def detect_navigator() -> Optional[FlightController]:
"""Returns Navigator board if connected.
Check for connection using the sensors on the I²C and SPI buses.
Returns:
Optional[FlightController]: Return FlightController if connected, None otherwise.
"""
def is_navigator_r5_connected() -> bool:
try:
bus = SMBus(1)
ADS1115_address = 0x48
bus.read_byte_data(ADS1115_address, 0)
AK09915_address = 0x0C
bus.read_byte_data(AK09915_address, 0)
BME280_address = 0x76
bus.read_byte_data(BME280_address, 0)
bus = SMBus(4)
PCA9685_address = 0x40
bus.read_byte_data(PCA9685_address, 0)
return True
except Exception:
return False
def is_navigator_r3_connected() -> bool:
try:
bus = SMBus(1)
ADS1115_address = 0x48
bus.read_byte_data(ADS1115_address, 0)
bus = SMBus(4)
PCA9685_address = 0x40
bus.read_byte_data(PCA9685_address, 0)
return True
except Exception:
return False
logger.debug("Trying to detect Navigator board.")
if is_navigator_r5_connected():
logger.debug("Navigator R5 detected.")
return FlightController(name="NavigatorR5",
manufacturer="Blue Robotics",
platform=Platform.NavigatorR5)
if is_navigator_r3_connected():
logger.debug("Navigator R3 detected.")
return FlightController(name="NavigatorR3",
manufacturer="Blue Robotics",
platform=Platform.NavigatorR3)
logger.debug("No Navigator board detected.")
return None
def test_firmware_validation() -> None:
downloader = FirmwareDownloader()
installer = FirmwareInstaller()
# Pixhawk1 and Pixhawk4 APJ firmwares should always work
temporary_file = downloader.download(Vehicle.Sub, Platform.Pixhawk1)
installer.validate_firmware(temporary_file, Platform.Pixhawk1)
temporary_file = downloader.download(Vehicle.Sub, Platform.Pixhawk4)
installer.validate_firmware(temporary_file, Platform.Pixhawk4)
# New SITL firmwares should always work
temporary_file = downloader.download(Vehicle.Sub,
Platform.SITL,
version="DEV")
installer.validate_firmware(temporary_file, Platform.SITL)
# Raise when validating Navigator firmwares (as test platform is x86)
temporary_file = downloader.download(Vehicle.Sub, Platform.Navigator)
with pytest.raises(InvalidFirmwareFile):
installer.validate_firmware(temporary_file, Platform.Navigator)
# Install SITL firmware
temporary_file = downloader.download(Vehicle.Sub,
Platform.SITL,
version="DEV")
board = FlightController(name="SITL",
manufacturer="ArduPilot Team",
platform=Platform.SITL)
installer.install_firmware(temporary_file, board,
pathlib.Path(f"{temporary_file}_dest"))
def detect_serial_flight_controllers() -> List[FlightController]:
"""Check if a Pixhawk1 or any other valid serial flight controller is connected.
Returns:
List[FlightController]: List with connected serial flight controller.
"""
serial_path = "/dev/autopilot"
for port in comports(include_links=True):
if not port.device == serial_path:
continue
return [
FlightController(
name=port.product or port.name,
manufacturer=port.manufacturer,
platform=Platform.Pixhawk1,
path=serial_path,
)
]
return []
def detect_serial_flight_controllers() -> List[FlightController]:
"""Check if a Pixhawk1 or a Pixhawk4 is connected.
Returns:
List[FlightController]: List with connected serial flight controller.
"""
sorted_serial_ports = sorted(
comports(), key=lambda port: port.name) # type: ignore
unique_serial_devices: List[SysFS] = []
for port in sorted_serial_ports:
# usb_device_path property will be the same for two serial connections using the same USB port
if port.usb_device_path not in [
device.usb_device_path for device in unique_serial_devices
]:
unique_serial_devices.append(port)
return [
FlightController(
name=port.product or port.name,
manufacturer=port.manufacturer,
platform=Detector.detect_serial_platform(port),
path=port.device,
) for port in unique_serial_devices
if Detector.detect_serial_platform(port) is not None
]
def get_preferred_board(self) -> FlightController:
preferred_board = self.configuration.get("preferred_board")
if not preferred_board:
raise NoPreferredBoardSet("Preferred board not set yet.")
return FlightController(**preferred_board)
def set_preferred_board(self, board: FlightController) -> None:
logger.info(f"Setting {board.name} as preferred flight-controller.")
self.configuration["preferred_board"] = board.dict(exclude={"path"})
self.settings.save(self.configuration)
def detect_sitl() -> FlightController:
return FlightController(name="SITL",
manufacturer="ArduPilot Team",
platform=Platform.SITL)