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Move initial state values to _init_state method to avoid list sharing

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This commit is contained in:
Oleg Kalachev 2025-07-22 14:07:02 +03:00
parent d47c0dbbc7
commit 1f53191131
1 changed files with 17 additions and 7 deletions
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24
tools/pyflix/flix.py
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@ -26,13 +26,13 @@ class Flix:
mode: str = '' mode: str = ''
armed: bool = False armed: bool = False
landed: bool = False landed: bool = False
attitude: List[float] = [1, 0, 0, 0] attitude: List[float]
attitude_euler: List[float] = [0, 0, 0] # roll, pitch, yaw attitude_euler: List[float] # roll, pitch, yaw
rates: List[float] = [0, 0, 0] rates: List[float]
channels: List[int] = [0, 0, 0, 0, 0, 0, 0, 0] channels: List[int]
motors: List[float] = [0, 0, 0, 0] motors: List[float]
acc: List[float] = [0, 0, 0] acc: List[float]
gyro: List[float] = [0, 0, 0] gyro: List[float]
mav_id: int mav_id: int
messages: Dict[str, Dict[str, Any]] # MAVLink messages storage messages: Dict[str, Dict[str, Any]] # MAVLink messages storage
@ -46,6 +46,7 @@ class Flix:
raise ValueError('mav_id must be in range [0, 255]') raise ValueError('mav_id must be in range [0, 255]')
self._setup_mavlink() self._setup_mavlink()
self.mav_id = mav_id self.mav_id = mav_id
self._init_state()
try: try:
# Direct connection # Direct connection
logger.debug('Listening on port 14550') logger.debug('Listening on port 14550')
@ -69,6 +70,15 @@ class Flix:
self.wait('mavlink.HEARTBEAT') self.wait('mavlink.HEARTBEAT')
time.sleep(0.2) # give some time to receive initial state time.sleep(0.2) # give some time to receive initial state
def _init_state(self):
self.attitude = [1, 0, 0, 0]
self.attitude_euler = [0, 0, 0]
self.rates = [0, 0, 0]
self.channels = [0, 0, 0, 0, 0, 0, 0, 0]
self.motors = [0, 0, 0, 0]
self.acc = [0, 0, 0]
self.gyro = [0, 0, 0]
def on(self, event: str, callback: Callable): def on(self, event: str, callback: Callable):
event = event.lower() event = event.lower()
if event not in self._event_listeners: if event not in self._event_listeners: