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mavutil.py
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mavutil.py
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#!/usr/bin/env python
'''
mavlink python utility functions
Copyright Andrew Tridgell 2011-2019
Released under GNU LGPL version 3 or later
'''
from __future__ import print_function
from builtins import object
import socket, math, struct, time, os, fnmatch, array, sys, errno
import select
import copy
import json
import re
import platform
from pymavlink import mavexpression
# We want to re-export x25crc here
from pymavlink.generator.mavcrc import x25crc as x25crc
is_py3 = sys.version_info >= (3,0)
supports_type_annotations = sys.version_info >= (3,6)
# adding these extra imports allows pymavlink to be used directly with pyinstaller
# without having complex spec files. To allow for installs that don't have ardupilotmega
# at all we avoid throwing an exception if it isn't installed
try:
if supports_type_annotations:
from pymavlink.dialects.v10 import ardupilotmega
else:
from pymavlink.dialects.v10.python2 import ardupilotmega
except Exception:
pass
# maximum packet length for a single receive call - use the UDP limit
UDP_MAX_PACKET_LEN = 65535
# Store the MAVLink library for the currently-selected dialect
# (set by set_dialect())
mavlink = None
# Store the mavlink file currently being operated on
# (set by mavlink_connection())
mavfile_global = None
# If the caller hasn't specified a particular native/legacy version, use this
default_native = False
# link_id used for signing
global_link_id = 0
# Use a globally-set MAVLink dialect if one has been specified as an environment variable.
if not 'MAVLINK_DIALECT' in os.environ:
os.environ['MAVLINK_DIALECT'] = 'ardupilotmega'
def mavlink10():
'''return True if using MAVLink 1.0 or later'''
return not 'MAVLINK09' in os.environ
def mavlink20():
'''return True if using MAVLink 2.0'''
return 'MAVLINK20' in os.environ
def evaluate_expression(expression, vars, nocondition=False):
'''evaluation an expression'''
return mavexpression.evaluate_expression(expression, vars, nocondition)
def evaluate_condition(condition, vars):
'''evaluation a conditional (boolean) statement'''
if condition is None:
return True
v = evaluate_expression(condition, vars)
if v is None:
return False
return v
def u_ord(c):
if is_py3:
return c
return ord(c)
class location(object):
'''represent a GPS coordinate'''
def __init__(self, lat, lng, alt=0, heading=0):
self.lat = lat # in degrees
self.lng = lng # in degrees
self.alt = alt # in metres
self.heading = heading
def __str__(self):
return "lat=%.6f,lon=%.6f,alt=%.1f" % (self.lat, self.lng, self.alt)
def add_message(messages, mtype, msg):
'''add a msg to array of messages, taking account of instance messages'''
if msg._instance_field is None or getattr(msg, msg._instance_field, None) is None:
# simple case, no instance field
messages[mtype] = msg
return
instance_value = getattr(msg, msg._instance_field)
if not mtype in messages:
messages[mtype] = copy.copy(msg)
messages[mtype]._instances = {}
messages[mtype]._instances[instance_value] = msg
messages["%s[%s]" % (mtype, str(instance_value))] = copy.copy(msg)
return
messages[mtype]._instances[instance_value] = msg
prev_instances = messages[mtype]._instances
messages[mtype] = copy.copy(msg)
messages[mtype]._instances = prev_instances
messages["%s[%s]" % (mtype, str(instance_value))] = copy.copy(msg)
def set_dialect(dialect, with_type_annotations=None):
'''set the MAVLink dialect to work with.
For example, set_dialect("ardupilotmega")
'''
global mavlink, current_dialect
from .generator import mavparse
if with_type_annotations is None:
with_type_annotations = supports_type_annotations
legacy_python_module = "python2." if not with_type_annotations else ""
if 'MAVLINK20' in os.environ:
wire_protocol = mavparse.PROTOCOL_2_0
modname = "pymavlink.dialects.v20." + legacy_python_module + dialect
elif mavlink is None or mavlink.WIRE_PROTOCOL_VERSION == "1.0" or not 'MAVLINK09' in os.environ:
wire_protocol = mavparse.PROTOCOL_1_0
modname = "pymavlink.dialects.v10." + legacy_python_module + dialect
else:
wire_protocol = mavparse.PROTOCOL_0_9
modname = "pymavlink.dialects.v09." + legacy_python_module + dialect
try:
mod = __import__(modname)
except Exception:
# auto-generate the dialect module
from .generator.mavgen import mavgen_python_dialect
mavgen_python_dialect(dialect, wire_protocol, with_type_annotations=with_type_annotations)
mod = __import__(modname)
components = modname.split('.')
for comp in components[1:]:
mod = getattr(mod, comp)
current_dialect = dialect
mavlink = mod
# Set the default dialect. This is done here as it needs to be after the function declaration
set_dialect(os.environ['MAVLINK_DIALECT'])
class mavfile_state(object):
'''state for a particular system id'''
def __init__(self):
self.messages = { 'MAV' : self }
self.flightmode = "UNKNOWN"
self.vehicle_type = "UNKNOWN"
self.mav_type = mavlink.MAV_TYPE_FIXED_WING
self.mav_autopilot = mavlink.MAV_AUTOPILOT_GENERIC
self.base_mode = 0
self.armed = False # canonical arm state for the vehicle as a whole
if float(mavlink.WIRE_PROTOCOL_VERSION) >= 1:
self.messages['HOME'] = mavlink.MAVLink_gps_raw_int_message(0,0,0,0,0,0,0,0,0,0)
mavlink.MAVLink_waypoint_message = mavlink.MAVLink_mission_item_message
else:
self.messages['HOME'] = mavlink.MAVLink_gps_raw_message(0,0,0,0,0,0,0,0,0)
class param_state(object):
'''state for a particular system id/component id pair'''
def __init__(self):
self.params = {}
class mavfile(object):
'''a generic mavlink port'''
def __init__(self, fd, address, source_system=255, source_component=0, notimestamps=False, input=True, use_native=default_native):
global mavfile_global
if input:
mavfile_global = self
self.fd = fd
self.sysid = 0
self.param_sysid = (0,0)
self.address = address
self.timestamp = 0
self.last_seq = {}
self.mav_loss = 0
self.mav_count = 0
self.param_fetch_start = 0
# state for each sysid
self.sysid_state = {}
self.sysid_state[self.sysid] = mavfile_state()
# param state for each sysid/compid tuple
self.param_state = {}
self.param_state[self.param_sysid] = param_state()
# status of param fetch, indexed by sysid,compid tuple
self.source_system = source_system
self.source_component = source_component
self.first_byte = True
self.robust_parsing = True
self.mav = mavlink.MAVLink(self, srcSystem=self.source_system, srcComponent=self.source_component, use_native=use_native)
self.mav.robust_parsing = self.robust_parsing
self.logfile = None
self.logfile_raw = None
self.start_time = time.time()
self.message_hooks = []
self.idle_hooks = []
self.uptime = 0.0
self.notimestamps = notimestamps
self._timestamp = None
self.WIRE_PROTOCOL_VERSION = mavlink.WIRE_PROTOCOL_VERSION
self.stop_on_EOF = False
self.portdead = False
@property
def target_system(self):
return self.sysid
@property
def target_component(self):
return self.param_sysid[1]
@target_system.setter
def target_system(self, value):
self.sysid = value
if not self.sysid in self.sysid_state:
self.sysid_state[self.sysid] = mavfile_state()
if self.sysid != self.param_sysid[0]:
self.param_sysid = (self.sysid, self.param_sysid[1])
if not self.param_sysid in self.param_state:
self.param_state[self.param_sysid] = param_state()
@target_component.setter
def target_component(self, value):
if value != self.param_sysid[1]:
self.param_sysid = (self.param_sysid[0], value)
if not self.param_sysid in self.param_state:
self.param_state[self.param_sysid] = param_state()
@property
def params(self):
if self.param_sysid[1] == 0:
eff_tuple = (self.sysid, 1)
if eff_tuple in self.param_state:
return getattr(self.param_state[eff_tuple],'params')
return getattr(self.param_state[self.param_sysid],'params')
@property
def messages(self):
return getattr(self.sysid_state[self.sysid],'messages')
@property
def flightmode(self):
return getattr(self.sysid_state[self.sysid],'flightmode')
@flightmode.setter
def flightmode(self, value):
setattr(self.sysid_state[self.sysid],'flightmode',value)
@property
def vehicle_type(self):
return getattr(self.sysid_state[self.sysid],'vehicle_type')
@vehicle_type.setter
def vehicle_type(self, value):
setattr(self.sysid_state[self.sysid],'vehicle_type',value)
@property
