def main(): """ Function that gets executed when the script is directly called from the command line. It sets the PID constants for the Mosquito 90 """ m = mapi.Mosquito() m.connect() RATE_ROLL_P = 0.05 RATE_ROLL_I = 0.40 RATE_ROLL_D = 0.0001 RATE_PITCH_P = 0.05 RATE_PITCH_I = 0.55 RATE_PITCH_D = 0.0001 RATE_YAW_P = 0.05 RATE_YAW_I = 0.40 RATE_D2R = 6.00 LEVEL_P = 1.00 ALTH_P = 0.0 ALTH_V_P = 0.0 ALTH_V_I = 0.0 ALTH_V_D = 0.0 ALTH_MIN_A = 0.0 PARAM_6 = 1.0 PARAM_7 = 2.0 PARAM_8 = 3.0 PARAM_9 = 4.0 m.set_mosquito_version(True) m.set_position_board(True) m.set_PID(RATE_ROLL_P, RATE_ROLL_I, RATE_ROLL_D,RATE_PITCH_P, RATE_PITCH_I, RATE_PITCH_D, RATE_YAW_P, RATE_YAW_I, RATE_D2R, LEVEL_P, ALTH_P, ALTH_V_P, ALTH_V_I, ALTH_V_D, ALTH_MIN_A, PARAM_6, PARAM_7, PARAM_8, PARAM_9) m.get_PID() m.disconnect()
def main():
"""
Function that gets executed when the script is directly
called from the command line.
What it does is set on and off the LEDs of the board at
2 seconds intervals
"""
Mosquito = mapi.Mosquito()
Mosquito.connect()
# turn on and off the LEDs of the board at 2 second intervals
# Note how, since the method expects keyword arguments, the order
# in which they are passed doesn't matter. If any of the LEDs is
# omitted its current status is preserved
Mosquito.set_leds(red=0, green=0, blue=0)
print("Turning on blue Led...")
Mosquito.set_leds(blue=1) # The status of the other LEDs is preserved
time.sleep(2)
Mosquito.set_leds(blue=0)
print("Turning on red Led...")
Mosquito.set_leds(red=1)
time.sleep(2)
Mosquito.set_leds(red=0)
print("Turning on green Led...")
Mosquito.set_leds(green=1)
time.sleep(2)
Mosquito.set_leds(green=0)
print("Turning on all three Leds...")
Mosquito.set_leds(blue=1, red=1, green=1)
time.sleep(2)
Mosquito.set_leds(blue=0, red=0, green=0)
time.sleep(0.1)
# Disconnect from the mosquito when finished
Mosquito.disconnect()
def __init__(self): """ Initialize the TX Calibration class """ self.__calibration = False self.Mosquito = mapi.Mosquito()