diff options
Diffstat (limited to 'mavlink/share/pyshared/pymavlink/mavlink.py')
| -rw-r--r-- | mavlink/share/pyshared/pymavlink/mavlink.py | 4930 |
1 files changed, 0 insertions, 4930 deletions
diff --git a/mavlink/share/pyshared/pymavlink/mavlink.py b/mavlink/share/pyshared/pymavlink/mavlink.py deleted file mode 100644 index 3287a921d..000000000 --- a/mavlink/share/pyshared/pymavlink/mavlink.py +++ /dev/null @@ -1,4930 +0,0 @@ -''' -MAVLink protocol implementation (auto-generated by mavgen.py) - -Generated from: ardupilotmega.xml,common.xml - -Note: this file has been auto-generated. DO NOT EDIT -''' - -import struct, array, mavutil, time - -WIRE_PROTOCOL_VERSION = "0.9" - -class MAVLink_header(object): - '''MAVLink message header''' - def __init__(self, msgId, mlen=0, seq=0, srcSystem=0, srcComponent=0): - self.mlen = mlen - self.seq = seq - self.srcSystem = srcSystem - self.srcComponent = srcComponent - self.msgId = msgId - - def pack(self): - return struct.pack('BBBBBB', 85, self.mlen, self.seq, - self.srcSystem, self.srcComponent, self.msgId) - -class MAVLink_message(object): - '''base MAVLink message class''' - def __init__(self, msgId, name): - self._header = MAVLink_header(msgId) - self._payload = None - self._msgbuf = None - self._crc = None - self._fieldnames = [] - self._type = name - - def get_msgbuf(self): - return self._msgbuf - - def get_header(self): - return self._header - - def get_payload(self): - return self._payload - - def get_crc(self): - return self._crc - - def get_fieldnames(self): - return self._fieldnames - - def get_type(self): - return self._type - - def get_msgId(self): - return self._header.msgId - - def get_srcSystem(self): - return self._header.srcSystem - - def get_srcComponent(self): - return self._header.srcComponent - - def get_seq(self): - return self._header.seq - - def __str__(self): - ret = '%s {' % self._type - for a in self._fieldnames: - v = getattr(self, a) - ret += '%s : %s, ' % (a, v) - ret = ret[0:-2] + '}' - return ret - - def pack(self, mav, crc_extra, payload): - self._payload = payload - self._header = MAVLink_header(self._header.msgId, len(payload), mav.seq, - mav.srcSystem, mav.srcComponent) - self._msgbuf = self._header.pack() + payload - crc = mavutil.x25crc(self._msgbuf[1:]) - if False: # using CRC extra - crc.accumulate(chr(crc_extra)) - self._crc = crc.crc - self._msgbuf += struct.pack('<H', self._crc) - return self._msgbuf - - -# enums - -# MAV_MOUNT_MODE -MAV_MOUNT_MODE_RETRACT = 0 # Load and keep safe position (Roll,Pitch,Yaw) from EEPROM and stop - # stabilization -MAV_MOUNT_MODE_NEUTRAL = 1 # Load and keep neutral position (Roll,Pitch,Yaw) from EEPROM. -MAV_MOUNT_MODE_MAVLINK_TARGETING = 2 # Load neutral position and start MAVLink Roll,Pitch,Yaw control with - # stabilization -MAV_MOUNT_MODE_RC_TARGETING = 3 # Load neutral position and start RC Roll,Pitch,Yaw control with - # stabilization -MAV_MOUNT_MODE_GPS_POINT = 4 # Load neutral position and start to point to Lat,Lon,Alt -MAV_MOUNT_MODE_ENUM_END = 5 # - -# MAV_CMD -MAV_CMD_NAV_WAYPOINT = 16 # Navigate to waypoint. -MAV_CMD_NAV_LOITER_UNLIM = 17 # Loiter around this waypoint an unlimited amount of time -MAV_CMD_NAV_LOITER_TURNS = 18 # Loiter around this waypoint for X turns -MAV_CMD_NAV_LOITER_TIME = 19 # Loiter around this waypoint for X seconds -MAV_CMD_NAV_RETURN_TO_LAUNCH = 20 # Return to launch location -MAV_CMD_NAV_LAND = 21 # Land at location -MAV_CMD_NAV_TAKEOFF = 22 # Takeoff from ground / hand -MAV_CMD_NAV_ROI = 80 # Sets the region of interest (ROI) for a sensor set or the - # vehicle itself. This can then be used by the - # vehicles control system to - # control the vehicle attitude and the - # attitude of various sensors such - # as cameras. -MAV_CMD_NAV_PATHPLANNING = 81 # Control autonomous path planning on the MAV. -MAV_CMD_NAV_LAST = 95 # NOP - This command is only used to mark the upper limit of the - # NAV/ACTION commands in the enumeration -MAV_CMD_CONDITION_DELAY = 112 # Delay mission state machine. -MAV_CMD_CONDITION_CHANGE_ALT = 113 # Ascend/descend at rate. Delay mission state machine until desired - # altitude reached. -MAV_CMD_CONDITION_DISTANCE = 114 # Delay mission state machine until within desired distance of next NAV - # point. -MAV_CMD_CONDITION_YAW = 115 # Reach a certain target angle. -MAV_CMD_CONDITION_LAST = 159 # NOP - This command is only used to mark the upper limit of the - # CONDITION commands in the enumeration -MAV_CMD_DO_SET_MODE = 176 # Set system mode. -MAV_CMD_DO_JUMP = 177 # Jump to the desired command in the mission list. Repeat this action - # only the specified number of times -MAV_CMD_DO_CHANGE_SPEED = 178 # Change speed and/or throttle set points. -MAV_CMD_DO_SET_HOME = 179 # Changes the home location either to the current location or a - # specified location. -MAV_CMD_DO_SET_PARAMETER = 180 # Set a system parameter. Caution! Use of this command requires - # knowledge of the numeric enumeration value - # of the parameter. -MAV_CMD_DO_SET_RELAY = 181 # Set a relay to a condition. -MAV_CMD_DO_REPEAT_RELAY = 182 # Cycle a relay on and off for a desired number of cyles with a desired - # period. -MAV_CMD_DO_SET_SERVO = 183 # Set a servo to a desired PWM value. -MAV_CMD_DO_REPEAT_SERVO = 184 # Cycle a between its nominal setting and a desired PWM for a desired - # number of cycles with a desired period. -MAV_CMD_DO_CONTROL_VIDEO = 200 # Control onboard camera capturing. -MAV_CMD_DO_SET_ROI = 201 # Sets the region of interest (ROI) for a sensor set or the - # vehicle itself. This can then be used by the - # vehicles control system - # to control the vehicle attitude and the - # attitude of various - # devices such as cameras. -MAV_CMD_DO_DIGICAM_CONFIGURE = 202 # Mission command to configure an on-board camera controller system. -MAV_CMD_DO_DIGICAM_CONTROL = 203 # Mission command to control an on-board camera controller system. -MAV_CMD_DO_MOUNT_CONFIGURE = 204 # Mission command to configure a camera or antenna mount -MAV_CMD_DO_MOUNT_CONTROL = 205 # Mission command to control a camera or antenna mount -MAV_CMD_DO_LAST = 240 # NOP - This command is only used to mark the upper limit of the DO - # commands in the enumeration -MAV_CMD_PREFLIGHT_CALIBRATION = 241 # Trigger calibration. This command will be only accepted if in pre- - # flight mode. -MAV_CMD_PREFLIGHT_STORAGE = 245 # Request storage of different parameter values and logs. This command - # will be only accepted if in pre-flight mode. -MAV_CMD_ENUM_END = 246 # - -# FENCE_ACTION -FENCE_ACTION_NONE = 0 # Disable fenced mode -FENCE_ACTION_GUIDED = 1 # Switched to guided mode to return point (fence point 0) -FENCE_ACTION_ENUM_END = 2 # - -# FENCE_BREACH -FENCE_BREACH_NONE = 0 # No last fence breach -FENCE_BREACH_MINALT = 1 # Breached minimum altitude -FENCE_BREACH_MAXALT = 2 # Breached minimum altitude -FENCE_BREACH_BOUNDARY = 3 # Breached fence boundary -FENCE_BREACH_ENUM_END = 4 # - -# MAV_DATA_STREAM -MAV_DATA_STREAM_ALL = 0 # Enable all data streams -MAV_DATA_STREAM_RAW_SENSORS = 1 # Enable IMU_RAW, GPS_RAW, GPS_STATUS packets. -MAV_DATA_STREAM_EXTENDED_STATUS = 2 # Enable GPS_STATUS, CONTROL_STATUS, AUX_STATUS -MAV_DATA_STREAM_RC_CHANNELS = 3 # Enable RC_CHANNELS_SCALED, RC_CHANNELS_RAW, SERVO_OUTPUT_RAW -MAV_DATA_STREAM_RAW_CONTROLLER = 4 # Enable ATTITUDE_CONTROLLER_OUTPUT, POSITION_CONTROLLER_OUTPUT, - # NAV_CONTROLLER_OUTPUT. -MAV_DATA_STREAM_POSITION = 6 # Enable LOCAL_POSITION, GLOBAL_POSITION/GLOBAL_POSITION_INT messages. -MAV_DATA_STREAM_EXTRA1 = 10 # Dependent on the autopilot -MAV_DATA_STREAM_EXTRA2 = 11 # Dependent on the autopilot -MAV_DATA_STREAM_EXTRA3 = 12 # Dependent on the autopilot -MAV_DATA_STREAM_ENUM_END = 13 # - -# MAV_ROI -MAV_ROI_NONE = 0 # No region of interest. -MAV_ROI_WPNEXT = 1 # Point toward next waypoint. -MAV_ROI_WPINDEX = 2 # Point toward given waypoint. -MAV_ROI_LOCATION = 3 # Point toward fixed location. -MAV_ROI_TARGET = 4 # Point toward of given id. -MAV_ROI_ENUM_END = 5 # - -# message IDs -MAVLINK_MSG_ID_BAD_DATA = -1 -MAVLINK_MSG_ID_SENSOR_OFFSETS = 150 -MAVLINK_MSG_ID_SET_MAG_OFFSETS = 151 -MAVLINK_MSG_ID_MEMINFO = 152 -MAVLINK_MSG_ID_AP_ADC = 153 -MAVLINK_MSG_ID_DIGICAM_CONFIGURE = 154 -MAVLINK_MSG_ID_DIGICAM_CONTROL = 155 -MAVLINK_MSG_ID_MOUNT_CONFIGURE = 156 -MAVLINK_MSG_ID_MOUNT_CONTROL = 157 -MAVLINK_MSG_ID_MOUNT_STATUS = 158 -MAVLINK_MSG_ID_FENCE_POINT = 160 -MAVLINK_MSG_ID_FENCE_FETCH_POINT = 161 -MAVLINK_MSG_ID_FENCE_STATUS = 162 -MAVLINK_MSG_ID_AHRS = 163 -MAVLINK_MSG_ID_SIMSTATE = 164 -MAVLINK_MSG_ID_HWSTATUS = 165 -MAVLINK_MSG_ID_RADIO = 166 -MAVLINK_MSG_ID_HEARTBEAT = 0 -MAVLINK_MSG_ID_BOOT = 1 -MAVLINK_MSG_ID_SYSTEM_TIME = 2 -MAVLINK_MSG_ID_PING = 3 -MAVLINK_MSG_ID_SYSTEM_TIME_UTC = 4 -MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL = 5 -MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK = 6 -MAVLINK_MSG_ID_AUTH_KEY = 7 -MAVLINK_MSG_ID_ACTION_ACK = 9 -MAVLINK_MSG_ID_ACTION = 10 -MAVLINK_MSG_ID_SET_MODE = 11 -MAVLINK_MSG_ID_SET_NAV_MODE = 12 -MAVLINK_MSG_ID_PARAM_REQUEST_READ = 20 -MAVLINK_MSG_ID_PARAM_REQUEST_LIST = 21 -MAVLINK_MSG_ID_PARAM_VALUE = 22 -MAVLINK_MSG_ID_PARAM_SET = 23 -MAVLINK_MSG_ID_GPS_RAW_INT = 25 -MAVLINK_MSG_ID_SCALED_IMU = 26 -MAVLINK_MSG_ID_GPS_STATUS = 27 -MAVLINK_MSG_ID_RAW_IMU = 28 -MAVLINK_MSG_ID_RAW_PRESSURE = 29 -MAVLINK_MSG_ID_SCALED_PRESSURE = 38 -MAVLINK_MSG_ID_ATTITUDE = 30 -MAVLINK_MSG_ID_LOCAL_POSITION = 31 -MAVLINK_MSG_ID_GLOBAL_POSITION = 33 -MAVLINK_MSG_ID_GPS_RAW = 32 -MAVLINK_MSG_ID_SYS_STATUS = 34 -MAVLINK_MSG_ID_RC_CHANNELS_RAW = 35 -MAVLINK_MSG_ID_RC_CHANNELS_SCALED = 36 -MAVLINK_MSG_ID_SERVO_OUTPUT_RAW = 37 -MAVLINK_MSG_ID_WAYPOINT = 39 -MAVLINK_MSG_ID_WAYPOINT_REQUEST = 40 -MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT = 41 -MAVLINK_MSG_ID_WAYPOINT_CURRENT = 42 -MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST = 43 -MAVLINK_MSG_ID_WAYPOINT_COUNT = 44 -MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL = 45 -MAVLINK_MSG_ID_WAYPOINT_REACHED = 46 -MAVLINK_MSG_ID_WAYPOINT_ACK = 47 -MAVLINK_MSG_ID_GPS_SET_GLOBAL_ORIGIN = 48 -MAVLINK_MSG_ID_GPS_LOCAL_ORIGIN_SET = 49 -MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET = 50 -MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT = 51 -MAVLINK_MSG_ID_CONTROL_STATUS = 52 -MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA = 53 -MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA = 54 -MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST = 55 -MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST = 56 -MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT = 57 -MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT = 58 -MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT = 62 -MAVLINK_MSG_ID_POSITION_TARGET = 63 -MAVLINK_MSG_ID_STATE_CORRECTION = 64 -MAVLINK_MSG_ID_SET_ALTITUDE = 65 -MAVLINK_MSG_ID_REQUEST_DATA_STREAM = 66 -MAVLINK_MSG_ID_HIL_STATE = 67 -MAVLINK_MSG_ID_HIL_CONTROLS = 68 -MAVLINK_MSG_ID_MANUAL_CONTROL = 69 -MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE = 70 -MAVLINK_MSG_ID_GLOBAL_POSITION_INT = 73 -MAVLINK_MSG_ID_VFR_HUD = 74 -MAVLINK_MSG_ID_COMMAND = 75 -MAVLINK_MSG_ID_COMMAND_ACK = 76 -MAVLINK_MSG_ID_OPTICAL_FLOW = 100 -MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT = 140 -MAVLINK_MSG_ID_DEBUG_VECT = 251 -MAVLINK_MSG_ID_NAMED_VALUE_FLOAT = 252 -MAVLINK_MSG_ID_NAMED_VALUE_INT = 253 -MAVLINK_MSG_ID_STATUSTEXT = 254 -MAVLINK_MSG_ID_DEBUG = 255 - -class MAVLink_sensor_offsets_message(MAVLink_message): - ''' - Offsets and calibrations values for hardware sensors. - This makes it easier to debug the calibration process. - ''' - def __init__(self, mag_ofs_x, mag_ofs_y, mag_ofs_z, mag_declination, raw_press, raw_temp, gyro_cal_x, gyro_cal_y, gyro_cal_z, accel_cal_x, accel_cal_y, accel_cal_z): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_SENSOR_OFFSETS, 'SENSOR_OFFSETS') - self._fieldnames = ['mag_ofs_x', 'mag_ofs_y', 'mag_ofs_z', 'mag_declination', 'raw_press', 'raw_temp', 'gyro_cal_x', 'gyro_cal_y', 'gyro_cal_z', 'accel_cal_x', 'accel_cal_y', 'accel_cal_z'] - self.mag_ofs_x = mag_ofs_x - self.mag_ofs_y = mag_ofs_y - self.mag_ofs_z = mag_ofs_z - self.mag_declination = mag_declination - self.raw_press = raw_press - self.raw_temp = raw_temp - self.gyro_cal_x = gyro_cal_x - self.gyro_cal_y = gyro_cal_y - self.gyro_cal_z = gyro_cal_z - self.accel_cal_x = accel_cal_x - self.accel_cal_y = accel_cal_y - self.accel_cal_z = accel_cal_z - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 143, struct.pack('>hhhfiiffffff', self.mag_ofs_x, self.mag_ofs_y, self.mag_ofs_z, self.mag_declination, self.raw_press, self.raw_temp, self.gyro_cal_x, self.gyro_cal_y, self.gyro_cal_z, self.accel_cal_x, self.accel_cal_y, self.accel_cal_z)) - -class MAVLink_set_mag_offsets_message(MAVLink_message): - ''' - set the magnetometer offsets - ''' - def __init__(self, target_system, target_component, mag_ofs_x, mag_ofs_y, mag_ofs_z): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_SET_MAG_OFFSETS, 'SET_MAG_OFFSETS') - self._fieldnames = ['target_system', 'target_component', 'mag_ofs_x', 'mag_ofs_y', 'mag_ofs_z'] - self.target_system = target_system - self.target_component = target_component - self.mag_ofs_x = mag_ofs_x - self.mag_ofs_y = mag_ofs_y - self.mag_ofs_z = mag_ofs_z - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 29, struct.pack('>BBhhh', self.target_system, self.target_component, self.mag_ofs_x, self.mag_ofs_y, self.mag_ofs_z)) - -class MAVLink_meminfo_message(MAVLink_message): - ''' - state of APM memory - ''' - def __init__(self, brkval, freemem): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_MEMINFO, 'MEMINFO') - self._fieldnames = ['brkval', 'freemem'] - self.brkval = brkval - self.freemem = freemem - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 208, struct.pack('>HH', self.brkval, self.freemem)) - -class MAVLink_ap_adc_message(MAVLink_message): - ''' - raw ADC output - ''' - def __init__(self, adc1, adc2, adc3, adc4, adc5, adc6): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_AP_ADC, 'AP_ADC') - self._fieldnames = ['adc1', 'adc2', 'adc3', 'adc4', 'adc5', 'adc6'] - self.adc1 = adc1 - self.adc2 = adc2 - self.adc3 = adc3 - self.adc4 = adc4 - self.adc5 = adc5 - self.adc6 = adc6 - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 188, struct.pack('>HHHHHH', self.adc1, self.adc2, self.adc3, self.adc4, self.adc5, self.adc6)) - -class MAVLink_digicam_configure_message(MAVLink_message): - ''' - Configure on-board Camera Control System. - ''' - def __init__(self, target_system, target_component, mode, shutter_speed, aperture, iso, exposure_type, command_id, engine_cut_off, extra_param, extra_value): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_DIGICAM_CONFIGURE, 'DIGICAM_CONFIGURE') - self._fieldnames = ['target_system', 'target_component', 'mode', 'shutter_speed', 'aperture', 'iso', 'exposure_type', 'command_id', 'engine_cut_off', 'extra_param', 'extra_value'] - self.target_system = target_system - self.target_component = target_component - self.mode = mode - self.shutter_speed = shutter_speed - self.aperture = aperture - self.iso = iso - self.exposure_type = exposure_type - self.command_id = command_id - self.engine_cut_off = engine_cut_off - self.extra_param = extra_param - self.extra_value = extra_value - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 118, struct.pack('>BBBHBBBBBBf', self.target_system, self.target_component, self.mode, self.shutter_speed, self.aperture, self.iso, self.exposure_type, self.command_id, self.engine_cut_off, self.extra_param, self.extra_value)) - -class MAVLink_digicam_control_message(MAVLink_message): - ''' - Control on-board Camera Control System to take shots. - ''' - def __init__(self, target_system, target_component, session, zoom_pos, zoom_step, focus_lock, shot, command_id, extra_param, extra_value): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_DIGICAM_CONTROL, 'DIGICAM_CONTROL') - self._fieldnames = ['target_system', 'target_component', 'session', 'zoom_pos', 'zoom_step', 'focus_lock', 'shot', 'command_id', 'extra_param', 'extra_value'] - self.target_system = target_system - self.target_component = target_component - self.session = session - self.zoom_pos = zoom_pos - self.zoom_step = zoom_step - self.focus_lock = focus_lock - self.shot = shot - self.command_id = command_id - self.extra_param = extra_param - self.extra_value = extra_value - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 242, struct.pack('>BBBBbBBBBf', self.target_system, self.target_component, self.session, self.zoom_pos, self.zoom_step, self.focus_lock, self.shot, self.command_id, self.extra_param, self.extra_value)) - -class MAVLink_mount_configure_message(MAVLink_message): - ''' - Message to configure a camera mount, directional antenna, etc. - ''' - def __init__(self, target_system, target_component, mount_mode, stab_roll, stab_pitch, stab_yaw): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_MOUNT_CONFIGURE, 'MOUNT_CONFIGURE') - self._fieldnames = ['target_system', 'target_component', 'mount_mode', 'stab_roll', 'stab_pitch', 'stab_yaw'] - self.target_system = target_system - self.target_component = target_component - self.mount_mode = mount_mode - self.stab_roll = stab_roll - self.stab_pitch = stab_pitch - self.stab_yaw = stab_yaw - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 19, struct.pack('>BBBBBB', self.target_system, self.target_component, self.mount_mode, self.stab_roll, self.stab_pitch, self.stab_yaw)) - -class MAVLink_mount_control_message(MAVLink_message): - ''' - Message to control a camera mount, directional antenna, etc. - ''' - def __init__(self, target_system, target_component, input_a, input_b, input_c, save_position): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_MOUNT_CONTROL, 'MOUNT_CONTROL') - self._fieldnames = ['target_system', 'target_component', 'input_a', 'input_b', 'input_c', 'save_position'] - self.target_system = target_system - self.target_component = target_component - self.input_a = input_a - self.input_b = input_b - self.input_c = input_c - self.save_position = save_position - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 97, struct.pack('>BBiiiB', self.target_system, self.target_component, self.input_a, self.input_b, self.input_c, self.save_position)) - -class MAVLink_mount_status_message(MAVLink_message): - ''' - Message with some status from APM to GCS about camera or - antenna mount - ''' - def __init__(self, target_system, target_component, pointing_a, pointing_b, pointing_c): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_MOUNT_STATUS, 'MOUNT_STATUS') - self._fieldnames = ['target_system', 'target_component', 'pointing_a', 'pointing_b', 'pointing_c'] - self.target_system = target_system - self.target_component = target_component - self.pointing_a = pointing_a - self.pointing_b = pointing_b - self.pointing_c = pointing_c - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 233, struct.pack('>BBiii', self.target_system, self.target_component, self.pointing_a, self.pointing_b, self.pointing_c)) - -class MAVLink_fence_point_message(MAVLink_message): - ''' - A fence point. Used to set a point when from GCS - -> MAV. Also used to return a point from MAV -> GCS - ''' - def __init__(self, target_system, target_component, idx, count, lat, lng): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_FENCE_POINT, 'FENCE_POINT') - self._fieldnames = ['target_system', 'target_component', 'idx', 'count', 'lat', 'lng'] - self.target_system = target_system - self.target_component = target_component - self.idx = idx - self.count = count - self.lat = lat - self.lng = lng - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 18, struct.pack('>BBBBff', self.target_system, self.target_component, self.idx, self.count, self.lat, self.lng)) - -class MAVLink_fence_fetch_point_message(MAVLink_message): - ''' - Request a current fence point from MAV - ''' - def __init__(self, target_system, target_component, idx): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_FENCE_FETCH_POINT, 'FENCE_FETCH_POINT') - self._fieldnames = ['target_system', 'target_component', 'idx'] - self.target_system = target_system - self.target_component = target_component - self.idx = idx - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 68, struct.pack('>BBB', self.target_system, self.target_component, self.idx)) - -class MAVLink_fence_status_message(MAVLink_message): - ''' - Status of geo-fencing. Sent in extended status - stream when fencing enabled - ''' - def __init__(self, breach_status, breach_count, breach_type, breach_time): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_FENCE_STATUS, 'FENCE_STATUS') - self._fieldnames = ['breach_status', 'breach_count', 'breach_type', 'breach_time'] - self.breach_status = breach_status - self.breach_count = breach_count - self.breach_type = breach_type - self.breach_time = breach_time - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 136, struct.pack('>BHBI', self.breach_status, self.breach_count, self.breach_type, self.breach_time)) - -class MAVLink_ahrs_message(MAVLink_message): - ''' - Status of DCM attitude estimator - ''' - def __init__(self, omegaIx, omegaIy, omegaIz, accel_weight, renorm_val, error_rp, error_yaw): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_AHRS, 'AHRS') - self._fieldnames = ['omegaIx', 'omegaIy', 'omegaIz', 'accel_weight', 'renorm_val', 'error_rp', 'error_yaw'] - self.omegaIx = omegaIx - self.omegaIy = omegaIy - self.omegaIz = omegaIz - self.accel_weight = accel_weight - self.renorm_val = renorm_val - self.error_rp = error_rp - self.error_yaw = error_yaw - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 127, struct.pack('>fffffff', self.omegaIx, self.omegaIy, self.omegaIz, self.accel_weight, self.renorm_val, self.error_rp, self.error_yaw)) - -class MAVLink_simstate_message(MAVLink_message): - ''' - Status of simulation environment, if used - ''' - def __init__(self, roll, pitch, yaw, xacc, yacc, zacc, xgyro, ygyro, zgyro): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_SIMSTATE, 'SIMSTATE') - self._fieldnames = ['roll', 'pitch', 'yaw', 'xacc', 'yacc', 'zacc', 'xgyro', 'ygyro', 'zgyro'] - self.roll = roll - self.pitch = pitch - self.yaw = yaw - self.xacc = xacc - self.yacc = yacc - self.zacc = zacc - self.xgyro = xgyro - self.ygyro = ygyro - self.zgyro = zgyro - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 42, struct.pack('>fffffffff', self.roll, self.pitch, self.yaw, self.xacc, self.yacc, self.zacc, self.xgyro, self.ygyro, self.zgyro)) - -class MAVLink_hwstatus_message(MAVLink_message): - ''' - Status of key hardware - ''' - def __init__(self, Vcc, I2Cerr): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_HWSTATUS, 'HWSTATUS') - self._fieldnames = ['Vcc', 'I2Cerr'] - self.Vcc = Vcc - self.I2Cerr = I2Cerr - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 21, struct.pack('>HB', self.Vcc, self.I2Cerr)) - -class MAVLink_radio_message(MAVLink_message): - ''' - Status generated by radio - ''' - def __init__(self, rssi, remrssi, txbuf, noise, remnoise, rxerrors, fixed): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_RADIO, 'RADIO') - self._fieldnames = ['rssi', 'remrssi', 'txbuf', 'noise', 'remnoise', 'rxerrors', 'fixed'] - self.rssi = rssi - self.remrssi = remrssi - self.txbuf = txbuf - self.noise = noise - self.remnoise = remnoise - self.rxerrors = rxerrors - self.fixed = fixed - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 93, struct.pack('>BBBBBHH', self.rssi, self.remrssi, self.txbuf, self.noise, self.remnoise, self.rxerrors, self.fixed)) - -class MAVLink_heartbeat_message(MAVLink_message): - ''' - The heartbeat message shows that a system is present and - responding. The type of the MAV and Autopilot hardware allow - the receiving system to treat further messages from this - system appropriate (e.g. by laying out the user interface - based on the autopilot). - ''' - def __init__(self, type, autopilot, mavlink_version): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_HEARTBEAT, 'HEARTBEAT') - self._fieldnames = ['type', 'autopilot', 'mavlink_version'] - self.type = type - self.autopilot = autopilot - self.mavlink_version = mavlink_version - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 72, struct.pack('>BBB', self.type, self.autopilot, self.mavlink_version)) - -class MAVLink_boot_message(MAVLink_message): - ''' - The boot message indicates that a system is starting. The - onboard software version allows to keep track of onboard - soft/firmware revisions. - ''' - def __init__(self, version): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_BOOT, 'BOOT') - self._fieldnames = ['version'] - self.version = version - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 39, struct.pack('>I', self.version)) - -class MAVLink_system_time_message(MAVLink_message): - ''' - The system time is the time of the master clock, typically the - computer clock of the main onboard computer. - ''' - def __init__(self, time_usec): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_SYSTEM_TIME, 'SYSTEM_TIME') - self._fieldnames = ['time_usec'] - self.time_usec = time_usec - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 190, struct.pack('>Q', self.time_usec)) - -class