def mav_type(self):
return getattr(self.sysid_state[self.sysid],'mav_type')
@mav_type.setter
def mav_type(self, value):
setattr(self.sysid_state[self.sysid],'mav_type',value)
@property
def base_mode(self):
return getattr(self.sysid_state[self.sysid],'base_mode')
@base_mode.setter
def base_mode(self, value):
setattr(self.sysid_state[self.sysid],'base_mode',value)
def auto_mavlink_version(self, buf):
'''auto-switch mavlink protocol version'''
global mavlink
if len(buf) == 0:
return
try:
magic = ord(buf[0])
except:
magic = buf[0]
if not magic in [ 85, 254, 253 ]:
return
self.first_byte = False
if self.WIRE_PROTOCOL_VERSION == "0.9" and magic == 254:
self.WIRE_PROTOCOL_VERSION = "1.0"
set_dialect(current_dialect)
elif self.WIRE_PROTOCOL_VERSION == "1.0" and magic == 85:
self.WIRE_PROTOCOL_VERSION = "0.9"
os.environ['MAVLINK09'] = '1'
set_dialect(current_dialect)
elif self.WIRE_PROTOCOL_VERSION != "2.0" and magic == 253:
self.WIRE_PROTOCOL_VERSION = "2.0"
os.environ['MAVLINK20'] = '1'
set_dialect(current_dialect)
else:
return
# switch protocol
(callback, callback_args, callback_kwargs) = (self.mav.callback,
self.mav.callback_args,
self.mav.callback_kwargs)
self.mav = mavlink.MAVLink(self, srcSystem=self.source_system, srcComponent=self.source_component)
self.mav.robust_parsing = self.robust_parsing
self.WIRE_PROTOCOL_VERSION = mavlink.WIRE_PROTOCOL_VERSION
(self.mav.callback, self.mav.callback_args, self.mav.callback_kwargs) = (callback,
callback_args,
callback_kwargs)
def recv(self, n=None):
'''default recv method'''
raise RuntimeError('no recv() method supplied')
def close(self, n=None):
'''default close method'''
raise RuntimeError('no close() method supplied')
def write(self, buf):
'''default write method'''
raise RuntimeError('no write() method supplied')
def select(self, timeout):
'''wait for up to timeout seconds for more data'''
if self.fd is None:
time.sleep(min(timeout,0.5))
return True
try:
(rin, win, xin) = select.select([self.fd], [], [], timeout)
except select.error:
return False
return len(rin) == 1
def pre_message(self):
'''default pre message call'''
return
def set_rtscts(self, enable):
'''enable/disable RTS/CTS if applicable'''
return
def probably_vehicle_heartbeat(self, msg):
if msg.get_srcComponent() == mavlink.MAV_COMP_ID_GIMBAL:
return False
if msg.type in (mavlink.MAV_TYPE_GCS,
mavlink.MAV_TYPE_GIMBAL,
mavlink.MAV_TYPE_ADSB,
mavlink.MAV_TYPE_ONBOARD_CONTROLLER):
return False
if msg.autopilot in frozenset([
mavlink.MAV_AUTOPILOT_INVALID
]):
return False
return True
def post_message(self, msg):
'''default post message call'''
if '_posted' in msg.__dict__:
return
msg._posted = True
msg._timestamp = time.time()
type = msg.get_type()
if 'usec' in msg.__dict__:
self.uptime = msg.usec * 1.0e-6
if 'time_boot_ms' in msg.__dict__:
self.uptime = msg.time_boot_ms * 1.0e-3
if self._timestamp is not None:
if self.notimestamps:
msg._timestamp = self.uptime
else:
msg._timestamp = self._timestamp
src_system = msg.get_srcSystem()
src_component = msg.get_srcComponent()
src_tuple = (src_system, src_component)
radio_tuple = (ord('3'), ord('D'))
if not src_system in self.sysid_state:
# we've seen a new system
self.sysid_state[src_system] = mavfile_state()
add_message(self.sysid_state[src_system].messages, type, msg)
if src_tuple == radio_tuple:
# as a special case radio msgs are added for all sysids
for s in self.sysid_state.keys():
self.sysid_state[s].messages[type] = msg
if not (src_tuple == radio_tuple or msg.get_msgId() < 0):
# Don't use unknown messages to calculate number of lost packets
if not src_tuple in self.last_seq:
last_seq = -1
else:
last_seq = self.last_seq[src_tuple]
seq = (last_seq+1) % 256
seq2 = msg.get_seq()
