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#!/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
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