def __init__(self, socket_map, mav_iface, send_interval, dispatcher): Bridge.__init__(self, socket_map, mav_iface, send_interval) self.dead = False recv_thread = Thread(target=self._receive) recv_thread.daemon = True send_thread = Thread(target=self._send) send_thread.daemon = True self.dispatcher = dispatcher self.auto_mode_flags = MAV_MODE_FLAG_SAFETY_ARMED \ | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED \ | MAV_MODE_FLAG_STABILIZE_ENABLED \ | MAV_MODE_FLAG_GUIDED_ENABLED \ | MAV_MODE_FLAG_AUTO_ENABLED Bridge.__init__(self, socket_map, mav_iface, send_interval) self.csb = ControlSensorBits() self.sensors_present = self.csb.bits([ 'GYRO_3D', 'ACC_3D', 'MAG_3D', 'PRESSURE_ABS', 'GPS', 'ANGLE_RATE_CONTROL', 'ATTITUDE_CTRL', 'YAW_CTRL', 'ALTITUDE_CTRL', 'XY_CTRL', 'MOTOR_CTRL' ]) self.sensors_enabled = self.sensors_present self.sensors_health = self.sensors_present self._load_reader = LoadReader() self._power_reader = PowerReader(socket_map['power_mon']) recv_thread.start() send_thread.start() self._load_reader.start() self._power_reader.start() self._power_reader.wait_data()