if seq != seq2 and last_seq != -1:
diff = (seq2 - seq) % 256
self.mav_loss += diff
#print("lost %u seq=%u seq2=%u last_seq=%u src_tupe=%s %s" % (diff, seq, seq2, last_seq, str(src_tuple), msg.get_type()))
self.last_seq[src_tuple] = seq2
self.mav_count += 1
self.timestamp = msg._timestamp
if type == 'HEARTBEAT' and self.probably_vehicle_heartbeat(msg):
if self.sysid == 0:
# lock onto id tuple of first vehicle heartbeat
self.sysid = src_system
if float(mavlink.WIRE_PROTOCOL_VERSION) >= 1:
self.flightmode = mode_string_v10(msg)
self.mav_type = msg.type
self.base_mode = msg.base_mode
self.sysid_state[src_system].armed = (msg.base_mode & mavlink.MAV_MODE_FLAG_SAFETY_ARMED)
self.sysid_state[src_system].mav_type = msg.type
self.sysid_state[src_system].mav_autopilot = msg.autopilot
elif type == 'HIGH_LATENCY2':
if self.sysid == 0:
# lock onto id tuple of first vehicle heartbeat
self.sysid = src_system
self.flightmode = mode_string_v10(msg)
self.mav_type = msg.type
if msg.autopilot == mavlink.MAV_AUTOPILOT_ARDUPILOTMEGA:
self.base_mode = msg.custom0
self.sysid_state[src_system].armed = (msg.custom0 & mavlink.MAV_MODE_FLAG_SAFETY_ARMED)
self.sysid_state[src_system].mav_type = msg.type
self.sysid_state[src_system].mav_autopilot = msg.autopilot
elif type == 'PARAM_VALUE':
if not src_tuple in self.param_state:
self.param_state[src_tuple] = param_state()
self.param_state[src_tuple].params[msg.param_id] = msg.param_value
elif type == 'SYS_STATUS' and mavlink.WIRE_PROTOCOL_VERSION == '0.9':
self.flightmode = mode_string_v09(msg)
elif type == 'GPS_RAW':
if self.sysid_state[src_system].messages['HOME'].fix_type < 2:
self.sysid_state[src_system].messages['HOME'] = msg
elif type == 'GPS_RAW_INT':
if self.sysid_state[src_system].messages['HOME'].fix_type < 3:
self.sysid_state[src_system].messages['HOME'] = msg
for hook in self.message_hooks:
hook(self, msg)
if (msg.get_signed() and
self.mav.signing.link_id == 0 and
msg.get_link_id() != 0 and
self.target_system == msg.get_srcSystem() and
self.target_component == msg.get_srcComponent()):
# change to link_id from incoming packet
self.mav.signing.link_id = msg.get_link_id()
def packet_loss(self):
'''packet loss as a percentage'''
if self.mav_count == 0:
return 0
return (100.0*self.mav_loss)/(self.mav_count+self.mav_loss)
def recv_msg(self):
'''message receive routine'''
self.pre_message()
while True:
n = self.mav.bytes_needed()
s = self.recv(n)
numnew = len(s)
if numnew != 0:
if self.logfile_raw:
if is_py3:
self.logfile_raw.write(s)
else:
self.logfile_raw.write(str(s))
if self.first_byte:
self.auto_mavlink_version(s)
# We always call parse_char even if the new string is empty, because the existing message buf might already have some valid packet
# we can extract
msg = self.mav.parse_char(s)
if msg:
if self.logfile and msg.get_type() != 'BAD_DATA' :
usec = int(time.time() * 1.0e6) & ~3
if is_py3:
self.logfile.write(struct.pack('>Q', usec) + msg.get_msgbuf())
else:
self.logfile.write(str(struct.pack('>Q', usec) + msg.get_msgbuf()))
self.post_message(msg)
return msg
else:
# if we failed to parse any messages _and_ no new bytes arrived, return immediately so the client has the option to
# timeout
if numnew == 0:
return None
def recv_match(self, condition=None, type=None, blocking=False, timeout=None):
'''recv the next MAVLink message that matches the given condition
type can be a string or a list of strings'''
if type is not None and not isinstance(type, list) and not isinstance(type, set):
type = [type]
start_time = time.time()
while True:
if timeout is not None:
now = time.time()
if now < start_time:
start_time = now # If an external process rolls back system time, we should not spin forever.
