You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
120 lines
3.9 KiB
120 lines
3.9 KiB
#!/usr/bin/env python |
|
|
|
''' |
|
rotate APMs on bench to test magnetometers |
|
|
|
''' |
|
|
|
import sys, os, time |
|
from math import radians |
|
|
|
# allow import from the parent directory, where mavlink.py is |
|
sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..')) |
|
|
|
import mavlink, mavutil |
|
|
|
from optparse import OptionParser |
|
parser = OptionParser("rotate.py [options]") |
|
|
|
parser.add_option("--device1", dest="device1", default=None, help="mavlink device1") |
|
parser.add_option("--device2", dest="device2", default=None, help="mavlink device2") |
|
parser.add_option("--baudrate", dest="baudrate", type='int', |
|
help="master port baud rate", default=115200) |
|
(opts, args) = parser.parse_args() |
|
|
|
if opts.device1 is None or opts.device2 is None: |
|
print("You must specify a mavlink device") |
|
sys.exit(1) |
|
|
|
def set_attitude(rc3, rc4): |
|
global mav1, mav2 |
|
values = [ 65535 ] * 8 |
|
values[2] = rc3 |
|
values[3] = rc4 |
|
mav1.mav.rc_channels_override_send(mav1.target_system, mav1.target_component, *values) |
|
mav2.mav.rc_channels_override_send(mav2.target_system, mav2.target_component, *values) |
|
|
|
|
|
# create a mavlink instance |
|
mav1 = mavutil.mavlink_connection(opts.device1, baud=opts.baudrate) |
|
|
|
# create a mavlink instance |
|
mav2 = mavutil.mavlink_connection(opts.device2, baud=opts.baudrate) |
|
|
|
print("Waiting for HEARTBEAT") |
|
mav1.wait_heartbeat() |
|
mav2.wait_heartbeat() |
|
print("Heartbeat from APM (system %u component %u)" % (mav1.target_system, mav1.target_system)) |
|
print("Heartbeat from APM (system %u component %u)" % (mav2.target_system, mav2.target_system)) |
|
|
|
print("Waiting for MANUAL mode") |
|
mav1.recv_match(type='SYS_STATUS', condition='SYS_STATUS.mode==2 and SYS_STATUS.nav_mode==4', blocking=True) |
|
mav2.recv_match(type='SYS_STATUS', condition='SYS_STATUS.mode==2 and SYS_STATUS.nav_mode==4', blocking=True) |
|
|
|
print("Setting declination") |
|
mav1.mav.param_set_send(mav1.target_system, mav1.target_component, |
|
'COMPASS_DEC', radians(12.33)) |
|
mav2.mav.param_set_send(mav2.target_system, mav2.target_component, |
|
'COMPASS_DEC', radians(12.33)) |
|
|
|
|
|
set_attitude(1060, 1160) |
|
|
|
event = mavutil.periodic_event(30) |
|
pevent = mavutil.periodic_event(0.3) |
|
rc3_min = 1060 |
|
rc3_max = 1850 |
|
rc4_min = 1080 |
|
rc4_max = 1500 |
|
rc3 = rc3_min |
|
rc4 = 1160 |
|
delta3 = 2 |
|
delta4 = 1 |
|
use_pitch = 1 |
|
|
|
MAV_ACTION_CALIBRATE_GYRO = 17 |
|
mav1.mav.action_send(mav1.target_system, mav1.target_component, MAV_ACTION_CALIBRATE_GYRO) |
|
mav2.mav.action_send(mav2.target_system, mav2.target_component, MAV_ACTION_CALIBRATE_GYRO) |
|
|
|
print("Waiting for gyro calibration") |
|
mav1.recv_match(type='ACTION_ACK') |
|
mav2.recv_match(type='ACTION_ACK') |
|
|
|
print("Resetting mag offsets") |
|
mav1.mav.set_mag_offsets_send(mav1.target_system, mav1.target_component, 0, 0, 0) |
|
mav2.mav.set_mag_offsets_send(mav2.target_system, mav2.target_component, 0, 0, 0) |
|
|
|
def TrueHeading(SERVO_OUTPUT_RAW): |
|
p = float(SERVO_OUTPUT_RAW.servo3_raw - rc3_min) / (rc3_max - rc3_min) |
|
return 172 + p*(326 - 172) |
|
|
|
while True: |
|
mav1.recv_msg() |
|
mav2.recv_msg() |
|
if event.trigger(): |
|
if not use_pitch: |
|
rc4 = 1160 |
|
set_attitude(rc3, rc4) |
|
rc3 += delta3 |
|
if rc3 > rc3_max or rc3 < rc3_min: |
|
delta3 = -delta3 |
|
use_pitch ^= 1 |
|
rc4 += delta4 |
|
if rc4 > rc4_max or rc4 < rc4_min: |
|
delta4 = -delta4 |
|
if pevent.trigger(): |
|
print "hdg1: %3u hdg2: %3u ofs1: %4u, %4u, %4u ofs2: %4u, %4u, %4u" % ( |
|
mav1.messages['VFR_HUD'].heading, |
|
mav2.messages['VFR_HUD'].heading, |
|
mav1.messages['SENSOR_OFFSETS'].mag_ofs_x, |
|
mav1.messages['SENSOR_OFFSETS'].mag_ofs_y, |
|
mav1.messages['SENSOR_OFFSETS'].mag_ofs_z, |
|
mav2.messages['SENSOR_OFFSETS'].mag_ofs_x, |
|
mav2.messages['SENSOR_OFFSETS'].mag_ofs_y, |
|
mav2.messages['SENSOR_OFFSETS'].mag_ofs_z, |
|
) |
|
time.sleep(0.01) |
|
|
|
# 314M 326G |
|
# 160M 172G |
|
|
|
|