def init(_mpstate):
'''initialise module'''
global mpstate
mpstate = _mpstate
mpstate.console_state = module_state()
mpstate.console = wxconsole.MessageConsole(title='Console')
# setup some default status information
mpstate.console.set_status('Mode', 'UNKNOWN', row=0, fg='blue')
mpstate.console.set_status('GPS', 'GPS: --', fg='red', row=0)
mpstate.console.set_status('Vcc', 'Vcc: --', fg='red', row=0)
mpstate.console.set_status('Radio', 'Radio: --', row=0)
mpstate.console.set_status('Heading', 'Hdg ---/---', row=2)
mpstate.console.set_status('Alt', 'Alt ---', row=2)
mpstate.console.set_status('AGL', 'AGL ---', row=2)
mpstate.console.set_status('AirSpeed', 'AirSpeed --', row=2)
mpstate.console.set_status('GPSSpeed', 'GPSSpeed --', row=2)
mpstate.console.set_status('Thr', 'Thr ---', row=2)
mpstate.console.set_status('Roll', 'Roll ---', row=2)
mpstate.console.set_status('Pitch', 'Pitch ---', row=2)
mpstate.console.set_status('WP', 'WP --', row=3)
mpstate.console.set_status('WPDist', 'Distance ---', row=3)
mpstate.console.set_status('WPBearing', 'Bearing ---', row=3)
mpstate.console.set_status('AltError', 'AltError --', row=3)
mpstate.console.set_status('AspdError', 'AspdError --', row=3)
mpstate.console.set_status('FlightTime', 'FlightTime --', row=3)
mpstate.console.set_status('ETR', 'ETR --', row=3)
mpstate.console.ElevationMap = mp_elevation.ElevationModel()
def __init__(self, mpstate):
super(MapModule, self).__init__(mpstate,
"map",
"map display",
public=True)
self.lat = None
self.lon = None
self.heading = 0
self.wp_change_time = 0
self.fence_change_time = 0
self.rally_change_time = 0
self.have_simstate = False
self.have_vehicle = {}
self.move_wp = -1
self.moving_wp = None
self.moving_fencepoint = None
self.moving_rally = None
self.mission_list = None
self.icon_counter = 0
self.click_position = None
self.click_time = 0
self.draw_line = None
self.draw_callback = None
self.have_global_position = False
self.vehicle_type_name = 'plane'
self.ElevationMap = mp_elevation.ElevationModel()
self.map_settings = mp_settings.MPSettings([
('showgpspos', int, 0), ('showgps2pos', int, 1),
('showsimpos', int, 0), ('showahrs2pos', int, 0),
('brightness', float, 1), ('rallycircle', bool, False),
('loitercircle', bool, False)
])
service = 'OviHybrid'
if 'MAP_SERVICE' in os.environ:
service = os.environ['MAP_SERVICE']
import platform
mpstate.map = mp_slipmap.MPSlipMap(service=service,
elevation=True,
title='Map')
mpstate.map_functions = {'draw_lines': self.draw_lines}
mpstate.map.add_callback(functools.partial(self.map_callback))
self.add_command('map', self.cmd_map, "map control",
['icon', 'set (MAPSETTING)'])
self.add_completion_function('(MAPSETTING)',
self.map_settings.completion)
self.default_popup = MPMenuSubMenu('Popup', items=[])
self.add_menu(
MPMenuItem('Fly To',
'Fly To',
'# guided ',
handler=MPMenuCallTextDialog(title='Altitude (m)',
default=100)))
self.add_menu(MPMenuItem('Set Home', 'Set Home', '# map sethome '))
self.add_menu(
MPMenuItem('Terrain Check', 'Terrain Check', '# terrain check'))
self.add_menu(
MPMenuItem('Show Position', 'Show Position', 'showPosition'))
def __init__(self, parent, state):
from MAVProxy.modules.lib import mp_widgets
wx.Panel.__init__(self, parent)
self.state = state
self.img = None
self.map_img = None
self.redraw_timer = wx.Timer(self)
self.Bind(wx.EVT_TIMER, self.on_redraw_timer, self.redraw_timer)
self.Bind(wx.EVT_SET_FOCUS, self.on_focus)
