def test_110(connpath):
v = connect(connpath, await_params=True)
# NOTE these are *very inappropriate settings*
# to make on a real vehicle. They are leveraged
# exclusively for simulation. Take heed!!!
v.parameters['ARMING_CHECK'] = 0
v.parameters['FS_THR_ENABLE'] = 0
v.parameters['FS_GCS_ENABLE'] = 0
v.parameters['EKF_CHECK_THRESH'] = 0
# Change the vehicle into STABILIZE mode
v.mode = VehicleMode("STABILIZE")
# NOTE wait crudely for ACK on mode update
time.sleep(3)
# Define example callback for mode
def armed_callback(attribute):
armed_callback.called += 1
armed_callback.called = 0
# When the same (event, callback) pair is passed to add_attribute_observer,
# only one instance of the observer callback should be added.
v.add_attribute_observer('armed', armed_callback)
v.add_attribute_observer('armed', armed_callback)
v.add_attribute_observer('armed', armed_callback)
v.add_attribute_observer('armed', armed_callback)
v.add_attribute_observer('armed', armed_callback)
# Disarm and see update.
v.armed = False
v.flush()
# Wait for ACK.
time.sleep(3)
# Ensure the callback was called.
assert armed_callback.called > 0, "Callback should have been called."
# Rmove all observers. The first call should remove all listeners
# we've added; the second call should be ignored and not throw.
# NOTE: We test if armed_callback were treating adding each additional callback
# and remove_attribute_observer were removing them one at a time; in this
# case, there would be three callbacks still attached.
v.remove_attribute_observer('armed', armed_callback)
v.remove_attribute_observer('armed', armed_callback)
callcount = armed_callback.called
# Re-arm and see update.
v.armed = True
v.flush()
# Wait for ack
time.sleep(3)
# Ensure the callback was called zero times.
assert_equals(armed_callback.called, callcount, "Callback should not have been called once removed.")
def test_timeout(connpath):
v = connect(connpath, await_params=True)
value = v.parameters['THR_MIN']
assert_equals(type(value), float)
start = current_milli_time()
v.parameters['THR_MIN'] = value + 10
end = current_milli_time()
newvalue = v.parameters['THR_MIN']
assert_equals(type(newvalue), float)
assert_equals(newvalue, value + 10)
def test_mode(connpath):
v = connect(connpath, await_params=True)
# Ensure Mode is an instance of VehicleMode
assert isinstance(v.mode, VehicleMode)
def test_parameter(connpath):
v = connect(connpath, await_params=True)
# Perform a simple parameter check
assert_equals(type(v.parameters['THR_MIN']), float)
DURATION=5
def goto(lat, lon, alt=30):
print 'GOING TO', (lat, lon)
for i in range(0, 5):
time.sleep(.1)
# Set mode to guided - this is optional as the goto method will change the mode if needed.
vehicle.mode = VehicleMode("GUIDED")
# Set the target location and then call flush()
a_location = Location(lat, lon, alt, is_relative=True)
vehicle.commands.goto(a_location)
vehicle.flush()
print 'connecting...'
vehicle = connect('udpout:10.1.1.10:14560')
print 'connected to drone.'
def location_msg():
return {"lat": vehicle.location.lat, "lon": vehicle.location.lon}
app = Flask(__name__)
@app.route("/")
def home():
return render_template('index.html')
listeners_location = []
from threading import Thread
import time
from droneapi import connect
from droneapi.lib import VehicleMode
from pymavlink import mavutil
import time
# Connect to UDP endpoint
vehicle = connect("udpin:0.0.0.0:14550")
# Wait for parameters to accumulate.
time.sleep(5)
# Get all vehicle attributes (state)
print "\nGet all vehicle attribute values:"
print " Location: %s" % vehicle.location
print " Attitude: %s" % vehicle.attitude
print " Velocity: %s" % vehicle.velocity
print " GPS: %s" % vehicle.gps_0
print " Groundspeed: %s" % vehicle.groundspeed
print " Airspeed: %s" % vehicle.airspeed
print " Mount status: %s" % vehicle.mount_status
print " Battery: %s" % vehicle.battery
print " Rangefinder: %s" % vehicle.rangefinder
print " Rangefinder distance: %s" % vehicle.rangefinder.distance
print " Rangefinder voltage: %s" % vehicle.rangefinder.voltage
print " Mode: %s" % vehicle.mode.name # settable
print " Armed: %s" % vehicle.armed # settable
from droneapi import connect
from droneapi.lib import VehicleMode
from pymavlink import mavutil
import time
#Set up option parsing to get connection string
import argparse
parser = argparse.ArgumentParser(description='Print out vehicle state information. Connects to SITL on local PC by default.')
