# Change throttle direction when limit reached
if self.throttle <= 0:
self.throttledir = +1
elif self.throttle >= 1:
self.throttledir = -1
else:
self.offtime = time.time() - self.timestart
self.c5prev = c5
port.write(self.request)
getter = Getter()
setter = SetterThread(getter)
setter.start()
while True:
try:
parser.parse(port.read(1))
except KeyboardInterrupt:
break
request = serialize_STATE_Request()
sock = bluetooth.BluetoothSocket(bluetooth.RFCOMM)
sock.connect((BD_ADDR, BD_PORT))
print('connected to ' + BD_ADDR)
def handler(altitude, variometer, positionX, positionY, heading,
velocityForward, velocityRightward):
print(altitude, variometer, positionX, positionY, heading, velocityForward,
velocityRightward)
sock.send(request)
parser.set_STATE_Handler(handler)
sock.send(request)
while True:
try:
parser.parse(sock.recv(1))
except KeyboardInterrupt:
sock.close()
break
import serial
from sys import argv
def handler(pitch, roll, yaw):
print(pitch, roll, yaw)
port.write(request)
if __name__ == '__main__':
parser = Parser()
request = serialize_ATTITUDE_RADIANS_Request()
port = serial.Serial(PORT, BAUD)
parser.set_ATTITUDE_RADIANS_Handler(handler)
port.write(request)
while True:
try:
parser.parse(port.read(1))
except KeyboardInterrupt:
break
PORT = '/dev/ttyACM0'
import serial
from msppg import MSP_Parser
def handler(agl, flowx, flowy):
print(agl, flowx, flowy)
port = serial.Serial(PORT, 115200)
parser = MSP_Parser()
parser.set_RANGE_AND_FLOW_Handler(handler)
while True:
c = None
try:
c = port.read()
except KeyboardInterrupt:
port.close()
break
parser.parse(c)