self.redraw_timer.Start(200)
self.mouse_pos = None
self.mouse_down = None
self.click_pos = None
self.last_click_pos = None
if state.elevation:
self.ElevationMap = mp_elevation.ElevationModel()
self.mainSizer = wx.BoxSizer(wx.VERTICAL)
self.SetSizer(self.mainSizer)
# display for lat/lon/elevation
self.position = wx.TextCtrl(self, style=wx.TE_MULTILINE|wx.TE_READONLY)
if os.name == 'nt':
self.position.SetValue("line 1\nline 2\n")
size = self.position.GetBestSize()
self.position.SetMinSize(size)
self.position.SetValue("")
else:
textsize = tuple(self.position.GetFullTextExtent('line 1\nline 2\n')[0:2])
self.position.SetMinSize(textsize)
self.mainSizer.AddSpacer(2)
self.mainSizer.Add(self.position, flag=wx.LEFT | wx.BOTTOM | wx.GROW, border=0)
self.position.Bind(wx.EVT_SET_FOCUS, self.on_focus)
# a place to put control flags
self.controls = wx.BoxSizer(wx.HORIZONTAL)
self.mainSizer.Add(self.controls, 0, flag=wx.ALIGN_LEFT | wx.TOP | wx.GROW)
self.mainSizer.AddSpacer(2)
# a place to put information like image details
self.information = wx.BoxSizer(wx.HORIZONTAL)
self.mainSizer.Add(self.information, 0, flag=wx.ALIGN_LEFT | wx.TOP | wx.GROW)
self.mainSizer.AddSpacer(2)
# panel for the main map image
self.imagePanel = mp_widgets.ImagePanel(self, np.zeros((state.height, state.width, 3), dtype=np.uint8))
self.mainSizer.Add(self.imagePanel, flag=wx.GROW, border=5)
self.imagePanel.Bind(wx.EVT_MOUSE_EVENTS, self.on_mouse)
self.imagePanel.Bind(wx.EVT_KEY_DOWN, self.on_key_down)
self.imagePanel.Bind(wx.EVT_MOUSEWHEEL, self.on_mouse_wheel)
# a function to convert from (lat,lon) to (px,py) on the map
self.pixmapper = functools.partial(self.pixel_coords)
self.last_view = None
self.redraw_map()
state.frame.Fit()
def get_ground_alt(lat, lon):
'''get terrain height at a location'''
global ElevationMap
if ElevationMap is None:
ElevationMap = mp_elevation.ElevationModel()
if not ElevationMap:
return 0
return ElevationMap.GetElevation(lat, lon)
def __init__(self, mpstate):
super(ConsoleModule, self).__init__(mpstate, "console", "GUI console", public=True, multi_vehicle=True)
self.in_air = False
self.start_time = 0.0
self.total_time = 0.0
self.speed = 0
self.max_link_num = 0
self.last_sys_status_health = 0
mpstate.console = wxconsole.MessageConsole(title='Console')
# setup some default status information
mpstate.console.set_status('Mode', 'UNKNOWN', row=0, fg='blue')
mpstate.console.set_status('SysID', '', row=0, fg='blue')
mpstate.console.set_status('ARM', 'ARM', fg='grey', row=0)
mpstate.console.set_status('GPS', 'GPS: --', fg='red', row=0)
mpstate.console.set_status('Vcc', 'Vcc: --', fg='red', row=0)
mpstate.console.set_status('Radio', 'Radio: --', row=0)
mpstate.console.set_status('INS', 'INS', fg='grey', row=0)
mpstate.console.set_status('MAG', 'MAG', fg='grey', row=0)
mpstate.console.set_status('AS', 'AS', fg='grey', row=0)
mpstate.console.set_status('RNG', 'RNG', fg='grey', row=0)
mpstate.console.set_status('AHRS', 'AHRS', fg='grey', row=0)
mpstate.console.set_status('EKF', 'EKF', fg='grey', row=0)
mpstate.console.set_status('LOG', 'LOG', fg='grey', row=0)
mpstate.console.set_status('Heading', 'Hdg ---/---', row=2)
mpstate.console.set_status('Alt', 'Alt ---', row=2)
mpstate.console.set_status('AGL', 'AGL ---/---', row=2)
mpstate.console.set_status('AirSpeed', 'AirSpeed --', row=2)
mpstate.console.set_status('GPSSpeed', 'GPSSpeed --', row=2)
mpstate.console.set_status('Thr', 'Thr ---', row=2)
