def Start(self, vehicle):
logger.log("+-+-+-+-+-+-+ Starting up %s +-+-+-+-+-+-+" % VERSION)
### initialize dronekit vehicle ###
self.vehicle = vehicle
### switch vehicle to loiter mode ###
self.vehicle.mode = VehicleMode("LOITER")
### initialize rc manager ###
self.rcMgr = rcManager.rcManager(self)
### initialize app manager ###
self.appMgr = appManager.appManager(self)
### initialize button manager ###
self.buttonManager = buttonManager.buttonManager(self)
### initialize extended functions ###
self.extFunctions = extFunctions.extFunctions(self.vehicle, self)
### initialize gopro manager ###
self.goproManager = GoProManager.GoProManager(self)
### Initialize GeoFence manager ###
self.geoFenceManager = GeoFenceManager.GeoFenceManager(self)
# instantiate rewindManager
self.rewindManager = rewindManager.RewindManager(self.vehicle, self)
### init APM stream rates ###
self.initStreamRates()
### register callbacks ###
self.registerCallbacks()
# Try to maintain a constant tick rate
self.timeOfLastTick = monotonic.monotonic()
# how many ticks have we performed since an RC update?
# register all connections (gopro manager communicates via appMgr's socket)
self.inputs = [self.rcMgr.server, self.appMgr.server]
self.outputs = []
#check if gimbal is present
if self.vehicle.gimbal.yaw is not None:
logger.log("[shot]: Gimbal detected.")
# Initialize gimbal to RC targeting
self.vehicle.gimbal.release()
else:
logger.log("[shot]: No gimbal detected.")
# mark first tick time
self.timeOfLastTick = monotonic.monotonic()
# check for In-Air start from Shotmanager crash
if self.vehicle.system_status == 'ACTIVE':
logger.log("[shot]: Restart in air.")
# load vehicle home
self.rewindManager.loadHomeLocation()
def Start(self, vehicle):
logger.log("+-+-+-+-+-+-+ Starting up %s +-+-+-+-+-+-+" % VERSION)
### initialize dronekit vehicle ###
self.vehicle = vehicle
### switch vehicle to loiter mode ###
self.vehicle.mode = VehicleMode("LOITER")
### initialize rc manager ###
self.rcMgr = rcManager.rcManager(self)
### initialize app manager ###
self.appMgr = appManager.appManager(self)
### initialize button manager ###
self.buttonManager = buttonManager.buttonManager(self)
### initialize gopro manager ###
self.goproManager = GoProManager.GoProManager(self)
### Initialize GeoFence manager ###
self.geoFenceManager = GeoFenceManager.GeoFenceManager(self)
# instantiate rewindManager
self.rewindManager = rewindManager.RewindManager(self.vehicle, self)
# Create a PyMata instance and initialize the object avoidance toggles
self.led_left_state = 0
self.led_right_state = 0
self.led_center_state = 0
self.led_beam_angle_state = 0
self.center_collision_state = 0
try:
self.arduinoBoard = PyMata("/dev/ttyACM0", verbose=True)
self.arduinoBoard.set_pin_mode(COLL_RIGHT, self.arduinoBoard.INPUT, self.arduinoBoard.DIGITAL)
self.arduinoBoard.set_pin_mode(COLL_CENTER, self.arduinoBoard.INPUT, self.arduinoBoard.DIGITAL)
self.arduinoBoard.set_pin_mode(COLL_LEFT, self.arduinoBoard.INPUT, self.arduinoBoard.DIGITAL)
self.arduinoBoard.set_pin_mode(SCAN_BIT1, self.arduinoBoard.INPUT, self.arduinoBoard.DIGITAL)
self.arduinoBoard.set_pin_mode(SCAN_BIT2, self.arduinoBoard.INPUT, self.arduinoBoard.DIGITAL)
self.arduinoBoard.set_pin_mode(SCAN_BIT3, self.arduinoBoard.INPUT, self.arduinoBoard.DIGITAL)
self.arduinoBoard.set_pin_mode(SCAN_BIT4, self.arduinoBoard.INPUT, self.arduinoBoard.DIGITAL)
except:
logger.log("[shotmanager]: Error in communication to Arduino")
### init APM stream rates ###
self.initStreamRates()
### register callbacks ###
self.registerCallbacks()
# Try to maintain a constant tick rate
self.timeOfLastTick = monotonic.monotonic()
# how many ticks have we performed since an RC update?
# register all connections (gopro manager communicates via appMgr's socket)
self.inputs = [self.rcMgr.server, self.appMgr.server]
self.outputs = []
#check if gimbal is present
if self.vehicle.gimbal.yaw is not None:
logger.log("[shot]: Gimbal detected.")
# Initialize gimbal to RC targeting
self.vehicle.gimbal.release()
else:
logger.log("[shot]: No gimbal detected.")
# mark first tick time
self.timeOfLastTick = monotonic.monotonic()
# check for In-Air start from Shotmanager crash
if self.vehicle.system_status == 'ACTIVE':
logger.log("[shot]: Restart in air.")
# load vehicle home
self.rewindManager.loadHomeLocation()