2016-10-25 02:59:42 -03:00
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#!/usr/bin/env python
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import pexpect, time, sys
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from pymavlink import mavutil
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def wait_heartbeat(mav, timeout=10):
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'''wait for a heartbeat'''
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start_time = time.time()
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while time.time() < start_time+timeout:
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if mav.recv_match(type='HEARTBEAT', blocking=True, timeout=0.5) is not None:
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return
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2017-09-24 05:44:30 -03:00
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raise Exception("Failed to get heartbeat")
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2016-10-25 02:59:42 -03:00
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def wait_mode(mav, modes, timeout=10):
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'''wait for one of a set of flight modes'''
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start_time = time.time()
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last_mode = None
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while time.time() < start_time+timeout:
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wait_heartbeat(mav, timeout=10)
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if mav.flightmode != last_mode:
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print("Flightmode %s" % mav.flightmode)
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last_mode = mav.flightmode
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if mav.flightmode in modes:
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return
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print("Failed to get mode from %s" % modes)
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sys.exit(1)
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def wait_time(mav, simtime):
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'''wait for simulation time to pass'''
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imu = mav.recv_match(type='RAW_IMU', blocking=True)
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t1 = imu.time_usec*1.0e-6
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while True:
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imu = mav.recv_match(type='RAW_IMU', blocking=True)
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t2 = imu.time_usec*1.0e-6
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if t2 - t1 > simtime:
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break
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cmd = 'sim_vehicle.py -j4 -D -f plane'
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mavproxy = pexpect.spawn(cmd, logfile=sys.stdout, timeout=30)
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2017-03-06 22:17:24 -04:00
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mavproxy.expect("Ground start complete")
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2016-10-25 02:59:42 -03:00
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mav = mavutil.mavlink_connection('127.0.0.1:14550')
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wait_mode(mav, ['MANUAL'])
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mavproxy.send('wp list\n')
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mavproxy.expect('Requesting')
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wait_time(mav, 30)
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mavproxy.send('arm throttle\n')
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mavproxy.send('auto\n')
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wait_mode(mav, ['AUTO'])
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mavproxy.send('module load console\n')
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mavproxy.send('module load map\n')
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mavproxy.send('map set showsimpos 1\n')
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mavproxy.logfile = None
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mavproxy.interact()
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