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Merged in f5soh/librepilot/LP-564_python_manualControl (pull request #481)

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LP-564 Add ManualControlCommand example to python example script

Approved-by: Lalanne Laurent <f5soh@free.fr>
Approved-by: Philippe Renon <philippe_renon@yahoo.fr>
This commit is contained in:
Lalanne Laurent 2018-04-06 15:28:45 +00:00
commit 4e5a20b1a2
1 changed files with 94 additions and 2 deletions
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96
python/examples/example.py
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@ -159,15 +159,105 @@ 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()
self.objMan.ManualControlCommand.Connected.value = True
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()
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
# 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)
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"
# 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()
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()
self.objMan.ManualControlCommand.Connected.value = False
self.objMan.ManualControlCommand.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 +272,7 @@ 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 +292,8 @@ 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