pyflix 0.6

flix/control.ino

@@ -79,7 +79,7 @@ void interpretControls() {
 
 	if (mode == STAB) {
 		float yawTarget = attitudeTarget.getYaw();
-		if (invalid(yawTarget) || controlYaw != 0) yawTarget = attitude.getYaw(); // reset yaw target if NAN or yaw rate is set
+		if (invalid(yawTarget) || controlYaw != 0) yawTarget = attitude.getYaw(); // reset yaw target if NAN or pilot commands yaw rate
 		attitudeTarget = Quaternion::fromEuler(Vector(controlRoll * tiltMax, controlPitch * tiltMax, yawTarget));
 		ratesExtra = Vector(0, 0, -controlYaw * maxRate.z); // positive yaw stick means clockwise rotation in FLU
 	}
@@ -139,7 +139,7 @@ void controlTorque() {
 	if (!torqueTarget.valid()) return; // skip torque control
 
 	if (!armed || thrustTarget < 0.05) {
-		memset(motors, 0, sizeof(motors));
+		memset(motors, 0, sizeof(motors)); // stop motors if no thrust
 		return;
 	}
 

flix/failsafe.ino

@@ -3,7 +3,9 @@
 
 // Fail-safe functions
 
-#define RC_LOSS_TIMEOUT 0.2
+#include "util.h"
+
+#define RC_LOSS_TIMEOUT 0.5
 #define DESCEND_TIME 3.0 // time to descend from full throttle to zero
 
 extern double controlTime;
@@ -28,7 +30,7 @@ void autoFailsafe() {
 	static float roll, pitch, yaw, throttle;
 
 	if (roll != controlRoll || pitch != controlPitch || yaw != controlYaw || abs(throttle - controlThrottle) > 0.05) {
-		if (mode == AUTO && !isfinite(controlMode)) {
+		if (mode == AUTO && invalid(controlMode)) {
 			mode = STAB; // regain control to the pilot
 		}
 	}

flix/mavlink.ino

@@ -12,7 +12,7 @@
 #define PERIOD_FAST 0.1
 #define MAVLINK_CONTROL_YAW_DEAD_ZONE 0.1f
 
-float mavlinkControlScale = 0.7;
+float mavlinkControlScale = 1;
 String mavlinkPrintBuffer;
 
 extern double controlTime;
@@ -231,6 +231,12 @@ void handleMavlink(const void *_msg) {
 			mavlink_msg_command_ack_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &ack, m.command, MAV_RESULT_ACCEPTED, UINT8_MAX, 0, msg.sysid, msg.compid);
 			sendMessage(&ack);
 		}
+
+		if (m.command == MAV_CMD_COMPONENT_ARM_DISARM) {
+			armed = m.param1 == 1;
+			mavlink_msg_command_ack_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &ack, m.command, MAV_RESULT_ACCEPTED, UINT8_MAX, 0, msg.sysid, msg.compid);
+			sendMessage(&ack);
+		}
 	}
 }
 

tools/pyflix/flix.py

@@ -173,6 +173,10 @@ class Flix:
             self.motors = msg.controls[:4]  # type: ignore
             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):
             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])

tools/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "pyflix"
-version = "0.5"
+version = "0.6"
 description = "Python API for Flix drone"
 authors = [{ name="Oleg Kalachev", email="okalachev@gmail.com" }]
 license = "MIT"