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Implement auto mode for automatic flight

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Use arm/disarm gestures
Add arm/disarm commands
Add ratesExtra variable for 
Rename interpretRC to interpretControls
Rename controlRate to controlRates
Remove USER mode
Add invalidate methods for vector and quaternion
Add valid/invalid method for vector and quaternion
Add valid/invalid function
Print armed in rc command
Pass auto mode to heartbeat
Use actuator_control_target for motors
This commit is contained in:
Oleg Kalachev
2025-07-29 18:02:09 +03:00
parent 2066d05a60
commit dfceb8a6b2
9 changed files with 160 additions and 88 deletions
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6
tools/pyflix/flix.py
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@@ -56,7 +56,7 @@ class Flix:
if e.errno != errno.EADDRINUSE:
raise
# Port busy - using proxy
logger.debug('Listening on port 14560 (proxy)')
logger.debug('Listening on port 14555 (proxy)')
self.connection: mavutil.mavfile = mavutil.mavlink_connection('udpin:0.0.0.0:14555', source_system=254) # type: ignore
self.connection.target_system = system_id
self.mavlink: mavlink.MAVLink = self.connection.mav
@@ -169,8 +169,8 @@ class Flix:
msg.chan5_raw, msg.chan6_raw, msg.chan7_raw, msg.chan8_raw]
self._trigger('channels', self.channels)
if isinstance(msg, mavlink.MAVLink_actuator_output_status_message):
self.motors = msg.actuator[:4] # type: ignore
if isinstance(msg, mavlink.MAVLink_actuator_control_target_message):
self.motors = msg.controls[:4] # type: ignore
self._trigger('motors', self.motors)
if isinstance(msg, mavlink.MAVLink_scaled_imu_message):