def add_data(t, msg, vars, flightmode):
'''add some data'''
mtype = msg.get_type()
if args.flightmode is not None and (len(modes) == 0 or modes[-1][1] != flightmode):
modes.append((t, flightmode))
if mtype not in msg_types:
return
for i in range(0, len(fields)):
if mtype not in field_types[i]:
continue
f = fields[i]
if f.endswith(":2"):
axes[i] = 2
f = f[:-2]
if f.endswith(":1"):
first_only[i] = True
f = f[:-2]
v = mavutil.evaluate_expression(f, vars)
if v is None:
continue
if args.xaxis is None:
xv = t
else:
xv = mavutil.evaluate_expression(args.xaxis, vars)
if xv is None:
continue
y[i].append(v)
x[i].append(xv)
def expression_ok(expression, msgs=None):
'''return True if an expression is OK with current messages'''
expression_ok = True
if expression is None:
return False
fields = expression.split()
if msgs is None:
msgs = mestate.status.msgs
for f in fields:
try:
if f.endswith(">"):
a2 = f.rfind("<")
if a2 != -1:
f = f[:a2]
if f.endswith(':2'):
f = f[:-2]
if f[-1] == '}':
# avoid passing nocondition unless needed to allow us to work witih older
# pymavlink versions
res = mavutil.evaluate_expression(f, msgs, nocondition=True)
else:
res = mavutil.evaluate_expression(f, msgs)
if res is None:
expression_ok = False
except Exception:
expression_ok = False
break
return expression_ok
def add_data(t, msg, vars, flightmode):
'''add some data'''
mtype = msg.get_type()
if args.flightmode is not None and (len(modes) == 0
or modes[-1][1] != flightmode):
modes.append((t, flightmode))
if mtype not in msg_types:
return
for i in range(0, len(fields)):
if mtype not in field_types[i]:
continue
f = fields[i]
if f.endswith(":2"):
axes[i] = 2
f = f[:-2]
if f.endswith(":1"):
first_only[i] = True
f = f[:-2]
v = mavutil.evaluate_expression(f, vars)
if v is None:
continue
if args.xaxis is None:
xv = t
else:
xv = mavutil.evaluate_expression(args.xaxis, vars)
if xv is None:
continue
y[i].append(v)
x[i].append(xv)
def add_data(t, msg, vars):
'''add some data'''
mtype = msg.get_type()
if mtype not in msg_types:
return
for i in range(0, len(fields)):
if mtype not in field_types[i]:
continue
f = fields[i]
if f.endswith(":2"):
axes[i] = 2
f = f[:-2]
if f.endswith(":1"):
first_only[i] = True
f = f[:-2]
v = mavutil.evaluate_expression(f, vars)
if v is None:
continue
if opts.xaxis is None:
xv = t
else:
xv = mavutil.evaluate_expression(opts.xaxis, vars)
if xv is None:
continue
y[i].append(v)
x[i].append(xv)
def add_data(self, t, msg, vars):
'''add some data'''
mtype = msg.get_type()
for i in range(0, len(self.fields)):
if mtype not in self.field_types[i]:
continue
f = self.fields[i]
simple = self.simple_field[i]
if simple is not None:
v = getattr(vars[simple[0]], simple[1])
else:
v = mavutil.evaluate_expression(f, vars)
if v is None:
continue
if self.xaxis is None:
xv = t
else:
xv = mavutil.evaluate_expression(self.xaxis, vars)
if xv is None:
continue
try:
v_f = float(v)
xv_f = float(xv)
except Exception:
continue
self.y[i].append(v_f)
self.x[i].append(xv_f)
def add_data(self, t, msg, vars, flightmode):
'''add some data'''
mtype = msg.get_type()
if self.show_flightmode and (len(self.modes) == 0
or self.modes[-1][1] != flightmode):
self.modes.append((t, flightmode))
for i in range(0, len(self.fields)):
if mtype not in self.field_types[i]:
continue
f = self.fields[i]
if f.endswith(":2"):
self.axes[i] = 2
f = f[:-2]
if f.endswith(":1"):
self.first_only[i] = True
f = f[:-2]
v = mavutil.evaluate_expression(f, vars)
if v is None:
continue
if self.xaxis is None:
xv = t
else:
xv = mavutil.evaluate_expression(self.xaxis, vars)
if xv is None:
continue
self.y[i].append(v)
self.x[i].append(xv)
def add_data(self, t, msg, vars):
'''add some data'''
mtype = msg.get_type()
for i in range(0, len(self.fields)):
if mtype not in self.field_types[i]:
continue
if self.instance_types[i] and hasattr(msg, 'fmt') and hasattr(
msg.fmt,
'instance_field') and msg.fmt.instance_field is not None:
mtype_instance = '%s[%s]' % (
mtype, getattr(msg, msg.fmt.instance_field))
if mtype_instance not in self.instance_types[i]:
continue
f = self.fields[i]
simple = self.simple_field[i]
if simple is not None:
v = getattr(vars[simple[0]], simple[1])
else:
v = mavutil.evaluate_expression(f, vars)
if v is None:
continue
if self.xaxis is None:
xv = t
else:
xv = mavutil.evaluate_expression(self.xaxis, vars)
if xv is None:
continue
self.y[i].append(v)
self.x[i].append(xv)
def add_data(self, t, msg, vars, flightmode):
"""add some data"""
mtype = msg.get_type()
if self.show_flightmode and (len(self.modes) == 0 or self.modes[-1][1] != flightmode):
self.modes.append((t, flightmode))
for i in range(0, len(self.fields)):
if mtype not in self.field_types[i]:
continue
f = self.fields[i]
if f.endswith(":2"):
self.axes[i] = 2
f = f[:-2]
if f.endswith(":1"):
self.first_only[i] = True
f = f[:-2]
v = mavutil.evaluate_expression(f, vars)
if v is None:
continue
if self.xaxis is None:
xv = t
else:
xv = mavutil.evaluate_expression(self.xaxis, vars)
if xv is None:
continue
self.y[i].append(v)
self.x[i].append(xv)
def process_messages(self, m):
"""
Process all incoming mavlink packets from the corresponding vehicle, and forward traffic to onboard
components as necessary.
