def get_drone_data(self):
payload = CayenneLPP()
gps = self.vehicle.location.global_relative_frame
imu = self.vehicle.raw_imu
ned = self.vehicle.location.local_frame
attitude = self.vehicle.attitude
payload.addGPS(1, gps.lat, gps.lon, gps.alt)
payload.addGyrometer(3, imu.xgyro, imu.ygyro, imu.zgyro)
payload.addAccelerometer(5, imu.xacc, imu.yacc, imu.zacc)
payload.addNED(7, ned.north, ned.east, ned.down)
payload.addAttitude(9, attitude.pitch, attitude.yaw, attitude.roll)
print("------------")
print(gps)
print(ned)
print(imu)
print(attitude)
print("------------")
cayenne_format_payload = binascii.hexlify(
payload.getBuffer()).decode('utf8')
print(cayenne_format_payload)
return cayenne_format_payload
pm25, pm10 = run_sds011.run_sensor()
print('Air Quality PM2.5: {}, PM10: {}'.format(pm25, pm10))
# make the socket blocking
# (waits for the data to be sent and for the 2 receive windows to expire)
s.setblocking(True)
# send some data
c = CayenneLPP()
c.addAnalogOutput(2, acc.pitch())
c.addAnalogOutput(25, pm25)
c.addAnalogOutput(10, pm10)
# Check if GPS data was found
if coords[0] is not None:
coords = gps.coordinates()
if coords[0] is not None and coords[1] is not None:
c.addGPS(5, coords[0], coords[1], 0)
s.send(bytes(c.getBuffer()))
print('SENT')
# make the socket non-blocking
# (because if there's no data received it will block forever...)
s.setblocking(False)
# every 10 seconds i want it to blink
# get any data received (if any...)
data = s.recv(64)
print(data)
print(coords)
now = utime.time()
print('It has been {} seconds since last GPS check.'.format(now -
check_gps))