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This is noisy, but does talk to the CC3D #4

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c59543a
This is noisy, but does talk to the CC3D
aughey May 7, 2015
e4df881
Don't need to request all the data first, just start read.
aughey May 7, 2015
e3117df
Printing RPY for testing
aughey May 7, 2015
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54 changes: 28 additions & 26 deletions ground/pyuavtalk/examples/example.py
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Original file line number Diff line number Diff line change
Expand Up @@ -69,51 +69,51 @@ def setup(self, port):
print "Starting UavTalk"
self.uavTalk.start()

print "Starting ConnectionManager"
self.connMan = ConnectionManager(self.uavTalk, self.objMan)
#print "Starting ConnectionManager"
#self.connMan = ConnectionManager(self.uavTalk, self.objMan)

print "Connecting...",
self.connMan.connect()
print "Connected"
#print "Connecting...",
#self.connMan.connect()
#print "Connected"

print "Getting all Data"
self.objMan.requestAllObjUpdate()
#print "Getting all Data"
#self.objMan.requestAllObjUpdate()

print "SN:",
sn = self.objMan.FirmwareIAPObj.CPUSerial.value
print "".join(map(_hex02, sn))
#print "SN:",
#sn = self.objMan.FirmwareIAPObj.CPUSerial.value
#print "".join(map(_hex02, sn))

def stop(self):
if self.uavTalk:
print "Stopping UavTalk"
self.uavTalk.stop()

def showAttitudeViaObserver(self):
print "Request fast periodic updates for AttitudeActual"
self.objMan.AttitudeActual.metadata.telemetryUpdateMode.value = UAVMetaDataObject.UpdateMode.PERIODIC
self.objMan.AttitudeActual.metadata.telemetryUpdatePeriod.value = 50
self.objMan.AttitudeActual.metadata.updated()
print "Request fast periodic updates for AttitudeState"
self.objMan.AttitudeState.metadata.telemetryUpdateMode.value = UAVMetaDataObject.UpdateMode.PERIODIC
self.objMan.AttitudeState.metadata.telemetryUpdatePeriod.value = 50
self.objMan.AttitudeState.metadata.updated()

print "Install Observer for AttitudeActual updates\n"
self.objMan.regObjectObserver(self.objMan.AttitudeActual, self, "_onAttitudeUpdate")
print "Install Observer for AttitudeState updates\n"
self.objMan.regObjectObserver(self.objMan.AttitudeState, self, "_onAttitudeUpdate")
# Spin until we get interrupted
while True:
time.sleep(1)

def showAttitudeViaWait(self):
print "Request fast periodic updates for AttitudeActual"
self.objMan.AttitudeActual.metadata.telemetryUpdateMode.value = UAVMetaDataObject.UpdateMode.PERIODIC
self.objMan.AttitudeActual.metadata.telemetryUpdatePeriod.value = 50
self.objMan.AttitudeActual.metadata.updated()
print "Request fast periodic updates for AttitudeState"
self.objMan.AttitudeState.metadata.telemetryUpdateMode.value = UAVMetaDataObject.UpdateMode.PERIODIC
self.objMan.AttitudeState.metadata.telemetryUpdatePeriod.value = 50
self.objMan.AttitudeState.metadata.updated()

while True:
self.objMan.AttitudeActual.waitUpdate()
self._onAttitudeUpdate(self.objMan.AttitudeActual)
self.objMan.AttitudeState.waitUpdate()
self._onAttitudeUpdate(self.objMan.AttitudeState)

def showAttitudeViaGet(self):
while True:
self.objMan.AttitudeActual.getUpdate()
self._onAttitudeUpdate(self.objMan.AttitudeActual)
self.objMan.AttitudeState.getUpdate()
self._onAttitudeUpdate(self.objMan.AttitudeState)

def _onAttitudeUpdate(self, args):
self.nbUpdates += 1
Expand All @@ -131,8 +131,10 @@ def _onAttitudeUpdate(self, args):

print " %s Rate: %02.1f Hz " % (dot, self.updateRate),

roll = self.objMan.AttitudeActual.Roll.value
print "Roll: %-4d " % roll,
roll = self.objMan.AttitudeState.Roll.value
print "RPY: %f %f %f " % (self.objMan.AttitudeState.Roll.value,self.objMan.AttitudeState.Pitch.value,self.objMan.AttitudeState.Yaw.value)+" \r",
return
print "Roll: %f " % roll,
i = roll/90
if i<-1: i=-1
if i>1: i= 1
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3 changes: 3 additions & 0 deletions ground/pyuavtalk/openpilot/uavtalk/objectManager.py
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Original file line number Diff line number Diff line change
Expand Up @@ -130,9 +130,12 @@ def requestAllObjUpdate(self):
#print "GetMeta %s" % obj
try:
logging.debug("Getting %s" % obj)
print("Getting %s" % obj)
self.waitObjUpdate(obj, request=True, timeout=.1)
logging.debug(" Getting %s" % obj.metadata)
print(" Getting %s" % obj.metadata)
self.waitObjUpdate(obj.metadata, request=True, timeout=.1)
print(" Done Getting %s" % obj.metadata)
except TimeoutException:
logging.debug(" TIMEOUT")
pass
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2 changes: 1 addition & 1 deletion ground/pyuavtalk/openpilot/uavtalk/uavtalk.py
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Original file line number Diff line number Diff line change
Expand Up @@ -201,7 +201,7 @@ def _consumeByte(self, rx):
logging.error("packet Size MISMATCH")
self.rxState = UavTalkRecThread.STATE_SYNC
else:
print "Object: %s" % self.obj
# print "Object: %s" % self.obj
self.rxCount = 0
self.rxData = []

Expand Down