"""
mtype = m.get_type()
#s = " MAV " + str(self.system_id) + ": From (" + str(m.get_header().srcSystem) + ", " + str(m.get_header().srcComponent) + ")"
#s = s + ", To (" + m.tar
#print(" MAV ") + str(self.system_id) + ": processing message from " + str(m.get_header().srcSystem) + ", " + str(m.get_header().srcComponent)
if mtype == "HEARTBEAT":
if self.param_fetched == False:
self.param_fetched = True
self.fetch_all_parameters()
# DEBUG: temporary code block for debugging
if mtype == "VFR_HUD":
self.altitude = mavutil.evaluate_expression(
"VFR_HUD.alt", self.master.messages)
self.airspeed = mavutil.evaluate_expression(
"VFR_HUD.airspeed", self.master.messages)
self.heading = mavutil.evaluate_expression("VFR_HUD.heading",
self.master.messages)
#print(str(m.get_header().srcSystem) + ": Altitude: " + str(self.altitude))
if mtype == 'PARAM_VALUE':
param_id = "%.16s" % m.param_id
# Note: the xml specifies param_index is a uint16, so -1 in that field will show as 65535
# We accept both -1 and 65535 as 'unknown index' to future proof us against someday having that
# xml fixed.
if m.param_index != -1 and m.param_index != 65535 and m.param_index not in self.mav_param_set:
added_new_parameter = True
self.mav_param_set.add(m.param_index)
else:
added_new_parameter = False
if m.param_count != -1:
self.mav_param_count = m.param_count
self.mav_param[str(param_id)] = m.param_value
if self.fetch_one > 0:
self.fetch_one -= 1
print("%s = %f" % (param_id, m.param_value))
if added_new_parameter and len(
self.mav_param_set) == m.param_count:
print("Received %u parameters" % m.param_count)
#if self.logdir != None:
# self.mav_param.save(os.path.join(self.logdir, self.parm_file), '*', verbose=True)
for func in self.on_params_initialized:
func()
def process_messages(self, m):
"""
Process all incoming mavlink packets from the corresponding vehicle, and forward traffic to onboard
components as necessary.
"""
mtype = m.get_type()
#s = " MAV " + str(self.system_id) + ": From (" + str(m.get_header().srcSystem) + ", " + str(m.get_header().srcComponent) + ")"
#s = s + ", To (" + m.tar
#print(" MAV ") + str(self.system_id) + ": processing message from " + str(m.get_header().srcSystem) + ", " + str(m.get_header().srcComponent)
if mtype == "HEARTBEAT":
if self.param_fetched == False:
self.param_fetched = True
self.fetch_all_parameters()
# DEBUG: temporary code block for debugging
if mtype == "VFR_HUD":
self.altitude = mavutil.evaluate_expression("VFR_HUD.alt", self.master.messages)
self.airspeed = mavutil.evaluate_expression("VFR_HUD.airspeed", self.master.messages)
self.heading = mavutil.evaluate_expression("VFR_HUD.heading", self.master.messages)
#print(str(m.get_header().srcSystem) + ": Altitude: " + str(self.altitude))
if mtype == 'PARAM_VALUE':
