diff options
Diffstat (limited to 'mavlink/share/pyshared/pymavlink/examples/magtest.py')
| -rw-r--r-- | mavlink/share/pyshared/pymavlink/examples/magtest.py | 120 |
1 files changed, 120 insertions, 0 deletions
diff --git a/mavlink/share/pyshared/pymavlink/examples/magtest.py b/mavlink/share/pyshared/pymavlink/examples/magtest.py new file mode 100644 index 000000000..8b910f8fd --- /dev/null +++ b/mavlink/share/pyshared/pymavlink/examples/magtest.py @@ -0,0 +1,120 @@ +#!/usr/bin/env python + +''' +rotate APMs on bench to test magnetometers + +''' + +import sys, os, time +from math import radians + +# allow import from the parent directory, where mavlink.py is +sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..')) + +import mavlink, mavutil + +from optparse import OptionParser +parser = OptionParser("rotate.py [options]") + +parser.add_option("--device1", dest="device1", default=None, help="mavlink device1") +parser.add_option("--device2", dest="device2", default=None, help="mavlink device2") +parser.add_option("--baudrate", dest="baudrate", type='int', + help="master port baud rate", default=115200) +(opts, args) = parser.parse_args() + +if opts.device1 is None or opts.device2 is None: + print("You must specify a mavlink device") + sys.exit(1) + +def set_attitude(rc3, rc4): + global mav1, mav2 + values = [ 65535 ] * 8 + values[2] = rc3 + values[3] = rc4 + mav1.mav.rc_channels_override_send(mav1.target_system, mav1.target_component, *values) + mav2.mav.rc_channels_override_send(mav2.target_system, mav2.target_component, *values) + + +# create a mavlink instance +mav1 = mavutil.mavlink_connection(opts.device1, baud=opts.baudrate) + +# create a mavlink instance +mav2 = mavutil.mavlink_connection(opts.device2, baud=opts.baudrate) + +print("Waiting for HEARTBEAT") +mav1.wait_heartbeat() +mav2.wait_heartbeat() +print("Heartbeat from APM (system %u component %u)" % (mav1.target_system, mav1.target_system)) +print("Heartbeat from APM (system %u component %u)" % (mav2.target_system, mav2.target_system)) + +print("Waiting for MANUAL mode") +mav1.recv_match(type='SYS_STATUS', condition='SYS_STATUS.mode==2 and SYS_STATUS.nav_mode==4', blocking=True) +mav2.recv_match(type='SYS_STATUS', condition='SYS_STATUS.mode==2 and SYS_STATUS.nav_mode==4', blocking=True) + +print("Setting declination") +mav1.mav.param_set_send(mav1.target_system, mav1.target_component, + 'COMPASS_DEC', radians(12.33)) +mav2.mav.param_set_send(mav2.target_system, mav2.target_component, + 'COMPASS_DEC', radians(12.33)) + + +set_attitude(1060, 1160) + +event = mavutil.periodic_event(30) +pevent = mavutil.periodic_event(0.3) +rc3_min = 1060 +rc3_max = 1850 +rc4_min = 1080 +rc4_max = 1500 +rc3 = rc3_min +rc4 = 1160 +delta3 = 2 +delta4 = 1 +use_pitch = 1 + +MAV_ACTION_CALIBRATE_GYRO = 17 +mav1.mav.action_send(mav1.target_system, mav1.target_component, MAV_ACTION_CALIBRATE_GYRO) +mav2.mav.action_send(mav2.target_system, mav2.target_component, MAV_ACTION_CALIBRATE_GYRO) + +print("Waiting for gyro calibration") +mav1.recv_match(type='ACTION_ACK') +mav2.recv_match(type='ACTION_ACK') + +print("Resetting mag offsets") +mav1.mav.set_mag_offsets_send(mav1.target_system, mav1.target_component, 0, 0, 0) +mav2.mav.set_mag_offsets_send(mav2.target_system, mav2.target_component, 0, 0, 0) + +def TrueHeading(SERVO_OUTPUT_RAW): + p = float(SERVO_OUTPUT_RAW.servo3_raw - rc3_min) / (rc3_max - rc3_min) + return 172 + p*(326 - 172) + +while True: + mav1.recv_msg() + mav2.recv_msg() + if event.trigger(): + if not use_pitch: + rc4 = 1160 + set_attitude(rc3, rc4) + rc3 += delta3 + if rc3 > rc3_max or rc3 < rc3_min: + delta3 = -delta3 + use_pitch ^= 1 + rc4 += delta4 + if rc4 > rc4_max or rc4 < rc4_min: + delta4 = -delta4 + if pevent.trigger(): + print "hdg1: %3u hdg2: %3u ofs1: %4u, %4u, %4u ofs2: %4u, %4u, %4u" % ( + mav1.messages['VFR_HUD'].heading, + mav2.messages['VFR_HUD'].heading, + mav1.messages['SENSOR_OFFSETS'].mag_ofs_x, + mav1.messages['SENSOR_OFFSETS'].mag_ofs_y, + mav1.messages['SENSOR_OFFSETS'].mag_ofs_z, + mav2.messages['SENSOR_OFFSETS'].mag_ofs_x, + mav2.messages['SENSOR_OFFSETS'].mag_ofs_y, + mav2.messages['SENSOR_OFFSETS'].mag_ofs_z, + ) + time.sleep(0.01) + +# 314M 326G +# 160M 172G + |