if start_time + timeout < time.time():
return None
m = self.recv_msg()
if m is None:
if blocking:
for hook in self.idle_hooks:
hook(self)
if timeout is None:
self.select(0.05)
else:
self.select(timeout/2)
continue
return None
if type is not None and not m.get_type() in type:
continue
if not evaluate_condition(condition, self.messages):
continue
return m
def check_condition(self, condition):
'''check if a condition is true'''
return evaluate_condition(condition, self.messages)
def mavlink10(self):
'''return True if using MAVLink 1.0 or later'''
return float(self.WIRE_PROTOCOL_VERSION) >= 1
def mavlink20(self):
'''return True if using MAVLink 2.0 or later'''
return float(self.WIRE_PROTOCOL_VERSION) >= 2
def setup_logfile(self, logfile, mode='wb'):
'''start logging to the given logfile, with timestamps'''
self.logfile = open(logfile, mode=mode)
def setup_logfile_raw(self, logfile, mode='wb'):
'''start logging raw bytes to the given logfile, without timestamps'''
self.logfile_raw = open(logfile, mode=mode)
def wait_heartbeat(self, blocking=True, timeout=None):
'''wait for a heartbeat so we know the target system IDs'''
return self.recv_match(type='HEARTBEAT', blocking=blocking, timeout=timeout)
def param_fetch_all(self):
'''initiate fetch of all parameters'''
if time.time() - self.param_fetch_start < 2.0:
# don't fetch too often
return
self.param_fetch_start = time.time()
self.mav.param_request_list_send(self.target_system, self.target_component)
def param_fetch_one(self, name):
'''initiate fetch of one parameter'''
try:
idx = int(name)
self.mav.param_request_read_send(self.target_system, self.target_component, b"", idx)
except Exception:
if sys.version_info.major >= 3 and not isinstance(name, bytes):
name = bytes(name,'ascii')
self.mav.param_request_read_send(self.target_system, self.target_component, name, -1)
def time_since(self, mtype):
'''return the time since the last message of type mtype was received'''
if not mtype in self.messages:
return time.time() - self.start_time
return time.time() - self.messages[mtype]._timestamp
def param_set_send(self, parm_name, parm_value, parm_type=None):
'''wrapper for parameter set'''
if self.mavlink10():
if parm_type is None:
parm_type = mavlink.MAVLINK_TYPE_FLOAT
self.mav.param_set_send(self.target_system, self.target_component,
parm_name.encode('utf8'), parm_value, parm_type)
else:
self.mav.param_set_send(self.target_system, self.target_component,
parm_name.encode('utf8'), parm_value)
def waypoint_request_list_send(self):
'''wrapper for waypoint_request_list_send'''
if self.mavlink10():
self.mav.mission_request_list_send(self.target_system, self.target_component)
else:
self.mav.waypoint_request_list_send(self.target_system, self.target_component)
def waypoint_clear_all_send(self):
'''wrapper for waypoint_clear_all_send'''
if self.mavlink10():
self.mav.mission_clear_all_send(self.target_system, self.target_component)
else:
self.mav.waypoint_clear_all_send(self.target_system, self.target_component)
def waypoint_request_send(self, seq):
'''wrapper for waypoint_request_send'''
if self.mavlink10():
self.mav.mission_request_send(self.target_system, self.target_component, seq)
else:
self.mav.waypoint_request_send(self.target_system, self.target_component, seq)
def waypoint_set_current_send(self, seq):
'''wrapper for waypoint_set_current_send'''
if self.mavlink10():
self.mav.mission_set_current_send(self.target_system, self.target_component, seq)
else:
self.mav.waypoint_set_current_send(self.target_system, self.target_component, seq)
def waypoint_current(self):
'''return current waypoint'''
if self.mavlink10():