param_id = "%.16s" % m.param_id
# Note: the xml specifies param_index is a uint16, so -1 in that field will show as 65535
# We accept both -1 and 65535 as 'unknown index' to future proof us against someday having that
# xml fixed.
if m.param_index != -1 and m.param_index != 65535 and m.param_index not in self.mav_param_set:
added_new_parameter = True
self.mav_param_set.add(m.param_index)
else:
added_new_parameter = False
if m.param_count != -1:
self.mav_param_count = m.param_count
self.mav_param[str(param_id)] = m.param_value
if self.fetch_one > 0:
self.fetch_one -= 1
print("%s = %f" % (param_id, m.param_value))
if added_new_parameter and len(self.mav_param_set) == m.param_count:
print("Received %u parameters" % m.param_count)
#if self.logdir != None:
# self.mav_param.save(os.path.join(self.logdir, self.parm_file), '*', verbose=True)
for func in self.on_params_initialized:
func()
def load_graph_xml(self, xml):
'''load a graph from one xml string'''
try:
root = objectify.fromstring(xml)
except Exception:
return False
if root.tag != 'graphs':
return False
if not hasattr(root, 'graph'):
return False
for g in root.graph:
name = g.attrib['name']
if self.have_graph(name):
continue
expressions = [e.text for e in g.expression]
for e in expressions:
graph_ok = True
fields = e.split()
for f in fields:
try:
if f.endswith(':2'):
f = f[:-2]
if mavutil.evaluate_expression(f, self.mestate.status.msgs) is None:
graph_ok = False
except Exception:
graph_ok = False
break
if graph_ok:
self.mestate.graphs.append(GraphDefinition(name, e, g.description.text))
break
return True
def add_data(t, msg, vars, fields, field_types):
'''add some data'''
mtype = msg.get_type()
if mtype not in msg_types:
return
for i in range(0, len(fields)):
if mtype not in field_types[i]:
continue
f = fields[i]
v = mavutil.evaluate_expression(f, vars)
if v is None:
continue
# Check if we have position or state information
if f == mainstate_field:
# Handle main state information
if v != add_data.mainstate_current and add_data.mainstate_current >= 0: # add_data.mainstate_current >= 0 : avoid starting a new linestring when mainstate comes after the first position data in the log
add_data.new_linestring = True
add_data.mainstate_current = v
else:
# Handle position information
add_data.position_data[
i] = v # make sure lon, lat, alt is saved in the correct order in position_data (the same as in position_field_types)
#check if we have a full gps measurement
gps_measurement_ready = True
for v in add_data.position_data:
if v == None:
gps_measurement_ready = False
if gps_measurement_ready:
#if new line string is needed (because of state change): add previous linestring to kml_linestrings list, add a new linestring to the kml multigeometry and append to the new linestring
#else: append to current linestring
if add_data.new_linestring:
if add_data.current_kml_linestring != None:
kml_linestrings.append(add_data.current_kml_linestring)
add_data.current_kml_linestring = kml.newlinestring(
name=opts.source + ":" + str(add_data.mainstate_current),
altitudemode='absolute')
#set rendering options
if opts.extrude:
add_data.current_kml_linestring.extrude = 1
add_data.current_kml_linestring.style.linestyle.color = colors[max(
[add_data.mainstate_current, 0])]
add_data.new_linestring = False
add_to_linestring(add_data.position_data,
add_data.current_kml_linestring)
#reset position_data
add_data.position_data = [None for n in position_field_types]
def add_mavlink_packet(self, msg):
'''add data to the graph'''
mtype = msg.get_type()
if mtype not in self.msg_types:
return
for i in range(len(self.fields)):
if mtype not in self.field_types[i]:
continue
f = self.fields[i]
self.values[i] = mavutil.evaluate_expression(f, self.state.master.messages)
if self.livegraph is not None:
self.livegraph.add_values(self.values)
def mavlink_packet(self, msg):
'''add data to the graph'''
mtype = msg.get_type()
if mtype not in self.msg_types:
return
for i in range(len(self.fields)):
