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Minor fixes

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This commit is contained in:
Oleg Kalachev 2025-07-22 13:10:51 +03:00
parent 8200c48351
commit 03600dbaba
2 changed files with 10 additions and 6 deletions
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8
tools/pyflix/README.md
View File

@ -1,6 +1,6 @@
# Flix Python library
The Flix Python library allows you to remotely connect to a Flix quadcopter from a Python script. It provides access to telemetry data, supports executing CLI commands, and controlling the drone's flight.
The Flix Python library allows you to remotely connect to a Flix quadcopter. It provides access to telemetry data, supports executing CLI commands, and controlling the drone's flight.
To use the library, connect to the drone's Wi-Fi. To use it with the simulator, ensure the script runs on the same local network as the simulator.
@ -8,7 +8,7 @@ You also can run the script alongside the QGroundControl app. To do this, go to
## Installation
If you have cloned the repo, install the library from the repo:
If you have cloned the [repo](https://github.com/okalachev/flix), install the library from the repo:
```bash
cd /path/to/flix/repo
@ -32,7 +32,7 @@ flix = Flix() # create a Flix object and wait for connection
### Telemetry
Basic telemetry is available through object properties. Their names generally match the corresponding variables in the firmware itself:
Basic telemetry is available through object properties. The properties names generally match the corresponding variables in the firmware itself:
```python
print(flix.connected) # True if connected to the drone
@ -165,7 +165,7 @@ You can send raw messages using `mavlink` property:
from pymavlink.dialects.v20 import common as mavlink
flix.mavlink.heartbeat_send(mavlink.MAV_TYPE_GCS, mavlink.MAV_AUTOPILOT_INVALID,
0, mavlink.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED, 0, 0)
mavlink.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED, 0, 0)
```
### Named values

8
tools/pyflix/flix.py
View File

@ -36,7 +36,7 @@ class Flix:
mav_id: int
messages: dict[str, dict[str, Any]] # MAVLink messages storage
values: dict[Union[str, int], Union[float, List[float]]] = {} # debug values
values: dict[Union[str, int], Union[float, List[float]]] = {} # named values
_connection_timeout = 3
_print_buffer: str = ''
@ -60,11 +60,11 @@ class Flix:
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()
self._heartbeat_thread = Thread(target=self._send_heartbeat, daemon=True)
self._heartbeat_thread.start()
self._disconnected_timer = Timer(0, self._disconnected)
if wait_connection:
self.wait('mavlink.HEARTBEAT')
time.sleep(0.2) # give some time to receive initial state
@ -171,6 +171,7 @@ class Flix:
if isinstance(msg, mavlink.MAVLink_serial_control_message):
# new chunk of data
text = bytes(msg.data)[:msg.count].decode('utf-8', errors='ignore')
logger.debug(f'Console: {repr(text)}')
self._trigger('print', text)
self._print_buffer += text
if msg.flags & mavlink.SERIAL_CONTROL_FLAG_MULTI == 0:
@ -241,6 +242,7 @@ class Flix:
raise ValueError('Parameter name must be 16 characters or less')
for attempt in range(3):
try:
logger.debug(f'Get param {name} (attempt #{attempt + 1})')
self.mavlink.param_request_read_send(self.mav_id, 0, name.encode('ascii'), -1)
msg: mavlink.MAVLink_param_value_message = \
self.wait('mavlink.PARAM_VALUE', value=lambda msg: msg.param_id == name, timeout=0.1)
@ -254,6 +256,7 @@ class Flix:
raise ValueError('Parameter name must be 16 characters or less')
for attempt in range(3):
try:
logger.debug(f'Set param {name} to {value} (attempt #{attempt + 1})')
self.mavlink.param_set_send(self.mav_id, 0, name.encode('ascii'), value, mavlink.MAV_PARAM_TYPE_REAL32)
self.wait('mavlink.PARAM_VALUE', value=lambda msg: msg.param_id == name, timeout=0.1)
return
@ -297,6 +300,7 @@ class Flix:
cmd_bytes = cmd_bytes.ljust(70, b'\0')
response_prefix = f'> {cmd}\n'
for attempt in range(3):
logger.debug(f'Send command {cmd} (attempt #{attempt + 1})')
try:
self.mavlink.serial_control_send(0, 0, 0, 0, len(cmd_bytes), cmd_bytes)
if not wait_response: