class REF(ATCommand):
'''
at.REF interface of version 0.5
'''
input = parameters.Int32(
'an integer value, '
'representing a 32 bit-wide bit-field controlling the drone')
input._set_flags(
default=bits(18, 20, 22, 24, 28), # Always on
start=bits(9), # Takeoff / Land
select=bits(8), # Switch of emergency mode
)
class PCMD(ATCommand):
'''
Send progressive commands - makes the drone move (translate/rotate).
'''
flag = parameters.Int32(
'flag enabling the use of progressive commands and/or the Combined'
'Yaw mode (bitfield)')
roll = parameters.Float('drone left-right tilt, [-1...1]', default=0)
pitch = parameters.Float('drone front-back tilt, [-1...1]', default=0)
gaz = parameters.Float('drone vertical speed, [-1...1]', default=0)
yaw = parameters.Float('drone angular speed, [-1...1]', default=0)
flag._set_flags(
absolute_control=bits(2),
combined_yaw=bits(1),
progressive=bits(0),
)
def test_bit_4_is_0x10(self):
self.assertEqual(bits(4), 0x10)
def test_bits_accepts_multiple_arguments(self):
self.assertEqual(bits(1) + bits(13) + bits(6), bits(1, 13, 6))
def test_bit_0_is_1(self):
self.assertEqual(bits(0), 1)