mpstate.console.set_status('Roll', 'Roll ---', row=2)
mpstate.console.set_status('Pitch', 'Pitch ---', row=2)
mpstate.console.set_status('Wind', 'Wind ---/---', row=2)
mpstate.console.set_status('WP', 'WP --', row=3)
mpstate.console.set_status('WPDist', 'Distance ---', row=3)
mpstate.console.set_status('WPBearing', 'Bearing ---', row=3)
mpstate.console.set_status('AltError', 'AltError --', row=3)
mpstate.console.set_status('AspdError', 'AspdError --', row=3)
mpstate.console.set_status('FlightTime', 'FlightTime --', row=3)
mpstate.console.set_status('ETR', 'ETR --', row=3)
mpstate.console.ElevationMap = mp_elevation.ElevationModel()
self.vehicle_list = []
self.vehicle_menu = None
self.vehicle_name_by_sysid = {}
self.component_name = {}
self.last_param_sysid_timestamp = None
# create the main menu
if mp_util.has_wxpython:
self.menu = MPMenuTop([])
self.add_menu(MPMenuSubMenu('MAVProxy',
items=[MPMenuItem('Settings', 'Settings', 'menuSettings'),
MPMenuItem('Map', 'Load Map', '# module load map')]))
self.vehicle_menu = MPMenuSubMenu('Vehicle', items=[])
self.add_menu(self.vehicle_menu)
def __init__(self, mpstate):
super(ConsoleModule, self).__init__(mpstate,
"console",
"GUI console",
public=True)
self.in_air = False
self.start_time = 0.0
self.total_time = 0.0
self.speed = 0
self.max_link_num = 0
mpstate.console = wxconsole.MessageConsole(title='Console')
# setup some default status information
mpstate.console.set_status('Mode', 'UNKNOWN', row=0, fg='blue')
mpstate.console.set_status('GPS', 'GPS: --', fg='red', row=0)
mpstate.console.set_status('Vcc', 'Vcc: --', fg='red', row=0)
mpstate.console.set_status('Radio', 'Radio: --', row=0)
mpstate.console.set_status('INS', 'INS', fg='grey', row=0)
mpstate.console.set_status('MAG', 'MAG', fg='grey', row=0)
mpstate.console.set_status('AS', 'AS', fg='grey', row=0)
mpstate.console.set_status('RNG', 'RNG', fg='grey', row=0)
mpstate.console.set_status('AHRS', 'AHRS', fg='grey', row=0)
mpstate.console.set_status('Heading', 'Hdg ---/---', row=2)
mpstate.console.set_status('Alt', 'Alt ---', row=2)
mpstate.console.set_status('AGL', 'AGL ---/---', row=2)
mpstate.console.set_status('AirSpeed', 'AirSpeed --', row=2)
mpstate.console.set_status('GPSSpeed', 'GPSSpeed --', row=2)
mpstate.console.set_status('Thr', 'Thr ---', row=2)
mpstate.console.set_status('Roll', 'Roll ---', row=2)
mpstate.console.set_status('Pitch', 'Pitch ---', row=2)
mpstate.console.set_status('Wind', 'Wind ---/---', row=2)
mpstate.console.set_status('WP', 'WP --', row=3)
mpstate.console.set_status('WPDist', 'Distance ---', row=3)
mpstate.console.set_status('WPBearing', 'Bearing ---', row=3)
mpstate.console.set_status('AltError', 'AltError --', row=3)
mpstate.console.set_status('AspdError', 'AspdError --', row=3)
mpstate.console.set_status('FlightTime', 'FlightTime --', row=3)
mpstate.console.set_status('ETR', 'ETR --', row=3)
mpstate.console.ElevationMap = mp_elevation.ElevationModel()
# create the main menu
self.menu = MPMenuTop([])
self.add_menu(
MPMenuSubMenu('MAVProxy',
items=[
MPMenuItem('Settings', 'Settings',
'menuSettings'),
MPMenuItem('Map', 'Load Map',
'# module load map')
]))
def __init__(self, filename):
from MAVProxy.modules.mavproxy_map import mp_elevation
f = open(filename)
lines = f.readlines()
f.close()
self.positions = []
self.columns = lines[0].rstrip().split(' ')
self.colmap = {}
self.time_offset = None
self.ElevationMap = mp_elevation.ElevationModel()
for i in range(len(self.columns)):
self.colmap[self.columns[i]] = i
for i in range(1, len(lines)):
self._parse_line(lines[i].rstrip())
def __init__(self, mpstate):
super(TerrainModule, self).__init__(mpstate, "terrain", "terrain handling", public=False)
self.ElevationModel = mp_elevation.ElevationModel()
self.current_request = None
self.sent_mask = 0
self.last_send_time = time.time()
self.requests_received = 0
self.blocks_sent = 0
self.check_lat = 0
self.check_lon = 0
self.add_command('terrain', self.cmd_terrain, "terrain control",
["<status|check>",
'set (TERRAINSETTING)'])
self.terrain_settings = mp_settings.MPSettings(
[ ('debug', int, 0) ]
)
self.add_completion_function('(TERRAINSETTING)', self.terrain_settings.completion)
def __init__(self, mpstate):
super(CameraViewModule, self).__init__(mpstate, "cameraview")
self.add_command('cameraview', self.cmd_cameraview, "camera view")
self.roll = 0
self.pitch = 0
self.yaw = 0
self.mount_roll = 0
self.mount_pitch = 0
self.mount_yaw = 0
self.height = 0
self.lat = 0
self.lon = 0
self.home_height = 0
self.hdg = 0
self.elevation_model = mp_elevation.ElevationModel()
self.camera_params = CameraParams() # TODO how to get actual camera params
self.view_settings = mp_settings.MPSettings(
[ ('r', float, 0.5),
('g', float, 0.5),
('b', float, 1.0),
])
self.update_col()
def __init__(self, mpstate):
super(MDlinkModule, self).__init__(mpstate,
"mdlink",
"GUI mdlink",
public=True)
self.in_air = False
self.start_time = 0.0
self.total_time = 0.0
self.speed = 0
self.max_link_num = 0
mpstate.mdlink = wxconsole.MessageConsole(title='MDlink')
#========================================================================
self.MissionDirector_time_between_hbs = 1
self.MissionDirector_time_of_last_hb = -100
self.current_wp = 0
self.wp_to_loiter_at = 3
self.loiter_command_given = 0
self.time_when_loiter_given = 0.0
self.time_to_loiter_until_returning_home = 60.0
self.return_home_command_given = 0
#========================================================================
# setup some default status information
mpstate.mdlink.set_status('Mode', 'UNKNOWN', row=0, fg='blue')
mpstate.mdlink.set_status('GPS', 'GPS: --', fg='red', row=0)
mpstate.mdlink.set_status('Vcc', 'Vcc: --', fg='red', row=0)
mpstate.mdlink.set_status('Radio', 'Radio: --', row=0)
mpstate.mdlink.set_status('INS', 'INS', fg='grey', row=0)
mpstate.mdlink.set_status('MAG', 'MAG', fg='grey', row=0)
mpstate.mdlink.set_status('AS', 'AS', fg='grey', row=0)
mpstate.mdlink.set_status('RNG', 'RNG', fg='grey', row=0)
mpstate.mdlink.set_status('AHRS', 'AHRS', fg='grey', row=0)
mpstate.mdlink.set_status('Heading', 'Hdg ---/---', row=2)
mpstate.mdlink.set_status('Alt', 'Alt ---', row=2)
mpstate.mdlink.set_status('AGL', 'AGL ---/---', row=2)
mpstate.mdlink.set_status('AirSpeed', 'AirSpeed --', row=2)
mpstate.mdlink.set_status('GPSSpeed', 'GPSSpeed --', row=2)
mpstate.mdlink.set_status('Thr', 'Thr ---', row=2)
mpstate.mdlink.set_status('Roll', 'Roll ---', row=2)
mpstate.mdlink.set_status('Pitch', 'Pitch ---', row=2)
mpstate.mdlink.set_status('Wind', 'Wind ---/---', row=2)
mpstate.mdlink.set_status('WP', 'WP --', row=3)
mpstate.mdlink.set_status('WPDist', 'Distance ---', row=3)
mpstate.mdlink.set_status('WPBearing', 'Bearing ---', row=3)
mpstate.mdlink.set_status('AltError', 'AltError --', row=3)
mpstate.mdlink.set_status('AspdError', 'AspdError --', row=3)
mpstate.mdlink.set_status('FlightTime', 'FlightTime --', row=3)
mpstate.mdlink.set_status('ETR', 'ETR --', row=3)
mpstate.mdlink.ElevationMap = mp_elevation.ElevationModel()
# create the main menu
self.menu = MPMenuTop([])
self.add_menu(
MPMenuSubMenu('MAVProxy',
items=[
MPMenuItem('Settings', 'Settings',
'menuSettings'),
MPMenuItem('Map', 'Load Map',
'# module load map')
]))
def __init__(self, mpstate):
super(MapModule, self).__init__(mpstate,
"map",
"map display",
public=True,
multi_instance=True,
multi_vehicle=True)
cmdname = "map"
if self.instance > 1:
cmdname += "%u" % self.instance
# lat/lon per system ID
self.lat_lon = {}
self.wp_change_time = 0
self.fence_change_time = 0
self.rally_change_time = 0
self.have_simstate = False
self.have_vehicle = {}
self.move_wp = -1
self.moving_wp = None
self.moving_fencepoint = None
self.moving_rally = None
self.mission_list = None
self.icon_counter = 0
self.circle_counter = 0
self.draw_line = None
self.draw_callback = None
self.have_global_position = False
self.vehicle_type_by_sysid = {}
self.vehicle_type_name = 'plane'
self.ElevationMap = mp_elevation.ElevationModel()
self.last_unload_check_time = time.time()
self.unload_check_interval = 0.1 # seconds
self.trajectory_layers = set()
self.map_settings = mp_settings.MPSettings([
('showgpspos', int, 1), ('showgps2pos', int, 1),
('showsimpos', int, 0), ('showahrspos', int, 1),
('showahrs2pos', int, 0), ('showahrs3pos', int, 0),
('brightness', float, 1), ('rallycircle', bool, False),
('loitercircle', bool, False), ('showclicktime', int, 2),
('showdirection', bool, False)
])
service = 'MicrosoftHyb'
if 'MAP_SERVICE' in os.environ:
service = os.environ['MAP_SERVICE']
import platform
from MAVProxy.modules.mavproxy_map import mp_slipmap
title = "Map"
if self.instance > 1:
title += str(self.instance)
self.map = mp_slipmap.MPSlipMap(service=service,
elevation=True,
title=title)
if self.instance == 1:
self.mpstate.map = self.map
mpstate.map_functions = {'draw_lines': self.draw_lines}
self.map.add_callback(functools.partial(self.map_callback))
self.add_command(
cmdname, self.cmd_map, "map control",
['icon', 'set (MAPSETTING)', 'zoom', 'center', 'follow', 'clear'])
self.add_completion_function('(MAPSETTING)',
self.map_settings.completion)
self.default_popup = MPMenuSubMenu('Popup', items=[])
self.add_menu(
MPMenuItem('Fly To',
'Fly To',
'# guided ',
handler=MPMenuCallTextDialog(
title='Altitude (m)',
default=self.mpstate.settings.guidedalt)))
self.add_menu(MPMenuItem('Set Home', 'Set Home', '# map sethomepos '))
self.add_menu(
MPMenuItem('Set Home (with height)', 'Set Home', '# map sethome '))
self.add_menu(
MPMenuItem('Set Origin', 'Set Origin', '# map setoriginpos '))
self.add_menu(
MPMenuItem('Set Origin (with height)', 'Set Origin',
'# map setorigin '))
self.add_menu(
MPMenuItem('Terrain Check', 'Terrain Check', '# terrain check'))
self.add_menu(
MPMenuItem('Show Position', 'Show Position', 'showPosition'))
self._colour_for_wp_command = {
# takeoff commands
mavutil.mavlink.MAV_CMD_NAV_TAKEOFF: (255, 0, 0),
mavutil.mavlink.MAV_CMD_NAV_TAKEOFF_LOCAL: (255, 0, 0),
mavutil.mavlink.MAV_CMD_NAV_VTOL_TAKEOFF: (255, 0, 0),
# land commands
mavutil.mavlink.MAV_CMD_NAV_LAND_LOCAL: (255, 255, 0),
mavutil.mavlink.MAV_CMD_NAV_LAND: (255, 255, 0),
mavutil.mavlink.MAV_CMD_NAV_VTOL_LAND: (255, 255, 0),
# waypoint commands
mavutil.mavlink.MAV_CMD_NAV_WAYPOINT: (0, 255, 255),
mavutil.mavlink.MAV_CMD_NAV_SPLINE_WAYPOINT: (64, 255, 64),
# other commands
mavutil.mavlink.MAV_CMD_DO_LAND_START: (255, 127, 0),
}
self._label_suffix_for_wp_command = {
mavutil.mavlink.MAV_CMD_NAV_TAKEOFF: "TOff",
mavutil.mavlink.MAV_CMD_DO_LAND_START: "DLS",
mavutil.mavlink.MAV_CMD_NAV_SPLINE_WAYPOINT: "SW",
mavutil.mavlink.MAV_CMD_NAV_VTOL_LAND: "VL",
}
help="start latitude")
parser.add_option("--lon",
type='float',
default=149.509165,
help="start longitude")
parser.add_option("--database",
type='string',
default='srtm',
help="elevation database")
parser.add_option("--debug", action='store_true', help="enabled debugging")
parser.add_option("--step", type='float', default=0.001)
parser.add_option("--numsteps", type='int', default=1000)
(opts, args) = parser.parse_args()
EleModel = mp_elevation.ElevationModel(opts.database, debug=opts.debug)
lat = opts.lat
lon = opts.lon
xdata = []
ydata = []
for x in range(opts.numsteps):
xdata.append(lon)
alt = EleModel.GetElevation(lat, lon, timeout=10)
ydata.append(alt)
if alt is None:
print("Tile not available")
sys.exit(1)
lon += opts.step
def __init__(self, state, *args, **kwds):
# begin wxGlade: MissionEditorFrame.__init__
self.state = state
kwds["style"] = wx.DEFAULT_FRAME_STYLE
wx.Frame.__init__(self, *args, **kwds)
self.label_sync_state = wx.StaticText(self,
wx.ID_ANY,
"UNSYNCED \n",
style=wx.ALIGN_CENTRE)
self.label_wp_radius = wx.StaticText(self, wx.ID_ANY, "WP Radius")
self.text_ctrl_wp_radius = wx.TextCtrl(self,
wx.ID_ANY,
"",
style=wx.TE_PROCESS_ENTER
| wx.TE_PROCESS_TAB)
self.label_loiter_rad = wx.StaticText(self, wx.ID_ANY, "Loiter Radius")
self.text_ctrl_loiter_radius = wx.TextCtrl(self,
wx.ID_ANY,
"",
style=wx.TE_PROCESS_ENTER
| wx.TE_PROCESS_TAB)
self.checkbox_loiter_dir = wx.CheckBox(self, wx.ID_ANY, "CW")
self.checkbox_agl = wx.CheckBox(self, wx.ID_ANY, "AGL")
self.label_default_alt = wx.StaticText(self, wx.ID_ANY, "Default Alt")
self.text_ctrl_wp_default_alt = wx.TextCtrl(self,
wx.ID_ANY,
"",
style=wx.TE_PROCESS_ENTER
| wx.TE_PROCESS_TAB)
self.label_home_location = wx.StaticText(self, wx.ID_ANY,
"Home Location")
self.label_home_lat = wx.StaticText(self, wx.ID_ANY, "Lat")
self.label_home_lat_value = wx.StaticText(self, wx.ID_ANY, "0.0")
self.label_home_lon = wx.StaticText(self, wx.ID_ANY, "Lon")
self.label_home_lon_value = wx.StaticText(self, wx.ID_ANY, "0.0")
self.label_home_alt = wx.StaticText(self, wx.ID_ANY, "Alt (abs)")
self.label_home_alt_value = wx.StaticText(self, wx.ID_ANY, "0.0")
self.button_read_wps = wx.Button(self, wx.ID_ANY, "Read WPs")
self.button_write_wps = wx.Button(self, wx.ID_ANY, "Write WPs")
self.button_load_wp_file = wx.Button(self, wx.ID_ANY, "Load WP File")
self.button_save_wp_file = wx.Button(self, wx.ID_ANY, "Save WP File")
self.grid_mission = wx.grid.Grid(self, wx.ID_ANY, size=(1, 1))
self.button_add_wp = wx.Button(self, wx.ID_ANY, "Add Below")
self.button_split = wx.Button(self, wx.ID_ANY, "Split")
self.__set_properties()
self.__do_layout()
self.ElevationModel = mp_elevation.ElevationModel()
self.Bind(wx.EVT_TEXT_ENTER, self.on_wp_radius_enter,
self.text_ctrl_wp_radius)
self.Bind(wx.EVT_TEXT, self.on_wp_radius_changed,
self.text_ctrl_wp_radius)
self.Bind(wx.EVT_TEXT_ENTER, self.on_loiter_rad_enter,
self.text_ctrl_loiter_radius)
self.Bind(wx.EVT_TEXT, self.on_loiter_rad_change,
self.text_ctrl_loiter_radius)
self.Bind(wx.EVT_CHECKBOX, self.on_loiter_dir_cb_change,
self.checkbox_loiter_dir)