MAVLink_ping_message(MAVLink_message): - ''' - A ping message either requesting or responding to a ping. This - allows to measure the system latencies, including serial port, - radio modem and UDP connections. - ''' - def __init__(self, seq, target_system, target_component, time): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_PING, 'PING') - self._fieldnames = ['seq', 'target_system', 'target_component', 'time'] - self.seq = seq - self.target_system = target_system - self.target_component = target_component - self.time = time - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 92, struct.pack('>IBBQ', self.seq, self.target_system, self.target_component, self.time)) - -class MAVLink_system_time_utc_message(MAVLink_message): - ''' - UTC date and time from GPS module - ''' - def __init__(self, utc_date, utc_time): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_SYSTEM_TIME_UTC, 'SYSTEM_TIME_UTC') - self._fieldnames = ['utc_date', 'utc_time'] - self.utc_date = utc_date - self.utc_time = utc_time - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 191, struct.pack('>II', self.utc_date, self.utc_time)) - -class MAVLink_change_operator_control_message(MAVLink_message): - ''' - Request to control this MAV - ''' - def __init__(self, target_system, control_request, version, passkey): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL, 'CHANGE_OPERATOR_CONTROL') - self._fieldnames = ['target_system', 'control_request', 'version', 'passkey'] - self.target_system = target_system - self.control_request = control_request - self.version = version - self.passkey = passkey - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 217, struct.pack('>BBB25s', self.target_system, self.control_request, self.version, self.passkey)) - -class MAVLink_change_operator_control_ack_message(MAVLink_message): - ''' - Accept / deny control of this MAV - ''' - def __init__(self, gcs_system_id, control_request, ack): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK, 'CHANGE_OPERATOR_CONTROL_ACK') - self._fieldnames = ['gcs_system_id', 'control_request', 'ack'] - self.gcs_system_id = gcs_system_id - self.control_request = control_request - self.ack = ack - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 104, struct.pack('>BBB', self.gcs_system_id, self.control_request, self.ack)) - -class MAVLink_auth_key_message(MAVLink_message): - ''' - Emit an encrypted signature / key identifying this system. - PLEASE NOTE: This protocol has been kept simple, so - transmitting the key requires an encrypted channel for true - safety. - ''' - def __init__(self, key): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_AUTH_KEY, 'AUTH_KEY') - self._fieldnames = ['key'] - self.key = key - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 119, struct.pack('>32s', self.key)) - -class MAVLink_action_ack_message(MAVLink_message): - ''' - This message acknowledges an action. IMPORTANT: The - acknowledgement can be also negative, e.g. the MAV rejects a - reset message because it is in-flight. The action ids are - defined in ENUM MAV_ACTION in mavlink/include/mavlink_types.h - ''' - def __init__(self, action, result): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_ACTION_ACK, 'ACTION_ACK') - self._fieldnames = ['action', 'result'] - self.action = action - self.result = result - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 219, struct.pack('>BB', self.action, self.result)) - -class MAVLink_action_message(MAVLink_message): - ''' - An action message allows to execute a certain onboard action. - These include liftoff, land, storing parameters too EEPROM, - shutddown, etc. The action ids are defined in ENUM MAV_ACTION - in mavlink/include/mavlink_types.h - ''' - def __init__(self, target, target_component, action): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_ACTION, 'ACTION') - self._fieldnames = ['target', 'target_component', 'action'] - self.target = target - self.target_component = target_component - self.action = action - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 60, struct.pack('>BBB', self.target, self.target_component, self.action)) - -class MAVLink_set_mode_message(MAVLink_message): - ''' - Set the system mode, as defined by enum MAV_MODE in - mavlink/include/mavlink_types.h. There is no target component - id as the mode is by definition for the overall aircraft, not - only for one component. - ''' - def __init__(self, target, mode): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_SET_MODE, 'SET_MODE') - self._fieldnames = ['target', 'mode'] - self.target = target - self.mode = mode - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 186, struct.pack('>BB', self.target, self.mode)) - -class MAVLink_set_nav_mode_message(MAVLink_message): - ''' - Set the system navigation mode, as defined by enum - MAV_NAV_MODE in mavlink/include/mavlink_types.h. The - navigation mode applies to the whole aircraft and thus all - components. - ''' - def __init__(self, target, nav_mode): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_SET_NAV_MODE, 'SET_NAV_MODE') - self._fieldnames = ['target', 'nav_mode'] - self.target = target - self.nav_mode = nav_mode - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 10, struct.pack('>BB', self.target, self.nav_mode)) - -class MAVLink_param_request_read_message(MAVLink_message): - ''' - Request to read the onboard parameter with the param_id string - id. Onboard parameters are stored as key[const char*] -> - value[float]. This allows to send a parameter to any other - component (such as the GCS) without the need of previous - knowledge of possible parameter names. Thus the same GCS can - store different parameters for different autopilots. See also - http://qgroundcontrol.org/parameter_interface for a full - documentation of QGroundControl and IMU code. - ''' - def __init__(self, target_system, target_component, param_id, param_index): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_PARAM_REQUEST_READ, 'PARAM_REQUEST_READ') - self._fieldnames = ['target_system', 'target_component', 'param_id', 'param_index'] - self.target_system = target_system - self.target_component = target_component - self.param_id = param_id - self.param_index = param_index - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 89, struct.pack('>BB15sh', self.target_system, self.target_component, self.param_id, self.param_index)) - -class MAVLink_param_request_list_message(MAVLink_message): - ''' - Request all parameters of this component. After his request, - all parameters are emitted. - ''' - def __init__(self, target_system, target_component): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_PARAM_REQUEST_LIST, 'PARAM_REQUEST_LIST') - self._fieldnames = ['target_system', 'target_component'] - self.target_system = target_system - self.target_component = target_component - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 159, struct.pack('>BB', self.target_system, self.target_component)) - -class MAVLink_param_value_message(MAVLink_message): - ''' - Emit the value of a onboard parameter. The inclusion of - param_count and param_index in the message allows the - recipient to keep track of received parameters and allows him - to re-request missing parameters after a loss or timeout. - ''' - def __init__(self, param_id, param_value, param_count, param_index): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_PARAM_VALUE, 'PARAM_VALUE') - self._fieldnames = ['param_id', 'param_value', 'param_count', 'param_index'] - self.param_id = param_id - self.param_value = param_value - self.param_count = param_count - self.param_index = param_index - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 162, struct.pack('>15sfHH', self.param_id, self.param_value, self.param_count, self.param_index)) - -class MAVLink_param_set_message(MAVLink_message): - ''' - Set a parameter value TEMPORARILY to RAM. It will be reset to - default on system reboot. Send the ACTION - MAV_ACTION_STORAGE_WRITE to PERMANENTLY write the RAM contents - to EEPROM. IMPORTANT: The receiving component should - acknowledge the new parameter value by sending a param_value - message to all communication partners. This will also ensure - that multiple GCS all have an up-to-date list of all - parameters. If the sending GCS did not receive a PARAM_VALUE - message within its timeout time, it should re-send the - PARAM_SET message. - ''' - def __init__(self, target_system, target_component, param_id, param_value): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_PARAM_SET, 'PARAM_SET') - self._fieldnames = ['target_system', 'target_component', 'param_id', 'param_value'] - self.target_system = target_system - self.target_component = target_component - self.param_id = param_id - self.param_value = param_value - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 121, struct.pack('>BB15sf', self.target_system, self.target_component, self.param_id, self.param_value)) - -class MAVLink_gps_raw_int_message(MAVLink_message): - ''' - The global position, as returned by the Global Positioning - System (GPS). This is NOT the global position estimate of the - sytem, but rather a RAW sensor value. See message - GLOBAL_POSITION for the global position estimate. Coordinate - frame is right-handed, Z-axis up (GPS frame) - ''' - def __init__(self, usec, fix_type, lat, lon, alt, eph, epv, v, hdg): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_GPS_RAW_INT, 'GPS_RAW_INT') - self._fieldnames = ['usec', 'fix_type', 'lat', 'lon', 'alt', 'eph', 'epv', 'v', 'hdg'] - self.usec = usec - self.fix_type = fix_type - self.lat = lat - self.lon = lon - self.alt = alt - self.eph = eph - self.epv = epv - self.v = v - self.hdg = hdg - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 149, struct.pack('>QBiiiffff', self.usec, self.fix_type, self.lat, self.lon, self.alt, self.eph, self.epv, self.v, self.hdg)) - -class MAVLink_scaled_imu_message(MAVLink_message): - ''' - The RAW IMU readings for the usual 9DOF sensor setup. This - message should contain the scaled values to the described - units - ''' - def __init__(self, usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_SCALED_IMU, 'SCALED_IMU') - self._fieldnames = ['usec', 'xacc', 'yacc', 'zacc', 'xgyro', 'ygyro', 'zgyro', 'xmag', 'ymag', 'zmag'] - self.usec = usec - self.xacc = xacc - self.yacc = yacc - self.zacc = zacc - self.xgyro = xgyro - self.ygyro = ygyro - self.zgyro = zgyro - self.xmag = xmag - self.ymag = ymag - self.zmag = zmag - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 222, struct.pack('>Qhhhhhhhhh', self.usec, self.xacc, self.yacc, self.zacc, self.xgyro, self.ygyro, self.zgyro, self.xmag, self.ymag, self.zmag)) - -class MAVLink_gps_status_message(MAVLink_message): - ''' - The positioning status, as reported by GPS. This message is - intended to display status information about each satellite - visible to the receiver. See message GLOBAL_POSITION for the - global position estimate. This message can contain information - for up to 20 satellites. - ''' - def __init__(self, satellites_visible, satellite_prn, satellite_used, satellite_elevation, satellite_azimuth, satellite_snr): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_GPS_STATUS, 'GPS_STATUS') - self._fieldnames = ['satellites_visible', 'satellite_prn', 'satellite_used', 'satellite_elevation', 'satellite_azimuth', 'satellite_snr'] - self.satellites_visible = satellites_visible - self.satellite_prn = satellite_prn - self.satellite_used = satellite_used - self.satellite_elevation = satellite_elevation - self.satellite_azimuth = satellite_azimuth - self.satellite_snr = satellite_snr - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 110, struct.pack('>B20s20s20s20s20s', self.satellites_visible, self.satellite_prn, self.satellite_used, self.satellite_elevation, self.satellite_azimuth, self.satellite_snr)) - -class MAVLink_raw_imu_message(MAVLink_message): - ''' - The RAW IMU readings for the usual 9DOF sensor setup. This - message should always contain the true raw values without any - scaling to allow data capture and system debugging. - ''' - def __init__(self, usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_RAW_IMU, 'RAW_IMU') - self._fieldnames = ['usec', 'xacc', 'yacc', 'zacc', 'xgyro', 'ygyro', 'zgyro', 'xmag', 'ymag', 'zmag'] - self.usec = usec - self.xacc = xacc - self.yacc = yacc - self.zacc = zacc - self.xgyro = xgyro - self.ygyro = ygyro - self.zgyro = zgyro - self.xmag = xmag - self.ymag = ymag - self.zmag = zmag - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 179, struct.pack('>Qhhhhhhhhh', self.usec, self.xacc, self.yacc, self.zacc, self.xgyro, self.ygyro, self.zgyro, self.xmag, self.ymag, self.zmag)) - -class MAVLink_raw_pressure_message(MAVLink_message): - ''' - The RAW pressure readings for the typical setup of one - absolute pressure and one differential pressure sensor. The - sensor values should be the raw, UNSCALED ADC values. - ''' - def __init__(self, usec, press_abs, press_diff1, press_diff2, temperature): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_RAW_PRESSURE, 'RAW_PRESSURE') - self._fieldnames = ['usec', 'press_abs', 'press_diff1', 'press_diff2', 'temperature'] - self.usec = usec - self.press_abs = press_abs - self.press_diff1 = press_diff1 - self.press_diff2 = press_diff2 - self.temperature = temperature - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 136, struct.pack('>Qhhhh', self.usec, self.press_abs, self.press_diff1, self.press_diff2, self.temperature)) - -class MAVLink_scaled_pressure_message(MAVLink_message): - ''' - The pressure readings for the typical setup of one absolute - and differential pressure sensor. The units are as specified - in each field. - ''' - def __init__(self, usec, press_abs, press_diff, temperature): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_SCALED_PRESSURE, 'SCALED_PRESSURE') - self._fieldnames = ['usec', 'press_abs', 'press_diff', 'temperature'] - self.usec = usec - self.press_abs = press_abs - self.press_diff = press_diff - self.temperature = temperature - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 229, struct.pack('>Qffh', self.usec, self.press_abs, self.press_diff, self.temperature)) - -class MAVLink_attitude_message(MAVLink_message): - ''' - The attitude in the aeronautical frame (right-handed, Z-down, - X-front, Y-right). - ''' - def __init__(self, usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_ATTITUDE, 'ATTITUDE') - self._fieldnames = ['usec', 'roll', 'pitch', 'yaw', 'rollspeed', 'pitchspeed', 'yawspeed'] - self.usec = usec - self.roll = roll - self.pitch = pitch - self.yaw = yaw - self.rollspeed = rollspeed - self.pitchspeed = pitchspeed - self.yawspeed = yawspeed - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 66, struct.pack('>Qffffff', self.usec, self.roll, self.pitch, self.yaw, self.rollspeed, self.pitchspeed, self.yawspeed)) - -class MAVLink_local_position_message(MAVLink_message): - ''' - The filtered local position (e.g. fused computer vision and - accelerometers). Coordinate frame is right-handed, Z-axis down - (aeronautical frame) - ''' - def __init__(self, usec, x, y, z, vx, vy, vz): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_LOCAL_POSITION, 'LOCAL_POSITION') - self._fieldnames = ['usec', 'x', 'y', 'z', 'vx', 'vy', 'vz'] - self.usec = usec - self.x = x - self.y = y - self.z = z - self.vx = vx - self.vy = vy - self.vz = vz - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 126, struct.pack('>Qffffff', self.usec, self.x, self.y, self.z, self.vx, self.vy, self.vz)) - -class MAVLink_global_position_message(MAVLink_message): - ''' - The filtered global position (e.g. fused GPS and - accelerometers). Coordinate frame is right-handed, Z-axis up - (GPS frame) - ''' - def __init__(self, usec, lat, lon, alt, vx, vy, vz): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_GLOBAL_POSITION, 'GLOBAL_POSITION') - self._fieldnames = ['usec', 'lat', 'lon', 'alt', 'vx', 'vy', 'vz'] - self.usec = usec - self.lat = lat - self.lon = lon - self.alt = alt - self.vx = vx - self.vy = vy - self.vz = vz - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 147, struct.pack('>Qffffff', self.usec, self.lat, self.lon, self.alt, self.vx, self.vy, self.vz)) - -class MAVLink_gps_raw_message(MAVLink_message): - ''' - The global position, as returned by the Global Positioning - System (GPS). This is NOT the global position estimate of the - sytem, but rather a RAW sensor value. See message - GLOBAL_POSITION for the global position estimate. Coordinate - frame is right-handed, Z-axis up (GPS frame) - ''' - def __init__(self, usec, fix_type, lat, lon, alt, eph, epv, v, hdg): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_GPS_RAW, 'GPS_RAW') - self._fieldnames = ['usec', 'fix_type', 'lat', 'lon', 'alt', 'eph', 'epv', 'v', 'hdg'] - self.usec = usec - self.fix_type = fix_type - self.lat = lat - self.lon = lon - self.alt = alt - self.eph = eph - self.epv = epv - self.v = v - self.hdg = hdg - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 185, struct.pack('>QBfffffff', self.usec, self.fix_type, self.lat, self.lon, self.alt, self.eph, self.epv, self.v, self.hdg)) - -class MAVLink_sys_status_message(MAVLink_message): - ''' - The general system state. If the system is following the - MAVLink standard, the system state is mainly defined by three - orthogonal states/modes: The system mode, which is either - LOCKED (motors shut down and locked), MANUAL (system under RC - control), GUIDED (system with autonomous position control, - position setpoint controlled manually) or AUTO (system guided - by path/waypoint planner). The NAV_MODE defined the current - flight state: LIFTOFF (often an open-loop maneuver), LANDING, - WAYPOINTS or VECTOR. This represents the internal navigation - state machine. The system status shows wether the system is - currently active or not and if an emergency occured. During - the CRITICAL and EMERGENCY states the MAV is still considered - to be active, but should start emergency procedures - autonomously. After a failure occured it should first move - from active to critical to allow manual intervention and then - move to emergency after a certain timeout. - ''' - def __init__(self, mode, nav_mode, status, load, vbat, battery_remaining, packet_drop): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_SYS_STATUS, 'SYS_STATUS') - self._fieldnames = ['mode', 'nav_mode', 'status', 'load', 'vbat', 'battery_remaining', 'packet_drop'] - self.mode = mode - self.nav_mode = nav_mode - self.status = status - self.load = load - self.vbat = vbat - self.battery_remaining = battery_remaining - self.packet_drop = packet_drop - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 112, struct.pack('>BBBHHHH', self.mode, self.nav_mode, self.status, self.load, self.vbat, self.battery_remaining, self.packet_drop)) - -class MAVLink_rc_channels_raw_message(MAVLink_message): - ''' - The RAW values of the RC channels received. The standard PPM - modulation is as follows: 1000 microseconds: 0%, 2000 - microseconds: 100%. Individual receivers/transmitters might - violate this specification. - ''' - def __init__(self, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, rssi): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_RC_CHANNELS_RAW, 'RC_CHANNELS_RAW') - self._fieldnames = ['chan1_raw', 'chan2_raw', 'chan3_raw', 'chan4_raw', 'chan5_raw', 'chan6_raw', 'chan7_raw', 'chan8_raw', 'rssi'] - self.chan1_raw = chan1_raw - self.chan2_raw = chan2_raw - self.chan3_raw = chan3_raw - self.chan4_raw = chan4_raw - self.chan5_raw = chan5_raw - self.chan6_raw = chan6_raw - self.chan7_raw = chan7_raw - self.chan8_raw = chan8_raw - self.rssi = rssi - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 252, struct.pack('>HHHHHHHHB', self.chan1_raw, self.chan2_raw, self.chan3_raw, self.chan4_raw, self.chan5_raw, self.chan6_raw, self.chan7_raw, self.chan8_raw, self.rssi)) - -class MAVLink_rc_channels_scaled_message(MAVLink_message): - ''' - The scaled values of the RC channels received. (-100%) -10000, - (0%) 0, (100%) 10000 - ''' - def __init__(self, chan1_scaled, chan2_scaled, chan3_scaled, chan4_scaled, chan5_scaled, chan6_scaled, chan7_scaled, chan8_scaled, rssi): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_RC_CHANNELS_SCALED, 'RC_CHANNELS_SCALED') - self._fieldnames = ['chan1_scaled', 'chan2_scaled', 'chan3_scaled', 'chan4_scaled', 'chan5_scaled', 'chan6_scaled', 'chan7_scaled', 'chan8_scaled', 'rssi'] - self.chan1_scaled = chan1_scaled - self.chan2_scaled = chan2_scaled - self.chan3_scaled = chan3_scaled - self.chan4_scaled = chan4_scaled - self.chan5_scaled = chan5_scaled - self.chan6_scaled = chan6_scaled - self.chan7_scaled = chan7_scaled - self.chan8_scaled = chan8_scaled - self.rssi = rssi - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 162, struct.pack('>hhhhhhhhB', self.chan1_scaled, self.chan2_scaled, self.chan3_scaled, self.chan4_scaled, self.chan5_scaled, self.chan6_scaled, self.chan7_scaled, self.chan8_scaled, self.rssi)) - -class MAVLink_servo_output_raw_message(MAVLink_message): - ''' - The RAW values of the servo outputs (for RC input from the - remote, use the RC_CHANNELS messages). The standard PPM - modulation is as follows: 1000 microseconds: 0%, 2000 - microseconds: 100%. - ''' - def __init__(self, servo1_raw, servo2_raw, servo3_raw, servo4_raw, servo5_raw, servo6_raw, servo7_raw, servo8_raw): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 'SERVO_OUTPUT_RAW') - self._fieldnames = ['servo1_raw', 'servo2_raw', 'servo3_raw', 'servo4_raw', 'servo5_raw', 'servo6_raw', 'servo7_raw', 'servo8_raw'] - self.servo1_raw = servo1_raw - self.servo2_raw = servo2_raw - self.servo3_raw = servo3_raw - self.servo4_raw = servo4_raw - self.servo5_raw = servo5_raw - self.servo6_raw = servo6_raw - self.servo7_raw = servo7_raw - self.servo8_raw = servo8_raw - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 215, struct.pack('>HHHHHHHH', self.servo1_raw, self.servo2_raw, self.servo3_raw, self.servo4_raw, self.servo5_raw, self.servo6_raw, self.servo7_raw, self.servo8_raw)) - -class MAVLink_waypoint_message(MAVLink_message): - ''' - Message encoding a waypoint. This message is emitted to - announce the presence of a waypoint and to set a waypoint - on the system. The waypoint can be either in x, y, z meters - (type: LOCAL) or x:lat, y:lon, z:altitude. Local frame is - Z-down, right handed, global frame is Z-up, right handed - ''' - def __init__(self, target_system, target_component, seq, frame, command, current, autocontinue, param1, param2, param3, param4, x, y, z): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_WAYPOINT, 'WAYPOINT') - self._fieldnames = ['target_system', 'target_component', 'seq', 'frame', 'command', 'current', 'autocontinue', 'param1', 'param2', 'param3', 'param4', 'x', 'y', 'z'] - self.target_system = target_system - self.target_component = target_component - self.seq = seq - self.frame = frame - self.command = command - self.current = current - self.autocontinue = autocontinue - self.param1 = param1 - self.param2 = param2 - self.param3 = param3 - self.param4 = param4 - self.x = x - self.y = y - self.z = z - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 128, struct.pack('>BBHBBBBfffffff', self.target_system, self.target_component, self.seq, self.frame, self.command, self.current, self.autocontinue, self.param1, self.param2, self.param3, self.param4, self.x, self.y, self.z)) - -class MAVLink_waypoint_request_message(MAVLink_message): - ''' - Request the information of the waypoint with the sequence - number seq. The response of the system to this message should - be a WAYPOINT message. - ''' - def __init__(self, target_system, target_component, seq): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_WAYPOINT_REQUEST, 'WAYPOINT_REQUEST') - self._fieldnames = ['target_system', 'target_component', 'seq'] - self.target_system = target_system - self.target_component = target_component - self.seq = seq - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 9, struct.pack('>BBH', self.target_system, self.target_component, self.seq)) - -class MAVLink_waypoint_set_current_message(MAVLink_message): - ''' - Set the waypoint with sequence number seq as current waypoint. - This means that the MAV will continue to this waypoint on the - shortest path (not following the waypoints in-between). - ''' - def __init__(self, target_system, target_component, seq): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT, 'WAYPOINT_SET_CURRENT') - self._fieldnames = ['target_system', 'target_component', 'seq'] - self.target_system = target_system - self.target_component = target_component - self.seq = seq - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 106, struct.pack('>BBH', self.target_system, self.target_component, self.seq)) - -class MAVLink_waypoint_current_message(MAVLink_message): - ''' - Message that announces the sequence number of the current - active waypoint. The MAV will fly towards this waypoint. - ''' - def __init__(self, seq): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_WAYPOINT_CURRENT, 'WAYPOINT_CURRENT') - self._fieldnames = ['seq'] - self.seq = seq - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 101, struct.pack('>H', self.seq)) - -class MAVLink_waypoint_request_list_message(MAVLink_message): - ''' - Request