def send_mission():
#read mission
global waypoint
global send_mission_once
try:
print("\nReading mission")
waypoint = mi.save_mission(vehicle)
send_mission_once = True
print("\nMission read")
#if waypoint is read, then set send_mission_once to True so that, mission can be sent instead of data.
except Exception as e:
err = {'context': 'Mission', 'msg': 'Mission FIle could not be read'}
logger.error(err)
def send_data(threadName, delay):
global waypoint #needs to be global as it is accessed by on_mission_download, socket function
global checker #flag to start the functions to calculate total distance and eta once the mission is received from pixhawk
total = 0
check = True
divisor = 1
last_vel = 0
data = {}
# magcal(vehicle)
while 1:
# print("data sending ")
try:
loc = vehicle.location.global_frame
except Exception as e:
error = {'context': 'loc', 'msg': 'Location not found!!!'}
socket.emit("errors", error)
try:
data["numSat"] = vehicle.gps_0.satellites_visible
except Exception as e:
error = {'context': 'numSat', 'msg': 'numSat not found!!'}
socket.emit("errors", error)
try:
data["hdop"] = vehicle.gps_0.eph
except Exception as e:
error = {'context': 'loc', 'msg': 'Location not found!!!'}
socket.emit("errors", error)
try:
data["fix"] = vehicle.gps_0.fix_type
except Exception as e:
error = {'context': 'fix', 'msg': 'fix type not found!!!'}
socket.emit("errors", error)
try:
data["lat"] = format(loc.lat, '.15f')
data["lng"] = format(loc.lon, '.15f')
except Exception as e:
error = {'context': 'format', 'msg': 'Long lat format error!!!'}
socket.emit("errors", error)
try:
vel = vehicle.velocity
except Exception as e:
error = {'context': 'vel', 'msg': 'velocity not found!!!'}
socket.emit("errors", error)
try:
status = str(vehicle.system_status)
except Exception as e:
error = {'context': 'status', 'msg': 'Status not found!!!'}
socket.emit("errors", error)
try:
data["conn"] = 'True'
except Exception as e:
error = {'context': 'loc', 'msg': 'Location not found!!!'}
socket.emit("errors", error)
try:
data["arm"] = vehicle.armed
except Exception as e:
error = {'context': 'arm', 'msg': 'Arm not found!!!'}
socket.emit("errors", error)
try:
data["ekf"] = vehicle.ekf_ok
except Exception as e:
error = {'context': 'ekf', 'msg': 'ekf not found!!!'}
socket.emit("errors", error)
try:
data["mode"] = vehicle.mode.name
except Exception as e:
error = {'context': ',mode', 'msg': 'Mode not found!!!'}
socket.emit("errors", error)
try:
data["alt"] = format(loc.alt, '.2f')
except Exception as e:
error = {'context': 'alt', 'msg': 'altitude format error!!!'}
socket.emit("errors", error)
try:
data["roll"] = vehicle.attitude.roll
except Exception as e:
error = {'context': 'roll', 'msg': 'roll not found!!!'}
socket.emit("errors", error)
try:
data["pitch"] = vehicle.attitude.pitch
except Exception as e:
error = {'context': 'pitch', 'msg': 'pitch not found!!!'}
socket.emit("errors", error)
try:
data["yaw"] = vehicle.attitude.yaw
except Exception as e:
error = {'context': 'yaw', 'msg': 'yaw not found!!!'}
socket.emit("errors", error)
try:
data["altr"] = vehicle.location.global_relative_frame.alt
except Exception as e:
error = {'context': 'altr', 'msg': 'rel alt not found!!!'}
socket.emit("errors", error)
try:
data["head"] = format(vehicle.heading, 'd')
except Exception as e:
error = {'context': 'head', 'msg': 'head not found!!!'}
socket.emit("errors", error)
try:
data["as"] = format(vehicle.airspeed, '.3f')
except Exception as e:
error = {'context': 'as_format', 'msg': 'as format error!!!'}
socket.emit("errors", error)
try:
data["lidar"] = vehicle.rangefinder.distance
except Exception as e:
error = {'context': 'lidar', 'msg': 'Lidar not found!!!'}
socket.emit("errors", error)
try:
data["gs"] = format(vehicle.groundspeed, '.3f')
except Exception as e:
error = {'context': 'gs', 'msg': 'gs format error!!!'}
socket.emit("errors", error)
try:
data["status"] = status[13:]
except Exception as e:
error = {'context': 'status', 'msg': 'status not found!!!'}
socket.emit("errors", error)
try:
data["volt"] = format(vehicle.battery.voltage, '.2f')
except Exception as e:
error = {'context': 'volt', 'msg': 'voltage not found!!!'}
socket.emit("errors", error)
print(data["head"])
if not vehicle.armed:
time1 = 0
# print(datetime.datetime.now())
if checker: #only if waypoints are successfully read
if vehicle.armed and check: # check is used to receive time of arming only once, at first arming
time1 = datetime.datetime.now() #receive time once armed
check = False
if not check:
try:
time2 = datetime.datetime.now() # calculate current time
flight_time = float(
(time2 -
time1).total_seconds()) # calculate total flight time
vel = float(
(last_vel + vehicle.groundspeed) / divisor
) #calculate the average velocity upto current time
print(flight_time, total)
est = float(
(float(total) - flight_time * vel) /