self.Bind(wx.EVT_TEXT_ENTER, self.on_wp_default_alt_enter,
self.text_ctrl_wp_default_alt)
self.Bind(wx.EVT_TEXT, self.on_wp_default_alt_change,
self.text_ctrl_wp_default_alt)
self.Bind(wx.EVT_BUTTON, self.read_wp_pushed, self.button_read_wps)
self.Bind(wx.EVT_BUTTON, self.write_wp_pushed, self.button_write_wps)
self.Bind(wx.EVT_BUTTON, self.load_wp_file_pushed,
self.button_load_wp_file)
self.Bind(wx.EVT_BUTTON, self.save_wp_file_pushed,
self.button_save_wp_file)
self.Bind(wx.grid.EVT_GRID_CMD_CELL_CHANGED,
self.on_mission_grid_cell_changed, self.grid_mission)
self.Bind(wx.grid.EVT_GRID_CMD_CELL_LEFT_CLICK,
self.on_mission_grid_cell_left_click, self.grid_mission)
self.Bind(wx.grid.EVT_GRID_CMD_SELECT_CELL,
self.on_mission_grid_cell_select, self.grid_mission)
self.Bind(wx.EVT_BUTTON, self.add_wp_below_pushed, self.button_add_wp)
self.Bind(wx.EVT_BUTTON, self.split_pushed, self.button_split)
# end wxGlade
#use a timer to facilitate event an event handlers for events
#passed from another process.
self.timer = wx.Timer(self)
self.Bind(wx.EVT_TIMER, self.time_to_process_gui_events, self.timer)
self.timer.Start(200)
self.last_layout_send = time.time()
self.Bind(wx.EVT_IDLE, self.on_idle)
delete_br = button_renderer.ButtonRenderer("Delete", 70, 20)
up_br = button_renderer.ButtonRenderer("+", 20, 20)
down_br = button_renderer.ButtonRenderer("-", 1, 1)
self.del_attr = wx.grid.GridCellAttr()
self.del_attr.SetReadOnly(True)
self.del_attr.SetRenderer(delete_br)
self.up_attr = wx.grid.GridCellAttr()
self.up_attr.SetReadOnly(True)
self.up_attr.SetRenderer(up_br)
self.down_attr = wx.grid.GridCellAttr()
self.down_attr.SetReadOnly(True)
self.down_attr.SetRenderer(down_br)
self.read_only_attr = wx.grid.GridCellAttr()
self.read_only_attr.SetReadOnly(True)
self.grid_mission.SetColAttr(ME_DELETE_COL, self.del_attr)
self.grid_mission.SetColAttr(ME_UP_COL, self.up_attr)
self.grid_mission.SetColAttr(ME_DOWN_COL, self.down_attr)
self.grid_mission.SetColAttr(ME_DIST_COL, self.read_only_attr)
self.grid_mission.SetColAttr(ME_ANGLE_COL, self.read_only_attr)
self.grid_mission.SetRowLabelSize(50)
#remember what mission we opened/saved last
self.last_mission_file_path = ""
#remember last map click position
self.last_map_click_pos = None
import socket, time, random, math
track_count = 0
# object types
DNFZ_types = {
'Aircraft': 1,
'Weather': 20000,
'BirdMigrating': 30000,
'BirdOfPrey': 40000
}
from MAVProxy.modules.mavproxy_map import mp_elevation
ElevationMap = mp_elevation.ElevationModel()
gen_settings = mp_settings.MPSettings([("port", int, 45454), ('debug', int, 0),
('home_lat', float, -27.298440),
('home_lon', float, 151.290775),
('region_width', float, 15000),
('num_aircraft', int, 5),
('num_bird_prey', int, 5),
('num_bird_migratory', int, 5),
('num_weather', int, 5),
('wgs84_to_AMSL', float, -41.2),
('stop', int, 0)])
class DNFZ:
'''a dynamic no-fly zone object'''
type='float',
default=3,
help="maximum climb rate")
parser.add_option("--home", default=None, help="new home")
(opts, args) = parser.parse_args()
from pymavlink import mavutil, mavwp
if len(args) < 1:
print("Usage: mavmission.py [options] <missionfile>")
sys.exit(1)
parms = {}
EleModel = mp_elevation.ElevationModel()
def get_ground_alt(lat, lon):
'''get highest ground altitide around a point'''
global EleModel
ground = EleModel.GetElevation(lat, lon)
surrounds = []
for bearing in range(0, 360, 45):
surrounds.append((opts.lookahead, bearing))