the overall list of waypoints from the - system/component. - ''' - def __init__(self, target_system, target_component): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST, 'WAYPOINT_REQUEST_LIST') - self._fieldnames = ['target_system', 'target_component'] - self.target_system = target_system - self.target_component = target_component - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 213, struct.pack('>BB', self.target_system, self.target_component)) - -class MAVLink_waypoint_count_message(MAVLink_message): - ''' - This message is emitted as response to WAYPOINT_REQUEST_LIST - by the MAV. The GCS can then request the individual waypoints - based on the knowledge of the total number of waypoints. - ''' - def __init__(self, target_system, target_component, count): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_WAYPOINT_COUNT, 'WAYPOINT_COUNT') - self._fieldnames = ['target_system', 'target_component', 'count'] - self.target_system = target_system - self.target_component = target_component - self.count = count - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 4, struct.pack('>BBH', self.target_system, self.target_component, self.count)) - -class MAVLink_waypoint_clear_all_message(MAVLink_message): - ''' - Delete all waypoints at once. - ''' - def __init__(self, target_system, target_component): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL, 'WAYPOINT_CLEAR_ALL') - self._fieldnames = ['target_system', 'target_component'] - self.target_system = target_system - self.target_component = target_component - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 229, struct.pack('>BB', self.target_system, self.target_component)) - -class MAVLink_waypoint_reached_message(MAVLink_message): - ''' - A certain waypoint has been reached. The system will either - hold this position (or circle on the orbit) or (if the - autocontinue on the WP was set) continue to the next waypoint. - ''' - def __init__(self, seq): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_WAYPOINT_REACHED, 'WAYPOINT_REACHED') - self._fieldnames = ['seq'] - self.seq = seq - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 21, struct.pack('>H', self.seq)) - -class MAVLink_waypoint_ack_message(MAVLink_message): - ''' - Ack message during waypoint handling. The type field states if - this message is a positive ack (type=0) or if an error - happened (type=non-zero). - ''' - def __init__(self, target_system, target_component, type): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_WAYPOINT_ACK, 'WAYPOINT_ACK') - self._fieldnames = ['target_system', 'target_component', 'type'] - self.target_system = target_system - self.target_component = target_component - self.type = type - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 214, struct.pack('>BBB', self.target_system, self.target_component, self.type)) - -class MAVLink_gps_set_global_origin_message(MAVLink_message): - ''' - As local waypoints exist, the global waypoint reference allows - to transform between the local coordinate frame and the global - (GPS) coordinate frame. This can be necessary when e.g. in- - and outdoor settings are connected and the MAV should move - from in- to outdoor. - ''' - def __init__(self, target_system, target_component, latitude, longitude, altitude): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_GPS_SET_GLOBAL_ORIGIN, 'GPS_SET_GLOBAL_ORIGIN') - self._fieldnames = ['target_system', 'target_component', 'latitude', 'longitude', 'altitude'] - self.target_system = target_system - self.target_component = target_component - self.latitude = latitude - self.longitude = longitude - self.altitude = altitude - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 215, struct.pack('>BBiii', self.target_system, self.target_component, self.latitude, self.longitude, self.altitude)) - -class MAVLink_gps_local_origin_set_message(MAVLink_message): - ''' - Once the MAV sets a new GPS-Local correspondence, this message - announces the origin (0,0,0) position - ''' - def __init__(self, latitude, longitude, altitude): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_GPS_LOCAL_ORIGIN_SET, 'GPS_LOCAL_ORIGIN_SET') - self._fieldnames = ['latitude', 'longitude', 'altitude'] - self.latitude = latitude - self.longitude = longitude - self.altitude = altitude - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 14, struct.pack('>iii', self.latitude, self.longitude, self.altitude)) - -class MAVLink_local_position_setpoint_set_message(MAVLink_message): - ''' - Set the setpoint for a local position controller. This is the - position in local coordinates the MAV should fly to. This - message is sent by the path/waypoint planner to the onboard - position controller. As some MAVs have a degree of freedom in - yaw (e.g. all helicopters/quadrotors), the desired yaw angle - is part of the message. - ''' - def __init__(self, target_system, target_component, x, y, z, yaw): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET, 'LOCAL_POSITION_SETPOINT_SET') - self._fieldnames = ['target_system', 'target_component', 'x', 'y', 'z', 'yaw'] - self.target_system = target_system - self.target_component = target_component - self.x = x - self.y = y - self.z = z - self.yaw = yaw - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 206, struct.pack('>BBffff', self.target_system, self.target_component, self.x, self.y, self.z, self.yaw)) - -class MAVLink_local_position_setpoint_message(MAVLink_message): - ''' - Transmit the current local setpoint of the controller to other - MAVs (collision avoidance) and to the GCS. - ''' - def __init__(self, x, y, z, yaw): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT, 'LOCAL_POSITION_SETPOINT') - self._fieldnames = ['x', 'y', 'z', 'yaw'] - self.x = x - self.y = y - self.z = z - self.yaw = yaw - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 50, struct.pack('>ffff', self.x, self.y, self.z, self.yaw)) - -class MAVLink_control_status_message(MAVLink_message): - ''' - - ''' - def __init__(self, position_fix, vision_fix, gps_fix, ahrs_health, control_att, control_pos_xy, control_pos_z, control_pos_yaw): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_CONTROL_STATUS, 'CONTROL_STATUS') - self._fieldnames = ['position_fix', 'vision_fix', 'gps_fix', 'ahrs_health', 'control_att', 'control_pos_xy', 'control_pos_z', 'control_pos_yaw'] - self.position_fix = position_fix - self.vision_fix = vision_fix - self.gps_fix = gps_fix - self.ahrs_health = ahrs_health - self.control_att = control_att - self.control_pos_xy = control_pos_xy - self.control_pos_z = control_pos_z - self.control_pos_yaw = control_pos_yaw - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 157, struct.pack('>BBBBBBBB', self.position_fix, self.vision_fix, self.gps_fix, self.ahrs_health, self.control_att, self.control_pos_xy, self.control_pos_z, self.control_pos_yaw)) - -class MAVLink_safety_set_allowed_area_message(MAVLink_message): - ''' - Set a safety zone (volume), which is defined by two corners of - a cube. This message can be used to tell the MAV which - setpoints/waypoints to accept and which to reject. Safety - areas are often enforced by national or competition - regulations. - ''' - def __init__(self, target_system, target_component, frame, p1x, p1y, p1z, p2x, p2y, p2z): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA, 'SAFETY_SET_ALLOWED_AREA') - self._fieldnames = ['target_system', 'target_component', 'frame', 'p1x', 'p1y', 'p1z', 'p2x', 'p2y', 'p2z'] - self.target_system = target_system - self.target_component = target_component - self.frame = frame - self.p1x = p1x - self.p1y = p1y - self.p1z = p1z - self.p2x = p2x - self.p2y = p2y - self.p2z = p2z - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 126, struct.pack('>BBBffffff', self.target_system, self.target_component, self.frame, self.p1x, self.p1y, self.p1z, self.p2x, self.p2y, self.p2z)) - -class MAVLink_safety_allowed_area_message(MAVLink_message): - ''' - Read out the safety zone the MAV currently assumes. - ''' - def __init__(self, frame, p1x, p1y, p1z, p2x, p2y, p2z): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA, 'SAFETY_ALLOWED_AREA') - self._fieldnames = ['frame', 'p1x', 'p1y', 'p1z', 'p2x', 'p2y', 'p2z'] - self.frame = frame - self.p1x = p1x - self.p1y = p1y - self.p1z = p1z - self.p2x = p2x - self.p2y = p2y - self.p2z = p2z - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 108, struct.pack('>Bffffff', self.frame, self.p1x, self.p1y, self.p1z, self.p2x, self.p2y, self.p2z)) - -class MAVLink_set_roll_pitch_yaw_thrust_message(MAVLink_message): - ''' - Set roll, pitch and yaw. - ''' - def __init__(self, target_system, target_component, roll, pitch, yaw, thrust): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST, 'SET_ROLL_PITCH_YAW_THRUST') - self._fieldnames = ['target_system', 'target_component', 'roll', 'pitch', 'yaw', 'thrust'] - self.target_system = target_system - self.target_component = target_component - self.roll = roll - self.pitch = pitch - self.yaw = yaw - self.thrust = thrust - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 213, struct.pack('>BBffff', self.target_system, self.target_component, self.roll, self.pitch, self.yaw, self.thrust)) - -class MAVLink_set_roll_pitch_yaw_speed_thrust_message(MAVLink_message): - ''' - Set roll, pitch and yaw. - ''' - def __init__(self, target_system, target_component, roll_speed, pitch_speed, yaw_speed, thrust): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST, 'SET_ROLL_PITCH_YAW_SPEED_THRUST') - self._fieldnames = ['target_system', 'target_component', 'roll_speed', 'pitch_speed', 'yaw_speed', 'thrust'] - self.target_system = target_system - self.target_component = target_component - self.roll_speed = roll_speed - self.pitch_speed = pitch_speed - self.yaw_speed = yaw_speed - self.thrust = thrust - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 95, struct.pack('>BBffff', self.target_system, self.target_component, self.roll_speed, self.pitch_speed, self.yaw_speed, self.thrust)) - -class MAVLink_roll_pitch_yaw_thrust_setpoint_message(MAVLink_message): - ''' - Setpoint in roll, pitch, yaw currently active on the system. - ''' - def __init__(self, time_us, roll, pitch, yaw, thrust): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT, 'ROLL_PITCH_YAW_THRUST_SETPOINT') - self._fieldnames = ['time_us', 'roll', 'pitch', 'yaw', 'thrust'] - self.time_us = time_us - self.roll = roll - self.pitch = pitch - self.yaw = yaw - self.thrust = thrust - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 5, struct.pack('>Qffff', self.time_us, self.roll, self.pitch, self.yaw, self.thrust)) - -class MAVLink_roll_pitch_yaw_speed_thrust_setpoint_message(MAVLink_message): - ''' - Setpoint in rollspeed, pitchspeed, yawspeed currently active - on the system. - ''' - def __init__(self, time_us, roll_speed, pitch_speed, yaw_speed, thrust): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, 'ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT') - self._fieldnames = ['time_us', 'roll_speed', 'pitch_speed', 'yaw_speed', 'thrust'] - self.time_us = time_us - self.roll_speed = roll_speed - self.pitch_speed = pitch_speed - self.yaw_speed = yaw_speed - self.thrust = thrust - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 127, struct.pack('>Qffff', self.time_us, self.roll_speed, self.pitch_speed, self.yaw_speed, self.thrust)) - -class MAVLink_nav_controller_output_message(MAVLink_message): - ''' - Outputs of the APM navigation controller. The primary use of - this message is to check the response and signs of the - controller before actual flight and to assist with tuning - controller parameters - ''' - def __init__(self, nav_roll, nav_pitch, nav_bearing, target_bearing, wp_dist, alt_error, aspd_error, xtrack_error): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, 'NAV_CONTROLLER_OUTPUT') - self._fieldnames = ['nav_roll', 'nav_pitch', 'nav_bearing', 'target_bearing', 'wp_dist', 'alt_error', 'aspd_error', 'xtrack_error'] - self.nav_roll = nav_roll - self.nav_pitch = nav_pitch - self.nav_bearing = nav_bearing - self.target_bearing = target_bearing - self.wp_dist = wp_dist - self.alt_error = alt_error - self.aspd_error = aspd_error - self.xtrack_error = xtrack_error - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 57, struct.pack('>ffhhHfff', self.nav_roll, self.nav_pitch, self.nav_bearing, self.target_bearing, self.wp_dist, self.alt_error, self.aspd_error, self.xtrack_error)) - -class MAVLink_position_target_message(MAVLink_message): - ''' - The goal position of the system. This position is the input to - any navigation or path planning algorithm and does NOT - represent the current controller setpoint. - ''' - def __init__(self, x, y, z, yaw): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_POSITION_TARGET, 'POSITION_TARGET') - self._fieldnames = ['x', 'y', 'z', 'yaw'] - self.x = x - self.y = y - self.z = z - self.yaw = yaw - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 126, struct.pack('>ffff', self.x, self.y, self.z, self.yaw)) - -class MAVLink_state_correction_message(MAVLink_message): - ''' - Corrects the systems state by adding an error correction term - to the position and velocity, and by rotating the attitude by - a correction angle. - ''' - def __init__(self, xErr, yErr, zErr, rollErr, pitchErr, yawErr, vxErr, vyErr, vzErr): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_STATE_CORRECTION, 'STATE_CORRECTION') - self._fieldnames = ['xErr', 'yErr', 'zErr', 'rollErr', 'pitchErr', 'yawErr', 'vxErr', 'vyErr', 'vzErr'] - self.xErr = xErr - self.yErr = yErr - self.zErr = zErr - self.rollErr = rollErr - self.pitchErr = pitchErr - self.yawErr = yawErr - self.vxErr = vxErr - self.vyErr = vyErr - self.vzErr = vzErr - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 130, struct.pack('>fffffffff', self.xErr, self.yErr, self.zErr, self.rollErr, self.pitchErr, self.yawErr, self.vxErr, self.vyErr, self.vzErr)) - -class MAVLink_set_altitude_message(MAVLink_message): - ''' - - ''' - def __init__(self, target, mode): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_SET_ALTITUDE, 'SET_ALTITUDE') - self._fieldnames = ['target', 'mode'] - self.target = target - self.mode = mode - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 119, struct.pack('>BI', self.target, self.mode)) - -class MAVLink_request_data_stream_message(MAVLink_message): - ''' - - ''' - def __init__(self, target_system, target_component, req_stream_id, req_message_rate, start_stop): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_REQUEST_DATA_STREAM, 'REQUEST_DATA_STREAM') - self._fieldnames = ['target_system', 'target_component', 'req_stream_id', 'req_message_rate', 'start_stop'] - self.target_system = target_system - self.target_component = target_component - self.req_stream_id = req_stream_id - self.req_message_rate = req_message_rate - self.start_stop = start_stop - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 193, struct.pack('>BBBHB', self.target_system, self.target_component, self.req_stream_id, self.req_message_rate, self.start_stop)) - -class MAVLink_hil_state_message(MAVLink_message): - ''' - This packet is useful for high throughput - applications such as hardware in the loop simulations. - ''' - def __init__(self, usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed, lat, lon, alt, vx, vy, vz, xacc, yacc, zacc): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_HIL_STATE, 'HIL_STATE') - self._fieldnames = ['usec', 'roll', 'pitch', 'yaw', 'rollspeed', 'pitchspeed', 'yawspeed', 'lat', 'lon', 'alt', 'vx', 'vy', 'vz', 'xacc', 'yacc', 'zacc'] - self.usec = usec - self.roll = roll - self.pitch = pitch - self.yaw = yaw - self.rollspeed = rollspeed - self.pitchspeed = pitchspeed - self.yawspeed = yawspeed - self.lat = lat - self.lon = lon - self.alt = alt - self.vx = vx - self.vy = vy - self.vz = vz - self.xacc = xacc - self.yacc = yacc - self.zacc = zacc - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 191, struct.pack('>Qffffffiiihhhhhh', self.usec, self.roll, self.pitch, self.yaw, self.rollspeed, self.pitchspeed, self.yawspeed, self.lat, self.lon, self.alt, self.vx, self.vy, self.vz, self.xacc, self.yacc, self.zacc)) - -class MAVLink_hil_controls_message(MAVLink_message): - ''' - Hardware in the loop control outputs - ''' - def __init__(self, time_us, roll_ailerons, pitch_elevator, yaw_rudder, throttle, mode, nav_mode): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_HIL_CONTROLS, 'HIL_CONTROLS') - self._fieldnames = ['time_us', 'roll_ailerons', 'pitch_elevator', 'yaw_rudder', 'throttle', 'mode', 'nav_mode'] - self.time_us = time_us - self.roll_ailerons = roll_ailerons - self.pitch_elevator = pitch_elevator - self.yaw_rudder = yaw_rudder - self.throttle = throttle - self.mode = mode - self.nav_mode = nav_mode - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 236, struct.pack('>QffffBB', self.time_us, self.roll_ailerons, self.pitch_elevator, self.yaw_rudder, self.throttle, self.mode, self.nav_mode)) - -class MAVLink_manual_control_message(MAVLink_message): - ''' - - ''' - def __init__(self, target, roll, pitch, yaw, thrust, roll_manual, pitch_manual, yaw_manual, thrust_manual): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_MANUAL_CONTROL, 'MANUAL_CONTROL') - self._fieldnames = ['target', 'roll', 'pitch', 'yaw', 'thrust', 'roll_manual', 'pitch_manual', 'yaw_manual', 'thrust_manual'] - self.target = target - self.roll = roll - self.pitch = pitch - self.yaw = yaw - self.thrust = thrust - self.roll_manual = roll_manual - self.pitch_manual = pitch_manual - self.yaw_manual = yaw_manual - self.thrust_manual = thrust_manual - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 158, struct.pack('>BffffBBBB', self.target, self.roll, self.pitch, self.yaw, self.thrust, self.roll_manual, self.pitch_manual, self.yaw_manual, self.thrust_manual)) - -class MAVLink_rc_channels_override_message(MAVLink_message): - ''' - The RAW values of the RC channels sent to the MAV to override - info received from the RC radio. A value of -1 means no change - to that channel. A value of 0 means control of that channel - should be released back to the RC radio. The standard PPM - modulation is as follows: 1000 microseconds: 0%, 2000 - microseconds: 100%. Individual receivers/transmitters might - violate this specification. - ''' - def __init__(self, target_system, target_component, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE, 'RC_CHANNELS_OVERRIDE') - self._fieldnames = ['target_system', 'target_component', 'chan1_raw', 'chan2_raw', 'chan3_raw', 'chan4_raw', 'chan5_raw', 'chan6_raw', 'chan7_raw', 'chan8_raw'] - self.target_system = target_system - self.target_component = target_component - self.chan1_raw = chan1_raw - self.chan2_raw = chan2_raw - self.chan3_raw = chan3_raw - self.chan4_raw = chan4_raw - self.chan5_raw = chan5_raw - self.chan6_raw = chan6_raw - self.chan7_raw = chan7_raw - self.chan8_raw = chan8_raw - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 143, struct.pack('>BBHHHHHHHH', self.target_system, self.target_component, self.chan1_raw, self.chan2_raw, self.chan3_raw, self.chan4_raw, self.chan5_raw, self.chan6_raw, self.chan7_raw, self.chan8_raw)) - -class MAVLink_global_position_int_message(MAVLink_message): - ''' - The filtered global position (e.g. fused GPS and - accelerometers). The position is in GPS-frame (right-handed, - Z-up) - ''' - def __init__(self, lat, lon, alt, vx, vy, vz): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, 'GLOBAL_POSITION_INT') - self._fieldnames = ['lat', 'lon', 'alt', 'vx', 'vy', 'vz'] - self.lat = lat - self.lon = lon - self.alt = alt - self.vx = vx - self.vy = vy - self.vz = vz - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 104, struct.pack('>iiihhh', self.lat, self.lon, self.alt, self.vx, self.vy, self.vz)) - -class MAVLink_vfr_hud_message(MAVLink_message): - ''' - Metrics typically displayed on a HUD for fixed wing aircraft - ''' - def __init__(self, airspeed, groundspeed, heading, throttle, alt, climb): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_VFR_HUD, 'VFR_HUD') - self._fieldnames = ['airspeed', 'groundspeed', 'heading', 'throttle', 'alt', 'climb'] - self.airspeed = airspeed - self.groundspeed = groundspeed - self.heading = heading - self.throttle = throttle - self.alt = alt - self.climb = climb - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 123, struct.pack('>ffhHff', self.airspeed, self.groundspeed, self.heading, self.throttle, self.alt, self.climb)) - -class MAVLink_command_message(MAVLink_message): - ''' - Send a command with up to four parameters to the MAV - ''' - def __init__(self, target_system, target_component, command, confirmation, param1, param2, param3, param4): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_COMMAND, 'COMMAND') - self._fieldnames = ['target_system', 'target_component', 'command', 'confirmation', 'param1', 'param2', 'param3', 'param4'] - self.target_system = target_system - self.target_component = target_component - self.command = command - self.confirmation = confirmation - self.param1 = param1 - self.param2 = param2 - self.param3 = param3 - self.param4 = param4 - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 131, struct.pack('>BBBBffff', self.target_system, self.target_component, self.command, self.confirmation, self.param1, self.param2, self.param3, self.param4)) - -class MAVLink_command_ack_message(MAVLink_message): - ''' - Report status of a command. Includes feedback wether the - command was executed - ''' - def __init__(self, command, result): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_COMMAND_ACK, 'COMMAND_ACK') - self._fieldnames = ['command', 'result'] - self.command = command - self.result = result - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 8, struct.pack('>ff', self.command, self.result)) - -class MAVLink_optical_flow_message(MAVLink_message): - ''' - Optical flow from a flow sensor (e.g. optical mouse sensor) - ''' - def __init__(self, time, sensor_id, flow_x, flow_y, quality, ground_distance): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_OPTICAL_FLOW, 'OPTICAL_FLOW') - self._fieldnames = ['time', 'sensor_id', 'flow_x', 'flow_y', 'quality', 'ground_distance'] - self.time = time - self.sensor_id = sensor_id - self.flow_x = flow_x - self.flow_y = flow_y - self.quality = quality - self.ground_distance = ground_distance - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 174, struct.pack('>QBhhBf', self.time, self.sensor_id, self.flow_x, self.flow_y, self.quality, self.ground_distance)) - -class MAVLink_object_detection_event_message(MAVLink_message): - ''' - Object has been detected - ''' - def __init__(self, time, object_id, type, name, quality, bearing, distance): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT, 'OBJECT_DETECTION_EVENT') - self._fieldnames = ['time', 'object_id', 'type', 'name', 'quality', 'bearing', 'distance'] - self.time = time - self.object_id = object_id - self.type = type - self.name = name - self.quality = quality - self.bearing = bearing - self.distance = distance - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 155, struct.pack('>IHB20sBff', self.time, self.object_id, self.type, self.name, self.quality, self.bearing, self.distance)) - -class MAVLink_debug_vect_message(MAVLink_message): - ''' - - ''' - def __init__(self, name, usec, x, y, z): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_DEBUG_VECT, 'DEBUG_VECT') - self._fieldnames = ['name', 'usec', 'x', 'y', 'z'] - self.name = name - self.usec = usec - self.x = x - self.y = y - self.z = z - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 178, struct.pack('>10sQfff', self.name, self.usec, self.x, self.y, self.z)) - -class MAVLink_named_value_float_message(MAVLink_message): - ''' - Send a key-value pair as float. The use of this message is - discouraged for normal packets, but a quite efficient way for - testing new messages and getting experimental debug output. - ''' - def __init__(self, name, value): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 'NAMED_VALUE_FLOAT') - self._fieldnames = ['name', 'value'] - self.name = name - self.value = value - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 224, struct.pack('>10sf', self.name, self.value)) - -class MAVLink_named_value_int_message(MAVLink_message): - ''' - Send a key-value pair as integer. The use of this message is - discouraged for normal packets, but a quite efficient way for - testing new messages and getting experimental debug output. - ''' - def __init__(self, name, value): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_NAMED_VALUE_INT, 'NAMED_VALUE_INT') - self._fieldnames = ['name', 'value'] - self.name = name - self.value = value - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 60, struct.pack('>10si', self.name, self.value)) - -class MAVLink_statustext_message(MAVLink_message): - ''' - Status text message. These messages are printed in yellow in - the COMM console of QGroundControl. WARNING: They consume - quite some bandwidth, so use only for important status and - error messages. If implemented wisely, these messages are - buffered on the MCU and sent only at a limited rate (e.g. 10 - Hz). - ''' - def __init__(self, severity, text): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_STATUSTEXT, 'STATUSTEXT') - self._fieldnames = ['severity', 'text'] - self.severity = severity - self.text = text - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 106, struct.pack('>B50s', self.severity, self.text)) - -class MAVLink_debug_message(MAVLink_message): - ''' - Send a debug value. The index is used to discriminate between - values. These values show up in the plot of QGroundControl as - DEBUG N. - ''' - def __init__(self, ind, value): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_DEBUG, 'DEBUG') - self._fieldnames = ['ind', 'value'] - self.ind = ind - self.value = value - - def pack(self, mav): - return MAVLink_message.pack(self, mav, 7, struct.pack('>Bf', self.ind, self.value)) - - -mavlink_map = { - MAVLINK_MSG_ID_SENSOR_OFFSETS : ( '>hhhfiiffffff', MAVLink_sensor_offsets_message, [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11], 143 ), - MAVLINK_MSG_ID_SET_MAG_OFFSETS : ( '>BBhhh', MAVLink_set_mag_offsets_message, [0, 1, 2, 3, 4], 29 ), - MAVLINK_MSG_ID_MEMINFO : ( '>HH', MAVLink_meminfo_message, [0, 1], 208 ), - MAVLINK_MSG_ID_AP_ADC : ( '>HHHHHH', MAVLink_ap_adc_message, [0, 1, 2, 3, 4, 5], 188 ), - MAVLINK_MSG_ID_DIGICAM_CONFIGURE : ( '>BBBHBBBBBBf', MAVLink_digicam_configure_message, [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10], 118 ), - MAVLINK_MSG_ID_DIGICAM_CONTROL : ( '>BBBBbBBBBf', MAVLink_digicam_control_message, [0, 1, 2, 3, 4, 5, 6, 7, 8, 9], 242 ), - MAVLINK_MSG_ID_MOUNT_CONFIGURE : ( '>BBBBBB', MAVLink_mount_configure_message, [0, 1, 2, 3, 4, 5], 19 ), - MAVLINK_MSG_ID_MOUNT_CONTROL : ( '>BBiiiB', MAVLink_mount_control_message, [0, 1, 2, 3, 4, 5], 97 ), - MAVLINK_MSG_ID_MOUNT_STATUS : ( '>BBiii', MAVLink_mount_status_message, [0, 1, 2, 3, 4], 233 ), - MAVLINK_MSG_ID_FENCE_POINT : ( '>BBBBff', MAVLink_fence_point_message, [0, 1, 2, 3, 4, 5], 18 ), - MAVLINK_MSG_ID_FENCE_FETCH_POINT : ( '>BBB', MAVLink_fence_fetch_point_message, [0, 1, 2], 68 ), - MAVLINK_MSG_ID_FENCE_STATUS : ( '>BHBI', MAVLink_fence_status_message, [0, 1, 2, 3], 136 ), - MAVLINK_MSG_ID_AHRS : ( '>fffffff', MAVLink_ahrs_message, [0, 1, 2, 3, 4, 5, 6], 127 ), - MAVLINK_MSG_ID_SIMSTATE : ( '>fffffffff', MAVLink_simstate_message, [0, 1, 2, 3, 4, 5, 6, 7, 8], 42 ), - MAVLINK_MSG_ID_HWSTATUS : ( '>HB', MAVLink_hwstatus_message, [0, 1], 21 ), - MAVLINK_MSG_ID_RADIO : ( '>BBBBBHH', MAVLink_radio_message, [0, 1, 2, 3, 4, 5, 6], 93 ), - MAVLINK_MSG_ID_HEARTBEAT : ( '>BBB', MAVLink_heartbeat_message, [0, 1, 2], 72 ), - MAVLINK_MSG_ID_BOOT : ( '>I', MAVLink_boot_message, [0], 39 ), - MAVLINK_MSG_ID_SYSTEM_TIME : ( '>Q', MAVLink_system_time_message, [0], 190 ), - MAVLINK_MSG_ID_PING : ( '>IBBQ', MAVLink_ping_message, [0, 1, 2, 3], 92 ), - MAVLINK_MSG_ID_SYSTEM_TIME_UTC : ( '>II', MAVLink_system_time_utc_message, [0, 1], 191 ), - MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL : ( '>BBB25s', MAVLink_change_operator_control_message, [0, 1, 2, 3], 217 ), - MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK : ( '>BBB', MAVLink_change_operator_control_ack_message, [0, 1, 2], 104 ), - MAVLINK_MSG_ID_AUTH_KEY : ( '>32s', MAVLink_auth_key_message, [0], 119 ), - MAVLINK_MSG_ID_ACTION_ACK : ( '>BB', MAVLink_action_ack_message, [0, 1], 219 ), - MAVLINK_MSG_ID_ACTION : ( '>BBB', MAVLink_action_message, [0, 1, 2], 60 ), - MAVLINK_MSG_ID_SET_MODE : ( '>BB', MAVLink_set_mode_message, [0, 1], 186 ), - MAVLINK_MSG_ID_SET_NAV_MODE : ( '>BB', MAVLink_set_nav_mode_message, [0, 1], 10 ), - MAVLINK_MSG_ID_PARAM_REQUEST_READ : ( '>BB15sh', MAVLink_param_request_read_message, [0, 1, 2, 3], 89 ), - MAVLINK_MSG_ID_PARAM_REQUEST_LIST : ( '>BB', MAVLink_param_request_list_message, [0, 1], 159 ), - MAVLINK_MSG_ID_PARAM_VALUE : ( '>15sfHH', MAVLink_param_value_message, [0, 1, 2, 3], 162 ), - MAVLINK_MSG_ID_PARAM_SET : ( '>BB15sf', MAVLink_param_set_message, [0, 1, 2, 3], 121 ), - MAVLINK_MSG_ID_GPS_RAW_INT : ( '>QBiiiffff', MAVLink_gps_raw_int_message, [0, 1, 2, 3, 4, 5, 6, 7, 8], 149 ), - MAVLINK_MSG_ID_SCALED_IMU : ( '>Qhhhhhhhhh', MAVLink_scaled_imu_message, [0, 1, 2, 3, 4, 5, 6, 7, 8, 9], 222 ), - MAVLINK_MSG_ID_GPS_STATUS : ( '>B20s20s20s20s20s', MAVLink_gps_status_message, [0, 1, 2, 3, 4, 5], 110 ), - MAVLINK_MSG_ID_RAW_IMU : ( '>Qhhhhhhhhh', MAVLink_raw_imu_message, [0, 1, 2, 3, 4, 5, 6, 7, 8, 9], 179 ), - MAVLINK_MSG_ID_RAW_PRESSURE : ( '>Qhhhh', MAVLink_raw_pressure_message, [0, 1, 2, 3, 4], 136 ), - MAVLINK_MSG_ID_SCALED_PRESSURE : ( '>Qffh', MAVLink_scaled_pressure_message, [0, 1, 2, 3], 229 ), - MAVLINK_MSG_ID_ATTITUDE : ( '>Qffffff', MAVLink_attitude_message, [0, 1, 2, 3, 4, 5, 6], 66 ), - MAVLINK_MSG_ID_LOCAL_POSITION : ( '>Qffffff', MAVLink_local_position_message, [0, 1, 2, 3, 4, 5, 6], 126 ), - MAVLINK_MSG_ID_GLOBAL_POSITION : ( '>Qffffff', MAVLink_global_position_message, [0, 1, 2, 3, 4, 5, 6], 147 ), - MAVLINK_MSG_ID_GPS_RAW : ( '>QBfffffff', MAVLink_gps_raw_message, [0, 1, 2, 3, 4, 5, 6, 7, 8], 185 ), - MAVLINK_MSG_ID_SYS_STATUS : ( '>BBBHHHH', MAVLink_sys_status_message, [0, 1, 2, 3, 4, 5, 6], 112 ), - MAVLINK_MSG_ID_RC_CHANNELS_RAW : ( '>HHHHHHHHB', MAVLink_rc_channels_raw_message, [0, 1, 2, 3, 4, 5, 6, 7, 8], 252 ), - MAVLINK_MSG_ID_RC_CHANNELS_SCALED : ( '>hhhhhhhhB', MAVLink_rc_channels_scaled_message, [0, 1, 2, 3, 4, 5, 6, 7, 8], 162 ), - MAVLINK_MSG_ID_SERVO_OUTPUT_RAW : ( '>HHHHHHHH', MAVLink_servo_output_raw_message, [0, 1, 2, 3, 4, 5, 6, 7], 215 ), - MAVLINK_MSG_ID_WAYPOINT : ( '>BBHBBBBfffffff', MAVLink_waypoint_message, [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13], 128 ), - MAVLINK_MSG_ID_WAYPOINT_REQUEST : ( '>BBH', MAVLink_waypoint_request_message, [0, 1, 2], 9 ), - MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT : ( '>BBH', MAVLink_waypoint_set_current_message, [0, 1, 2], 106 ), - MAVLINK_MSG_ID_WAYPOINT_CURRENT : ( '>H', MAVLink_waypoint_current_message, [0], 101 ), - MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST : ( '>BB', MAVLink_waypoint_request_list_message, [0, 1], 213 ), - MAVLINK_MSG_ID_WAYPOINT_COUNT : ( '>BBH', MAVLink_waypoint_count_message, [0, 1, 2], 4 ), - MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL : ( '>BB', MAVLink_waypoint_clear_all_message, [0, 1], 229 ), - MAVLINK_MSG_ID_WAYPOINT_REACHED : ( '>H', MAVLink_waypoint_reached_message, [0], 21 ), - MAVLINK_MSG_ID_WAYPOINT_ACK : ( '>BBB', MAVLink_waypoint_ack_message, [0, 1, 2], 214 ), - MAVLINK_MSG_ID_GPS_SET_GLOBAL_ORIGIN : ( '>BBiii', MAVLink_gps_set_global_origin_message, [0, 1, 2, 3, 4], 215 ), - MAVLINK_MSG_ID_GPS_LOCAL_ORIGIN_SET : ( '>iii', MAVLink_gps_local_origin_set_message, [0, 1, 2], 14 ), - MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET : ( '>BBffff', MAVLink_local_position_setpoint_set_message, [0, 1, 2, 3, 4, 5], 206 ), - MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT : ( '>ffff', MAVLink_local_position_setpoint_message, [0, 1, 2, 3], 50 ), - MAVLINK_MSG_ID_CONTROL_STATUS : ( '>BBBBBBBB', MAVLink_control_status_message, [0, 1, 2, 3, 4, 5, 6, 7], 157 ), - MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA : ( '>BBBffffff', MAVLink_safety_set_allowed_area_message, [0, 1, 2, 3, 4, 5, 6, 7, 8], 126 ), - MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA : ( '>Bffffff', MAVLink_safety_allowed_area_message, [0, 1, 2, 3, 4, 5, 6], 108 ), - MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST : ( '>BBffff', MAVLink_set_roll_pitch_yaw_thrust_message, [0, 1, 2, 3, 4, 5], 213 ), - MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST : ( '>BBffff', MAVLink_set_roll_pitch_yaw_speed_thrust_message, [0, 1, 2, 3, 4, 5], 95 ), - MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT : ( '>Qffff', MAVLink_roll_pitch_yaw_thrust_setpoint_message, [0, 1, 2, 3, 4], 5 ), - MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT : ( '>Qffff', MAVLink_roll_pitch_yaw_speed_thrust_setpoint_message, [0, 1, 2, 3, 4], 127 ), - MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT : ( '>ffhhHfff', MAVLink_nav_controller_output_message, [0, 1, 2, 3, 4, 5, 6, 7], 57 ), - MAVLINK_MSG_ID_POSITION_TARGET : ( '>ffff', MAVLink_position_target_message, [0, 1, 2, 3], 126 ), - MAVLINK_MSG_ID_STATE_CORRECTION : ( '>fffffffff', MAVLink_state_correction_message, [0, 1, 2, 3, 4, 5, 6, 7, 8], 130 ), - MAVLINK_MSG_ID_SET_ALTITUDE : ( '>BI', MAVLink_set_altitude_message, [0, 1], 119 ), - MAVLINK_MSG_ID_REQUEST_DATA_STREAM : ( '>BBBHB', MAVLink_request_data_stream_message, [0, 1, 2, 3, 4], 193 ), - MAVLINK_MSG_ID_HIL_STATE : ( '>Qffffffiiihhhhhh', MAVLink_hil_state_message, [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15], 191 ), - MAVLINK_MSG_ID_HIL_CONTROLS : ( '>QffffBB', MAVLink_hil_controls_message, [0, 1, 2, 3, 4, 5, 6], 236 ), - MAVLINK_MSG_ID_MANUAL_CONTROL : ( '>BffffBBBB', MAVLink_manual_control_message, [0, 1, 2, 3, 4, 5, 6, 7, 8], 158 ), - MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE : ( '>BBHHHHHHHH', MAVLink_rc_channels_override_message, [0, 1, 2, 3, 4, 5, 6, 7, 8, 9], 143 ), - MAVLINK_MSG_ID_GLOBAL_POSITION_INT : ( '>iiihhh', MAVLink_global_position_int_message, [0, 1, 2, 3, 4, 5], 104 ), - MAVLINK_MSG_ID_VFR_HUD : ( '>ffhHff', MAVLink_vfr_hud_message, [0, 1, 2, 3, 4, 5], 123 ), - MAVLINK_MSG_ID_COMMAND : ( '>BBBBffff', MAVLink_command_message, [0, 1, 2, 3, 4, 5, 6, 7], 131 ), - MAVLINK_MSG_ID_COMMAND_ACK : ( '>ff', MAVLink_command_ack_message, [0, 1], 8 ), - MAVLINK_MSG_ID_OPTICAL_FLOW : ( '>QBhhBf', MAVLink_optical_flow_message, [0, 1, 2, 3, 4, 5], 174 ), - MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT : ( '>IHB20sBff', MAVLink_object_detection_event_message, [0, 1, 2, 3, 4, 5, 6], 155 ), - MAVLINK_MSG_ID_DEBUG_VECT : ( '>10sQfff', MAVLink_debug_vect_message, [0, 1, 2, 3, 4], 178 ), - MAVLINK_MSG_ID_NAMED_VALUE_FLOAT : ( '>10sf', MAVLink_named_value_float_message, [0, 1], 224 ), - MAVLINK_MSG_ID_NAMED_VALUE_INT : ( '>10si', MAVLink_named_value_int_message, [0, 1], 60 ), - MAVLINK_MSG_ID_STATUSTEXT : ( '>B50s', MAVLink_statustext_message, [0, 1], 106 ), - MAVLINK_MSG_ID_DEBUG : ( '>Bf', MAVLink_debug_message, [0, 1], 7 ), -} - -class MAVError(Exception): - '''MAVLink error class''' - def __init__(self, msg): - Exception.__init__(self, msg) - self.message = msg - -class MAVString(str): - '''NUL terminated string''' - def __init__(self, s): - str.__init__(self) - def __str__(self): - i = self.find(chr(0)) - if i == -1: - return self[:] - return self[0:i] - -class MAVLink_bad_data(MAVLink_message): - ''' - a piece of bad data in a mavlink stream - ''' - def __init__(self, data, reason): - MAVLink_message.__init__(self, MAVLINK_MSG_ID_BAD_DATA, 'BAD_DATA') - self._fieldnames = ['data', 'reason'] - self.data = data - self.reason = reason - self._msgbuf = data - -class MAVLink(object): - '''MAVLink protocol handling class''' - def __init__(self, file, srcSystem=0, srcComponent=0): - self.seq = 0 - self.file = file - self.srcSystem = srcSystem - self.srcComponent = srcComponent - self.callback = None - self.callback_args = None - self.callback_kwargs = None - self.buf = array.array('B') - self.expected_length = 6 - self.have_prefix_error = False - self.robust_parsing = False - self.protocol_marker = 85 - self.little_endian = False - self.crc_extra = False - self.sort_fields = False - self.total_packets_sent = 0 - self.total_bytes_sent = 0 - self.total_packets_received = 0 - self.total_bytes_received = 0 - self.total_receive_errors = 0 - self.startup_time = time.time() - - def set_callback(self, callback, *args, **kwargs): - self.callback = callback - self.callback_args = args - self.callback_kwargs = kwargs - - def send(self, mavmsg): - '''send a MAVLink message''' - buf = mavmsg.pack(self) - self.file.write(buf) - self.seq = (self.seq + 1) % 255 - self.total_packets_sent += 1 - self.total_bytes_sent += len(buf) - - def bytes_needed(self): - '''return number of bytes needed for next parsing stage''' - ret = self.expected_length - len(self.buf) - if ret <= 0: - return 1 - return ret - - def parse_char(self, c): - '''input some data bytes, possibly returning a new message''' - if isinstance(c, str): - self.buf.fromstring(c) - else: - self.buf.extend(c) - self.total_bytes_received += len(c) - if len(self.buf) >= 1 and self.buf[0] != 85: - magic = self.buf[0] - self.buf = self.buf[1:] - if self.robust_parsing: - m = MAVLink_bad_data(chr(magic), "Bad prefix") - if self.callback: - self.callback(m, *self.callback_args, **self.callback_kwargs) - self.expected_length = 6 - self.total_receive_errors += 1 - return m - if self.have_prefix_error: - return None - self.have_prefix_error = True - self.total_receive_errors += 1 - raise MAVError("invalid MAVLink prefix '%s'" % magic) - self.have_prefix_error = False - if len(self.buf) >= 2: - (magic, self.expected_length) = struct.unpack('BB', self.buf[0:2]) - self.expected_length += 8 - if self.expected_length >= 8 and len(self.buf) >= self.expected_length: - mbuf = self.buf[0:self.expected_length] - self.buf = self.buf[self.expected_length:] - self.expected_length = 6 - if self.robust_parsing: - try: - m = self.decode(mbuf) - self.total_packets_received += 1 - except MAVError as reason: - m = MAVLink_bad_data(mbuf, reason.message) - self.total_receive_errors += 1 - else: - m = self.decode(mbuf) - self.total_packets_received += 1 - if self.callback: - self.callback(m, *self.callback_args, **self.callback_kwargs) - return m - return None - - def parse_buffer(self, s): - '''input some data bytes, possibly returning a list of new messages''' - m = self.parse_char(s) - if m is None: - return None - ret = [m] - while True: - m = self.parse_char("") - if m is None: - return ret - ret.append(m) - return ret - - def decode(self, msgbuf): - '''decode a buffer as a MAVLink message''' - # decode the header - try: - magic, mlen, seq, srcSystem, srcComponent, msgId = struct.unpack('cBBBBB', msgbuf[:6]) - except struct.error as emsg: - raise MAVError('Unable to unpack MAVLink header: %s' % emsg) - if ord(magic) != 85: - raise MAVError("invalid MAVLink prefix '%s'" % magic) - if mlen != len(msgbuf)-8: - raise MAVError('invalid MAVLink message length. Got %u expected %u, msgId=%u' % (len(msgbuf)-8, mlen, msgId)) - - if not msgId in mavlink_map: - raise MAVError('unknown MAVLink message ID %u' % msgId) - - # decode the payload - (fmt, type, order_map, crc_extra) = mavlink_map[msgId] - - # decode the checksum - try: - crc, = struct.unpack('<H', msgbuf[-2:]) - except struct.error as emsg: - raise MAVError('Unable to unpack MAVLink CRC: %s' % emsg) - crc2 = mavutil.x25crc(msgbuf[1:-2]) - if False: # using CRC extra - crc2.accumulate(chr(crc_extra)) - if crc != crc2.crc: - raise MAVError('invalid MAVLink CRC in msgID %u 0x%04x should be 0x%04x' % (msgId, crc, crc2.crc)) - - try: - t = struct.unpack(fmt, msgbuf[6:-2]) - except struct.error as emsg: - raise MAVError('Unable to unpack MAVLink payload type=%s fmt=%s payloadLength=%u: %s' % ( - type, fmt, len(msgbuf[6:-2]), emsg)) - - tlist = list(t) - # handle sorted fields - if False: - t = tlist[:] - for i in range(0, len(tlist)): - tlist[i] = t[order_map[i]] - - # terminate any strings - for i in range(0, len(tlist)): - if isinstance(tlist[i], str): - tlist[i] = MAVString(tlist[i]) - t = tuple(tlist) - # construct the message object - try: - m = type(*t) - except Exception as emsg: - raise MAVError('Unable to instantiate MAVLink message of type %s : %s' % (type, emsg)) - m._msgbuf = msgbuf - m._payload = msgbuf[6:-2] - m._crc = crc - m._header = MAVLink_header(msgId, mlen, seq, srcSystem, srcComponent) - return m - def sensor_offsets_encode(self, mag_ofs_x, mag_ofs_y, mag_ofs_z, mag_declination, raw_press, raw_temp, gyro_cal_x, gyro_cal_y, gyro_cal_z, accel_cal_x, accel_cal_y, accel_cal_z): - ''' - Offsets and calibrations values for hardware sensors. This - makes it easier to debug the calibration process. - - mag_ofs_x : magnetometer X offset (int16_t) - mag_ofs_y : magnetometer Y offset (int16_t) - mag_ofs_z : magnetometer Z offset (int16_t) - mag_declination : magnetic declination (radians) (float) - raw_press : raw pressure from barometer (int32_t) - raw_temp : raw temperature from barometer (int32_t) - gyro_cal_x : gyro X calibration (float) - gyro_cal_y : gyro Y calibration (float) - gyro_cal_z : gyro Z calibration (float) - accel_cal_x : accel X calibration (float) - accel_cal_y : accel Y calibration (float) - accel_cal_z : accel Z calibration (float) - - ''' - msg = MAVLink_sensor_offsets_message(mag_ofs_x, mag_ofs_y, mag_ofs_z, mag_declination, raw_press, raw_temp, gyro_cal_x, gyro_cal_y, gyro_cal_z, accel_cal_x, accel_cal_y, accel_cal_z) - msg.pack(self) - return msg - - def sensor_offsets_send(self, mag_ofs_x, mag_ofs_y, mag_ofs_z, mag_declination, raw_press, raw_temp, gyro_cal_x, gyro_cal_y, gyro_cal_z, accel_cal_x, accel_cal_y, accel_cal_z): - ''' - Offsets and calibrations values for hardware sensors. This - makes it easier to debug the calibration process. - - mag_ofs_x : magnetometer X offset (int16_t) - mag_ofs_y : magnetometer Y offset (int16_t) - mag_ofs_z : magnetometer Z offset (int16_t) - mag_declination : magnetic declination (radians) (float) - raw_press : raw pressure from barometer (int32_t) - raw_temp : raw temperature from barometer (int32_t) - gyro_cal_x : gyro X calibration (float) - gyro_cal_y : gyro Y calibration (float) - gyro_cal_z : gyro Z calibration (float) - accel_cal_x : accel X calibration (float) - accel_cal_y : accel Y calibration (float) - accel_cal_z : accel Z calibration (float) - - ''' - return self.send(self.sensor_offsets_encode(mag_ofs_x, mag_ofs_y, mag_ofs_z, mag_declination, raw_press, raw_temp, gyro_cal_x, gyro_cal_y, gyro_cal_z, accel_cal_x, accel_cal_y, accel_cal_z)) - - def set_mag_offsets_encode(self, target_system, target_component, mag_ofs_x, mag_ofs_y, mag_ofs_z): - ''' - set the magnetometer offsets - - target_system : System ID (uint8_t) - target_component : Component ID (uint8_t) - mag_ofs_x : magnetometer X offset (int16_t) - mag_ofs_y : magnetometer Y offset (int16_t) - mag_ofs_z : magnetometer Z offset (int16_t) - - ''' - msg = MAVLink_set_mag_offsets_message(target_system, target_component, mag_ofs_x, mag_ofs_y, mag_ofs_z) - msg.pack(self) - return msg - - def set_mag_offsets_send(self, target_system, target_component, mag_ofs_x, mag_ofs_y, mag_ofs_z): - ''' - set the magnetometer offsets - - target_system : System ID (uint8_t) - target_component : Component ID (uint8_t) - mag_ofs_x : magnetometer X offset (int16_t) - mag_ofs_y : magnetometer Y offset (int16_t) - mag_ofs_z : magnetometer Z offset (int16_t) - - ''' - return self.send(self.set_mag_offsets_encode(target_system, target_component, mag_ofs_x, mag_ofs_y, mag_ofs_z)) - - def meminfo_encode(self, brkval, freemem): - ''' - state of APM memory - - brkval : heap top (uint16_t) - freemem : free memory (uint16_t) - - ''' - msg = MAVLink_meminfo_message(brkval, freemem) - msg.pack(self) - return msg - - def meminfo_send(self, brkval, freemem): - ''' - state of APM memory - - brkval : heap top (uint16_t) - freemem : free memory (uint16_t) - - ''' - return self.send(self.meminfo_encode(brkval, freemem)) - - def ap_adc_encode(self, adc1, adc2, adc3, adc4, adc5, adc6): - ''' - raw ADC output - - adc1 : ADC output 1 (uint16_t) - adc2 : ADC output 2 (uint16_t) - adc3 : ADC output 3 (uint16_t) - adc4 : ADC output 4 (uint16_t) - adc5 : ADC output 5 (uint16_t) - adc6 : ADC output 6 (uint16_t) - - ''' - msg = MAVLink_ap_adc_message(adc1, adc2, adc3, adc4, adc5, adc6) - msg.pack(self) - return msg - - def ap_adc_send(self, adc1, adc2, adc3, adc4, adc5, adc6): - ''' - raw ADC output - - adc1 : ADC output 1 (uint16_t) - adc2 : ADC output 2 (uint16_t) - adc3 : ADC output 3 (uint16_t) - adc4 : ADC output 4 (uint16_t) - adc5 : ADC output 5 (uint16_t) - adc6 : ADC output 6 (uint16_t) - - ''' - return self.send(self.ap_adc_encode(adc1, adc2, adc3, adc4, adc5, adc6)) - - def digicam_configure_encode(self, target_system, target_component, mode, shutter_speed, aperture, iso, exposure_type, command_id, engine_cut_off, extra_param, extra_value): - ''' - Configure on-board Camera Control System. - - target_system : System ID (uint8_t) - target_component : Component ID (uint8_t) - mode : Mode enumeration from 1 to N //P, TV, AV, M, Etc (0 means ignore) (uint8_t) - shutter_speed : Divisor number //e.g. 1000 means 1/1000 (0 means ignore) (uint16_t) - aperture : F stop number x 10 //e.g. 28 means 2.8 (0 means ignore) (uint8_t) - iso : ISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore) (uint8_t) - exposure_type : Exposure type enumeration from 1 to N (0 means ignore) (uint8_t) - command_id : Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once (uint8_t) - engine_cut_off : Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off) (uint8_t) - extra_param : Extra parameters enumeration (0 means ignore) (uint8_t) - extra_value : Correspondent value to given extra_param (float) - - ''' - msg = MAVLink_digicam_configure_message(target_system, target_component, mode, shutter_speed, aperture, iso, exposure_type, command_id, engine_cut_off, extra_param, extra_value) - msg.pack(self) - return msg - - def digicam_configure_send(self, target_system, target_component, mode, shutter_speed, aperture, iso, exposure_type, command_id, engine_cut_off, extra_param, extra_value): - ''' - Configure on-board Camera Control System. - - target_system : System ID (uint8_t) - target_component : Component ID (uint8_t) - mode : Mode enumeration from 1 to N //P, TV, AV, M, Etc (0 means ignore) (uint8_t) - shutter_speed : Divisor number //e.g. 1000 means 1/1000 (0 means ignore) (uint16_t) - aperture : F stop number x 10 //e.g. 28 means 2.8 (0 means ignore) (uint8_t) - iso : ISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore) (uint8_t) - exposure_type : Exposure type enumeration from 1 to N (0 means ignore) (uint8_t) - command_id : Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once (uint8_t) - engine_cut_off : Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off) (uint8_t) - extra_param : Extra parameters enumeration (0 means ignore) (uint8_t) - extra_value : Correspondent value to given extra_param (float) - - ''' - return self.send(self.digicam_configure_encode(target_system, target_component, mode, shutter_speed, aperture, iso, exposure_type, command_id, engine_cut_off, extra_param, extra_value)) - - def digicam_control_encode(self, target_system, target_component, session, zoom_pos, zoom_step, focus_lock, shot, command_id, extra_param, extra_value): - ''' - Control on-board Camera Control System to take shots. - - target_system : System ID (uint8_t) - target_component : Component ID (uint8_t) - session : 0: stop, 1: start or keep it up //Session control e.g. show/hide lens (uint8_t) - zoom_pos : 1 to N //Zoom's absolute position (0 means ignore) (uint8_t) - zoom_step : -100 to 100 //Zooming step value to offset zoom from the current position (int8_t) - focus_lock : 0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus (uint8_t) - shot : 0: ignore, 1: shot or start filming (uint8_t) - command_id : Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once (uint8_t) - extra_param : Extra parameters enumeration (0 means ignore) (uint8_t) - extra_value : Correspondent value to given extra_param (float) - - ''' - msg = MAVLink_digicam_control_message(target_system, target_component, session, zoom_pos, zoom_step, focus_lock, shot, command_id, extra_param, extra_value) - msg.pack(self) - return msg - - def digicam_control_send(self, target_system, target_component, session, zoom_pos, zoom_step, focus_lock, shot, command_id, extra_param, extra_value): - ''' - Control on-board Camera Control System to take shots. - - target_system : System ID (uint8_t) - target_component : Component ID (uint8_t) - session : 0: stop, 1: start or keep it up //Session control e.g. show/hide lens (uint8_t) - zoom_pos : 1 to N //Zoom's absolute position (0 means ignore) (uint8_t) - zoom_step : -100 to 100 //Zooming step value to offset zoom from the current position (int8_t) - focus_lock : 0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus (uint8_t) - shot : 0: ignore, 1: shot or start filming (uint8_t) - command_id : Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once (uint8_t) - extra_param : Extra parameters enumeration (0 means ignore) (uint8_t) - extra_value : Correspondent value to given extra_param (float) - - ''' - return self.send(self.digicam_control_encode(target_system, target_component, session, zoom_pos, zoom_step, focus_lock, shot, command_id, extra_param, extra_value)) - - def mount_configure_encode(self, target_system, target_component, mount_mode, stab_roll, stab_pitch, stab_yaw): - ''' - Message to configure a camera mount, directional antenna, etc. - - target_system : System ID (uint8_t) - target_component : Component ID (uint8_t) - mount_mode : mount operating mode (see MAV_MOUNT_MODE enum) (uint8_t) - stab_roll : (1 = yes, 0 = no) (uint8_t) - stab_pitch : (1 = yes, 0 = no) (uint8_t) - stab_yaw : (1 = yes, 0 = no) (uint8_t) - - ''' - msg = MAVLink_mount_configure_message(target_system, target_component, mount_mode, stab_roll, stab_pitch, stab_yaw) - msg.pack(self) - return msg - - def mount_configure_send(self, target_system, target_component, mount_mode, stab_roll, stab_pitch, stab_yaw): - ''' - Message