def simulatorThreadHandler(self): timeVal = time.time() self.dataValue.roll = math.sin(timeVal * self.fRoll) * self.aRoll self.dataValue.pitch = math.sin(timeVal * self.fPitch) * self.aPitch self.dataValue.yaw += math.sin(timeVal * self.fYaw) * self.aYaw + self.mYaw if self.dataValue.yaw > 3.14: self.dataValue.yaw -= 2 * 3.14 if self.dataValue.yaw < -3.14: self.dataValue.yaw += 2 * 3.14 self.dataValue.lat += math.sin(timeVal * self.fLat) * self.aLat + self.mLat self.dataValue.lon += math.sin(timeVal * self.fLon) * self.aLon + self.mLon self.dataValue.alt += math.sin(timeVal * self.fAlt) * self.aAlt + self.mAlt self.dataValue.speed = self.dataValue.alt / 2.3 self.dataValue.controllerState = self.receivedCommand temp = DebugData(self.dataValue) self.dataValue.CRC = temp.computeCrc() debugMessage = DebugData(self.dataValue) self.onReceiveEvent(debugMessage) log_msg = 'DroneSimulator: DebugData: [' + str(debugMessage) + ']' self.logWriter.noteEvent(log_msg)
def onReceiveControl(self, debugDataMsg): debugData = DebugData(debugDataMsg) if debugData.isValid(): # forward data to DronController self.onReceiveEvent(debugData) log_msg = 'DroneController: DebugData received: [' + str(debugData) + ']' else: log_msg = 'DroneController: INVALID DebugData received: [' + debugDataMsg + ']' self.logWriter.noteEvent(log_msg)
def onReceiveControl(self, debugDataMsg): debugData = DebugData(debugDataMsg) if debugData.isValid(): # forward data to DronController self.onReceiveEvent(debugData) log_msg = 'DroneController: DebugData received: [' + str( debugData) + ']' else: log_msg = 'DroneController: INVALID DebugData received: [' + debugDataMsg + ']' self.logWriter.noteEvent(log_msg)