if mtype not in self.field_types[i]:
continue
f = self.fields[i]
self.values[i] = mavutil.evaluate_expression(f, mpstate.master().messages)
if self.livegraph is not None:
self.livegraph.add_values(self.values)
def add_data(self, t, msg, vars):
'''add some data'''
mtype = msg.get_type()
for i in range(0, len(self.fields)):
if mtype not in self.field_types[i]:
continue
f = self.fields[i]
simple = self.simple_field[i]
if simple is not None:
v = getattr(vars[simple[0]], simple[1])
else:
v = mavutil.evaluate_expression(f, vars)
if v is None:
continue
if self.xaxis is None:
xv = t
else:
xv = mavutil.evaluate_expression(self.xaxis, vars)
if xv is None:
continue
self.y[i].append(v)
self.x[i].append(xv)
def add_data(t, msg, vars, fields, field_types):
'''add some data'''
mtype = msg.get_type()
if mtype not in msg_types:
return
for i in range(0, len(fields)):
if mtype not in field_types[i]:
continue
f = fields[i]
v = mavutil.evaluate_expression(f, vars)
if v is None:
continue
# Check if we have position or state information
if f == mainstate_field:
# Handle main state information
if v != add_data.mainstate_current and add_data.mainstate_current >= 0: # add_data.mainstate_current >= 0 : avoid starting a new linestring when mainstate comes after the first position data in the log
add_data.new_linestring = True
add_data.mainstate_current = v
else:
# Handle position information
add_data.position_data[i] = v # make sure lon, lat, alt is saved in the correct order in position_data (the same as in position_field_types)
#check if we have a full gps measurement
gps_measurement_ready = True;
for v in add_data.position_data:
if v == None:
gps_measurement_ready = False
if gps_measurement_ready:
#if new line string is needed (because of state change): add previous linestring to kml_linestrings list, add a new linestring to the kml multigeometry and append to the new linestring
#else: append to current linestring
if add_data.new_linestring:
if add_data.current_kml_linestring != None:
kml_linestrings.append(add_data.current_kml_linestring)
add_data.current_kml_linestring = kml.newlinestring(name=opts.source + ":" + str(add_data.mainstate_current), altitudemode='absolute')
#set rendering options
if opts.extrude:
add_data.current_kml_linestring.extrude = 1
add_data.current_kml_linestring.style.linestyle.color = colors[max([add_data.mainstate_current, 0])]
add_data.new_linestring = False
add_to_linestring(add_data.position_data, add_data.current_kml_linestring)
#reset position_data
add_data.position_data = [None for n in position_field_types]
def expression_ok(expression):
'''return True if an expression is OK with current messages'''
expression_ok = True
fields = expression.split()
for f in fields:
try:
if f.endswith(':2'):
f = f[:-2]
if mavutil.evaluate_expression(f, mestate.status.msgs) is None:
expression_ok = False
except Exception:
expression_ok = False
break
return expression_ok
def expression_ok(expression):
'''return True if an expression is OK with current messages'''
expression_ok = True
fields = expression.split()
for f in fields:
try:
if f.endswith(':2'):
f = f[:-2]
if mavutil.evaluate_expression(f, mestate.status.msgs) is None:
expression_ok = False
except Exception:
expression_ok = False
break
return expression_ok
def complete_variable(text):
'''complete a MAVLink variable or expression'''
if text == '':
return list(rline_mpstate.status.msgs.keys())
if text.endswith(":2"):
suffix = ":2"
text = text[:-2]
else:
suffix = ''
try:
if mavutil.evaluate_expression(text,
rline_mpstate.status.msgs) is not None:
return [text + suffix]
except Exception as ex:
pass
try:
m1 = re.match("^(.*?)([A-Z0-9][A-Z0-9_]*)[.]([A-Za-z0-9]*)$", text)
except Exception as ex:
return []
if m1 is not None:
prefix = m1.group(1)
mtype = m1.group(2)
fname = m1.group(3)
if mtype in rline_mpstate.status.msgs:
ret = []
for f in rline_mpstate.status.msgs[mtype].get_fieldnames():
if f.startswith(fname):
ret.append(prefix + mtype + '.' + f + suffix)