to configure a camera mount, directional antenna, etc. - - target_system : System ID (uint8_t) - target_component : Component ID (uint8_t) - mount_mode : mount operating mode (see MAV_MOUNT_MODE enum) (uint8_t) - stab_roll : (1 = yes, 0 = no) (uint8_t) - stab_pitch : (1 = yes, 0 = no) (uint8_t) - stab_yaw : (1 = yes, 0 = no) (uint8_t) - - ''' - return self.send(self.mount_configure_encode(target_system, target_component, mount_mode, stab_roll, stab_pitch, stab_yaw)) - - def mount_control_encode(self, target_system, target_component, input_a, input_b, input_c, save_position): - ''' - Message to control a camera mount, directional antenna, etc. - - target_system : System ID (uint8_t) - target_component : Component ID (uint8_t) - input_a : pitch(deg*100) or lat, depending on mount mode (int32_t) - input_b : roll(deg*100) or lon depending on mount mode (int32_t) - input_c : yaw(deg*100) or alt (in cm) depending on mount mode (int32_t) - save_position : if "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING) (uint8_t) - - ''' - msg = MAVLink_mount_control_message(target_system, target_component, input_a, input_b, input_c, save_position) - msg.pack(self) - return msg - - def mount_control_send(self, target_system, target_component, input_a, input_b, input_c, save_position): - ''' - Message to control a camera mount, directional antenna, etc. - - target_system : System ID (uint8_t) - target_component : Component ID (uint8_t) - input_a : pitch(deg*100) or lat, depending on mount mode (int32_t) - input_b : roll(deg*100) or lon depending on mount mode (int32_t) - input_c : yaw(deg*100) or alt (in cm) depending on mount mode (int32_t) - save_position : if "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING) (uint8_t) - - ''' - return self.send(self.mount_control_encode(target_system, target_component, input_a, input_b, input_c, save_position)) - - def mount_status_encode(self, target_system, target_component, pointing_a, pointing_b, pointing_c): - ''' - Message with some status from APM to GCS about camera or antenna mount - - target_system : System ID (uint8_t) - target_component : Component ID (uint8_t) - pointing_a : pitch(deg*100) or lat, depending on mount mode (int32_t) - pointing_b : roll(deg*100) or lon depending on mount mode (int32_t) - pointing_c : yaw(deg*100) or alt (in cm) depending on mount mode (int32_t) - - ''' - msg = MAVLink_mount_status_message(target_system, target_component, pointing_a, pointing_b, pointing_c) - msg.pack(self) - return msg - - def mount_status_send(self, target_system, target_component, pointing_a, pointing_b, pointing_c): - ''' - Message with some status from APM to GCS about camera or antenna mount - - target_system : System ID (uint8_t) - target_component : Component ID (uint8_t) - pointing_a : pitch(deg*100) or lat, depending on mount mode (int32_t) - pointing_b : roll(deg*100) or lon depending on mount mode (int32_t) - pointing_c : yaw(deg*100) or alt (in cm) depending on mount mode (int32_t) - - ''' - return self.send(self.mount_status_encode(target_system, target_component, pointing_a, pointing_b, pointing_c)) - - def fence_point_encode(self, target_system, target_component, idx, count, lat, lng): - ''' - A fence point. Used to set a point when from GCS -> MAV. - Also used to return a point from MAV -> GCS - - target_system : System ID (uint8_t) - target_component : Component ID (uint8_t) - idx : point index (first point is 1, 0 is for return point) (uint8_t) - count : total number of points (for sanity checking) (uint8_t) - lat : Latitude of point (float) - lng : Longitude of point (float) - - ''' - msg = MAVLink_fence_point_message(target_system, target_component, idx, count, lat, lng) - msg.pack(self) - return msg - - def fence_point_send(self, target_system, target_component, idx, count, lat, lng): - ''' - A fence point. Used to set a point when from GCS -> MAV. - Also used to return a point from MAV -> GCS - - target_system : System ID (uint8_t) - target_component : Component ID (uint8_t) - idx : point index (first point is 1, 0 is for return point) (uint8_t) - count : total number of points (for sanity checking) (uint8_t) - lat : Latitude of point (float) - lng : Longitude of point (float) - - ''' - return self.send(self.fence_point_encode(target_system, target_component, idx, count, lat, lng)) - - def fence_fetch_point_encode(self, target_system, target_component, idx): - ''' - Request a current fence point from MAV - - target_system : System ID (uint8_t) - target_component : Component ID (uint8_t) - idx : point index (first point is 1, 0 is for return point) (uint8_t) - - ''' - msg = MAVLink_fence_fetch_point_message(target_system, target_component, idx) - msg.pack(self) - return msg - - def fence_fetch_point_send(self, target_system, target_component, idx): - ''' - Request a current fence point from MAV - - target_system : System ID (uint8_t) - target_component : Component ID (uint8_t) - idx : point index (first point is 1, 0 is for return point) (uint8_t) - - ''' - return self.send(self.fence_fetch_point_encode(target_system, target_component, idx)) - - def fence_status_encode(self, breach_status, breach_count, breach_type, breach_time): - ''' - Status of geo-fencing. Sent in extended status stream when - fencing enabled - - breach_status : 0 if currently inside fence, 1 if outside (uint8_t) - breach_count : number of fence breaches (uint16_t) - breach_type : last breach type (see FENCE_BREACH_* enum) (uint8_t) - breach_time : time of last breach in milliseconds since boot (uint32_t) - - ''' - msg = MAVLink_fence_status_message(breach_status, breach_count, breach_type, breach_time) - msg.pack(self) - return msg - - def fence_status_send(self, breach_status, breach_count, breach_type, breach_time): - ''' - Status of geo-fencing. Sent in extended status stream when - fencing enabled - - breach_status : 0 if currently inside fence, 1 if outside (uint8_t) - breach_count : number of fence breaches (uint16_t) - breach_type : last breach type (see FENCE_BREACH_* enum) (uint8_t) - breach_time : time of last breach in milliseconds since boot (uint32_t) - - ''' - return self.send(self.fence_status_encode(breach_status, breach_count, breach_type, breach_time)) - - def ahrs_encode(self, omegaIx, omegaIy, omegaIz, accel_weight, renorm_val, error_rp, error_yaw): - ''' - Status of DCM attitude estimator - - omegaIx : X gyro drift estimate rad/s (float) - omegaIy : Y gyro drift estimate rad/s (float) - omegaIz : Z gyro drift estimate rad/s (float) - accel_weight : average accel_weight (float) - renorm_val : average renormalisation value (float) - error_rp : average error_roll_pitch value (float) - error_yaw : average error_yaw value (float) - - ''' - msg = MAVLink_ahrs_message(omegaIx, omegaIy, omegaIz, accel_weight, renorm_val, error_rp, error_yaw) - msg.pack(self) - return msg - - def ahrs_send(self, omegaIx, omegaIy, omegaIz, accel_weight, renorm_val, error_rp, error_yaw): - ''' - Status of DCM attitude estimator - - omegaIx : X gyro drift estimate rad/s (float) - omegaIy : Y gyro drift estimate rad/s (float) - omegaIz : Z gyro drift estimate rad/s (float) - accel_weight : average accel_weight (float) - renorm_val : average renormalisation value (float) - error_rp : average error_roll_pitch value (float) - error_yaw : average error_yaw value (float) - - ''' - return self.send(self.ahrs_encode(omegaIx, omegaIy, omegaIz, accel_weight, renorm_val, error_rp, error_yaw)) - - def simstate_encode(self, roll, pitch, yaw, xacc, yacc, zacc, xgyro, ygyro, zgyro): - ''' - Status of simulation environment, if used - - roll : Roll angle (rad) (float) - pitch : Pitch angle (rad) (float) - yaw : Yaw angle (rad) (float) - xacc : X acceleration m/s/s (float) - yacc : Y acceleration m/s/s (float) - zacc : Z acceleration m/s/s (float) - xgyro : Angular speed around X axis rad/s (float) - ygyro : Angular speed around Y axis rad/s (float) - zgyro : Angular speed around Z axis rad/s (float) - - ''' - msg = MAVLink_simstate_message(roll, pitch, yaw, xacc, yacc, zacc, xgyro, ygyro, zgyro) - msg.pack(self) - return msg - - def simstate_send(self, roll, pitch, yaw, xacc, yacc, zacc, xgyro, ygyro, zgyro): - ''' - Status of simulation environment, if used - - roll : Roll angle (rad) (float) - pitch : Pitch angle (rad) (float) - yaw : Yaw angle (rad) (float) - xacc : X acceleration m/s/s (float) - yacc : Y acceleration m/s/s (float) - zacc : Z acceleration m/s/s (float) - xgyro : Angular speed around X axis rad/s (float) - ygyro : Angular speed around Y axis rad/s (float) - zgyro : Angular speed around Z axis rad/s (float) - - ''' - return self.send(self.simstate_encode(roll, pitch, yaw, xacc, yacc, zacc, xgyro, ygyro, zgyro)) - - def hwstatus_encode(self, Vcc, I2Cerr): - ''' - Status of key hardware - - Vcc : board voltage (mV) (uint16_t) - I2Cerr : I2C error count (uint8_t) - - ''' - msg = MAVLink_hwstatus_message(Vcc, I2Cerr) - msg.pack(self) - return msg - - def hwstatus_send(self, Vcc, I2Cerr): - ''' - Status of key hardware - - Vcc : board voltage (mV) (uint16_t) - I2Cerr : I2C error count (uint8_t) - - ''' - return self.send(self.hwstatus_encode(Vcc, I2Cerr)) - - def radio_encode(self, rssi, remrssi, txbuf, noise, remnoise, rxerrors, fixed): - ''' - Status generated by radio - - rssi : local signal strength (uint8_t) - remrssi : remote signal strength (uint8_t) - txbuf : how full the tx buffer is as a percentage (uint8_t) - noise : background noise level (uint8_t) - remnoise : remote background noise level (uint8_t) - rxerrors : receive errors (uint16_t) - fixed : count of error corrected packets (uint16_t) - - ''' - msg = MAVLink_radio_message(rssi, remrssi, txbuf, noise, remnoise, rxerrors, fixed) - msg.pack(self) - return msg - - def radio_send(self, rssi, remrssi, txbuf, noise, remnoise, rxerrors, fixed): - ''' - Status generated by radio - - rssi : local signal strength (uint8_t) - remrssi : remote signal strength (uint8_t) - txbuf : how full the tx buffer is as a percentage (uint8_t) - noise : background noise level (uint8_t) - remnoise : remote background noise level (uint8_t) - rxerrors : receive errors (uint16_t) - fixed : count of error corrected packets (uint16_t) - - ''' - return self.send(self.radio_encode(rssi, remrssi, txbuf, noise, remnoise, rxerrors, fixed)) - - def heartbeat_encode(self, type, autopilot, mavlink_version=2): - ''' - The heartbeat message shows that a system is present and responding. - The type of the MAV and Autopilot hardware allow the - receiving system to treat further messages from this - system appropriate (e.g. by laying out the user - interface based on the autopilot). - - type : Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) (uint8_t) - autopilot : Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM (uint8_t) - mavlink_version : MAVLink version (uint8_t) - - ''' - msg = MAVLink_heartbeat_message(type, autopilot, mavlink_version) - msg.pack(self) - return msg - - def heartbeat_send(self, type, autopilot, mavlink_version=2): - ''' - The heartbeat message shows that a system is present and responding. - The type of the MAV and Autopilot hardware allow the - receiving system to treat further messages from this - system appropriate (e.g. by laying out the user - interface based on the autopilot). - - type : Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) (uint8_t) - autopilot : Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM (uint8_t) - mavlink_version : MAVLink version (uint8_t) - - ''' - return self.send(self.heartbeat_encode(type, autopilot, mavlink_version)) - - def boot_encode(self, version): - ''' - The boot message indicates that a system is starting. The onboard - software version allows to keep track of onboard - soft/firmware revisions. - - version : The onboard software version (uint32_t) - - ''' - msg = MAVLink_boot_message(version) - msg.pack(self) - return msg - - def boot_send(self, version): - ''' - The boot message indicates that a system is starting. The onboard - software version allows to keep track of onboard - soft/firmware revisions. - - version : The onboard software version (uint32_t) - - ''' - return self.send(self.boot_encode(version)) - - def system_time_encode(self, time_usec): - ''' - The system time is the time of the master clock, typically the - computer clock of the main onboard computer. - - time_usec : Timestamp of the master clock in microseconds since UNIX epoch. (uint64_t) - - ''' - msg = MAVLink_system_time_message(time_usec) - msg.pack(self) - return msg - - def system_time_send(self, time_usec): - ''' - The system time is the time of the master clock, typically the - computer clock of the main onboard computer. - - time_usec : Timestamp of the master clock in microseconds since UNIX epoch. (uint64_t) - - ''' - return self.send(self.system_time_encode(time_usec)) - - def ping_encode(self, seq, target_system, target_component, time): - ''' - A ping message either requesting or responding to a ping. This allows - to measure the system latencies, including serial - port, radio modem and UDP connections. - - seq : PING sequence (uint32_t) - target_system : 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system (uint8_t) - target_component : 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system (uint8_t) - time : Unix timestamp in microseconds (uint64_t) - - ''' - msg = MAVLink_ping_message(seq, target_system, target_component, time) - msg.pack(self) - return msg - - def ping_send(self, seq, target_system, target_component, time): - ''' - A ping message either requesting or responding to a ping. This allows - to measure the system latencies, including serial - port, radio modem and UDP connections. - - seq : PING sequence (uint32_t) - target_system : 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system (uint8_t) - target_component : 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system (uint8_t) - time : Unix timestamp in microseconds (uint64_t) - - ''' - return self.send(self.ping_encode(seq, target_system, target_component, time)) - - def system_time_utc_encode(self, utc_date, utc_time): - ''' - UTC date and time from GPS module - - utc_date : GPS UTC date ddmmyy (uint32_t) - utc_time : GPS UTC time hhmmss (uint32_t) - - ''' - msg = MAVLink_system_time_utc_message(utc_date, utc_time) - msg.pack(self) - return msg - - def system_time_utc_send(self, utc_date, utc_time): - ''' - UTC date and time from GPS module - - utc_date : GPS UTC date ddmmyy (uint32_t) - utc_time : GPS UTC time hhmmss (uint32_t) - - ''' - return self.send(self.system_time_utc_encode(utc_date, utc_time)) - - def change_operator_control_encode(self, target_system, control_request, version, passkey): - ''' - Request to control this MAV - - target_system : System the GCS requests control for (uint8_t) - control_request : 0: request control of this MAV, 1: Release control of this MAV (uint8_t) - version : 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch. (uint8_t) - passkey : Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-" (char) - - ''' - msg = MAVLink_change_operator_control_message(target_system, control_request, version, passkey) - msg.pack(self) - return msg - - def change_operator_control_send(self, target_system, control_request, version, passkey): - ''' - Request to control this MAV - - target_system : System the GCS requests control for (uint8_t) - control_request : 0: request control of this MAV, 1: Release control of this MAV (uint8_t) - version : 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch. (uint8_t) - passkey : Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-" (char) - - ''' - return self.send(self.change_operator_control_encode(target_system, control_request, version, passkey)) - - def change_operator_control_ack_encode(self, gcs_system_id, control_request, ack): - ''' - Accept / deny control of this MAV - - gcs_system_id : ID of the GCS this message (uint8_t) - control_request : 0: request control of this MAV, 1: Release control of this MAV (uint8_t) - ack : 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control (uint8_t) - - ''' - msg = MAVLink_change_operator_control_ack_message(gcs_system_id, control_request, ack) - msg.pack(self) - return msg - - def change_operator_control_ack_send(self, gcs_system_id, control_request, ack): - ''' - Accept / deny control of this MAV - - gcs_system_id : ID of the GCS this message (uint8_t) - control_request : 0: request control of this MAV, 1: Release control of this MAV (uint8_t) - ack : 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control (uint8_t) - - ''' - return self.send(self.change_operator_control_ack_encode(gcs_system_id, control_request, ack)) - - def auth_key_encode(self, key): - ''' - Emit an encrypted signature / key identifying this system. PLEASE - NOTE: This protocol has been kept simple, so - transmitting the key requires an encrypted channel for - true safety. - - key : key (char) - - ''' - msg = MAVLink_auth_key_message(key) - msg.pack(self) - return msg - - def auth_key_send(self, key): - ''' - Emit an encrypted signature / key identifying this system. PLEASE - NOTE: This protocol has been kept simple, so - transmitting the key requires an encrypted channel for - true safety. - - key : key (char) - - ''' - return self.send(self.auth_key_encode(key)) - - def action_ack_encode(self, action, result): - ''' - This message acknowledges an action. IMPORTANT: The acknowledgement - can be also negative, e.g. the MAV rejects a reset - message because it is in-flight. The action ids are - defined in ENUM MAV_ACTION in - mavlink/include/mavlink_types.h - - action : The action id (uint8_t) - result : 0: Action DENIED, 1: Action executed (uint8_t) - - ''' - msg = MAVLink_action_ack_message(action, result) - msg.pack(self) - return msg - - def action_ack_send(self, action, result): - ''' - This message acknowledges an action. IMPORTANT: The acknowledgement - can be also negative, e.g. the MAV rejects a reset - message because it is in-flight. The action ids are - defined in ENUM MAV_ACTION in - mavlink/include/mavlink_types.h - - action : The action id (uint8_t) - result : 0: Action DENIED, 1: Action executed (uint8_t) - - ''' - return self.send(self.action_ack_encode(action, result)) - - def action_encode(self, target, target_component, action): - ''' - An action message allows to execute a certain onboard action. These - include liftoff, land, storing parameters too EEPROM, - shutddown, etc. The action ids are defined in ENUM - MAV_ACTION in mavlink/include/mavlink_types.h - - target : The system executing the action (uint8_t) - target_component : The component executing the action (uint8_t) - action : The action id (uint8_t) - - ''' - msg = MAVLink_action_message(target, target_component, action) - msg.pack(self) - return msg - - def action_send(self, target, target_component, action): - ''' - An action message allows to execute a certain onboard action. These - include liftoff, land, storing parameters too EEPROM, - shutddown, etc. The action ids are defined in ENUM - MAV_ACTION in mavlink/include/mavlink_types.h - - target : The system executing the action (uint8_t) - target_component : The component executing the action (uint8_t) - action : The action id (uint8_t) - - ''' - return self.send(self.action_encode(target, target_component, action)) - - def set_mode_encode(self, target, mode): - ''' - Set the system mode, as defined by enum MAV_MODE in - mavlink/include/mavlink_types.h. There is no target - component id as the mode is by definition for the - overall aircraft, not only for one component. - - target : The system setting the mode (uint8_t) - mode : The new mode (uint8_t) - - ''' - msg = MAVLink_set_mode_message(target, mode) - msg.pack(self) - return msg - - def set_mode_send(self, target, mode): - ''' - Set the system mode, as defined by enum MAV_MODE in - mavlink/include/mavlink_types.h. There is no target - component id as the mode is by definition for the - overall aircraft, not only for one component. - - target : The system setting the mode (uint8_t) - mode : The new mode (uint8_t) - - ''' - return self.send(self.set_mode_encode(target, mode)) - - def set_nav_mode_encode(self, target, nav_mode): - ''' - Set the system navigation mode, as defined by enum MAV_NAV_MODE in - mavlink/include/mavlink_types.h. The navigation mode - applies to the whole aircraft and thus all components. - - target : The system setting the mode (uint8_t) - nav_mode : The new navigation mode (uint8_t) - - ''' - msg = MAVLink_set_nav_mode_message(target, nav_mode) - msg.pack(self) - return msg - - def set_nav_mode_send(self, target, nav_mode): - ''' - Set the system navigation mode, as defined by enum MAV_NAV_MODE in - mavlink/include/mavlink_types.h. The navigation mode - applies to the whole aircraft and thus all components. - - target : The system setting the mode (uint8_t) - nav_mode : The new navigation mode (uint8_t) - - ''' - return self.send(self.set_nav_mode_encode(target, nav_mode)) - - def param_request_read_encode(self, target_system, target_component, param_id, param_index): - ''' - Request to read the onboard parameter with the param_id string id. - Onboard parameters are stored as key[const char*] -> - value[float]. This allows to send a parameter to any - other component (such as the GCS) without the need of - previous knowledge of possible parameter names. Thus - the same GCS can store different parameters for - different autopilots. See also - http://qgroundcontrol.org/parameter_interface for a - full documentation of QGroundControl and IMU code. - - target_system : System ID (uint8_t) - target_component : Component ID (uint8_t) - param_id : Onboard parameter id (int8_t) - param_index : Parameter index. Send -1 to use the param ID field as identifier (int16_t) - - ''' - msg = MAVLink_param_request_read_message(target_system, target_component, param_id, param_index) - msg.pack(self) - return msg - - def param_request_read_send(self, target_system, target_component, param_id, param_index): - ''' - Request to read the onboard parameter with the param_id string id. - Onboard parameters are stored as key[const char*] -> - value[float]. This allows to send a parameter to any - other component (such as the GCS) without the need of - previous knowledge of possible parameter names. Thus - the same GCS can store different parameters for - different autopilots. See also - http://qgroundcontrol.org/parameter_interface for a - full documentation of QGroundControl and IMU code. - - target_system : System ID (uint8_t) - target_component : Component ID (uint8_t) - param_id : Onboard parameter id (int8_t) - param_index : Parameter index. Send -1 to use the param ID field as identifier (int16_t) - - ''' - return self.send(self.param_request_read_encode(target_system, target_component, param_id, param_index)) - - def param_request_list_encode(self, target_system, target_component): - ''' - Request all parameters of this component. After his request, all - parameters are emitted. - - target_system : System ID (uint8_t) - target_component : Component ID (uint8_t) - - ''' - msg = MAVLink_param_request_list_message(target_system, target_component) - msg.pack(self) - return msg - - def param_request_list_send(self, target_system, target_component): - ''' - Request all parameters of this component. After his request, all - parameters are emitted. - - target_system : System ID (uint8_t) - target_component : Component ID (uint8_t) - - ''' - return self.send(self.param_request_list_encode(target_system, target_component)) - - def param_value_encode(self, param_id, param_value, param_count, param_index): - ''' - Emit the value of a onboard parameter. The inclusion of param_count - and param_index in the message allows the recipient to - keep track of received parameters and allows him to - re-request missing parameters after a loss or timeout. - - param_id : Onboard parameter id (int8_t) - param_value : Onboard parameter value (float) - param_count : Total number of onboard parameters (uint16_t) - param_index : Index of this onboard parameter (uint16_t) - - ''' - msg = MAVLink_param_value_message(param_id, param_value, param_count, param_index) - msg.pack(self) - return msg - - def param_value_send(self, param_id, param_value, param_count, param_index): - ''' - Emit the value of a onboard parameter. The inclusion of param_count - and param_index in the message allows the recipient to - keep track of received parameters and allows him to - re-request missing parameters after a loss or timeout. - - param_id : Onboard parameter id (int8_t) - param_value : Onboard parameter value (float) - param_count : Total number of onboard parameters (uint16_t) - param_index : Index of this onboard parameter (uint16_t) - - ''' - return self.send(self.param_value_encode(param_id, param_value, param_count, param_index)) - - def param_set_encode(self, target_system, target_component, param_id, param_value): - ''' - Set a parameter value TEMPORARILY to RAM. It will be reset to default - on system reboot. Send the ACTION - MAV_ACTION_STORAGE_WRITE to PERMANENTLY write the RAM - contents to EEPROM. IMPORTANT: The receiving component - should acknowledge the new parameter