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Some fixes and updates in pyflix

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Fix set_controls
Add set_armed method
This commit is contained in:
Oleg Kalachev
2025-09-25 16:53:49 +03:00
parent 09bf09e520
commit 0268c8ebcf
2 changed files with 19 additions and 8 deletions
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14
tools/pyflix/flix.py
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@@ -6,7 +6,7 @@
import os
import time
from queue import Queue, Empty
from typing import Literal, Optional, Callable, List, Dict, Any, Union, Sequence
from typing import Optional, Callable, List, Dict, Any, Union, Sequence
import logging
import errno
from threading import Thread, Timer
@@ -36,7 +36,7 @@ class Flix:
system_id: int
messages: Dict[str, Dict[str, Any]] # MAVLink messages storage
values: Dict[Union[str, int], Union[float, List[float]]] = {} # named values
values: Dict[Union[str, int], Union[float, List[float]]] # named values
_connection_timeout = 3
_print_buffer: str = ''
@@ -61,7 +61,6 @@ class Flix:
self.connection.target_system = system_id
self.mavlink: mavlink.MAVLink = self.connection.mav
self._event_listeners: Dict[str, List[Callable[..., Any]]] = {}
self.messages = {}
self._disconnected_timer = Timer(0, self._disconnected)
self._reader_thread = Thread(target=self._read_mavlink, daemon=True)
self._reader_thread.start()
@@ -79,6 +78,8 @@ class Flix:
self.motors = [0, 0, 0, 0]
self.acc = [0, 0, 0]
self.gyro = [0, 0, 0]
self.messages = {}
self.values = {}
def on(self, event: str, callback: Callable):
event = event.lower()
@@ -148,7 +149,7 @@ class Flix:
def _handle_mavlink_message(self, msg: mavlink.MAVLink_message):
if isinstance(msg, mavlink.MAVLink_heartbeat_message):
self.mode = self._modes[msg.custom_mode]
self.mode = self._modes[msg.custom_mode] if msg.custom_mode < len(self._modes) else f'UNKNOWN({msg.custom_mode})'
self.armed = msg.base_mode & mavlink.MAV_MODE_FLAG_SAFETY_ARMED != 0
self._trigger('mode', self.mode)
self._trigger('armed', self.armed)
@@ -299,6 +300,9 @@ class Flix:
mode = self._modes.index(mode.upper())
self._command_send(mavlink.MAV_CMD_DO_SET_MODE, (0, mode, 0, 0, 0, 0, 0))
def set_armed(self, armed: bool):
self._command_send(mavlink.MAV_CMD_COMPONENT_ARM_DISARM, (1 if armed else 0, 0, 0, 0, 0, 0, 0))
def set_position(self, position: List[float], yaw: Optional[float] = None, wait: bool = False, tolerance: float = 0.1):
raise NotImplementedError('Position control is not implemented yet')
@@ -344,7 +348,7 @@ class Flix:
raise ValueError('roll, pitch, yaw must be in range [-1, 1]')
if not 0 <= throttle <= 1:
raise ValueError('throttle must be in range [0, 1]')
self.mavlink.manual_control_send(self.system_id, int(roll * 1000), int(pitch * 1000), int(yaw * 1000), int(throttle * 1000), 0) # type: ignore
self.mavlink.manual_control_send(self.system_id, int(pitch * 1000), int(roll * 1000), int(throttle * 1000), int(yaw * 1000), 0) # type: ignore
def cli(self, cmd: str, wait_response: bool = True) -> str:
cmd = cmd.strip()