return ret
return []
try:
m2 = re.match("^(.*?)([A-Z0-9][A-Z0-9_]*)$", text)
except Exception as ex:
return []
prefix = m2.group(1)
mtype = m2.group(2)
ret = []
for k in list(rline_mpstate.status.msgs.keys()):
if k.startswith(mtype):
ret.append(prefix + k + suffix)
return ret
def complete_variable(text):
'''complete a MAVLink variable or expression'''
if text == '':
return list(rline_mpstate.status.msgs.keys())
if text.endswith(":2"):
suffix = ":2"
text = text[:-2]
else:
suffix = ''
try:
if mavutil.evaluate_expression(text, rline_mpstate.status.msgs) is not None:
return [text+suffix]
except Exception as ex:
pass
try:
m1 = re.match("^(.*?)([A-Z0-9][A-Z0-9_]*)[.]([A-Za-z0-9_]*)$", text)
except Exception as ex:
return []
if m1 is not None:
prefix = m1.group(1)
mtype = m1.group(2)
fname = m1.group(3)
if mtype in rline_mpstate.status.msgs:
ret = []
for f in rline_mpstate.status.msgs[mtype].get_fieldnames():
if f.startswith(fname):
ret.append(prefix + mtype + '.' + f + suffix)
return ret
return []
try:
m2 = re.match("^(.*?)([A-Z0-9][A-Z0-9_]*)$", text)
except Exception as ex:
return []
prefix = m2.group(1)
mtype = m2.group(2)
ret = []
for k in list(rline_mpstate.status.msgs.keys()):
if k.startswith(mtype):
ret.append(prefix + k + suffix)
return ret
def mavlink_packet(self, msg):
'''handle an incoming mavlink packet'''
if not isinstance(self.console, wxconsole.MessageConsole):
return
if not self.console.is_alive():
self.mpstate.console = textconsole.SimpleConsole()
return
type = msg.get_type()
sysid = msg.get_srcSystem()
compid = msg.get_srcComponent()
if type == 'HEARTBEAT' or type == 'HIGH_LATENCY2':
if not sysid in self.vehicle_list:
self.add_new_vehicle(msg)
if sysid not in self.component_name:
self.component_name[sysid] = {}
if compid not in self.component_name[sysid]:
self.component_name[sysid][compid] = self.component_type_string(msg)
self.update_vehicle_menu()
if self.last_param_sysid_timestamp != self.module('param').new_sysid_timestamp:
'''a new component ID has appeared for parameters'''
self.last_param_sysid_timestamp = self.module('param').new_sysid_timestamp
self.update_vehicle_menu()
if type in ['RADIO', 'RADIO_STATUS']:
# handle RADIO msgs from all vehicles
if msg.rssi < msg.noise+10 or msg.remrssi < msg.remnoise+10:
fg = 'red'
else:
fg = 'black'
self.console.set_status('Radio', 'Radio %u/%u %u/%u' % (msg.rssi, msg.noise, msg.remrssi, msg.remnoise), fg=fg)
if type == 'SYS_STATUS':
self.check_critical_error(msg)
if not self.is_primary_vehicle(msg):
# don't process msgs from other than primary vehicle, other than
# updating vehicle list
return
master = self.master
# add some status fields
if type in [ 'GPS_RAW_INT', 'GPS2_RAW' ]:
if type == 'GPS_RAW_INT':
field = 'GPS'
prefix = 'GPS:'
else:
field = 'GPS2'
prefix = 'GPS2'
nsats = msg.satellites_visible
fix_type = msg.fix_type
if fix_type >= 3:
self.console.set_status(field, '%s OK%s (%u)' % (prefix, fix_type, nsats), fg='green')
else:
self.console.set_status(field, '%s %u (%u)' % (prefix, fix_type, nsats), fg='red')
if type == 'GPS_RAW_INT':
vfr_hud_heading = master.field('VFR_HUD', 'heading', None)
gps_heading = int(msg.cog * 0.01)
if vfr_hud_heading is None:
vfr_hud_heading = '---'
else:
vfr_hud_heading = '%3u' % vfr_hud_heading
self.console.set_status('Heading', 'Hdg %s/%3u' %
(vfr_hud_heading, gps_heading))
elif type == 'VFR_HUD':
if master.mavlink10():
alt = master.field('GPS_RAW_INT', 'alt', 0) / 1.0e3
else:
alt = master.field('GPS_RAW', 'alt', 0)
home = self.module('wp').get_home()
if home is not None:
home_lat = home.x
home_lng = home.y
else:
home_lat = None
home_lng = None
lat = master.field('GLOBAL_POSITION_INT', 'lat', 0) * 1.0e-7
lng = master.field('GLOBAL_POSITION_INT', 'lon', 0) * 1.0e-7
rel_alt = master.field('GLOBAL_POSITION_INT', 'relative_alt', 0) * 1.0e-3
agl_alt = None
if self.settings.basealt != 0:
agl_alt = self.console.ElevationMap.GetElevation(lat, lng)
if agl_alt is not None:
