From 429049cce3500b4d460167b4522a35c60b808332 Mon Sep 17 00:00:00 2001
From: 488_MP-4 <488_MP-4@iastate.edu>
Date: Thu, 26 Oct 2023 21:39:28 +0200
Subject: [PATCH] output override works
---
cflib_groundstation/SetpointHandler.py | 10 +-
.../SetpointHandler.cpython-38.pyc | Bin 0 -> 7175 bytes
.../crazyflie_connection.cpython-38.pyc | Bin 5921 -> 6867 bytes
.../__pycache__/uCartCommander.cpython-38.pyc | Bin 0 -> 7993 bytes
cflib_groundstation/cache/5F73C19B.json | 4651 +++++++++++++++++
cflib_groundstation/cache/CCB14664.json | 2544 +++++++++
cflib_groundstation/crazyflie_connection.py | 30 +-
cflib_groundstation/main.py | 20 +-
8 files changed, 7221 insertions(+), 34 deletions(-)
create mode 100644 cflib_groundstation/__pycache__/SetpointHandler.cpython-38.pyc
create mode 100644 cflib_groundstation/__pycache__/uCartCommander.cpython-38.pyc
create mode 100644 cflib_groundstation/cache/5F73C19B.json
create mode 100644 cflib_groundstation/cache/CCB14664.json
diff --git a/cflib_groundstation/SetpointHandler.py b/cflib_groundstation/SetpointHandler.py
index d8f7e56de..0708687be 100644
--- a/cflib_groundstation/SetpointHandler.py
+++ b/cflib_groundstation/SetpointHandler.py
@@ -32,7 +32,7 @@ class Setpoint:
self.yaw: float = 0
self.pitch: float = 0
self.roll: float = 0
- self.thrust: int = 0
+ self.thrust: float = 0
class SetpointHandler:
@@ -184,7 +184,7 @@ class SetpointHandler:
if self.commander:
if self._flight_mode == FlightMode.ATTITUDE_TYPE:
# scales thrust from 100 for slider control.
- thrust = self.setpoint.thrust * 60000 / 100
+ thrust = self.setpoint.thrust #* 60000 / 100
print(f"Set attitude: {self.setpoint.yaw}, {self.setpoint.pitch}, "
f"{self.setpoint.roll}, {self.setpoint.thrust}")
@@ -193,8 +193,8 @@ class SetpointHandler:
int(thrust))
elif self._flight_mode == FlightMode.ATTITUDE_RATE_TYPE:
-
- thrust = self.setpoint.thrust * 60000 / 100
+ print(self.setpoint.thrust)
+ thrust = self.setpoint.thrust #* 60000 / 100
print(f"Set attitude rate: {self.setpoint.yaw},"
f" {self.setpoint.pitch}, "
f"{self.setpoint.roll}, {thrust}")
@@ -205,7 +205,7 @@ class SetpointHandler:
elif self._flight_mode == FlightMode.MIXED_ATTITUDE_TYPE:
# scales thrust from 1000 for more fine-grained gamepad control.
- thrust = self.setpoint.thrust * 60000 / 1000
+ thrust = self.setpoint.thrust #* 60000 / 1000
print(f"Set mixed attitude: {self.setpoint.yaw},"
f" {self.setpoint.pitch}, "
f"{self.setpoint.roll}, {thrust}")
diff --git a/cflib_groundstation/__pycache__/SetpointHandler.cpython-38.pyc b/cflib_groundstation/__pycache__/SetpointHandler.cpython-38.pyc
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new file mode 100644
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+ "group": "ctrlINDI",
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+ "group": "ctrlINDI",
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+ "group": "ctrlINDI",
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+ "group": "ctrlINDI",
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+ "access": 0
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+ "group": "ctrlINDI",
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+ "group": "ctrlINDI",
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+ "group": "ctrlINDI",
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+ "group": "ctrlStdnt",
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+ "group": "ctrlStdnt",
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+ "group": "ctrlStdnt",
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+ "group": "ctrlStdnt",
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+ "group": "ctrlStdnt",
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new file mode 100644
index 000000000..e7a113b3d
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+ "group": "ring",
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+ "pytype": "<f",
+ "access": 0,
+ "extended": false
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+ "pytype": "<B",
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+ "extended": false
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+ "group": "lighthouse",
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+}
\ No newline at end of file
diff --git a/cflib_groundstation/crazyflie_connection.py b/cflib_groundstation/crazyflie_connection.py
index 25eefc28d..3a8ecfa70 100644
--- a/cflib_groundstation/crazyflie_connection.py
+++ b/cflib_groundstation/crazyflie_connection.py
@@ -8,6 +8,7 @@ cflib library.
