Simplify mode index check in set_mode

Fix set_controls
Add set_armed method

README.md

@@ -106,7 +106,9 @@ Feel free to modify the design and or code, and create your own improved version
 
 ### Simplified connection diagram
 
-<img src="docs/img/schematics1.svg" width=800 alt="Flix version 1 schematics">
+<img src="docs/img/schematics1.svg" width=700 alt="Flix version 1 schematics">
+
+*(Dashed is optional).*
 
 Motor connection scheme:
 

flix/mavlink.ino

@@ -232,7 +232,7 @@ void handleMavlink(const void *_msg) {
 		}
 
 		if (m.command == MAV_CMD_DO_SET_MODE) {
-			if (!(m.param2 >= 0 && m.param2 <= AUTO)) return; // incorrect mode
+			if (m.param2 < 0 || m.param2 > AUTO) return; // incorrect mode
 			accepted = true;
 			mode = m.param2;
 		}

tools/pyflix/README.md

@@ -122,6 +122,13 @@ flix.cli('reboot')       # reboot the drone
 > [!TIP]
 > Use `help` command to get the list of available commands.
 
+You can arm and disarm the drone using `set_armed` method (warning: the drone will fall if disarmed in the air):
+
+```python
+flix.set_armed(True)   # arm the drone
+flix.set_armed(False)  # disarm the drone
+```
+
 You can imitate pilot's controls using `set_controls` method:
 
 ```python
@@ -173,7 +180,7 @@ To exit from *AUTO* mode move control sticks and the drone will switch to *STAB*
 
 ## Usage alongside QGroundControl
 
-You can use the Flix library alongside the QGroundControl app, using a proxy mode. To do that:
+You can use the Flix library alongside the QGroundControl app, using proxy mode. To do that:
 
 1. Run proxy for `pyflix` and QGroundControl in background:
 
@@ -241,11 +248,11 @@ You can send values from the firmware like this (`mavlink.ino`):
 
 ```cpp
 // Send float named value
-mavlink_msg_named_value_float_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, t, "some_value", loopRate);
+mavlink_msg_named_value_float_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, t, "loop_rate", loopRate);
 sendMessage(&msg);
 
 // Send vector named value
-mavlink_msg_debug_vect_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, "some_vector", t, gyroBias.x, gyroBias.y, gyroBias.z);
+mavlink_msg_debug_vect_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, "gyro_bias", t, gyroBias.x, gyroBias.y, gyroBias.z);
 sendMessage(&msg);
 ```
 

tools/pyflix/flix.py

@@ -6,7 +6,7 @@
 import os
 import time
 from queue import Queue, Empty
-from typing import Literal, Optional, Callable, List, Dict, Any, Union, Sequence
+from typing import Optional, Callable, List, Dict, Any, Union, Sequence
 import logging
 import errno
 from threading import Thread, Timer
@@ -36,7 +36,7 @@ class Flix:
 
     system_id: int
     messages: Dict[str, Dict[str, Any]]  # MAVLink messages storage
-    values: Dict[Union[str, int], Union[float, List[float]]] = {}  # named values
+    values: Dict[Union[str, int], Union[float, List[float]]]  # named values
 
     _connection_timeout = 3
     _print_buffer: str = ''
@@ -61,7 +61,6 @@ class Flix:
         self.connection.target_system = system_id
         self.mavlink: mavlink.MAVLink = self.connection.mav
         self._event_listeners: Dict[str, List[Callable[..., Any]]] = {}
-        self.messages = {}
         self._disconnected_timer = Timer(0, self._disconnected)
         self._reader_thread = Thread(target=self._read_mavlink, daemon=True)
         self._reader_thread.start()
@@ -79,6 +78,8 @@ class Flix:
         self.motors = [0, 0, 0, 0]
         self.acc = [0, 0, 0]
         self.gyro = [0, 0, 0]
+        self.messages = {}
+        self.values = {}
 
     def on(self, event: str, callback: Callable):
         event = event.lower()
@@ -148,7 +149,7 @@ class Flix:
 
     def _handle_mavlink_message(self, msg: mavlink.MAVLink_message):
         if isinstance(msg, mavlink.MAVLink_heartbeat_message):
-            self.mode = self._modes[msg.custom_mode]
+            self.mode = self._modes[msg.custom_mode] if msg.custom_mode < len(self._modes) else f'UNKNOWN({msg.custom_mode})'
             self.armed = msg.base_mode & mavlink.MAV_MODE_FLAG_SAFETY_ARMED != 0
             self._trigger('mode', self.mode)
             self._trigger('armed', self.armed)
@@ -299,6 +300,9 @@ class Flix:
             mode = self._modes.index(mode.upper())
         self._command_send(mavlink.MAV_CMD_DO_SET_MODE, (0, mode, 0, 0, 0, 0, 0))
 
+    def set_armed(self, armed: bool):
+        self._command_send(mavlink.MAV_CMD_COMPONENT_ARM_DISARM, (1 if armed else 0, 0, 0, 0, 0, 0, 0))
+
     def set_position(self, position: List[float], yaw: Optional[float] = None, wait: bool = False, tolerance: float = 0.1):
         raise NotImplementedError('Position control is not implemented yet')
 
@@ -344,7 +348,7 @@ 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.system_id, int(roll * 1000), int(pitch * 1000), int(yaw * 1000), int(throttle * 1000), 0)  # type: ignore
+        self.mavlink.manual_control_send(self.system_id, int(pitch * 1000), int(roll * 1000), int(throttle * 1000), int(yaw * 1000), 0)  # type: ignore
 
     def cli(self, cmd: str, wait_response: bool = True) -> str:
         cmd = cmd.strip()

tools/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "pyflix"
-version = "0.7"
+version = "0.8"
 description = "Python API for Flix drone"
 authors = [{ name="Oleg Kalachev", email="okalachev@gmail.com" }]
 license = "MIT"