agl_alt = self.settings.basealt - agl_alt
else:
try:
agl_alt_home = self.console.ElevationMap.GetElevation(home_lat, home_lng)
except Exception as ex:
print(ex)
agl_alt_home = None
if agl_alt_home is not None:
agl_alt = self.console.ElevationMap.GetElevation(lat, lng)
if agl_alt is not None:
agl_alt = agl_alt_home - agl_alt
if agl_alt is not None:
agl_alt += rel_alt
vehicle_agl = master.field('TERRAIN_REPORT', 'current_height', None)
if vehicle_agl is None:
vehicle_agl = '---'
else:
vehicle_agl = self.height_string(vehicle_agl)
self.console.set_status('AGL', 'AGL %s/%s' % (self.height_string(agl_alt), vehicle_agl))
self.console.set_status('Alt', 'Alt %s' % self.height_string(rel_alt))
self.console.set_status('AirSpeed', 'AirSpeed %s' % self.speed_string(msg.airspeed))
self.console.set_status('GPSSpeed', 'GPSSpeed %s' % self.speed_string(msg.groundspeed))
self.console.set_status('Thr', 'Thr %u' % msg.throttle)
t = time.localtime(msg._timestamp)
flying = False
if self.mpstate.vehicle_type == 'copter':
flying = self.master.motors_armed()
else:
flying = msg.groundspeed > 3
if flying and not self.in_air:
self.in_air = True
self.start_time = time.mktime(t)
elif flying and self.in_air:
self.total_time = time.mktime(t) - self.start_time
self.console.set_status('FlightTime', 'FlightTime %u:%02u' % (int(self.total_time)/60, int(self.total_time)%60))
elif not flying and self.in_air:
self.in_air = False
self.total_time = time.mktime(t) - self.start_time
self.console.set_status('FlightTime', 'FlightTime %u:%02u' % (int(self.total_time)/60, int(self.total_time)%60))
elif type == 'ATTITUDE':
self.console.set_status('Roll', 'Roll %u' % math.degrees(msg.roll))
self.console.set_status('Pitch', 'Pitch %u' % math.degrees(msg.pitch))
elif type in ['SYS_STATUS']:
sensors = { 'AS' : mavutil.mavlink.MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE,
'MAG' : mavutil.mavlink.MAV_SYS_STATUS_SENSOR_3D_MAG,
'INS' : mavutil.mavlink.MAV_SYS_STATUS_SENSOR_3D_ACCEL | mavutil.mavlink.MAV_SYS_STATUS_SENSOR_3D_GYRO,
'AHRS' : mavutil.mavlink.MAV_SYS_STATUS_AHRS,
'RC' : mavutil.mavlink.MAV_SYS_STATUS_SENSOR_RC_RECEIVER,
'TERR' : mavutil.mavlink.MAV_SYS_STATUS_TERRAIN,
'RNG' : mavutil.mavlink.MAV_SYS_STATUS_SENSOR_LASER_POSITION,
'LOG' : mavutil.mavlink.MAV_SYS_STATUS_LOGGING,
'PRX' : mavutil.mavlink.MAV_SYS_STATUS_SENSOR_PROXIMITY,
'PRE' : mavutil.mavlink.MAV_SYS_STATUS_PREARM_CHECK,
}
hide_if_not_present = set(['PRE', 'PRX'])
for s in sensors.keys():
bits = sensors[s]
present = ((msg.onboard_control_sensors_present & bits) == bits)
enabled = ((msg.onboard_control_sensors_enabled & bits) == bits)
healthy = ((msg.onboard_control_sensors_health & bits) == bits)
if not present and s in hide_if_not_present:
continue
if not present:
fg = 'black'
elif not enabled:
fg = 'grey'
elif not healthy:
fg = 'red'
else:
fg = 'green'
# for terrain show yellow if still loading
if s == 'TERR' and fg == 'green' and master.field('TERRAIN_REPORT', 'pending', 0) != 0:
fg = 'yellow'
self.console.set_status(s, s, fg=fg)
announce_unhealthy = {
'RC': 'RC',
'PRE': 'pre-arm',
}
for s in announce_unhealthy.keys():
bits = sensors[s]
enabled = ((msg.onboard_control_sensors_enabled & bits) == bits)
healthy = ((msg.onboard_control_sensors_health & bits) == bits)
was_healthy = ((self.last_sys_status_health & bits) == bits)
if enabled and not healthy and was_healthy:
self.say("%s fail" % announce_unhealthy[s])
announce_healthy = {
'PRE': 'pre-arm',
}
for s in announce_healthy.keys():
bits = sensors[s]
enabled = ((msg.onboard_control_sensors_enabled & bits) == bits)
healthy = ((msg.onboard_control_sensors_health & bits) == bits)
was_healthy = ((self.last_sys_status_health & bits) == bits)
if enabled and healthy and not was_healthy:
self.say("%s good" % announce_healthy[s])
self.last_sys_status_health = msg.onboard_control_sensors_health
if ((msg.onboard_control_sensors_enabled & mavutil.mavlink.MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS) == 0):
self.safety_on = True