3.5) #estimate eta, with assummed velocity 3.5 m/s
#print(est)
if est <= 0.5: #making sure eta is not less thatn 0.5
est = 0
data["est"] = est
last_vel += vehicle.groundspeed #summing up velcity to average them
divisor += 1 # the number of values of velocity
except Exception as e:
pass
socket.emit('data', data) #send data to server
socket.on(
'mission_download', on_mission_download
) #keep listening for download command for mission from server
socket.on(
'initiate_flight',
on_initiate_flight) #keep listening for fly command from user
try:
socket.on('positions', update_mission)
except Exception:
print("error positions")
try:
socket.on('RTL', set_mode_RTL)
except Exception:
pass
try:
socket.on('magcal', magcal_start)
except Exception:
pass
try:
socket.on('LAND', set_mode_LAND)
except Exception:
pass
if vehicle.gps_0.fix_type > 1 and not checker: ## check gps before downloading the mission as home points are not received without gps, and checker to download mission only once
try:
waypoint = mi.save_mission(
vehicle
) # call the save mission function which downloads the mission from pixhawk and arranges waypoints into a dictionary
print("MISSION DOWNLOADED")
total = dis.calculate_dist(
waypoint
) # calculate total distance between home and final waypoint
print("total distance", waypoint, total)
socket.emit(
'homePosition', waypoint[0]
) # send homePosition to server as soon as gps lock
checker = True # switch value of checker such that mission is downloaded only once from pixhawk, and condition to calculate eta is met
except Exception as e:
print(e)
print("GPS error OR no mission file received!!!")
socket1.wait(
seconds=0.2
) #sends or waits for socket activities in every seconds specified
def send_data(threadName, delay):
global waypoint #needs to be global as it is accessed by on_mission_download, socket function
checker = False #flag to start the functions to calculate total distance and eta once the mission is received from pixhawk
total = 0
check = True
divisor = 1
last_vel = 0
data = {}
while 1:
#print("data sending ")
try:
loc = vehicle.location.global_frame
data["numSat"] = vehicle.gps_0.satellites_visible
data["hdop"] = vehicle.gps_0.eph
data["fix"] = vehicle.gps_0.fix_type
data["lat"] = format(loc.lat, '.15f')
data["lng"] = format(loc.lon, '.15f')
except Exception as e:
pass
vel = vehicle.velocity
status = str(vehicle.system_status)
data["conn"] = 'True'
data["arm"] = vehicle.armed
data["ekf"] = vehicle.ekf_ok
data["mode"] = vehicle.mode.name
data["alt"] = format(loc.alt, '.2f')
data["altr"] = vehicle.location.global_relative_frame.alt
data["head"] = format(vehicle.heading, 'd')
data["as"] = format(vehicle.airspeed, '.3f')
data["lidar"] = vehicle.rangefinder.distance
data["gs"] = format(vehicle.groundspeed, '.3f')
data["status"] = status[13:]
data["volt"] = format(vehicle.battery.voltage, '.2f')
print(datetime.datetime.now())
if checker: #only if waypoints are successfully read
if vehicle.armed and check: # check is used to receive time of arming only once, at first arming
time1 = datetime.datetime.now() #receive time once armed
check = False
if not check:
try:
time2 = datetime.datetime.now() # calculate current time
flight_time = float(
(time2 -
time1).total_seconds()) # calculate total flight time
vel = float(
(last_vel + vehicle.groundspeed) / divisor
) #calculate the average velocity upto current time
est = float(
(float(total) - flight_time * vel) /
3.5) #estimate eta, with assummed velocity 3.5 m/s
if est <= 0.5: #making sure eta is not less thatn 0.5
est = 0
data["est"] = est
last_vel += vehicle.groundspeed #summing up velcity to average them
divisor += 1 # the number of values of velocity
except Exception as e:
pass
socket.emit('data', data) #send data to server
socket.on(
'mission_download', on_mission_download
) #keep listening for download command for mission from server
socket.on(
'initiate_flight',
on_initiate_flight) #keep listening for fly command from user
print(data["head"])
if vehicle.gps_0.fix_type > 1 and not checker: ## check gps before downloading the mission as home points are not received without gps, and checker to download mission only once
try:
waypoint = mi.save_mission(
vehicle
) # call the save mission function which downloads the mission from pixhawk and arranges waypoints into a dictionary
print("MISSION DOWNLOADED")
total = dis.calculate_dist(
waypoint
) # calculate total distance between home and final waypoint
socket.emit(
'homePosition', waypoint[0]
) # send homePosition to server as soon as gps lock
checker = True # switch value of checker such that mission is downloaded only once from pixhawk, and condition to calculate eta is met
except Exception as e:
print(e)
print("GPS error OR no mission file received!!!")
socket.wait(
seconds=0.2
) #sends or waits for socket activities in every seconds specified