m = self.recv_match(type='MISSION_CURRENT', blocking=True)
else:
m = self.recv_match(type='WAYPOINT_CURRENT', blocking=True)
return m.seq
def waypoint_count_send(self, seq):
'''wrapper for waypoint_count_send'''
if self.mavlink10():
self.mav.mission_count_send(self.target_system, self.target_component, seq)
else:
self.mav.waypoint_count_send(self.target_system, self.target_component, seq)
def set_mode_flag(self, flag, enable):
'''
Enables/ disables MAV_MODE_FLAG
@param flag The mode flag,
see MAV_MODE_FLAG enum
@param enable Enable the flag, (True/False)
'''
if self.mavlink10():
mode = self.base_mode
if enable:
mode = mode | flag
elif not enable:
mode = mode & ~flag
self.mav.command_long_send(self.target_system, self.target_component,
mavlink.MAV_CMD_DO_SET_MODE, 0,
mode,
0, 0, 0, 0, 0, 0)
else:
print("Set mode flag not supported")
def set_mode_auto(self):
'''enter auto mode'''
if self.mavlink10():
self.mav.command_long_send(self.target_system, self.target_component,
mavlink.MAV_CMD_MISSION_START, 0, 0, 0, 0, 0, 0, 0, 0)
else:
MAV_ACTION_SET_AUTO = 13
self.mav.action_send(self.target_system, self.target_component, MAV_ACTION_SET_AUTO)
def mode_mapping(self):
'''return dictionary mapping mode names to numbers, or None if unknown'''
mav_type = self.sysid_state[self.sysid].mav_type
mav_autopilot = self.sysid_state[self.sysid].mav_autopilot
if mav_autopilot == mavlink.MAV_AUTOPILOT_PX4:
return px4_map
if mav_type is None:
return None
return mode_mapping_byname(mav_type)
def set_mode_apm(self, mode, custom_mode = 0, custom_sub_mode = 0):
'''enter arbitrary mode'''
if isinstance(mode, str):
mode_map = self.mode_mapping()
if mode_map is None or mode not in mode_map:
print("Unknown mode '%s'" % mode)
return
mode = mode_map[mode]
# set mode by integer mode number for ArduPilot
self.mav.command_long_send(self.target_system,
self.target_component,
mavlink.MAV_CMD_DO_SET_MODE,
0,
mavlink.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED,
mode,
0,
0,
0,
0,
0)
def set_mode_px4(self, mode, custom_mode, custom_sub_mode):
'''enter arbitrary mode'''
if isinstance(mode, str):
mode_map = self.mode_mapping()
if mode_map is None or mode not in mode_map:
print("Unknown mode '%s'" % mode)
return
# PX4 uses two fields to define modes
mode, custom_mode, custom_sub_mode = px4_map[mode]
self.mav.command_long_send(self.target_system, self.target_component,
mavlink.MAV_CMD_DO_SET_MODE, 0, mode, custom_mode, custom_sub_mode, 0, 0, 0, 0)
def set_mode(self, mode, custom_mode = 0, custom_sub_mode = 0):
'''set arbitrary flight mode'''
mav_autopilot = self.field('HEARTBEAT', 'autopilot', None)
if mav_autopilot == mavlink.MAV_AUTOPILOT_PX4:
self.set_mode_px4(mode, custom_mode, custom_sub_mode)
else:
self.set_mode_apm(mode)
def set_mode_rtl(self):
'''enter RTL mode'''
if self.mavlink10():
self.mav.command_long_send(self.target_system, self.target_component,
mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH, 0, 0, 0, 0, 0, 0, 0, 0)
else:
MAV_ACTION_RETURN = 3
self.mav.action_send(self.target_system, self.target_component, MAV_ACTION_RETURN)
def set_mode_manual(self):
'''enter MANUAL mode'''
if self.mavlink10():
self.mav.command_long_send(self.target_system, self.target_component,
mavlink.MAV_CMD_DO_SET_MODE, 0,
mavlink.MAV_MODE_MANUAL_ARMED,
0, 0, 0, 0, 0, 0)
else:
MAV_ACTION_SET_MANUAL = 12
self.mav.action_send(self.target_system, self.target_component, MAV_ACTION_SET_MANUAL)
def set_mode_fbwa(self):
'''enter FBWA mode'''
if self.mavlink10():
self.mav.command_long_send(self.target_system, self.target_component,
mavlink.MAV_CMD_DO_SET_MODE, 0,
mavlink.MAV_MODE_STABILIZE_ARMED,
0, 0, 0, 0, 0, 0)
else:
print("Forcing FBWA not supported")
def set_mode_loiter(self):
'''enter LOITER mode'''
if self.mavlink10():
self.mav.command_long_send(self.target_system, self.target_component,
mavlink.MAV_CMD_NAV_LOITER_UNLIM, 0, 0, 0, 0, 0, 0, 0, 0)
else:
MAV_ACTION_LOITER = 27
self.mav.action_send(self.target_system, self.target_component, MAV_ACTION_LOITER)
def set_servo(self, channel, pwm):
'''set a servo value'''
self.mav.command_long_send(self.target_system, self.target_component,
mavlink.MAV_CMD_DO_SET_SERVO, 0,
channel, pwm,
0, 0, 0, 0, 0)
def set_relay(self, relay_pin=0, state=True):
'''Set relay_pin to value of state'''
if self.mavlink10():
self.mav.command_long_send(
self.target_system, # target_system
self.target_component, # target_component
mavlink.MAV_CMD_DO_SET_RELAY, # command
0, # Confirmation
relay_pin, # Relay Number
int(state), # state (1 to indicate arm)
0, # param3 (all other params meaningless)
0, # param4
0, # param5
0, # param6
0) # param7
else:
print("Setting relays not supported.")
def calibrate_level(self):
'''calibrate accels (1D version)'''
self.mav.command_long_send(self.target_system, self.target_component,
mavlink.MAV_CMD_PREFLIGHT_CALIBRATION, 0,
1, 1, 0, 0, 0, 0, 0)
def calibrate_pressure(self):
'''calibrate pressure'''
if self.mavlink10():
self.mav.command_long_send(self.target_system, self.target_component,
mavlink.MAV_CMD_PREFLIGHT_CALIBRATION, 0,
0, 0, 1, 0, 0, 0, 0)
else:
MAV_ACTION_CALIBRATE_PRESSURE = 20
self.mav.action_send(self.target_system, self.target_component, MAV_ACTION_CALIBRATE_PRESSURE)
def reboot_autopilot(self, hold_in_bootloader=False, force=False):
'''reboot the autopilot'''
if self.mavlink10():
if hold_in_bootloader:
param1 = 3
else:
param1 = 1
if force:
param6 = 20190226
else:
param6 = 0
self.mav.command_long_send(self.target_system, self.target_component,
mavlink.MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN, 0,
param1, 0, 0, 0, 0, param6, 0)
def wait_gps_fix(self):
self.recv_match(type='VFR_HUD', blocking=True)
if self.mavlink10():
self.recv_match(type='GPS_RAW_INT', blocking=True,
condition='GPS_RAW_INT.fix_type>=3 and GPS_RAW_INT.lat != 0')
else:
self.recv_match(type='GPS_RAW', blocking=True,
condition='GPS_RAW.fix_type>=2 and GPS_RAW.lat != 0')
def location(self, relative_alt=False):
'''return current location'''
self.wait_gps_fix()
# wait for another VFR_HUD, to ensure we have correct altitude
self.recv_match(type='VFR_HUD', blocking=True)
self.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
if relative_alt:
alt = self.messages['GLOBAL_POSITION_INT'].relative_alt*0.001
else:
alt = self.messages['VFR_HUD'].alt
return location(self.messages['GPS_RAW_INT'].lat*1.0e-7,
self.messages['GPS_RAW_INT'].lon*1.0e-7,
alt,
self.messages['VFR_HUD'].heading)
def arducopter_arm(self):
'''arm motors (arducopter only)'''
if self.mavlink10():
self.mav.command_long_send(
self.target_system, # target_system
self.target_component,
mavlink.MAV_CMD_COMPONENT_ARM_DISARM, # command
0, # confirmation
1, # param1 (1 to indicate arm)
0, # param2 (all other params meaningless)
0, # param3
0, # param4
0, # param5
0, # param6
0) # param7
def arducopter_disarm(self):
'''disarm motors (arducopter only)'''
if self.mavlink10():
self.mav.command_long_send(
self.target_system, # target_system
self.target_component,
mavlink.MAV_CMD_COMPONENT_ARM_DISARM, # command
0, # confirmation
0, # param1 (0 to indicate disarm)
0, # param2 (all other params meaningless)
0, # param3
0, # param4
0, # param5
0, # param6
0) # param7
def motors_armed(self):
'''return true if motors armed'''
return self.sysid_state[self.sysid].armed
