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Updates in pyflix

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Rename mav_to to system_id to match firmware naming.
Readme updates.
This commit is contained in:
Oleg Kalachev
2025-07-24 09:15:44 +03:00
parent 018a6d4fce
commit 32f417efae
2 changed files with 11 additions and 11 deletions
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18
tools/pyflix/flix.py
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@@ -34,18 +34,18 @@ class Flix:
acc: List[float]
gyro: List[float]
mav_id: int
system_id: int
messages: Dict[str, Dict[str, Any]] # MAVLink messages storage
values: Dict[Union[str, int], Union[float, List[float]]] = {} # named values
_connection_timeout = 3
_print_buffer: str = ''
def __init__(self, mav_id: int=1, wait_connection: bool=True):
if not (0 <= mav_id < 256):
raise ValueError('mav_id must be in range [0, 255]')
def __init__(self, system_id: int=1, wait_connection: bool=True):
if not (0 <= system_id < 256):
raise ValueError('system_id must be in range [0, 255]')
self._setup_mavlink()
self.mav_id = mav_id
self.system_id = system_id
self._init_state()
try:
# Direct connection
@@ -57,7 +57,7 @@ class Flix:
# Port busy - using proxy
logger.debug('Listening on port 14560 (proxy)')
self.connection: mavutil.mavfile = mavutil.mavlink_connection('udpin:0.0.0.0:14555', source_system=254) # type: ignore
self.connection.target_system = mav_id
self.connection.target_system = system_id
self.mavlink: mavlink.MAVLink = self.connection.mav
self._event_listeners: Dict[str, List[Callable[..., Any]]] = {}
self.messages = {}
@@ -253,7 +253,7 @@ class Flix:
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)
self.mavlink.param_request_read_send(self.system_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)
return msg.param_value
@@ -267,7 +267,7 @@ class Flix:
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.mavlink.param_set_send(self.system_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
except TimeoutError:
@@ -297,7 +297,7 @@ 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.mav_id, roll * 1000, pitch * 1000, yaw * 1000, throttle * 1000, 0) # type: ignore
self.mavlink.manual_control_send(self.system_id, roll * 1000, pitch * 1000, yaw * 1000, throttle * 1000, 0) # type: ignore
def set_mode(self, mode: Literal['MANUAL', 'ACRO', 'STAB', 'USER']):
raise NotImplementedError('Setting mode is not implemented yet')