def __init__(self, socket_map, mav_iface, send_interval, dispatcher):
Bridge.__init__(self, socket_map, mav_iface, send_interval)
self.dead = False
recv_thread = Thread(target=self._receive)
recv_thread.daemon = True
send_thread = Thread(target=self._send)
send_thread.daemon = True
self.dispatcher = dispatcher
self.auto_mode_flags = MAV_MODE_FLAG_SAFETY_ARMED \
| MAV_MODE_FLAG_MANUAL_INPUT_ENABLED \
| MAV_MODE_FLAG_STABILIZE_ENABLED \
| MAV_MODE_FLAG_GUIDED_ENABLED \
| MAV_MODE_FLAG_AUTO_ENABLED
Bridge.__init__(self, socket_map, mav_iface, send_interval)
self.csb = ControlSensorBits()
self.sensors_present = self.csb.bits([
'GYRO_3D', 'ACC_3D', 'MAG_3D', 'PRESSURE_ABS', 'GPS',
'ANGLE_RATE_CONTROL', 'ATTITUDE_CTRL', 'YAW_CTRL', 'ALTITUDE_CTRL',
'XY_CTRL', 'MOTOR_CTRL'
])
self.sensors_enabled = self.sensors_present
self.sensors_health = self.sensors_present
self._load_reader = LoadReader()
self._power_reader = PowerReader(socket_map['power_mon'])
recv_thread.start()
send_thread.start()
self._load_reader.start()
self._power_reader.start()
self._power_reader.wait_data()
