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Bring back handling old message for motor outputs in pyflix

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Oleg Kalachev
2025-07-31 10:47:50 +03:00
parent 2fcf35289e
commit 8762ae0b38
1 changed files with 4 additions and 0 deletions
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4
tools/pyflix/flix.py
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@@ -173,6 +173,10 @@ class Flix:
self.motors = msg.controls[:4] # type: ignore self.motors = msg.controls[:4] # type: ignore
self._trigger('motors', self.motors) self._trigger('motors', self.motors)
# TODO: to be removed: the old way of passing motor outputs
if isinstance(msg, mavlink.MAVLink_actuator_output_status_message):
self.motors = msg.actuator[:4] # type: ignore
if isinstance(msg, mavlink.MAVLink_scaled_imu_message): if isinstance(msg, mavlink.MAVLink_scaled_imu_message):
self.acc = self._mavlink_to_flu([msg.xacc / 1000, msg.yacc / 1000, msg.zacc / 1000]) self.acc = self._mavlink_to_flu([msg.xacc / 1000, msg.yacc / 1000, msg.zacc / 1000])
self.gyro = self._mavlink_to_flu([msg.xgyro / 1000, msg.ygyro / 1000, msg.zgyro / 1000]) self.gyro = self._mavlink_to_flu([msg.xgyro / 1000, msg.ygyro / 1000, msg.zgyro / 1000])