class CALIB(ATCommand):
'''
Magnetometer calibration - Tells the drone to calibrate its magnetometer
'''
device_number = parameters.Int32(
'Identifier of the device to calibrate - '
'Choose this identifier from ardrone_calibration_device_t.')
class CTRL(ATCommand):
'''
Not documented in developer guide, change control mode
'''
mode = parameters.Int32()
mode._set_flags(
NO_CONTROL_MODE=0, # Doing nothing
ARDRONE_UPDATE_CONTROL_MODE=1, # Not used
PIC_UPDATE_CONTROL_MODE=2, # Not used
LOGS_GET_CONTROL_MODE=3, # Not used
CFG_GET_CONTROL_MODE=4,
# Send active configuration file to a client through the
# 'control' socket UDP 5559 */
ACK_CONTROL_MODE=5, # Reset command mask in navdata
CUSTOM_CFG_GET_CONTROL_MODE=6,
# Requests the list of custom configuration IDs
)
zero = parameters.Int32(default=0)
class PCMD_MAG(ATCommand):
'''
Send progressive commands - makes the drone move (translate/rotate).
'''
flag = parameters.Int32(
'flag enabling the use of progressive commands and/or the Combined'
'Yaw mode (bitfield)')
roll = parameters.Float('drone left-right tilt, [-1...1]')
pitch = parameters.Float('drone front-back tilt, [-1...1]')
gaz = parameters.Float('drone vertical speed, [-1...1]')
yaw = parameters.Float('drone angular speed, [-1...1]')
psi = parameters.Float('magneto psi, [-1...1]')
psi_accuracy = parameters.Float('magneto psi accuracy, [-1...1]')
class REF(ATCommand):
'''
at.REF interface of version 0.5
'''
input = parameters.Int32(
'an integer value, '
'representing a 32 bit-wide bit-field controlling the drone')
input._set_flags(
default=bits(18, 20, 22, 24, 28), # Always on
start=bits(9), # Takeoff / Land
select=bits(8), # Switch of emergency mode
)
class PCMD(ATCommand):
'''
Send progressive commands - makes the drone move (translate/rotate).
'''
flag = parameters.Int32(
'flag enabling the use of progressive commands and/or the Combined'
'Yaw mode (bitfield)')
roll = parameters.Float('drone left-right tilt, [-1...1]', default=0)
pitch = parameters.Float('drone front-back tilt, [-1...1]', default=0)
gaz = parameters.Float('drone vertical speed, [-1...1]', default=0)
yaw = parameters.Float('drone angular speed, [-1...1]', default=0)
flag._set_flags(
absolute_control=bits(2),
combined_yaw=bits(1),
progressive=bits(0),
)
class FOO(base.ATCommand):
argument = parameters.Int32(default=20)
class REF_0_52(base.ATCommand):
input = parameters.Int32()
def test_pack_with_instance(self):
self.assert200(parameters.Int32()._pack(200))
def test_description(self):
self.assertEqual(parameters.Int32('hahaha').__doc__, 'hahaha')