else:
self.safety_on = False
elif type == 'WIND':
self.console.set_status('Wind', 'Wind %u/%s' % (msg.direction, self.speed_string(msg.speed)))
elif type == 'EKF_STATUS_REPORT':
highest = 0.0
vars = ['velocity_variance',
'pos_horiz_variance',
'pos_vert_variance',
'compass_variance',
'terrain_alt_variance']
for var in vars:
v = getattr(msg, var, 0)
highest = max(v, highest)
if highest >= 1.0:
fg = 'red'
elif highest >= 0.5:
fg = 'orange'
else:
fg = 'green'
self.console.set_status('EKF', 'EKF', fg=fg)
elif type == 'HWSTATUS':
if msg.Vcc >= 4600 and msg.Vcc <= 5300:
fg = 'green'
else:
fg = 'red'
self.console.set_status('Vcc', 'Vcc %.2f' % (msg.Vcc * 0.001), fg=fg)
elif type == 'POWER_STATUS':
if msg.flags & mavutil.mavlink.MAV_POWER_STATUS_CHANGED:
fg = 'red'
else:
fg = 'green'
status = 'PWR:'
if msg.flags & mavutil.mavlink.MAV_POWER_STATUS_USB_CONNECTED:
status += 'U'
if msg.flags & mavutil.mavlink.MAV_POWER_STATUS_BRICK_VALID:
status += 'B'
if msg.flags & mavutil.mavlink.MAV_POWER_STATUS_SERVO_VALID:
status += 'S'
if msg.flags & mavutil.mavlink.MAV_POWER_STATUS_PERIPH_OVERCURRENT:
status += 'O1'
if msg.flags & mavutil.mavlink.MAV_POWER_STATUS_PERIPH_HIPOWER_OVERCURRENT:
status += 'O2'
self.console.set_status('PWR', status, fg=fg)
self.console.set_status('Srv', 'Srv %.2f' % (msg.Vservo*0.001), fg='green')
elif type == 'HEARTBEAT':
fmode = master.flightmode
if self.settings.vehicle_name:
fmode = self.settings.vehicle_name + ':' + fmode
self.console.set_status('Mode', '%s' % fmode, fg='blue')
if len(self.vehicle_list) > 1:
self.console.set_status('SysID', 'Sys:%u' % sysid, fg='blue')
if self.master.motors_armed():
arm_colour = 'green'
else:
arm_colour = 'red'
armstring = 'ARM'
# add safety switch state
if self.safety_on:
armstring += '(SAFE)'
self.console.set_status('ARM', armstring, fg=arm_colour)
if self.max_link_num != len(self.mpstate.mav_master):
for i in range(self.max_link_num):
self.console.set_status('Link%u'%(i+1), '', row=1)
self.max_link_num = len(self.mpstate.mav_master)
for m in self.mpstate.mav_master:
if self.mpstate.settings.checkdelay:
highest_msec_key = (sysid, compid)
linkdelay = (self.mpstate.status.highest_msec.get(highest_msec_key, 0) - m.highest_msec.get(highest_msec_key,0))*1.0e-3
else:
linkdelay = 0
linkline = "Link %s " % (self.link_label(m))
fg = 'dark green'
if m.linkerror:
linkline += "down"
fg = 'red'
else:
packets_rcvd_percentage = 100
if (m.mav_count+m.mav_loss) != 0: #avoid divide-by-zero
packets_rcvd_percentage = (100.0 * m.mav_count) / (m.mav_count + m.mav_loss)
linkbits = ["%u pkts" % m.mav_count,
"%u lost" % m.mav_loss,
"%.2fs delay" % linkdelay,
]
try:
if m.mav.signing.sig_count:
# other end is sending us signed packets
if not m.mav.signing.secret_key:
# we've received signed packets but
# can't verify them
fg = 'orange'
linkbits.append("!KEY")
elif not m.mav.signing.sign_outgoing:
# we've received signed packets but aren't
# signing outselves; this can lead to hairloss
fg = 'orange'
linkbits.append("!SIGNING")
if m.mav.signing.badsig_count:
fg = 'orange'
linkbits.append("%u badsigs" % m.mav.signing.badsig_count)
except AttributeError as e:
# mav.signing.sig_count probably doesn't exist
pass
linkline += "OK {rcv_pct:.1f}% ({bits})".format(
rcv_pct=packets_rcvd_percentage,
bits=", ".join(linkbits))
if linkdelay > 1 and fg == 'dark green':
fg = 'orange'
self.console.set_status('Link%u'%m.linknum, linkline, row=1, fg=fg)
elif type in ['WAYPOINT_CURRENT', 'MISSION_CURRENT']:
wpmax = self.module('wp').wploader.count()
if wpmax > 0:
wpmax = "/%u" % wpmax
else:
wpmax = ""
self.console.set_status('WP', 'WP %u%s' % (msg.seq, wpmax))
lat = master.field('GLOBAL_POSITION_INT', 'lat', 0) * 1.0e-7
lng = master.field('GLOBAL_POSITION_INT', 'lon', 0) * 1.0e-7
if lat != 0 and lng != 0:
airspeed = master.field('VFR_HUD', 'airspeed', 30)
if abs(airspeed - self.speed) > 5:
self.speed = airspeed
else:
self.speed = 0.98*self.speed + 0.02*airspeed
self.speed = max(1, self.speed)