def motors_armed_wait(self):
'''wait for motors to be armed'''
while True:
m = self.wait_heartbeat()
if self.motors_armed():
return
def motors_disarmed_wait(self):
'''wait for motors to be disarmed'''
while True:
m = self.wait_heartbeat()
if not self.motors_armed():
return
def field(self, type, field, default=None):
'''convenient function for returning an arbitrary MAVLink
field with a default'''
if not type in self.messages:
return default
return getattr(self.messages[type], field, default)
def param(self, name, default=None):
'''convenient function for returning an arbitrary MAVLink
parameter with a default'''
if not name in self.params:
return default
return self.params[name]
def setup_signing(self, secret_key, sign_outgoing=True, allow_unsigned_callback=None, initial_timestamp=None, link_id=None):
'''setup for MAVLink2 signing'''
self.mav.signing.secret_key = secret_key
self.mav.signing.sign_outgoing = sign_outgoing
self.mav.signing.allow_unsigned_callback = allow_unsigned_callback
if link_id is None:
# auto-increment the link_id for each link
global global_link_id
link_id = global_link_id
global_link_id = min(global_link_id + 1, 255)
self.mav.signing.link_id = link_id
if initial_timestamp is None:
# timestamp is time since 1/1/2015
epoch_offset = 1420070400
now = max(time.time(), epoch_offset)
initial_timestamp = now - epoch_offset
initial_timestamp = int(initial_timestamp * 100 * 1000)
# initial_timestamp is in 10usec units
self.mav.signing.timestamp = initial_timestamp
def disable_signing(self):
'''disable MAVLink2 signing'''
self.mav.signing.secret_key = None
self.mav.signing.sign_outgoing = False
self.mav.signing.allow_unsigned_callback = None
self.mav.signing.link_id = 0
self.mav.signing.timestamp = 0
def set_close_on_exec(fd):
'''set the close on exec flag on a file descriptor. Ignore exceptions'''
try:
import fcntl
flags = fcntl.fcntl(fd, fcntl.F_GETFD)
flags |= fcntl.FD_CLOEXEC
fcntl.fcntl(fd, fcntl.F_SETFD, flags)
except Exception:
pass
class FakeSerial():
def __init__(self):
pass
def read(self, len):
return ""
def write(self, buf):
raise Exception("write always fails")
def inWaiting(self):
return 0
def close(self):
pass
class mavserial(mavfile):
'''a serial mavlink port'''
def __init__(self, device, baud=115200, autoreconnect=False, source_system=255, source_component=0, use_native=default_native, force_connected=False):
import serial
if ',' in device and not os.path.exists(device):
device, baud = device.split(',')
self.baud = baud
self.device = device
self.autoreconnect = autoreconnect
self.force_connected = force_connected
# we rather strangely set the baudrate initially to 1200, then change to the desired
# baudrate. This works around a kernel bug on some Linux kernels where the baudrate
# is not set correctly
try:
self.port = serial.Serial(self.device, 1200, timeout=0,
dsrdtr=False, rtscts=False, xonxoff=False)
except serial.SerialException as e:
if not force_connected:
raise e
self.port = FakeSerial()
try:
fd = self.port.fileno()
set_close_on_exec(fd)
except Exception:
fd = None
self.set_baudrate(self.baud)
mavfile.__init__(self, fd, device, source_system=source_system, source_component=source_component, use_native=use_native)
self.rtscts = False
def set_rtscts(self, enable):
'''enable/disable RTS/CTS if applicable'''
try:
self.port.setRtsCts(enable)
except Exception:
self.port.rtscts = enable
self.rtscts = enable
def set_baudrate(self, baudrate):
'''set baudrate'''
try:
self.port.setBaudrate(baudrate)
except Exception:
# for pySerial 3.0, which doesn't have setBaudrate()
self.port.baudrate = baudrate
def close(self):