_root()
while not self.start_board(BoardDetector.detect()):
print("Flight controller board not detected, will try again.")
time.sleep(2)
def available_boards() -> Any:
return BoardDetector.detect()