forked from Archive/PX4-Autopilot
121 lines
3.9 KiB
Python
121 lines
3.9 KiB
Python
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#!/usr/bin/env python
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'''
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rotate APMs on bench to test magnetometers
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'''
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import sys, os, time
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from math import radians
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# allow import from the parent directory, where mavlink.py is
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sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
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import mavlink, mavutil
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from optparse import OptionParser
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parser = OptionParser("rotate.py [options]")
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parser.add_option("--device1", dest="device1", default=None, help="mavlink device1")
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parser.add_option("--device2", dest="device2", default=None, help="mavlink device2")
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parser.add_option("--baudrate", dest="baudrate", type='int',
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help="master port baud rate", default=115200)
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(opts, args) = parser.parse_args()
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if opts.device1 is None or opts.device2 is None:
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print("You must specify a mavlink device")
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sys.exit(1)
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def set_attitude(rc3, rc4):
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global mav1, mav2
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values = [ 65535 ] * 8
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values[2] = rc3
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values[3] = rc4
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mav1.mav.rc_channels_override_send(mav1.target_system, mav1.target_component, *values)
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mav2.mav.rc_channels_override_send(mav2.target_system, mav2.target_component, *values)
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# create a mavlink instance
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mav1 = mavutil.mavlink_connection(opts.device1, baud=opts.baudrate)
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# create a mavlink instance
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mav2 = mavutil.mavlink_connection(opts.device2, baud=opts.baudrate)
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print("Waiting for HEARTBEAT")
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mav1.wait_heartbeat()
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mav2.wait_heartbeat()
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print("Heartbeat from APM (system %u component %u)" % (mav1.target_system, mav1.target_system))
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print("Heartbeat from APM (system %u component %u)" % (mav2.target_system, mav2.target_system))
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print("Waiting for MANUAL mode")
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mav1.recv_match(type='SYS_STATUS', condition='SYS_STATUS.mode==2 and SYS_STATUS.nav_mode==4', blocking=True)
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mav2.recv_match(type='SYS_STATUS', condition='SYS_STATUS.mode==2 and SYS_STATUS.nav_mode==4', blocking=True)
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print("Setting declination")
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mav1.mav.param_set_send(mav1.target_system, mav1.target_component,
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'COMPASS_DEC', radians(12.33))
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mav2.mav.param_set_send(mav2.target_system, mav2.target_component,
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'COMPASS_DEC', radians(12.33))
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set_attitude(1060, 1160)
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event = mavutil.periodic_event(30)
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pevent = mavutil.periodic_event(0.3)
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rc3_min = 1060
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rc3_max = 1850
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rc4_min = 1080
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rc4_max = 1500
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rc3 = rc3_min
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rc4 = 1160
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delta3 = 2
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delta4 = 1
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use_pitch = 1
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MAV_ACTION_CALIBRATE_GYRO = 17
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mav1.mav.action_send(mav1.target_system, mav1.target_component, MAV_ACTION_CALIBRATE_GYRO)
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mav2.mav.action_send(mav2.target_system, mav2.target_component, MAV_ACTION_CALIBRATE_GYRO)
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print("Waiting for gyro calibration")
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mav1.recv_match(type='ACTION_ACK')
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mav2.recv_match(type='ACTION_ACK')
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print("Resetting mag offsets")
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mav1.mav.set_mag_offsets_send(mav1.target_system, mav1.target_component, 0, 0, 0)
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mav2.mav.set_mag_offsets_send(mav2.target_system, mav2.target_component, 0, 0, 0)
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def TrueHeading(SERVO_OUTPUT_RAW):
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p = float(SERVO_OUTPUT_RAW.servo3_raw - rc3_min) / (rc3_max - rc3_min)
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return 172 + p*(326 - 172)
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while True:
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mav1.recv_msg()
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mav2.recv_msg()
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if event.trigger():
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if not use_pitch:
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rc4 = 1160
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set_attitude(rc3, rc4)
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rc3 += delta3
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if rc3 > rc3_max or rc3 < rc3_min:
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delta3 = -delta3
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use_pitch ^= 1
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rc4 += delta4
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if rc4 > rc4_max or rc4 < rc4_min:
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delta4 = -delta4
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if pevent.trigger():
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print "hdg1: %3u hdg2: %3u ofs1: %4u, %4u, %4u ofs2: %4u, %4u, %4u" % (
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mav1.messages['VFR_HUD'].heading,
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mav2.messages['VFR_HUD'].heading,
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mav1.messages['SENSOR_OFFSETS'].mag_ofs_x,
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mav1.messages['SENSOR_OFFSETS'].mag_ofs_y,
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mav1.messages['SENSOR_OFFSETS'].mag_ofs_z,
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mav2.messages['SENSOR_OFFSETS'].mag_ofs_x,
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mav2.messages['SENSOR_OFFSETS'].mag_ofs_y,
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mav2.messages['SENSOR_OFFSETS'].mag_ofs_z,
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)
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time.sleep(0.01)
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# 314M 326G
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# 160M 172G
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