#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from pymavlink import mavutil
from pymavlink.mavutil import mavlink
from utils import main_utils
if __name__ == '__main__':
try:
connection = main_utils.connect()
main_utils.start_sending_heartbeat(connection)
connection.wait_heartbeat()
result = main_utils.send_command(
connection,
mavlink.MAV_CMD_SET_MESSAGE_INTERVAL,
blocking=True,
param1=float(mavlink.MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE),
param2=-1.0)
success = (result == mavlink.MAV_RESULT_ACCEPTED)
print('disable VISION_POSITION_ESTIMATE: %r (%d)' % (success, result))
except KeyboardInterrupt:
exit(0)
stamp_offset_ms = None
def send_attitude():
global stamp_offset_ms
while True:
stamp = int(time.time() * 1000) + stamp_offset_ms
connection.mav.attitude_send(stamp, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0)
time.sleep(0.05)
if __name__ == '__main__':
connection = main_utils.connect()
main_utils.start_sending_heartbeat(connection, armed=True)
connection.wait_heartbeat()
params = param_utils.list_params(connection)
for p in params:
print('Param %s = %3.6f' % (p.param_id, p.param_value))
check_and_set_param(p, 'SAVE_MAP', 1)
check_and_set_param(p, 'LOAD_MAP', 0)
check_and_set_param(p, 'SEND_ORIGIN', 0)
check_and_set_param(p, 'INIT_ALT', 1.0)
if need_reboot:
print('Parameters was changed. Rebooting, please wait...')
main_utils.reboot(connection)
main_utils.stop_sending_heartbeat(connection)
del connection