for (dist, bearing) in surrounds:
(lat2, lon2) = cuav_util.gps_newpos(lat, lon, bearing, dist)
el = EleModel.GetElevation(lat2, lon2)
if el > ground:
ground = el
return ground
def __init__(self, mpstate):
super(ConsoleModule, self).__init__(mpstate,
"console",
"Raven console",
public=True,
multi_vehicle=True)
self.in_air = False
self.start_time = 0.0
self.total_time = 0.0
self.speed = 0
self.max_link_num = 0
self.last_sys_status_health = 0
mpstate.console = wxconsole.MessageConsole(title='Raven Console')
# setup some default status information
mpstate.console.set_status('Mode', 'UNKNOWN', row=0, fg='blue')
mpstate.console.set_status('SysID', '', row=0, fg='blue')
mpstate.console.set_status('ARM', 'ARM', fg='grey', row=0)
mpstate.console.set_status('GPS', 'GPS: --', fg='red', row=0)
mpstate.console.set_status('Vcc', 'Vcc: --', fg='red', row=0)
mpstate.console.set_status('Radio', 'Radio: --', row=0)
mpstate.console.set_status('INS', 'INS', fg='grey', row=0)
mpstate.console.set_status('MAG', 'MAG', fg='grey', row=0)
mpstate.console.set_status('AS', 'AS', fg='grey', row=0)
mpstate.console.set_status('RNG', 'RNG', fg='grey', row=0)
mpstate.console.set_status('AHRS', 'AHRS', fg='grey', row=0)
mpstate.console.set_status('EKF', 'EKF', fg='grey', row=0)
mpstate.console.set_status('LOG', 'LOG', fg='grey', row=0)
mpstate.console.set_status('Heading', 'Head ---/---', row=2)
mpstate.console.set_status('Alt', 'Alt ---', row=2)
mpstate.console.set_status('AGL', 'AGL ---/---', row=2)
mpstate.console.set_status('AirSpeed', 'AirSpeed --', row=2)
mpstate.console.set_status('GPSSpeed', 'GPSSpeed --', row=2)
mpstate.console.set_status('Thr', 'Thr ---', row=2)
mpstate.console.set_status('Roll', 'Roll ---', row=2)
mpstate.console.set_status('Pitch', 'Pitch ---', row=2)
mpstate.console.set_status('Wind', 'Wind ---/---', row=2)
mpstate.console.set_status('WP', 'WP --', row=3)
mpstate.console.set_status('WPDist', 'Distance ---', row=3)
mpstate.console.set_status('WPBearing', 'Bearing ---', row=3)
mpstate.console.set_status('AltError', 'AltError --', row=3)
mpstate.console.set_status('AspdError', 'AspdError --', row=3)
mpstate.console.set_status('FlightTime', 'FlightTime --', row=3)
mpstate.console.set_status('ETR', 'ETR --', row=3)
mpstate.console.ElevationMap = mp_elevation.ElevationModel()
self.vehicle_list = []
self.vehicle_menu = None
self.vehicle_name_by_sysid = {}
self.last_param_sysid_timestamp = None
# create the main menu
if mp_util.has_wxpython:
self.menu = MPMenuTop([])
self.arm_menu = MPMenuSubMenu(
'Arm/Disarm',
items=[
MPMenuItem('Arming', 'Arming', '# arm throttle'),
MPMenuItem('Disarming', 'Disarming', '# disarm')
])
self.graph_menu = MPMenuSubMenu(
'Add Graph',
items=[
MPMenuItem('Ground and Air Speed', 'Ground and Air Speed',
'# graph VFR_HUD.groundspeed VFR_HUD.airspeed'),
MPMenuItem(
'Attitude/Roll and Pitch', 'Attitude/Roll and Pitch',
'# graph degrees(ATTITUDE.roll) degrees(ATTITUDE.pitch)'
),
MPMenuItem('Altitude', 'Altitude', '# graph VFR_HUD.alt')
])
self.add_menu(
MPMenuSubMenu('Main Menu',
items=[
self.arm_menu,
MPMenuItem('Settings', 'Settings',
'menuSettings'),
MPMenuItem('Add Graph Module', 'Load Graph',
'# module load graph'),
MPMenuItem('Add Map Module', 'Load Map',
'# module load map'),
self.graph_menu,
MPMenuItem('Prachute Release',
'Load Parachute',
'# parachute release'),
MPMenuItem('Save Data', 'Save Data',
'# param save data.csv')
]))