value by sending - a param_value message to all communication partners. - This will also ensure that multiple GCS all have an - up-to-date list of all parameters. If the sending GCS - did not receive a PARAM_VALUE message within its - timeout time, it should re-send the PARAM_SET message. - - target_system : System ID (uint8_t) - target_component : Component ID (uint8_t) - param_id : Onboard parameter id (int8_t) - param_value : Onboard parameter value (float) - - ''' - msg = MAVLink_param_set_message(target_system, target_component, param_id, param_value) - msg.pack(self) - return msg - - def param_set_send(self, target_system, target_component, param_id, param_value): - ''' - Set a parameter value TEMPORARILY to RAM. It will be reset to default - on system reboot. Send the ACTION - MAV_ACTION_STORAGE_WRITE to PERMANENTLY write the RAM - contents to EEPROM. IMPORTANT: The receiving component - should acknowledge the new parameter value by sending - a param_value message to all communication partners. - This will also ensure that multiple GCS all have an - up-to-date list of all parameters. If the sending GCS - did not receive a PARAM_VALUE message within its - timeout time, it should re-send the PARAM_SET message. - - target_system : System ID (uint8_t) - target_component : Component ID (uint8_t) - param_id : Onboard parameter id (int8_t) - param_value : Onboard parameter value (float) - - ''' - return self.send(self.param_set_encode(target_system, target_component, param_id, param_value)) - - def gps_raw_int_encode(self, usec, fix_type, lat, lon, alt, eph, epv, v, hdg): - ''' - The global position, as returned by the Global Positioning System - (GPS). This is NOT the global position estimate of the - sytem, but rather a RAW sensor value. See message - GLOBAL_POSITION for the global position estimate. - Coordinate frame is right-handed, Z-axis up (GPS - frame) - - usec : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t) - fix_type : 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. (uint8_t) - lat : Latitude in 1E7 degrees (int32_t) - lon : Longitude in 1E7 degrees (int32_t) - alt : Altitude in 1E3 meters (millimeters) (int32_t) - eph : GPS HDOP (float) - epv : GPS VDOP (float) - v : GPS ground speed (m/s) (float) - hdg : Compass heading in degrees, 0..360 degrees (float) - - ''' - msg = MAVLink_gps_raw_int_message(usec, fix_type, lat, lon, alt, eph, epv, v, hdg) - msg.pack(self) - return msg - - def gps_raw_int_send(self, usec, fix_type, lat, lon, alt, eph, epv, v, hdg): - ''' - The global position, as returned by the Global Positioning System - (GPS). This is NOT the global position estimate of the - sytem, but rather a RAW sensor value. See message - GLOBAL_POSITION for the global position estimate. - Coordinate frame is right-handed, Z-axis up (GPS - frame) - - usec : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t) - fix_type : 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. (uint8_t) - lat : Latitude in 1E7 degrees (int32_t) - lon : Longitude in 1E7 degrees (int32_t) - alt : Altitude in 1E3 meters (millimeters) (int32_t) - eph : GPS HDOP (float) - epv : GPS VDOP (float) - v : GPS ground speed (m/s) (float) - hdg : Compass heading in degrees, 0..360 degrees (float) - - ''' - return self.send(self.gps_raw_int_encode(usec, fix_type, lat, lon, alt, eph, epv, v, hdg)) - - def scaled_imu_encode(self, usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag): - ''' - The RAW IMU readings for the usual 9DOF sensor setup. This message - should contain the scaled values to the described - units - - usec : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t) - xacc : X acceleration (mg) (int16_t) - yacc : Y acceleration (mg) (int16_t) - zacc : Z acceleration (mg) (int16_t) - xgyro : Angular speed around X axis (millirad /sec) (int16_t) - ygyro : Angular speed around Y axis (millirad /sec) (int16_t) - zgyro : Angular speed around Z axis (millirad /sec) (int16_t) - xmag : X Magnetic field (milli tesla) (int16_t) - ymag : Y Magnetic field (milli tesla) (int16_t) - zmag : Z Magnetic field (milli tesla) (int16_t) - - ''' - msg = MAVLink_scaled_imu_message(usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag) - msg.pack(self) - return msg - - def scaled_imu_send(self, usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag): - ''' - The RAW IMU readings for the usual 9DOF sensor setup. This message - should contain the scaled values to the described - units - - usec : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t) - xacc : X acceleration (mg) (int16_t) - yacc : Y acceleration (mg) (int16_t) - zacc : Z acceleration (mg) (int16_t) - xgyro : Angular speed around X axis (millirad /sec) (int16_t) - ygyro : Angular speed around Y axis (millirad /sec) (int16_t) - zgyro : Angular speed around Z axis (millirad /sec) (int16_t) - xmag : X Magnetic field (milli tesla) (int16_t) - ymag : Y Magnetic field (milli tesla) (int16_t) - zmag : Z Magnetic field (milli tesla) (int16_t) - - ''' - return self.send(self.scaled_imu_encode(usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag)) - - def gps_status_encode(self, satellites_visible, satellite_prn, satellite_used, satellite_elevation, satellite_azimuth, satellite_snr): - ''' - The positioning status, as reported by GPS. This message is intended - to display status information about each satellite - visible to the receiver. See message GLOBAL_POSITION - for the global position estimate. This message can - contain information for up to 20 satellites. - - satellites_visible : Number of satellites visible (uint8_t) - satellite_prn : Global satellite ID (int8_t) - satellite_used : 0: Satellite not used, 1: used for localization (int8_t) - satellite_elevation : Elevation (0: right on top of receiver, 90: on the horizon) of satellite (int8_t) - satellite_azimuth : Direction of satellite, 0: 0 deg, 255: 360 deg. (int8_t) - satellite_snr : Signal to noise ratio of satellite (int8_t) - - ''' - msg = MAVLink_gps_status_message(satellites_visible, satellite_prn, satellite_used, satellite_elevation, satellite_azimuth, satellite_snr) - msg.pack(self) - return msg - - def gps_status_send(self, satellites_visible, satellite_prn, satellite_used, satellite_elevation, satellite_azimuth, satellite_snr): - ''' - The positioning status, as reported by GPS. This message is intended - to display status information about each satellite - visible to the receiver. See message GLOBAL_POSITION - for the global position estimate. This message can - contain information for up to 20 satellites. - - satellites_visible : Number of satellites visible (uint8_t) - satellite_prn : Global satellite ID (int8_t) - satellite_used : 0: Satellite not used, 1: used for localization (int8_t) - satellite_elevation : Elevation (0: right on top of receiver, 90: on the horizon) of satellite (int8_t) - satellite_azimuth : Direction of satellite, 0: 0 deg, 255: 360 deg. (int8_t) - satellite_snr : Signal to noise ratio of satellite (int8_t) - - ''' - return self.send(self.gps_status_encode(satellites_visible, satellite_prn, satellite_used, satellite_elevation, satellite_azimuth, satellite_snr)) - - def raw_imu_encode(self, usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag): - ''' - The RAW IMU readings for the usual 9DOF sensor setup. This message - should always contain the true raw values without any - scaling to allow data capture and system debugging. - - usec : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t) - xacc : X acceleration (raw) (int16_t) - yacc : Y acceleration (raw) (int16_t) - zacc : Z acceleration (raw) (int16_t) - xgyro : Angular speed around X axis (raw) (int16_t) - ygyro : Angular speed around Y axis (raw) (int16_t) - zgyro : Angular speed around Z axis (raw) (int16_t) - xmag : X Magnetic field (raw) (int16_t) - ymag : Y Magnetic field (raw) (int16_t) - zmag : Z Magnetic field (raw) (int16_t) - - ''' - msg = MAVLink_raw_imu_message(usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag) - msg.pack(self) - return msg - - def raw_imu_send(self, usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag): - ''' - The RAW IMU readings for the usual 9DOF sensor setup. This message - should always contain the true raw values without any - scaling to allow data capture and system debugging. - - usec : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t) - xacc : X acceleration (raw) (int16_t) - yacc : Y acceleration (raw) (int16_t) - zacc : Z acceleration (raw) (int16_t) - xgyro : Angular speed around X axis (raw) (int16_t) - ygyro : Angular speed around Y axis (raw) (int16_t) - zgyro : Angular speed around Z axis (raw) (int16_t) - xmag : X Magnetic field (raw) (int16_t) - ymag : Y Magnetic field (raw) (int16_t) - zmag : Z Magnetic field (raw) (int16_t) - - ''' - return self.send(self.raw_imu_encode(usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag)) - - def raw_pressure_encode(self, usec, press_abs, press_diff1, press_diff2, temperature): - ''' - The RAW pressure readings for the typical setup of one absolute - pressure and one differential pressure sensor. The - sensor values should be the raw, UNSCALED ADC values. - - usec : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t) - press_abs : Absolute pressure (raw) (int16_t) - press_diff1 : Differential pressure 1 (raw) (int16_t) - press_diff2 : Differential pressure 2 (raw) (int16_t) - temperature : Raw Temperature measurement (raw) (int16_t) - - ''' - msg = MAVLink_raw_pressure_message(usec, press_abs, press_diff1, press_diff2, temperature) - msg.pack(self) - return msg - - def raw_pressure_send(self, usec, press_abs, press_diff1, press_diff2, temperature): - ''' - The RAW pressure readings for the typical setup of one absolute - pressure and one differential pressure sensor. The - sensor values should be the raw, UNSCALED ADC values. - - usec : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t) - press_abs : Absolute pressure (raw) (int16_t) - press_diff1 : Differential pressure 1 (raw) (int16_t) - press_diff2 : Differential pressure 2 (raw) (int16_t) - temperature : Raw Temperature measurement (raw) (int16_t) - - ''' - return self.send(self.raw_pressure_encode(usec, press_abs, press_diff1, press_diff2, temperature)) - - def scaled_pressure_encode(self, usec, press_abs, press_diff, temperature): - ''' - The pressure readings for the typical setup of one absolute and - differential pressure sensor. The units are as - specified in each field. - - usec : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t) - press_abs : Absolute pressure (hectopascal) (float) - press_diff : Differential pressure 1 (hectopascal) (float) - temperature : Temperature measurement (0.01 degrees celsius) (int16_t) - - ''' - msg = MAVLink_scaled_pressure_message(usec, press_abs, press_diff, temperature) - msg.pack(self) - return msg - - def scaled_pressure_send(self, usec, press_abs, press_diff, temperature): - ''' - The pressure readings for the typical setup of one absolute and - differential pressure sensor. The units are as - specified in each field. - - usec : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t) - press_abs : Absolute pressure (hectopascal) (float) - press_diff : Differential pressure 1 (hectopascal) (float) - temperature : Temperature measurement (0.01 degrees celsius) (int16_t) - - ''' - return self.send(self.scaled_pressure_encode(usec, press_abs, press_diff, temperature)) - - def attitude_encode(self, usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed): - ''' - The attitude in the aeronautical frame (right-handed, Z-down, X-front, - Y-right). - - usec : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t) - roll : Roll angle (rad) (float) - pitch : Pitch angle (rad) (float) - yaw : Yaw angle (rad) (float) - rollspeed : Roll angular speed (rad/s) (float) - pitchspeed : Pitch angular speed (rad/s) (float) - yawspeed : Yaw angular speed (rad/s) (float) - - ''' - msg = MAVLink_attitude_message(usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed) - msg.pack(self) - return msg - - def attitude_send(self, usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed): - ''' - The attitude in the aeronautical frame (right-handed, Z-down, X-front, - Y-right). - - usec : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t) - roll : Roll angle (rad) (float) - pitch : Pitch angle (rad) (float) - yaw : Yaw angle (rad) (float) - rollspeed : Roll angular speed (rad/s) (float) - pitchspeed : Pitch angular speed (rad/s) (float) - yawspeed : Yaw angular speed (rad/s) (float) - - ''' - return self.send(self.attitude_encode(usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed)) - - def local_position_encode(self, usec, x, y, z, vx, vy, vz): - ''' - The filtered local position (e.g. fused computer vision and - accelerometers). Coordinate frame is right-handed, - Z-axis down (aeronautical frame) - - usec : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t) - x : X Position (float) - y : Y Position (float) - z : Z Position (float) - vx : X Speed (float) - vy : Y Speed (float) - vz : Z Speed (float) - - ''' - msg = MAVLink_local_position_message(usec, x, y, z, vx, vy, vz) - msg.pack(self) - return msg - - def local_position_send(self, usec, x, y, z, vx, vy, vz): - ''' - The filtered local position (e.g. fused computer vision and - accelerometers). Coordinate frame is right-handed, - Z-axis down (aeronautical frame) - - usec : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t) - x : X Position (float) - y : Y Position (float) - z : Z Position (float) - vx : X Speed (float) - vy : Y Speed (float) - vz : Z Speed (float) - - ''' - return self.send(self.local_position_encode(usec, x, y, z, vx, vy, vz)) - - def global_position_encode(self, usec, lat, lon, alt, vx, vy, vz): - ''' - The filtered global position (e.g. fused GPS and accelerometers). - Coordinate frame is right-handed, Z-axis up (GPS - frame) - - usec : Timestamp (microseconds since unix epoch) (uint64_t) - lat : Latitude, in degrees (float) - lon : Longitude, in degrees (float) - alt : Absolute altitude, in meters (float) - vx : X Speed (in Latitude direction, positive: going north) (float) - vy : Y Speed (in Longitude direction, positive: going east) (float) - vz : Z Speed (in Altitude direction, positive: going up) (float) - - ''' - msg = MAVLink_global_position_message(usec, lat, lon, alt, vx, vy, vz) - msg.pack(self) - return msg - - def global_position_send(self, usec, lat, lon, alt, vx, vy, vz): - ''' - The filtered global position (e.g. fused GPS and accelerometers). - Coordinate frame is right-handed, Z-axis up (GPS - frame) - - usec : Timestamp (microseconds since unix epoch) (uint64_t) - lat : Latitude, in degrees (float) - lon : Longitude, in degrees (float) - alt : Absolute altitude, in meters (float) - vx : X Speed (in Latitude direction, positive: going north) (float) - vy : Y Speed (in Longitude direction, positive: going east) (float) - vz : Z Speed (in Altitude direction, positive: going up) (float) - - ''' - return self.send(self.global_position_encode(usec, lat, lon, alt, vx, vy, vz)) - - def gps_raw_encode(self, usec, fix_type, lat, lon, alt, eph, epv, v, hdg): - ''' - The global position, as returned by the Global Positioning System - (GPS). This is NOT the global position estimate of the - sytem, but rather a RAW sensor value. See message - GLOBAL_POSITION for the global position estimate. - Coordinate frame is right-handed, Z-axis up (GPS - frame) - - usec : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t) - fix_type : 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. (uint8_t) - lat : Latitude in degrees (float) - lon : Longitude in degrees (float) - alt : Altitude in meters (float) - eph : GPS HDOP (float) - epv : GPS VDOP (float) - v : GPS ground speed (float) - hdg : Compass heading in degrees, 0..360 degrees (float) - - ''' - msg = MAVLink_gps_raw_message(usec, fix_type, lat, lon, alt, eph, epv, v, hdg) - msg.pack(self) - return msg - - def gps_raw_send(self, usec, fix_type, lat, lon, alt, eph, epv, v, hdg): - ''' - The global position, as returned by the Global Positioning System - (GPS). This is NOT the global position estimate of the - sytem, but rather a RAW sensor value. See message - GLOBAL_POSITION for the global position estimate. - Coordinate frame is right-handed, Z-axis up (GPS - frame) - - usec : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t) - fix_type : 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. (uint8_t) - lat : Latitude in degrees (float) - lon : Longitude in degrees (float) - alt : Altitude in meters (float) - eph : GPS HDOP (float) - epv : GPS VDOP (float) - v : GPS ground speed (float) - hdg : Compass heading in degrees, 0..360 degrees (float) - - ''' - return self.send(self.gps_raw_encode(usec, fix_type, lat, lon, alt, eph, epv, v, hdg)) - - def sys_status_encode(self, mode, nav_mode, status, load, vbat, battery_remaining, packet_drop): - ''' - The general system state. If the system is following the MAVLink - standard, the system state is mainly defined by three - orthogonal states/modes: The system mode, which is - either LOCKED (motors shut down and locked), MANUAL - (system under RC control), GUIDED (system with - autonomous position control, position setpoint - controlled manually) or AUTO (system guided by - path/waypoint planner). The NAV_MODE defined the - current flight state: LIFTOFF (often an open-loop - maneuver), LANDING, WAYPOINTS or VECTOR. This - represents the internal navigation state machine. The - system status shows wether the system is currently - active or not and if an emergency occured. During the - CRITICAL and EMERGENCY states the MAV is still - considered to be active, but should start emergency - procedures autonomously. After a failure occured it - should first move from active to critical to allow - manual intervention and then move to emergency after a - certain timeout. - - mode : System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h (uint8_t) - nav_mode : Navigation mode, see MAV_NAV_MODE ENUM (uint8_t) - status : System status flag, see MAV_STATUS ENUM (uint8_t) - load : Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 (uint16_t) - vbat : Battery voltage, in millivolts (1 = 1 millivolt) (uint16_t) - battery_remaining : Remaining battery energy: (0%: 0, 100%: 1000) (uint16_t) - packet_drop : Dropped packets (packets that were corrupted on reception on the MAV) (uint16_t) - - ''' - msg = MAVLink_sys_status_message(mode, nav_mode, status, load, vbat, battery_remaining, packet_drop) - msg.pack(self) - return msg - - def sys_status_send(self, mode, nav_mode, status, load, vbat, battery_remaining, packet_drop): - ''' - The general system state. If the system is following the MAVLink - standard, the system state is mainly defined by three - orthogonal states/modes: The system mode, which is - either LOCKED (motors shut down and locked), MANUAL - (system under RC control), GUIDED (system with - autonomous position control, position setpoint - controlled manually) or AUTO (system guided by - path/waypoint planner). The NAV_MODE defined the - current flight state: LIFTOFF (often an open-loop - maneuver), LANDING, WAYPOINTS or VECTOR. This - represents the internal navigation state machine. The - system status shows wether the system is currently - active or not and if an emergency occured. During the - CRITICAL and EMERGENCY states the MAV is still - considered to be active, but should start emergency - procedures autonomously. After a failure occured it - should first move from active to critical to allow - manual intervention and then move to emergency after a - certain timeout. - - mode : System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h (uint8_t) - nav_mode : Navigation mode, see MAV_NAV_MODE ENUM (uint8_t) - status : System status flag, see MAV_STATUS ENUM (uint8_t) - load : Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 (uint16_t) - vbat : Battery voltage, in millivolts (1 = 1 millivolt) (uint16_t) - battery_remaining : Remaining battery energy: (0%: 0, 100%: 1000) (uint16_t) - packet_drop : Dropped packets (packets that were corrupted on reception on the MAV) (uint16_t) - - ''' - return self.send(self.sys_status_encode(mode, nav_mode, status, load, vbat, battery_remaining, packet_drop)) - - def rc_channels_raw_encode(self, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, rssi): - ''' - The RAW values of the RC channels received. The standard PPM - modulation is as follows: 1000 microseconds: 0%, 2000 - microseconds: 100%. Individual receivers/transmitters - might violate this specification. - - chan1_raw : RC channel 1 value, in microseconds (uint16_t) - chan2_raw : RC channel 2 value, in microseconds (uint16_t) - chan3_raw : RC channel 3 value, in microseconds (uint16_t) - chan4_raw : RC channel 4 value, in microseconds (uint16_t) - chan5_raw : RC channel 5 value, in microseconds (uint16_t) - chan6_raw : RC channel 6 value, in microseconds (uint16_t) - chan7_raw : RC channel 7 value, in microseconds (uint16_t) - chan8_raw : RC channel 8 value, in microseconds (uint16_t) - rssi : Receive signal strength indicator, 0: 0%, 255: 100% (uint8_t) - - ''' - msg = MAVLink_rc_channels_raw_message(chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, rssi) - msg.pack(self) - return msg - - def rc_channels_raw_send(self, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, rssi): - ''' - The RAW values of the RC channels received. The standard PPM - modulation is as follows: 1000 microseconds: 0%, 2000 - microseconds: 100%. Individual receivers/transmitters - might violate this specification. - - chan1_raw : RC channel 1 value, in microseconds (uint16_t) - chan2_raw : RC channel 2 value, in microseconds (uint16_t) - chan3_raw : RC channel 3 value, in microseconds (uint16_t) - chan4_raw : RC channel 4 value, in microseconds (uint16_t) - chan5_raw : RC channel 5 value, in microseconds (uint16_t) - chan6_raw : RC channel 6 value, in microseconds (uint16_t) - chan7_raw : RC channel 7 value, in microseconds (uint16_t) - chan8_raw : RC channel 8 value, in microseconds (uint16_t) - rssi : Receive signal strength indicator, 0: 0%, 255: 100% (uint8_t) - - ''' - return self.send(self.rc_channels_raw_encode(chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, rssi)) - - def rc_channels_scaled_encode(self, chan1_scaled, chan2_scaled, chan3_scaled, chan4_scaled, chan5_scaled, chan6_scaled, chan7_scaled, chan8_scaled, rssi): - ''' - The scaled values of the RC channels received. (-100%) -10000, (0%) 0, - (100%) 10000 - - chan1_scaled : RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 (int16_t) - chan2_scaled : RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 (int16_t) - chan3_scaled : RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 (int16_t) - chan4_scaled : RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 (int16_t) - chan5_scaled : RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 (int16_t) - chan6_scaled : RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 (int16_t) - chan7_scaled : RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 (int16_t) - chan8_scaled : RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 (int16_t) - rssi : Receive signal strength indicator, 0: 0%, 255: 100% (uint8_t) - - ''' - msg = MAVLink_rc_channels_scaled_message(chan1_scaled, chan2_scaled, chan3_scaled, chan4_scaled, chan5_scaled, chan6_scaled, chan7_scaled, chan8_scaled, rssi) - msg.pack(self) - return msg - - def rc_channels_scaled_send(self, chan1_scaled, chan2_scaled, chan3_scaled, chan4_scaled, chan5_scaled, chan6_scaled, chan7_scaled, chan8_scaled, rssi): - ''' - The scaled values of the RC channels received. (-100%) -10000, (0%) 0, - (100%) 10000 - - chan1_scaled : RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 (int16_t) - chan2_scaled : RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 (int16_t) - chan3_scaled : RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 (int16_t) - chan4_scaled : RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 (int16_t) - chan5_scaled : RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 (int16_t) - chan6_scaled : RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 (int16_t) - chan7_scaled : RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 (int16_t) - chan8_scaled : RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 (int16_t) - rssi : Receive signal strength indicator, 0: 0%, 255: 100% (uint8_t) - - ''' - return self.send(self.rc_channels_scaled_encode(chan1_scaled, chan2_scaled, chan3_scaled, chan4_scaled, chan5_scaled, chan6_scaled, chan7_scaled, chan8_scaled, rssi)) - - def servo_output_raw_encode(self, servo1_raw, servo2_raw, servo3_raw, servo4_raw, servo5_raw, servo6_raw, servo7_raw, servo8_raw): - ''' - The RAW values of the servo outputs (for RC input from the remote, use - the RC_CHANNELS messages). The standard PPM modulation - is as follows: 1000 microseconds: 0%, 2000 - microseconds: 100%. - - servo1_raw : Servo output 1 value, in microseconds (uint16_t) - servo2_raw : Servo output 2 value, in microseconds (uint16_t) - servo3_raw : Servo output 3 value, in microseconds (uint16_t) - servo4_raw : Servo output 4 value, in microseconds (uint16_t) - servo5_raw : Servo output 5 value, in microseconds (uint16_t) - servo6_raw : Servo output 6 value, in microseconds (uint16_t) - servo7_raw : Servo output 7 value, in microseconds (uint16_t) - servo8_raw : Servo output 8 value, in microseconds (uint16_t) - - ''' - msg = MAVLink_servo_output_raw_message(servo1_raw, servo2_raw, servo3_raw, servo4_raw, servo5_raw, servo6_raw, servo7_raw, servo8_raw) - msg.pack(self) - return msg - - def servo_output_raw_send(self, servo1_raw, servo2_raw, servo3_raw, servo4_raw, servo5_raw, servo6_raw, servo7_raw, servo8_raw): - ''' - The RAW values of the servo outputs (for RC input from the remote, use - the RC_CHANNELS messages). The standard PPM modulation - is as follows: 1000 microseconds: 0%, 2000 - microseconds: 100%. - - servo1_raw : Servo output 1 value, in microseconds (uint16_t) - servo2_raw : Servo output 2 value, in microseconds (uint16_t) - servo3_raw : Servo output 3 value, in microseconds (uint16_t) - servo4_raw : Servo output 4 value, in microseconds (uint16_t) - servo5_raw : Servo output 5 value, in microseconds (uint16_t) - servo6_raw : Servo output 6 value, in microseconds (uint16_t) - servo7_raw : Servo output 7 value, in microseconds (uint16_t) - servo8_raw : Servo output 8 value, in microseconds (uint16_t) - - ''' - return self.send(self.servo_output_raw_encode(servo1_raw, servo2_raw, servo3_raw, servo4_raw, servo5_raw, servo6_raw, servo7_raw, servo8_raw)) - - def waypoint_encode(self, target_system, target_component, seq, frame, command, current, autocontinue, param1, param2, param3, param4, x, y, z): - ''' - Message encoding a waypoint. This message is emitted to announce - the presence of a waypoint and to set a waypoint on - the system. The waypoint can be either in x, y, z - meters (type: LOCAL) or x:lat, y:lon, z:altitude. - Local frame is Z-down, right handed, global frame is - Z-up, right handed - - target_system : System ID (uint8_t) - target_component : Component ID (uint8_t) - seq : Sequence (uint16_t) - frame : The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h (uint8_t) - command : The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs (uint8_t) - current : false:0, true:1 (uint8_t) - autocontinue : autocontinue to next wp (uint8_t) - param1 : PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters (float) - param2 : PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds (float) - param3 : PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. (float) - param4 : PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH (float) - x : PARAM5 / local: x position, global: latitude (float) - y : PARAM6 / y position: global: longitude (float) - z : PARAM7 / z position: global: altitude (float) - - ''' - msg = MAVLink_waypoint_message(target_system, target_component, seq, frame, command, current, autocontinue, param1, param2, param3, param4, x, y, z) - msg.pack(self) - return msg - - def waypoint_send(self, target_system, target_component, seq, frame, command, current, autocontinue, param1, param2, param3, param4, x, y, z): - ''' - Message encoding a waypoint. This message is emitted to announce - the presence of a waypoint and to set a waypoint on - the system. The waypoint can be either in x, y, z - meters (type: LOCAL) or x:lat, y:lon, z:altitude. - Local frame is Z-down, right handed, global frame is - Z-up, right handed - - target_system : System ID (uint8_t) - target_component : Component ID (uint8_t) - seq : Sequence (uint16_t) - frame : The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h (uint8_t) - command : The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs (uint8_t) - current : false:0, true:1 (uint8_t) - autocontinue : autocontinue to next wp (uint8_t) - param1 : PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters (float) - param2 : PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds (float) - param3 : PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. (float) - param4 : PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH (float) - x : PARAM5 / local: x position, global: latitude (float) - y : PARAM6 / y position: global: longitude (float) - z : PARAM7 / z position: global: altitude (float) - - ''' - return self.send(self.waypoint_encode(target_system, target_component, seq, frame, command, current, autocontinue, param1, param2, param3, param4, x, y, z)) - - def waypoint_request_encode(self, target_system, target_component, seq): - ''' - Request the information of the waypoint with the sequence number seq. - The response of the system to this message should be a - WAYPOINT message. - - target_system : System ID (uint8_t) - target_component : Component ID (uint8_t) - seq : Sequence (uint16_t) - - ''' - msg = MAVLink_waypoint_request_message(target_system, target_component, seq) - msg.pack(self) - return msg - - def waypoint_request_send(self, target_system, target_component, seq): - ''' - Request the information of the waypoint with the sequence number seq. - The response of the system to this message should be a - WAYPOINT message. - - target_system : System ID (uint8_t) - target_component : Component ID (uint8_t) - seq : Sequence (uint16_t) - - ''' - return self.send(self.waypoint_request_encode(target_system, target_component, seq)) - - def waypoint_set_current_encode(self, target_system, target_component, seq): - ''' - Set the waypoint with sequence number seq as current waypoint. This - means that the MAV will continue to this waypoint on - the shortest path (not following the waypoints in- - between). - - target_system : System ID (uint8_t) - target_component : Component ID (uint8_t) - seq : Sequence (uint16_t) - - ''' - msg = MAVLink_waypoint_set_current_message(target_system, target_component, seq) - msg.pack(self) - return msg - - def waypoint_set_current_send(self, target_system, target_component, seq): - ''' - Set the waypoint with sequence number seq as current waypoint. This - means that the MAV will continue to this waypoint on - the shortest path (not following the waypoints in- - between). - - target_system : System ID (uint8_t) - target_component : Component ID (uint8_t) - seq : Sequence (uint16_t) - - ''' - return self.send(self.waypoint_set_current_encode(target_system, target_component, seq)) - - def waypoint_current_encode(self, seq): - ''' - Message that announces the sequence number of the current active - waypoint. The MAV will fly towards this waypoint. - - seq : Sequence (uint16_t) - - ''' - msg = MAVLink_waypoint_current_message(seq) - msg.pack(self) - return msg - - def waypoint_current_send(self, seq): - ''' - Message that announces the sequence number of the current active - waypoint. The MAV will fly towards this waypoint. - - seq : Sequence (uint16_t) - - ''' - return self.send(self.waypoint_current_encode(seq)) - - def waypoint_request_list_encode(self, target_system, target_component): - ''' - Request the overall list of waypoints from the system/component. - - target_system : System ID (uint8_t) - target_component : Component ID (uint8_t) - - ''' - msg = MAVLink_waypoint_request_list_message(target_system, target_component) - msg.pack(self) - return msg - - def waypoint_request_list_send(self, target_system, target_component): - ''' - Request the overall list of waypoints from the system/component. - - target_system : System ID (uint8_t) - target_component : Component ID (uint8_t) - - ''' - return self.send(self.waypoint_request_list_encode(target_system, target_component)) - - def waypoint_count_encode(self, target_system, target_component, count): - ''' - This message is emitted as response to WAYPOINT_REQUEST_LIST by the - MAV. The GCS can then request the individual waypoints - based on the knowledge of the total number of - waypoints. - - target_system : System ID (uint8_t) - target_component : Component ID (uint8_t) - count : Number of Waypoints in the Sequence (uint16_t) - - ''' - msg = MAVLink_waypoint_count_message(target_system, target_component, count) - msg.pack(self) - return msg - - def waypoint_count_send(self, target_system, target_component, count): - ''' - This message is emitted as response to WAYPOINT_REQUEST_LIST by the - MAV. The GCS can then request the individual waypoints - based on the knowledge of the total number of - waypoints. - - target_system : System ID (uint8_t) - target_component : Component ID (uint8_t) - count : Number of Waypoints in the Sequence (uint16_t) - - ''' - return self.send(self.waypoint_count_encode(target_system, target_component, count)) - - def waypoint_clear_all_encode(self, target_system, target_component): - ''' - Delete all waypoints at once. - - target_system : System ID (uint8_t) - target_component : Component ID (uint8_t) - - ''' - msg = MAVLink_waypoint_clear_all_message(target_system, target_component) - msg.pack(self) - return msg - - def waypoint_clear_all_send(self, target_system, target_component): - ''' - Delete all waypoints at once. - - target_system : System ID (uint8_t) - target_component : Component ID (uint8_t) - - ''' - return self.send(self.waypoint_clear_all_encode(target_system, target_component)) - - def waypoint_reached_encode(self, seq): - ''' - A certain waypoint has been reached. The system will either hold this - position (or circle on the orbit) or (if the - autocontinue on the WP was set) continue to the next - waypoint. - - seq : Sequence (uint16_t) - - ''' - msg = MAVLink_waypoint_reached_message(seq) - msg.pack(self) - return msg - - def waypoint_reached_send(self, seq): - ''' - A certain waypoint has been reached. The system will either hold this - position (or circle on the orbit) or (if the - autocontinue on the WP was set) continue to the next - waypoint. - - seq : Sequence (uint16_t) - - ''' - return self.send(self.waypoint_reached_encode(seq)) - - def waypoint_ack_encode(self, target_system, target_component, type): - ''' - Ack message during waypoint handling. The type field states if this - message is a positive ack (type=0) or if an error - happened (type=non-zero). - - target_system : System ID (uint8_t) - target_component : Component ID (uint8_t) - type : 0: OK, 1: Error (uint8_t) - - ''' - msg = MAVLink_waypoint_ack_message(target_system, target_component, type) - msg.pack(self) - return msg - - def waypoint_ack_send(self, target_system, target_component, type): - ''' - Ack message during waypoint handling. The type field states if this - message is a positive ack (type=0) or if an error - happened (type=non-zero). - - target_system : System ID (uint8_t) - target_component : Component ID (uint8_t) - type : 0: OK, 1: Error (uint8_t) - - ''' - return self.send(self.waypoint_ack_encode(target_system, target_component, type)) - - def gps_set_global_origin_encode(self, target_system, target_component, latitude, longitude, altitude): - ''' - As local waypoints exist, the global waypoint reference allows to - transform between the local coordinate frame and the - global (GPS) coordinate frame. This can be necessary - when e.g. in- and outdoor settings are connected and - the MAV should move from in- to outdoor. - - target_system : System ID (uint8_t) - target_component : Component ID (uint8_t) - latitude : global position * 1E7 (int32_t) - longitude : global position * 1E7 (int32_t) - altitude : global position * 1000 (int32_t) - - ''' - msg = MAVLink_gps_set_global_origin_message(target_system, target_component, latitude, longitude, altitude) - msg.pack(self) - return msg - - def gps_set_global_origin_send(self, target_system, target_component, latitude, longitude, altitude): - ''' - As local waypoints exist, the global waypoint reference allows to - transform between the local coordinate frame and the - global (GPS) coordinate frame. This can be necessary - when e.g. in- and outdoor settings are connected and - the MAV should move from in- to outdoor. - - target_system : System ID (uint8_t) - target_component : Component ID (uint8_t) - latitude : global position * 1E7 (int32_t) - longitude : global position * 1E7 (int32_t) - altitude : global position * 1000 (int32_t) - - ''' - return self.send(self.gps_set_global_origin_encode(target_system, target_component, latitude, longitude, altitude)) - - def gps_local_origin_set_encode(self, latitude, longitude, altitude): - ''' - Once the MAV sets a new GPS-Local correspondence, this message - announces the origin (0,0,0) position - - latitude : Latitude (WGS84), expressed as * 1E7 (int32_t) - longitude : Longitude (WGS84), expressed as * 1E7 (int32_t) - altitude : Altitude(WGS84), expressed as * 1000 (int32_t) - - ''' - msg = MAVLink_gps_local_origin_set_message(latitude, longitude, altitude) - msg.pack(self) - return msg - - def gps_local_origin_set_send(self, latitude, longitude, altitude): - ''' - Once the MAV sets a new GPS-Local correspondence, this message - announces the origin (0,0,0) position - - latitude : Latitude (WGS84), expressed as * 1E7 (int32_t) - longitude : Longitude (WGS84), expressed as * 1E7 (int32_t) - altitude : Altitude(WGS84), expressed as * 1000 (int32_t) - - ''' - return self.send(self.gps_local_origin_set_encode(latitude, longitude, altitude)) - - def local_position_setpoint_set_encode(self, target_system, target_component, x, y, z, yaw): - ''' - Set the setpoint for a local position controller. This is the position - in local coordinates the MAV should fly to. This - message is sent by the path/waypoint planner to the - onboard position controller. As some MAVs have a - degree of freedom in yaw (e.g. all - helicopters/quadrotors), the desired yaw angle is part - of the message. - - target_system : System ID (uint8_t) - target_component : Component ID (uint8_t) - x : x position (float) - y : y position (float) - z : z position (float) - yaw : Desired yaw angle (float) - - ''' - msg = MAVLink_local_position_setpoint_set_message(target_system, target_component, x, y, z, yaw) - msg.pack(self) - return msg - - def local_position_setpoint_set_send(self, target_system, target_component, x, y, z, yaw): - ''' - Set the setpoint for a local position controller. This is the position - in local coordinates the MAV should fly to. This - message is sent by the path/waypoint planner to the - onboard position controller. As some MAVs have a - degree of freedom in yaw (e.g. all - helicopters/quadrotors), the desired yaw angle is part - of the message. - - target_system : System ID (uint8_t) - target_component : Component ID (uint8_t) - x : x position (float) - y : y position (float) - z : z position (float) - yaw : Desired yaw angle (float) - - ''' - return self.send(self.local_position_setpoint_set_encode(target_system, target_component, x, y, z, yaw)) - - def local_position_setpoint_encode(self, x, y, z, yaw): - ''' - Transmit the current local setpoint of the controller to other MAVs - (collision avoidance) and to the GCS. - - x : x position (float) - y : y position (float) - z : z position (float) - yaw : Desired yaw angle (float) - - ''' - msg = MAVLink_local_position_setpoint_message(x, y, z, yaw) - msg.pack(self) - return msg - - def local_position_setpoint_send(self, x, y, z, yaw): - ''' - Transmit the current local setpoint of the controller to other MAVs - (collision avoidance) and to the GCS. - - x : x position (float) - y : y position (float) - z : z position (float) - yaw : Desired yaw angle (float) - - ''' - return self.send(self.local_position_setpoint_encode(x, y, z, yaw)) - - def control_status_encode(self, position_fix, vision_fix, gps_fix, ahrs_health, control_att, control_pos_xy, control_pos_z, control_pos_yaw): - ''' - - - position_fix : Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix (uint8_t) - vision_fix : Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix (uint8_t) - gps_fix : GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix (uint8_t) - ahrs_health : Attitude estimation health: 0: poor, 255: excellent (uint8_t) - control_att : 0: Attitude control disabled, 1: enabled (uint8_t) - control_pos_xy : 0: X, Y position control disabled, 1: enabled (uint8_t) - control_pos_z : 0: Z position control disabled, 1: enabled (uint8_t) - control_pos_yaw : 0: Yaw angle control disabled, 1: enabled (uint8_t) - - ''' - msg = MAVLink_control_status_message(position_fix, vision_fix, gps_fix, ahrs_health, control_att, control_pos_xy, control_pos_z, control_pos_yaw) - msg.pack(self) - return msg - - def control_status_send(self, position_fix, vision_fix, gps_fix, ahrs_health, control_att, control_pos_xy, control_pos_z, control_pos_yaw): - ''' - - - position_fix : Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix (uint8_t) - vision_fix : Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix (uint8_t) - gps_fix : GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix (uint8_t) - ahrs_health : Attitude estimation health: 0: poor, 255: excellent (uint8_t) - control_att : 0: Attitude control disabled, 1: enabled (uint8_t) - control_pos_xy : 0: X, Y position control disabled, 1: enabled (uint8_t) - control_pos_z : 0: Z position control disabled, 1: enabled (uint8_t) - control_pos_yaw : 0: Yaw angle control disabled, 1: enabled (uint8_t) - - ''' - return self.send(self.control_status_encode(position_fix, vision_fix, gps_fix, ahrs_health, control_att, control_pos_xy, control_pos_z, control_pos_yaw)) - - def safety_set_allowed_area_encode(self, target_system, target_component, frame, p1x, p1y, p1z, p2x, p2y, p2z): - ''' - Set a safety zone (volume), which is defined by two corners of a cube. - This message can be used to tell the MAV which - setpoints/waypoints to accept and which to reject. - Safety areas are often enforced by national or - competition regulations. - - target_system : System ID (uint8_t) - target_component : Component ID (uint8_t) - frame : Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. (uint8_t) - p1x : x position 1 / Latitude 1 (float) - p1y : y position 1 / Longitude 1 (float) - p1z : z position 1 / Altitude 1 (float) - p2x : x position 2 / Latitude 2 (float) - p2y : y position 2 / Longitude 2 (float) - p2z : z position 2 / Altitude 2 (float) - - ''' - msg = MAVLink_safety_set_allowed_area_message(target_system, target_component, frame, p1x, p1y, p1z, p2x, p2y, p2z) - msg.pack(self) - return msg - - def safety_set_allowed_area_send(self, target_system, target_component, frame, p1x, p1y, p1z, p2x, p2y, p2z): - ''' - Set a safety zone (volume), which is defined by two corners of a cube. - This message can be used to tell the MAV which - setpoints/waypoints to accept and which to reject. - Safety areas are often enforced by national or - competition regulations. - - target_system : System ID (uint8_t) - target_component : Component ID (uint8_t) - frame : Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. (uint8_t) - p1x : x position 1 / Latitude 1 (float) - p1y : y position 1 / Longitude 1 (float) - p1z : z position 1 / Altitude 1 (float) - p2x : x position 2 / Latitude 2 (float) - p2y : y position 2 / Longitude 2 (float) - p2z : z position 2 / Altitude 2 (float) - - ''' - return self.send(self.safety_set_allowed_area_encode(target_system, target_component, frame, p1x, p1y, p1z, p2x, p2y, p2z)) - - def safety_allowed_area_encode(self, frame, p1x, p1y, p1z, p2x, p2y, p2z): - ''' - Read out the safety zone the MAV currently assumes. - - frame : Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. (uint8_t) - p1x : x position 1 / Latitude 1 (float) - p1y : y position 1 / Longitude 1 (float) - p1z : z position 1 / Altitude 1 (float) - p2x : x position 2 / Latitude 2 (float) - p2y : y position 2 / Longitude 2 (float) - p2z : z position 2 / Altitude 2 (float) - - ''' - msg = MAVLink_safety_allowed_area_message(frame, p1x, p1y, p1z, p2x, p2y, p2z) - msg.pack(self) - return msg - - def safety_allowed_area_send(self, frame, p1x, p1y, p1z, p2x, p2y, p2z): - ''' - Read out the safety zone the MAV currently assumes. - - frame : Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. (uint8_t) - p1x : x position 1 / Latitude 1 (float) - p1y : y position 1 / Longitude 1 (float) - p1z : z position 1 / Altitude 1 (float) - p2x : x position 2 / Latitude 2 (float) - p2y : y position 2 / Longitude 2 (float) - p2z : z position 2 / Altitude 2 (float) - - ''' - return self.send(self.safety_allowed_area_encode(frame, p1x, p1y, p1z, p2x, p2y, p2z)) - - def set_roll_pitch_yaw_thrust_encode(self, target_system, target_component, roll, pitch, yaw, thrust): - ''' - Set roll, pitch and yaw. - - target_system : System ID (uint8_t) - target_component : Component ID (uint8_t) - roll : Desired roll angle in radians (float) - pitch : Desired pitch angle in radians (float) - yaw : Desired yaw angle in radians (float) - thrust : Collective thrust, normalized to 0 .. 1 (float) - - ''' - msg = MAVLink_set_roll_pitch_yaw_thrust_message(target_system, target_component, roll, pitch, yaw, thrust) - msg.pack(self) - return msg - - def set_roll_pitch_yaw_thrust_send(self, target_system, target_component, roll, pitch, yaw, thrust): - ''' - Set roll, pitch and yaw. - - target_system : System ID (uint8_t) - target_component : Component ID (uint8_t) - roll : Desired roll angle in radians (float) - pitch : Desired pitch angle in radians (float) - yaw : Desired yaw angle in radians (float) - thrust : Collective thrust, normalized to 0 .. 1 (float) - - ''' - return self.send(self.set_roll_pitch_yaw_thrust_encode(target_system, target_component, roll, pitch, yaw, thrust)) - - def set_roll_pitch_yaw_speed_thrust_encode(self, target_system, target_component, roll_speed, pitch_speed, yaw_speed, thrust): - ''' - Set roll, pitch and yaw. - - target_system : System ID (uint8_t) - target_component : Component ID (uint8_t) - roll_speed : Desired roll angular speed in rad/s (float) - pitch_speed : Desired pitch angular speed in rad/s (float) - yaw_speed : Desired yaw angular speed in rad/s (float) - thrust : Collective thrust, normalized to 0 .. 1 (float) - - ''' - msg = MAVLink_set_roll_pitch_yaw_speed_thrust_message(target_system, target_component, roll_speed, pitch_speed, yaw_speed, thrust) - msg.pack(self) - return msg - - def set_roll_pitch_yaw_speed_thrust_send(self, target_system, target_component, roll_speed, pitch_speed, yaw_speed, thrust): - ''' - Set roll, pitch and yaw. - - target_system : System ID (uint8_t) - target_component : Component ID (uint8_t) - roll_speed : Desired roll angular speed in rad/s (float) - pitch_speed : Desired pitch angular speed in rad/s (float) - yaw_speed : Desired yaw angular speed in rad/s (float) - thrust : Collective thrust, normalized to 0 .. 1 (float) - - ''' - return self.send(self.set_roll_pitch_yaw_speed_thrust_encode(target_system, target_component, roll_speed, pitch_speed, yaw_speed, thrust)) - - def roll_pitch_yaw_thrust_setpoint_encode(self, time_us, roll, pitch, yaw, thrust): - ''' - Setpoint in roll, pitch, yaw currently active on the system. - - time_us : Timestamp in micro seconds since unix epoch (uint64_t) - roll : Desired roll angle in radians (float) - pitch : Desired pitch angle in radians (float) - yaw : Desired yaw angle in radians (float) - thrust : Collective thrust, normalized to 0 .. 1 (float) - - ''' - msg = MAVLink_roll_pitch_yaw_thrust_setpoint_message(time_us, roll, pitch, yaw, thrust) - msg.pack(self) - return msg - - def roll_pitch_yaw_thrust_setpoint_send(self, time_us, roll, pitch, yaw, thrust): - ''' - Setpoint in roll, pitch, yaw currently active on the system. - - time_us : Timestamp in micro seconds since unix epoch (uint64_t) - roll : Desired roll angle in radians (float) - pitch : Desired pitch angle in radians (float) - yaw : Desired yaw angle in radians (float) - thrust : Collective thrust, normalized to 0 .. 1 (float) - - ''' - return self.send(self.roll_pitch_yaw_thrust_setpoint_encode(time_us, roll, pitch, yaw, thrust)) - - def roll_pitch_yaw_speed_thrust_setpoint_encode(self, time_us, roll_speed, pitch_speed, yaw_speed, thrust): - ''' - Setpoint in rollspeed, pitchspeed, yawspeed currently active on the - system. - - time_us : Timestamp in micro seconds since unix epoch (uint64_t) - roll_speed : Desired roll angular speed in rad/s (float) - pitch_speed : Desired pitch angular speed in rad/s (float) - yaw_speed : Desired yaw angular speed in rad/s (float) - thrust : Collective thrust, normalized to 0 .. 1 (float) - - ''' - msg = MAVLink_roll_pitch_yaw_speed_thrust_setpoint_message(time_us, roll_speed, pitch_speed, yaw_speed, thrust) - msg.pack(self) - return msg - - def roll_pitch_yaw_speed_thrust_setpoint_send(self, time_us, roll_speed, pitch_speed, yaw_speed, thrust): - ''' - Setpoint in rollspeed, pitchspeed, yawspeed currently active on the - system. - - time_us : Timestamp in micro seconds since unix epoch (uint64_t) - roll_speed : Desired roll angular speed in rad/s (float) - pitch_speed : Desired pitch angular speed in rad/s (float) - yaw_speed : Desired yaw angular speed in rad/s (float) - thrust : Collective thrust, normalized to 0 .. 