from time import time
from typing import List
import time
+import struct
import cflib.crtp
from cflib.crazyflie import Crazyflie
@@ -82,8 +83,6 @@ class CrazyflieConnection:
self.scf.close_link()
self.scf = None
self.is_connected = False
- # disconnect the commander from setpointhandler
- self.setpoint_handler.disconnectCommander()
def Debug():
raise Exception
@@ -97,19 +96,21 @@ class CrazyflieConnection:
raise Exception
def OverrideOuput(self, command):
"""Sends all setpoints for a given amount of time"""
+ print(command["data"])
mode = command['data'][0]
- time = command['data'][1:4] # Currently sent every 20ms by setpoint_handler may change
- thrust = command['data'][5:8]
- pitch = command['data'][9:12]
- roll = command['data'][13:16]
- yaw = command['data'][17:20]
+ time = command['data'][1:5] # Currently sent every 20ms by setpoint_handler may change
+ thrust = command['data'][5:9]
+ pitch = command['data'][9:13]
+ roll = command['data'][13:17]
+ yaw = command['data'][17:21]
# Error Handling
try:
- yaw = float(yaw)
- pitch = float(pitch)
- roll = float(roll)
- thrust = int(thrust)
+ yaw = struct.unpack('f', bytes(yaw))[0]
+ pitch = struct.unpack('f', bytes(pitch))[0]
+ roll = struct.unpack('f', bytes(roll))[0]
+ thrust = struct.unpack('f', bytes(thrust))[0]
+ print(thrust)
except ValueError:
raise Exception
@@ -166,21 +167,26 @@ class CrazyflieConnection:
""" Retrieve parameter value from crazyflie toc. """
#Bytes 0 and 1 are node ID, ie group
#Bytes 2 and 3 are node paramID, ie name
+ print("Getting Param...")
group = command['data'][0:1]
name = command['data'][2:3]
+
try:
if self.scf.is_link_open():
val = self.scf.cf.param.values[group][name]
+ print(val)
+
except AttributeError:
val = -1.234567
pass
+
data = bytearray(group)
data.append(name)
data.append(val)
-
+ print(data)
responsedata = {
"msg_type": (MessageTypeID.RESPPARAM_ID),
"msg_id": command['msg_id'],
diff --git a/cflib_groundstation/main.py b/cflib_groundstation/main.py
index a4b29c27c..ddf09b0f0 100644
--- a/cflib_groundstation/main.py
+++ b/cflib_groundstation/main.py
@@ -17,6 +17,7 @@ class main():
self.inThread = Thread(target = gs.groundstation_connect, args = (self.inputQueue,))
self.inThread.start()
self.cfConnect = CrazyflieConnection()
+ self.cfConnect.connect("radio://0/20/2M/E7E7E7E7E7")
self.commandThread = Thread(target = self.processCommands)
self.commandThread.start()
while True:
@@ -38,28 +39,13 @@ class main():
elif msg_type == MessageTypeID.BEGINUPDATE_ID.value:
self.cfConnect.BeginUpdate()
elif msg_type == MessageTypeID.OUTPUT_OVERRIDE_ID.value:
- self.cfConnect.OverrideOuput()
+ self.cfConnect.OverrideOuput(command)
elif msg_type == MessageTypeID.GETNODES_ID.value:
self.cfConnect.GetNodes()
elif msg_type == MessageTypeID.SETPARAM_ID.value:
self.cfConnect.SetParam()
elif msg_type == MessageTypeID.GETPARAM_ID.value:
- group = command['data'][0:1]
- name = command['data'][2:3]
-
- val = 10
- data = bytearray(group)
- data += name
- data.append(val)
-
- responsedata = {
- "msg_type": (MessageTypeID.RESPPARAM_ID.value),
- "msg_id": command['msg_id'],
- "data_len": 8,
- "data": data
- }
- self.outputQueue.put(responsedata)
- #self.cfConnect.GetParam()
+ self.cfConnect.GetParam(command, self.outputQueue)
elif msg_type == MessageTypeID.SETSOURCE_ID.value:
self.cfConnect.SetSource()
elif msg_type == MessageTypeID.GETSOURCE_ID.value:
--
GitLab