pyflix@0.9

docs/troubleshooting.md

@@ -35,4 +35,3 @@ Do the following:
 * **Calibrate the RC** if you use it. Type `cr` command in Serial Monitor and follow the instructions.
 * **Check the RC data** if you use it. Use `rc` command, `Control` should show correct values between -1 and 1, and between 0 and 1 for the throttle.
 * **Check the IMU output using QGroundControl**. Connect to the drone using QGroundControl on your computer. Go to the *Analyze* tab, *MAVLINK Inspector*. Plot the data from the `SCALED_IMU` message. The gyroscope and accelerometer data should change according to the drone movement.
-* **Check the gyroscope only attitude estimation**. Comment out `applyAcc();` line in `estimate.ino` and check if the attitude estimation in QGroundControl. It should be stable, but only drift very slowly.

tools/pyflix/README.md

@@ -59,6 +59,13 @@ flix.on('disconnected', lambda: print('Disconnected from Flix'))
 flix.on('print', lambda text: print(f'Flix says: {text}'))
 ```
 
+Unsubscribe from events using `off` method:
+
+```python
+flix.off('print')  # unsubscribe from print events
+flix.off(callback)  # unsubscribe specific callback
+```
+
 You can also wait for specific events using `wait` method. This method returns the data associated with the event:
 
 ```python

tools/pyflix/flix.py

@@ -87,10 +87,15 @@ class Flix:
             self._event_listeners[event] = []
         self._event_listeners[event].append(callback)
 
-    def off(self, callback: Callable):
-        for event in self._event_listeners:
-            if callback in self._event_listeners[event]:
-                self._event_listeners[event].remove(callback)
+    def off(self, event_or_callback: Union[str, Callable]):
+        if isinstance(event_or_callback, str):
+            event = event_or_callback.lower()
+            if event in self._event_listeners:
+                del self._event_listeners[event]
+        else:
+            for event in self._event_listeners:
+                if event_or_callback in self._event_listeners[event]:
+                    self._event_listeners[event].remove(event_or_callback)
 
     def _trigger(self, event: str, *args):
         event = event.lower()
@@ -365,7 +370,9 @@ class Flix:
                 self.mavlink.serial_control_send(0, 0, 0, 0, len(cmd_bytes), cmd_bytes)
                 if not wait_response:
                     return ''
-                response = self.wait('print_full', timeout=0.1, value=lambda text: text.startswith(response_prefix))
+                timeout = 0.1
+                if cmd == 'log': timeout = 10 # log download may take more time
+                response = self.wait('print_full', timeout=timeout, value=lambda text: text.startswith(response_prefix))
                 return response[len(response_prefix):].strip()
             except TimeoutError:
                 continue

tools/pyflix/proxy.py

@@ -24,13 +24,16 @@ def main():
         if addr in TARGETS:  # packet from target
             if source_addr is None:
                 continue
-            sock.sendto(data, source_addr)
+            try:
+                sock.sendto(data, source_addr)
+                packets += 1
+            except: pass
         else:  # packet from source
             source_addr = addr
             for target in TARGETS:
                 sock.sendto(data, target)
+                packets += 1
 
-        packets += 1
         print(f'\rPackets: {packets}', end='')
 
 if __name__ == '__main__':

tools/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "pyflix"
-version = "0.8"
+version = "0.9"
 description = "Python API for Flix drone"
 authors = [{ name="Oleg Kalachev", email="okalachev@gmail.com" }]
 license = "MIT"