parser.add_argument('--connect', default='127.0.0.1:14550',
help="vehicle connection target. Default '127.0.0.1:14550'")
args = parser.parse_args()
# Connect to the Vehicle
print 'Connecting to vehicle on: %s' % args.connect
vehicle = connect(args.connect, await_params=True)
# Wait for attribtues to accumulate.
time.sleep(5)
# Get all vehicle attributes (state)
print "\nGet all vehicle attribute values:"
print " Location: %s" % vehicle.location
print " Attitude: %s" % vehicle.attitude
print " Velocity: %s" % vehicle.velocity
print " GPS: %s" % vehicle.gps_0
print " Groundspeed: %s" % vehicle.groundspeed
print " Airspeed: %s" % vehicle.airspeed
print " Mount status: %s" % vehicle.mount_status
print " Battery: %s" % vehicle.battery
print " Rangefinder: %s" % vehicle.rangefinder
from droneapi import connect
from droneapi.lib import VehicleMode
from pymavlink import mavutil
import time
# Connect to UDP endpoint
vehicle = connect('udpin:0.0.0.0:14550')
# Wait for parameters to accumulate.
time.sleep(5)
# Get all vehicle attributes (state)
print "\nGet all vehicle attribute values:"
print " Location: %s" % vehicle.location
print " Attitude: %s" % vehicle.attitude
print " Velocity: %s" % vehicle.velocity
print " GPS: %s" % vehicle.gps_0
print " Groundspeed: %s" % vehicle.groundspeed
print " Airspeed: %s" % vehicle.airspeed
print " Mount status: %s" % vehicle.mount_status
print " Battery: %s" % vehicle.battery
print " Rangefinder: %s" % vehicle.rangefinder
print " Rangefinder distance: %s" % vehicle.rangefinder.distance
print " Rangefinder voltage: %s" % vehicle.rangefinder.voltage
print " Mode: %s" % vehicle.mode.name # settable
print " Armed: %s" % vehicle.armed # settable
def test_goto(connpath):
vehicle = connect(connpath, await_params=True)
# NOTE these are *very inappropriate settings*
# to make on a real vehicle. They are leveraged
# exclusively for simulation. Take heed!!!
vehicle.parameters['ARMING_CHECK'] = 0
vehicle.parameters['FS_THR_ENABLE'] = 0
vehicle.parameters['FS_GCS_ENABLE'] = 0
vehicle.parameters['EKF_CHECK_THRESH'] = 0
def arm_and_takeoff(aTargetAltitude):
"""
Arms vehicle and fly to aTargetAltitude.
"""
# print "Basic pre-arm checks"
# Don't let the user try to fly autopilot is booting
if vehicle.mode.name == "INITIALISING":
# print "Waiting for vehicle to initialise"
time.sleep(1)
while vehicle.gps_0.fix_type < 2:
# print "Waiting for GPS...:", vehicle.gps_0.fix_type
time.sleep(1)
# print "Arming motors"
# Copter should arm in GUIDED mode
vehicle.mode = VehicleMode("GUIDED")
vehicle.flush()
i = 60
while vehicle.mode.name != 'GUIDED' and i > 0:
# print " Waiting for guided %s seconds..." % (i,)
time.sleep(1)
i = i - 1
vehicle.armed = True
vehicle.flush()
i = 60
while not vehicle.armed and vehicle.mode.name == 'GUIDED' and i > 0:
# print " Waiting for arming %s seconds..." % (i,)
time.sleep(1)
i = i - 1
# Failure will result in arming but immediately landing
assert vehicle.armed
assert_equals(vehicle.mode.name, 'GUIDED')
# print "Taking off!"
vehicle.commands.takeoff(aTargetAltitude) # Take off to target altitude
vehicle.flush()
# Wait until the vehicle reaches a safe height before
# processing the goto (otherwise the command after
# Vehicle.commands.takeoff will execute immediately).
while True:
# print " Altitude: ", vehicle.location.alt
# Test for altitude just below target, in case of undershoot.
if vehicle.location.alt >= aTargetAltitude * 0.95:
# print "Reached target altitude"
break
assert_equals(vehicle.mode.name, 'GUIDED')
time.sleep(1)
arm_and_takeoff(10)
# print "Going to first point..."
point1 = Location(-35.361354, 149.165218, 20, is_relative=True)
vehicle.commands.goto(point1)
vehicle.flush()
# sleep so we can see the change in map
time.sleep(3)
# print "Going to second point..."
point2 = Location(-35.363244, 149.168801, 20, is_relative=True)
vehicle.commands.goto(point2)
vehicle.flush()
# sleep so we can see the change in map
time.sleep(3)
# print "Returning to Launch"
vehicle.mode = VehicleMode("RTL")
vehicle.flush()
def goto(lat, lon, alt=30):
print 'GOING TO', (lat, lon)
for i in range(0, 5):
time.sleep(.1)
# Set mode to guided - this is optional as the goto method will change the mode if needed.
vehicle.mode = VehicleMode("GUIDED")
# Set the target location and then call flush()
a_location = Location(lat, lon, alt, is_relative=True)
vehicle.commands.goto(a_location)
vehicle.flush()
print 'connecting...'
vehicle = connect('udpout:10.1.1.10:14560')
print 'connected to drone.'
def location_msg():
return {"lat": vehicle.location.lat, "lon": vehicle.location.lon}
app = Flask(__name__)
@app.route("/")
def home():
return render_template('index.html')