1 (float) - - ''' - return self.send(self.roll_pitch_yaw_speed_thrust_setpoint_encode(time_us, roll_speed, pitch_speed, yaw_speed, thrust)) - - def nav_controller_output_encode(self, nav_roll, nav_pitch, nav_bearing, target_bearing, wp_dist, alt_error, aspd_error, xtrack_error): - ''' - Outputs of the APM navigation controller. The primary use of this - message is to check the response and signs of the - controller before actual flight and to assist with - tuning controller parameters - - nav_roll : Current desired roll in degrees (float) - nav_pitch : Current desired pitch in degrees (float) - nav_bearing : Current desired heading in degrees (int16_t) - target_bearing : Bearing to current waypoint/target in degrees (int16_t) - wp_dist : Distance to active waypoint in meters (uint16_t) - alt_error : Current altitude error in meters (float) - aspd_error : Current airspeed error in meters/second (float) - xtrack_error : Current crosstrack error on x-y plane in meters (float) - - ''' - msg = MAVLink_nav_controller_output_message(nav_roll, nav_pitch, nav_bearing, target_bearing, wp_dist, alt_error, aspd_error, xtrack_error) - msg.pack(self) - return msg - - def nav_controller_output_send(self, nav_roll, nav_pitch, nav_bearing, target_bearing, wp_dist, alt_error, aspd_error, xtrack_error): - ''' - Outputs of the APM navigation controller. The primary use of this - message is to check the response and signs of the - controller before actual flight and to assist with - tuning controller parameters - - nav_roll : Current desired roll in degrees (float) - nav_pitch : Current desired pitch in degrees (float) - nav_bearing : Current desired heading in degrees (int16_t) - target_bearing : Bearing to current waypoint/target in degrees (int16_t) - wp_dist : Distance to active waypoint in meters (uint16_t) - alt_error : Current altitude error in meters (float) - aspd_error : Current airspeed error in meters/second (float) - xtrack_error : Current crosstrack error on x-y plane in meters (float) - - ''' - return self.send(self.nav_controller_output_encode(nav_roll, nav_pitch, nav_bearing, target_bearing, wp_dist, alt_error, aspd_error, xtrack_error)) - - def position_target_encode(self, x, y, z, yaw): - ''' - The goal position of the system. This position is the input to any - navigation or path planning algorithm and does NOT - represent the current controller setpoint. - - x : x position (float) - y : y position (float) - z : z position (float) - yaw : yaw orientation in radians, 0 = NORTH (float) - - ''' - msg = MAVLink_position_target_message(x, y, z, yaw) - msg.pack(self) - return msg - - def position_target_send(self, x, y, z, yaw): - ''' - The goal position of the system. This position is the input to any - navigation or path planning algorithm and does NOT - represent the current controller setpoint. - - x : x position (float) - y : y position (float) - z : z position (float) - yaw : yaw orientation in radians, 0 = NORTH (float) - - ''' - return self.send(self.position_target_encode(x, y, z, yaw)) - - def state_correction_encode(self, xErr, yErr, zErr, rollErr, pitchErr, yawErr, vxErr, vyErr, vzErr): - ''' - Corrects the systems state by adding an error correction term to the - position and velocity, and by rotating the attitude by - a correction angle. - - xErr : x position error (float) - yErr : y position error (float) - zErr : z position error (float) - rollErr : roll error (radians) (float) - pitchErr : pitch error (radians) (float) - yawErr : yaw error (radians) (float) - vxErr : x velocity (float) - vyErr : y velocity (float) - vzErr : z velocity (float) - - ''' - msg = MAVLink_state_correction_message(xErr, yErr, zErr, rollErr, pitchErr, yawErr, vxErr, vyErr, vzErr) - msg.pack(self) - return msg - - def state_correction_send(self, xErr, yErr, zErr, rollErr, pitchErr, yawErr, vxErr, vyErr, vzErr): - ''' - Corrects the systems state by adding an error correction term to the - position and velocity, and by rotating the attitude by - a correction angle. - - xErr : x position error (float) - yErr : y position error (float) - zErr : z position error (float) - rollErr : roll error (radians) (float) - pitchErr : pitch error (radians) (float) - yawErr : yaw error (radians) (float) - vxErr : x velocity (float) - vyErr : y velocity (float) - vzErr : z velocity (float) - - ''' - return self.send(self.state_correction_encode(xErr, yErr, zErr, rollErr, pitchErr, yawErr, vxErr, vyErr, vzErr)) - - def set_altitude_encode(self, target, mode): - ''' - - - target : The system setting the altitude (uint8_t) - mode : The new altitude in meters (uint32_t) - - ''' - msg = MAVLink_set_altitude_message(target, mode) - msg.pack(self) - return msg - - def set_altitude_send(self, target, mode): - ''' - - - target : The system setting the altitude (uint8_t) - mode : The new altitude in meters (uint32_t) - - ''' - return self.send(self.set_altitude_encode(target, mode)) - - def request_data_stream_encode(self, target_system, target_component, req_stream_id, req_message_rate, start_stop): - ''' - - - target_system : The target requested to send the message stream. (uint8_t) - target_component : The target requested to send the message stream. (uint8_t) - req_stream_id : The ID of the requested message type (uint8_t) - req_message_rate : Update rate in Hertz (uint16_t) - start_stop : 1 to start sending, 0 to stop sending. (uint8_t) - - ''' - msg = MAVLink_request_data_stream_message(target_system, target_component, req_stream_id, req_message_rate, start_stop) - msg.pack(self) - return msg - - def request_data_stream_send(self, target_system, target_component, req_stream_id, req_message_rate, start_stop): - ''' - - - target_system : The target requested to send the message stream. (uint8_t) - target_component : The target requested to send the message stream. (uint8_t) - req_stream_id : The ID of the requested message type (uint8_t) - req_message_rate : Update rate in Hertz (uint16_t) - start_stop : 1 to start sending, 0 to stop sending. (uint8_t) - - ''' - return self.send(self.request_data_stream_encode(target_system, target_component, req_stream_id, req_message_rate, start_stop)) - - def hil_state_encode(self, usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed, lat, lon, alt, vx, vy, vz, xacc, yacc, zacc): - ''' - This packet is useful for high throughput applications - such as hardware in the loop simulations. - - usec : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t) - roll : Roll angle (rad) (float) - pitch : Pitch angle (rad) (float) - yaw : Yaw angle (rad) (float) - rollspeed : Roll angular speed (rad/s) (float) - pitchspeed : Pitch angular speed (rad/s) (float) - yawspeed : Yaw angular speed (rad/s) (float) - lat : Latitude, expressed as * 1E7 (int32_t) - lon : Longitude, expressed as * 1E7 (int32_t) - alt : Altitude in meters, expressed as * 1000 (millimeters) (int32_t) - vx : Ground X Speed (Latitude), expressed as m/s * 100 (int16_t) - vy : Ground Y Speed (Longitude), expressed as m/s * 100 (int16_t) - vz : Ground Z Speed (Altitude), expressed as m/s * 100 (int16_t) - xacc : X acceleration (mg) (int16_t) - yacc : Y acceleration (mg) (int16_t) - zacc : Z acceleration (mg) (int16_t) - - ''' - msg = MAVLink_hil_state_message(usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed, lat, lon, alt, vx, vy, vz, xacc, yacc, zacc) - msg.pack(self) - return msg - - def hil_state_send(self, usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed, lat, lon, alt, vx, vy, vz, xacc, yacc, zacc): - ''' - This packet is useful for high throughput applications - such as hardware in the loop simulations. - - usec : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t) - roll : Roll angle (rad) (float) - pitch : Pitch angle (rad) (float) - yaw : Yaw angle (rad) (float) - rollspeed : Roll angular speed (rad/s) (float) - pitchspeed : Pitch angular speed (rad/s) (float) - yawspeed : Yaw angular speed (rad/s) (float) - lat : Latitude, expressed as * 1E7 (int32_t) - lon : Longitude, expressed as * 1E7 (int32_t) - alt : Altitude in meters, expressed as * 1000 (millimeters) (int32_t) - vx : Ground X Speed (Latitude), expressed as m/s * 100 (int16_t) - vy : Ground Y Speed (Longitude), expressed as m/s * 100 (int16_t) - vz : Ground Z Speed (Altitude), expressed as m/s * 100 (int16_t) - xacc : X acceleration (mg) (int16_t) - yacc : Y acceleration (mg) (int16_t) - zacc : Z acceleration (mg) (int16_t) - - ''' - return self.send(self.hil_state_encode(usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed, lat, lon, alt, vx, vy, vz, xacc, yacc, zacc)) - - def hil_controls_encode(self, time_us, roll_ailerons, pitch_elevator, yaw_rudder, throttle, mode, nav_mode): - ''' - Hardware in the loop control outputs - - time_us : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t) - roll_ailerons : Control output -3 .. 1 (float) - pitch_elevator : Control output -1 .. 1 (float) - yaw_rudder : Control output -1 .. 1 (float) - throttle : Throttle 0 .. 1 (float) - mode : System mode (MAV_MODE) (uint8_t) - nav_mode : Navigation mode (MAV_NAV_MODE) (uint8_t) - - ''' - msg = MAVLink_hil_controls_message(time_us, roll_ailerons, pitch_elevator, yaw_rudder, throttle, mode, nav_mode) - msg.pack(self) - return msg - - def hil_controls_send(self, time_us, roll_ailerons, pitch_elevator, yaw_rudder, throttle, mode, nav_mode): - ''' - Hardware in the loop control outputs - - time_us : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t) - roll_ailerons : Control output -3 .. 1 (float) - pitch_elevator : Control output -1 .. 1 (float) - yaw_rudder : Control output -1 .. 1 (float) - throttle : Throttle 0 .. 1 (float) - mode : System mode (MAV_MODE) (uint8_t) - nav_mode : Navigation mode (MAV_NAV_MODE) (uint8_t) - - ''' - return self.send(self.hil_controls_encode(time_us, roll_ailerons, pitch_elevator, yaw_rudder, throttle, mode, nav_mode)) - - def manual_control_encode(self, target, roll, pitch, yaw, thrust, roll_manual, pitch_manual, yaw_manual, thrust_manual): - ''' - - - target : The system to be controlled (uint8_t) - roll : roll (float) - pitch : pitch (float) - yaw : yaw (float) - thrust : thrust (float) - roll_manual : roll control enabled auto:0, manual:1 (uint8_t) - pitch_manual : pitch auto:0, manual:1 (uint8_t) - yaw_manual : yaw auto:0, manual:1 (uint8_t) - thrust_manual : thrust auto:0, manual:1 (uint8_t) - - ''' - msg = MAVLink_manual_control_message(target, roll, pitch, yaw, thrust, roll_manual, pitch_manual, yaw_manual, thrust_manual) - msg.pack(self) - return msg - - def manual_control_send(self, target, roll, pitch, yaw, thrust, roll_manual, pitch_manual, yaw_manual, thrust_manual): - ''' - - - target : The system to be controlled (uint8_t) - roll : roll (float) - pitch : pitch (float) - yaw : yaw (float) - thrust : thrust (float) - roll_manual : roll control enabled auto:0, manual:1 (uint8_t) - pitch_manual : pitch auto:0, manual:1 (uint8_t) - yaw_manual : yaw auto:0, manual:1 (uint8_t) - thrust_manual : thrust auto:0, manual:1 (uint8_t) - - ''' - return self.send(self.manual_control_encode(target, roll, pitch, yaw, thrust, roll_manual, pitch_manual, yaw_manual, thrust_manual)) - - def rc_channels_override_encode(self, target_system, target_component, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw): - ''' - The RAW values of the RC channels sent to the MAV to override info - received from the RC radio. A value of -1 means no - change to that channel. A value of 0 means control of - that channel should be released back to the RC radio. - The standard PPM modulation is as follows: 1000 - microseconds: 0%, 2000 microseconds: 100%. Individual - receivers/transmitters might violate this - specification. - - target_system : System ID (uint8_t) - target_component : Component ID (uint8_t) - chan1_raw : RC channel 1 value, in microseconds (uint16_t) - chan2_raw : RC channel 2 value, in microseconds (uint16_t) - chan3_raw : RC channel 3 value, in microseconds (uint16_t) - chan4_raw : RC channel 4 value, in microseconds (uint16_t) - chan5_raw : RC channel 5 value, in microseconds (uint16_t) - chan6_raw : RC channel 6 value, in microseconds (uint16_t) - chan7_raw : RC channel 7 value, in microseconds (uint16_t) - chan8_raw : RC channel 8 value, in microseconds (uint16_t) - - ''' - msg = MAVLink_rc_channels_override_message(target_system, target_component, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw) - msg.pack(self) - return msg - - def rc_channels_override_send(self, target_system, target_component, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw): - ''' - The RAW values of the RC channels sent to the MAV to override info - received from the RC radio. A value of -1 means no - change to that channel. A value of 0 means control of - that channel should be released back to the RC radio. - The standard PPM modulation is as follows: 1000 - microseconds: 0%, 2000 microseconds: 100%. Individual - receivers/transmitters might violate this - specification. - - target_system : System ID (uint8_t) - target_component : Component ID (uint8_t) - chan1_raw : RC channel 1 value, in microseconds (uint16_t) - chan2_raw : RC channel 2 value, in microseconds (uint16_t) - chan3_raw : RC channel 3 value, in microseconds (uint16_t) - chan4_raw : RC channel 4 value, in microseconds (uint16_t) - chan5_raw : RC channel 5 value, in microseconds (uint16_t) - chan6_raw : RC channel 6 value, in microseconds (uint16_t) - chan7_raw : RC channel 7 value, in microseconds (uint16_t) - chan8_raw : RC channel 8 value, in microseconds (uint16_t) - - ''' - return self.send(self.rc_channels_override_encode(target_system, target_component, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw)) - - def global_position_int_encode(self, lat, lon, alt, vx, vy, vz): - ''' - The filtered global position (e.g. fused GPS and accelerometers). The - position is in GPS-frame (right-handed, Z-up) - - lat : Latitude, expressed as * 1E7 (int32_t) - lon : Longitude, expressed as * 1E7 (int32_t) - alt : Altitude in meters, expressed as * 1000 (millimeters) (int32_t) - vx : Ground X Speed (Latitude), expressed as m/s * 100 (int16_t) - vy : Ground Y Speed (Longitude), expressed as m/s * 100 (int16_t) - vz : Ground Z Speed (Altitude), expressed as m/s * 100 (int16_t) - - ''' - msg = MAVLink_global_position_int_message(lat, lon, alt, vx, vy, vz) - msg.pack(self) - return msg - - def global_position_int_send(self, lat, lon, alt, vx, vy, vz): - ''' - The filtered global position (e.g. fused GPS and accelerometers). The - position is in GPS-frame (right-handed, Z-up) - - lat : Latitude, expressed as * 1E7 (int32_t) - lon : Longitude, expressed as * 1E7 (int32_t) - alt : Altitude in meters, expressed as * 1000 (millimeters) (int32_t) - vx : Ground X Speed (Latitude), expressed as m/s * 100 (int16_t) - vy : Ground Y Speed (Longitude), expressed as m/s * 100 (int16_t) - vz : Ground Z Speed (Altitude), expressed as m/s * 100 (int16_t) - - ''' - return self.send(self.global_position_int_encode(lat, lon, alt, vx, vy, vz)) - - def vfr_hud_encode(self, airspeed, groundspeed, heading, throttle, alt, climb): - ''' - Metrics typically displayed on a HUD for fixed wing aircraft - - airspeed : Current airspeed in m/s (float) - groundspeed : Current ground speed in m/s (float) - heading : Current heading in degrees, in compass units (0..360, 0=north) (int16_t) - throttle : Current throttle setting in integer percent, 0 to 100 (uint16_t) - alt : Current altitude (MSL), in meters (float) - climb : Current climb rate in meters/second (float) - - ''' - msg = MAVLink_vfr_hud_message(airspeed, groundspeed, heading, throttle, alt, climb) - msg.pack(self) - return msg - - def vfr_hud_send(self, airspeed, groundspeed, heading, throttle, alt, climb): - ''' - Metrics typically displayed on a HUD for fixed wing aircraft - - airspeed : Current airspeed in m/s (float) - groundspeed : Current ground speed in m/s (float) - heading : Current heading in degrees, in compass units (0..360, 0=north) (int16_t) - throttle : Current throttle setting in integer percent, 0 to 100 (uint16_t) - alt : Current altitude (MSL), in meters (float) - climb : Current climb rate in meters/second (float) - - ''' - return self.send(self.vfr_hud_encode(airspeed, groundspeed, heading, throttle, alt, climb)) - - def command_encode(self, target_system, target_component, command, confirmation, param1, param2, param3, param4): - ''' - Send a command with up to four parameters to the MAV - - target_system : System which should execute the command (uint8_t) - target_component : Component which should execute the command, 0 for all components (uint8_t) - command : Command ID, as defined by MAV_CMD enum. (uint8_t) - confirmation : 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) (uint8_t) - param1 : Parameter 1, as defined by MAV_CMD enum. (float) - param2 : Parameter 2, as defined by MAV_CMD enum. (float) - param3 : Parameter 3, as defined by MAV_CMD enum. (float) - param4 : Parameter 4, as defined by MAV_CMD enum. (float) - - ''' - msg = MAVLink_command_message(target_system, target_component, command, confirmation, param1, param2, param3, param4) - msg.pack(self) - return msg - - def command_send(self, target_system, target_component, command, confirmation, param1, param2, param3, param4): - ''' - Send a command with up to four parameters to the MAV - - target_system : System which should execute the command (uint8_t) - target_component : Component which should execute the command, 0 for all components (uint8_t) - command : Command ID, as defined by MAV_CMD enum. (uint8_t) - confirmation : 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) (uint8_t) - param1 : Parameter 1, as defined by MAV_CMD enum. (float) - param2 : Parameter 2, as defined by MAV_CMD enum. (float) - param3 : Parameter 3, as defined by MAV_CMD enum. (float) - param4 : Parameter 4, as defined by MAV_CMD enum. (float) - - ''' - return self.send(self.command_encode(target_system, target_component, command, confirmation, param1, param2, param3, param4)) - - def command_ack_encode(self, command, result): - ''' - Report status of a command. Includes feedback wether the command was - executed - - command : Current airspeed in m/s (float) - result : 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION (float) - - ''' - msg = MAVLink_command_ack_message(command, result) - msg.pack(self) - return msg - - def command_ack_send(self, command, result): - ''' - Report status of a command. Includes feedback wether the command was - executed - - command : Current airspeed in m/s (float) - result : 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION (float) - - ''' - return self.send(self.command_ack_encode(command, result)) - - def optical_flow_encode(self, time, sensor_id, flow_x, flow_y, quality, ground_distance): - ''' - Optical flow from a flow sensor (e.g. optical mouse sensor) - - time : Timestamp (UNIX) (uint64_t) - sensor_id : Sensor ID (uint8_t) - flow_x : Flow in pixels in x-sensor direction (int16_t) - flow_y : Flow in pixels in y-sensor direction (int16_t) - quality : Optical flow quality / confidence. 0: bad, 255: maximum quality (uint8_t) - ground_distance : Ground distance in meters (float) - - ''' - msg = MAVLink_optical_flow_message(time, sensor_id, flow_x, flow_y, quality, ground_distance) - msg.pack(self) - return msg - - def optical_flow_send(self, time, sensor_id, flow_x, flow_y, quality, ground_distance): - ''' - Optical flow from a flow sensor (e.g. optical mouse sensor) - - time : Timestamp (UNIX) (uint64_t) - sensor_id : Sensor ID (uint8_t) - flow_x : Flow in pixels in x-sensor direction (int16_t) - flow_y : Flow in pixels in y-sensor direction (int16_t) - quality : Optical flow quality / confidence. 0: bad, 255: maximum quality (uint8_t) - ground_distance : Ground distance in meters (float) - - ''' - return self.send(self.optical_flow_encode(time, sensor_id, flow_x, flow_y, quality, ground_distance)) - - def object_detection_event_encode(self, time, object_id, type, name, quality, bearing, distance): - ''' - Object has been detected - - time : Timestamp in milliseconds since system boot (uint32_t) - object_id : Object ID (uint16_t) - type : Object type: 0: image, 1: letter, 2: ground vehicle, 3: air vehicle, 4: surface vehicle, 5: sub-surface vehicle, 6: human, 7: animal (uint8_t) - name : Name of the object as defined by the detector (char) - quality : Detection quality / confidence. 0: bad, 255: maximum confidence (uint8_t) - bearing : Angle of the object with respect to the body frame in NED coordinates in radians. 0: front (float) - distance : Ground distance in meters (float) - - ''' - msg = MAVLink_object_detection_event_message(time, object_id, type, name, quality, bearing, distance) - msg.pack(self) - return msg - - def object_detection_event_send(self, time, object_id, type, name, quality, bearing, distance): - ''' - Object has been detected - - time : Timestamp in milliseconds since system boot (uint32_t) - object_id : Object ID (uint16_t) - type : Object type: 0: image, 1: letter, 2: ground vehicle, 3: air vehicle, 4: surface vehicle, 5: sub-surface vehicle, 6: human, 7: animal (uint8_t) - name : Name of the object as defined by the detector (char) - quality : Detection quality / confidence. 0: bad, 255: maximum confidence (uint8_t) - bearing : Angle of the object with respect to the body frame in NED coordinates in radians. 0: front (float) - distance : Ground distance in meters (float) - - ''' - return self.send(self.object_detection_event_encode(time, object_id, type, name, quality, bearing, distance)) - - def debug_vect_encode(self, name, usec, x, y, z): - ''' - - - name : Name (char) - usec : Timestamp (uint64_t) - x : x (float) - y : y (float) - z : z (float) - - ''' - msg = MAVLink_debug_vect_message(name, usec, x, y, z) - msg.pack(self) - return msg - - def debug_vect_send(self, name, usec, x, y, z): - ''' - - - name : Name (char) - usec : Timestamp (uint64_t) - x : x (float) - y : y (float) - z : z (float) - - ''' - return self.send(self.debug_vect_encode(name, usec, x, y, z)) - - def named_value_float_encode(self, name, value): - ''' - Send a key-value pair as float. The use of this message is discouraged - for normal packets, but a quite efficient way for - testing new messages and getting experimental debug - output. - - name : Name of the debug variable (char) - value : Floating point value (float) - - ''' - msg = MAVLink_named_value_float_message(name, value) - msg.pack(self) - return msg - - def named_value_float_send(self, name, value): - ''' - Send a key-value pair as float. The use of this message is discouraged - for normal packets, but a quite efficient way for - testing new messages and getting experimental debug - output. - - name : Name of the debug variable (char) - value : Floating point value (float) - - ''' - return self.send(self.named_value_float_encode(name, value)) - - def named_value_int_encode(self, name, value): - ''' - Send a key-value pair as integer. The use of this message is - discouraged for normal packets, but a quite efficient - way for testing new messages and getting experimental - debug output. - - name : Name of the debug variable (char) - value : Signed integer value (int32_t) - - ''' - msg = MAVLink_named_value_int_message(name, value) - msg.pack(self) - return msg - - def named_value_int_send(self, name, value): - ''' - Send a key-value pair as integer. The use of this message is - discouraged for normal packets, but a quite efficient - way for testing new messages and getting experimental - debug output. - - name : Name of the debug variable (char) - value : Signed integer value (int32_t) - - ''' - return self.send(self.named_value_int_encode(name, value)) - - def statustext_encode(self, severity, text): - ''' - Status text message. These messages are printed in yellow in the COMM - console of QGroundControl. WARNING: They consume quite - some bandwidth, so use only for important status and - error messages. If implemented wisely, these messages - are buffered on the MCU and sent only at a limited - rate (e.g. 10 Hz). - - severity : Severity of status, 0 = info message, 255 = critical fault (uint8_t) - text : Status text message, without null termination character (int8_t) - - ''' - msg = MAVLink_statustext_message(severity, text) - msg.pack(self) - return msg - - def statustext_send(self, severity, text): - ''' - Status text message. These messages are printed in yellow in the COMM - console of QGroundControl. WARNING: They consume quite - some bandwidth, so use only for important status and - error messages. If implemented wisely, these messages - are buffered on the MCU and sent only at a limited - rate (e.g. 10 Hz). - - severity : Severity of status, 0 = info message, 255 = critical fault (uint8_t) - text : Status text message, without null termination character (int8_t) - - ''' - return self.send(self.statustext_encode(severity, text)) - - def debug_encode(self, ind, value): - ''' - Send a debug value. The index is used to discriminate between values. - These values show up in the plot of QGroundControl as - DEBUG N. - - ind : index of debug variable (uint8_t) - value : DEBUG value (float) - - ''' - msg = MAVLink_debug_message(ind, value) - msg.pack(self) - return msg - - def debug_send(self, ind, value): - ''' - Send a debug value. The index is used to discriminate between values. - These values show up in the plot of QGroundControl as - DEBUG N. - - ind : index of debug variable (uint8_t) - value : DEBUG value (float) - - ''' - return self.send(self.debug_encode(ind, value)) - |