From 7ae7a7b3dba0b6bb82910227c893f0957f3c6053 Mon Sep 17 00:00:00 2001 From: Laurent Lalanne Date: Sat, 9 Dec 2017 20:35:51 +0100 Subject: [PATCH 1/3] LP-564 Add ManualControlCommand example to python example script --- python/examples/example.py | 85 +++++++++++++++++++++++++++++++++++++- 1 file changed, 83 insertions(+), 2 deletions(-) diff --git a/python/examples/example.py b/python/examples/example.py index a22769f02..4d2eb652d 100644 --- a/python/examples/example.py +++ b/python/examples/example.py @@ -159,15 +159,94 @@ class UavtalkDemo(): time.sleep(1) + def driveInput(self): + print "Taking control of self.ManualControl" + self.objMan.ManualControlCommand.metadata.access = UAVMetaDataObject.Access.READONLY + self.objMan.ManualControlCommand.metadata.updated() + + print "Arming board using Yaw right" + while (self.objMan.FlightStatus.Armed.value != 2): + self.objMan.ManualControlCommand.Yaw.value = 1 + self.objMan.ManualControlCommand.updated() + self.objMan.ManualControlCommand.Throttle.value = -1 + self.objMan.ManualControlCommand.updated() + time.sleep(1) + + if (self.objMan.FlightStatus.Armed.value == 2): + print "Board is armed !" + self.objMan.ManualControlCommand.Yaw.value = 0 + self.objMan.ManualControlCommand.updated() + + print "Applying Throttle" + self.objMan.ManualControlCommand.Throttle.value = 0.01 # very small value for safety + self.objMan.ManualControlCommand.updated() + time.sleep(0.3) + + count = 60 + print "Moving Pitch input" + while (count > 0): + count-=1 + if self.objMan.ManualControlCommand.Pitch.value < 1: + self.objMan.ManualControlCommand.Pitch.value += 0.05 + self.objMan.ManualControlCommand.updated() + time.sleep(0.1) + if self.objMan.ManualControlCommand.Pitch.value > 1: + self.objMan.ManualControlCommand.Pitch.value = 0 + self.objMan.ManualControlCommand.updated() + time.sleep(0.1) + + self.objMan.ManualControlCommand.Pitch.value = 0 + self.objMan.ManualControlCommand.updated() + time.sleep(0.5) + + count = 60 + print "Moving Roll input" + while (count > 0): + count-=1 + if self.objMan.ManualControlCommand.Roll.value < 1: + self.objMan.ManualControlCommand.Roll.value += 0.05 + self.objMan.ManualControlCommand.updated() + time.sleep(0.1) + + if self.objMan.ManualControlCommand.Roll.value > 1: + self.objMan.ManualControlCommand.Roll.value = 0 + self.objMan.ManualControlCommand.updated() + time.sleep(0.1) + + self.objMan.ManualControlCommand.Roll.value = 0 + self.objMan.ManualControlCommand.updated() + time.sleep(0.5) + + print "Setting Throttle to minimum" + self.objMan.ManualControlCommand.Throttle.value = -1 + self.objMan.ManualControlCommand.updated() + time.sleep(1) + + print "Disarming board using Yaw left" + while (self.objMan.FlightStatus.Armed.value != 0): + self.objMan.ManualControlCommand.Yaw.value = -1 + self.objMan.ManualControlCommand.updated() + time.sleep(0.3) + + self.objMan.ManualControlCommand.Yaw.value = 0 + self.objMan.ManualControlCommand.updated() + time.sleep(1) + + print "Back to self.ManualControl, controlled by RC radio" + self.objMan.ManualControlCommand.metadata.access = UAVMetaDataObject.Access.READWRITE + self.objMan.ManualControlCommand.metadata.updated() + + def printUsage(): appName = os.path.basename(sys.argv[0]) print print "usage:" - print " %s port o|w|g|s" % appName + print " %s port o|w|g|s|i" % appName print " o: Show Attitude using an \"observer\"" print " w: Show Attitude waiting for updates from flight" print " g: Show Attitude performing get operations" print " s: Drive Servo" + print " i: Take control over RC input" print print " for example: %s COM30 o" % appName print @@ -182,7 +261,7 @@ if __name__ == '__main__': port, option = sys.argv[1:] - if option not in ["o", "w", "g", "s"]: + if option not in ["o", "w", "g", "s", "i"]: print "ERROR: Invalid option" printUsage() sys.exit(2) @@ -202,6 +281,8 @@ if __name__ == '__main__': demo.showAttitudeViaGet() # will not return if option == "s": demo.driveServo() # will not return + if option == "i": + demo.driveInput() # will not return except KeyboardInterrupt: pass From f8d32a35e6689e70eda5f711d63cbd195109c172 Mon Sep 17 00:00:00 2001 From: Laurent Lalanne Date: Sat, 9 Dec 2017 21:50:04 +0100 Subject: [PATCH 2/3] LP-564 Python script : Handle Thrust value and Connected state for safety reasons --- python/examples/example.py | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/python/examples/example.py b/python/examples/example.py index 4d2eb652d..f93ece6b7 100644 --- a/python/examples/example.py +++ b/python/examples/example.py @@ -163,6 +163,8 @@ class UavtalkDemo(): print "Taking control of self.ManualControl" self.objMan.ManualControlCommand.metadata.access = UAVMetaDataObject.Access.READONLY self.objMan.ManualControlCommand.metadata.updated() + self.objMan.ManualControlCommand.Connected.value = True + self.objMan.ManualControlCommand.updated() print "Arming board using Yaw right" while (self.objMan.FlightStatus.Armed.value != 2): @@ -179,6 +181,11 @@ class UavtalkDemo(): print "Applying Throttle" self.objMan.ManualControlCommand.Throttle.value = 0.01 # very small value for safety + # Assuming board do not control a helicopter, Thrust value will be equal to Throttle value. + # Because a 'high' value can be read from latest real RC input value, + # initial value is set now to zero for safety reasons. + self.objMan.ManualControlCommand.Thrust.value = 0 + # self.objMan.ManualControlCommand.Throttle.value = self.objMan.ManualControlCommand.Thrust.value self.objMan.ManualControlCommand.updated() time.sleep(0.3) @@ -235,6 +242,8 @@ class UavtalkDemo(): print "Back to self.ManualControl, controlled by RC radio" self.objMan.ManualControlCommand.metadata.access = UAVMetaDataObject.Access.READWRITE self.objMan.ManualControlCommand.metadata.updated() + self.objMan.ManualControlCommand.Connected.value = False + self.objMan.ManualControlCommand.updated() def printUsage(): From 2e8c357f27184474741e4d502818ea3e268108e2 Mon Sep 17 00:00:00 2001 From: Laurent Lalanne Date: Sun, 10 Dec 2017 00:02:18 +0100 Subject: [PATCH 3/3] LP-564 Add comments about ArmedField.ARMED --- python/examples/example.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/python/examples/example.py b/python/examples/example.py index f93ece6b7..a43fbbf20 100644 --- a/python/examples/example.py +++ b/python/examples/example.py @@ -167,6 +167,7 @@ class UavtalkDemo(): self.objMan.ManualControlCommand.updated() print "Arming board using Yaw right" + # FIXME: Seems there is a issue with ArmedField.ARMED, 2 equals to the ARMED state while (self.objMan.FlightStatus.Armed.value != 2): self.objMan.ManualControlCommand.Yaw.value = 1 self.objMan.ManualControlCommand.updated() @@ -230,6 +231,7 @@ class UavtalkDemo(): time.sleep(1) print "Disarming board using Yaw left" + # FIXME: Seems there is a issue with ArmedField.DISARMED, 0 equals to the DISARMED state while (self.objMan.FlightStatus.Armed.value != 0): self.objMan.ManualControlCommand.Yaw.value = -1 self.objMan.ManualControlCommand.updated()