time_remaining = int(self.estimated_time_remaining(lat, lng, msg.seq, self.speed))
self.console.set_status('ETR', 'ETR %u:%02u' % (time_remaining/60, time_remaining%60))
elif type == 'NAV_CONTROLLER_OUTPUT':
self.console.set_status('WPDist', 'Distance %s' % self.dist_string(msg.wp_dist))
self.console.set_status('WPBearing', 'Bearing %u' % msg.target_bearing)
if msg.alt_error > 0:
alt_error_sign = "(L)"
else:
alt_error_sign = "(H)"
if msg.aspd_error > 0:
aspd_error_sign = "(L)"
else:
aspd_error_sign = "(H)"
if math.isnan(msg.alt_error):
alt_error = "NaN"
else:
alt_error = "%s%s" % (self.height_string(msg.alt_error), alt_error_sign)
self.console.set_status('AltError', 'AltError %s' % alt_error)
self.console.set_status('AspdError', 'AspdError %s%s' % (self.speed_string(msg.aspd_error*0.01), aspd_error_sign))
elif type == 'PARAM_VALUE':
rec, tot = self.module('param').param_status()
self.console.set_status('Params', 'Param %u/%u' % (rec,tot))
elif type == 'HIGH_LATENCY2':
self.console.set_status('WPDist', 'Distance %s' % self.dist_string(msg.target_distance * 10))
# The -180 here for for consistency with NAV_CONTROLLER_OUTPUT (-180->180), whereas HIGH_LATENCY2 is (0->360)
self.console.set_status('WPBearing', 'Bearing %u' % ((msg.target_heading * 2) - 180))
alt_error = "%s%s" % (self.height_string(msg.target_altitude - msg.altitude),
"(L)" if (msg.target_altitude - msg.altitude) > 0 else "(L)")
self.console.set_status('AltError', 'AltError %s' % alt_error)
self.console.set_status('AspdError', 'AspdError %s%s' % (self.speed_string((msg.airspeed_sp - msg.airspeed)/5),
"(L)" if (msg.airspeed_sp - msg.airspeed) > 0 else "(L)"))
# The -180 here for for consistency with WIND (-180->180), whereas HIGH_LATENCY2 is (0->360)
self.console.set_status('Wind', 'Wind %u/%s' % ((msg.wind_heading * 2) - 180, self.speed_string(msg.windspeed / 5)))
self.console.set_status('Alt', 'Alt %s' % self.height_string(msg.altitude - self.console.ElevationMap.GetElevation(msg.latitude / 1E7, msg.longitude / 1E7)))
self.console.set_status('AirSpeed', 'AirSpeed %s' % self.speed_string(msg.airspeed / 5))
self.console.set_status('GPSSpeed', 'GPSSpeed %s' % self.speed_string(msg.groundspeed / 5))
self.console.set_status('Thr', 'Thr %u' % msg.throttle)
self.console.set_status('Heading', 'Hdg %s/---' % (msg.heading * 2))
self.console.set_status('WP', 'WP %u/--' % (msg.wp_num))
#re-map sensors
sensors = { 'AS' : mavutil.mavlink.HL_FAILURE_FLAG_DIFFERENTIAL_PRESSURE,
'MAG' : mavutil.mavlink.HL_FAILURE_FLAG_3D_MAG,
'INS' : mavutil.mavlink.HL_FAILURE_FLAG_3D_ACCEL | mavutil.mavlink.HL_FAILURE_FLAG_3D_GYRO,
'AHRS' : mavutil.mavlink.HL_FAILURE_FLAG_ESTIMATOR,
'RC' : mavutil.mavlink.HL_FAILURE_FLAG_RC_RECEIVER,
'TERR' : mavutil.mavlink.HL_FAILURE_FLAG_TERRAIN
}
for s in sensors.keys():
bits = sensors[s]
failed = ((msg.failure_flags & bits) == bits)
if failed:
fg = 'red'
else:
fg = 'green'
self.console.set_status(s, s, fg=fg)
# do the remaining non-standard system mappings
fence_failed = ((msg.failure_flags & mavutil.mavlink.HL_FAILURE_FLAG_GEOFENCE) == mavutil.mavlink.HL_FAILURE_FLAG_GEOFENCE)
if fence_failed:
fg = 'red'
else:
fg = 'green'
self.console.set_status('Fence', 'FEN', fg=fg)
gps_failed = ((msg.failure_flags & mavutil.mavlink.HL_FAILURE_FLAG_GPS) == mavutil.mavlink.HL_FAILURE_FLAG_GPS)
if gps_failed:
self.console.set_status('GPS', 'GPS FAILED', fg='red')
else:
self.console.set_status('GPS', 'GPS OK', fg='green')
batt_failed = ((msg.failure_flags & mavutil.mavlink.HL_FAILURE_FLAG_GPS) == mavutil.mavlink.HL_FAILURE_FLAG_BATTERY)
if batt_failed:
self.console.set_status('PWR', 'PWR FAILED', fg='red')
else:
self.console.set_status('PWR', 'PWR OK', fg='green')
for id in self.user_added.keys():
if type in self.user_added[id].msg_types:
d = self.user_added[id]
val = mavutil.evaluate_expression(d.expression, self.master.messages)
try:
self.console.set_status(id, d.format % val, row = d.row)
except Exception as ex:
print(ex)
pass
