pyflix 0.6

flix/cli.ino

@@ -40,6 +40,7 @@ const char* motd =
 "cr - calibrate RC\n"
 "ca - calibrate accel\n"
 "mfr, mfl, mrr, mrl - test motor (remove props)\n"
+"wifi - show Wi-Fi info\n"
 "sys - show system info\n"
 "reset - reset drone's state\n"
 "reboot - reboot the drone\n";
@@ -142,6 +143,10 @@ void doCommand(String str, bool echo = false) {
 		testMotor(MOTOR_REAR_RIGHT);
 	} else if (command == "mrl") {
 		testMotor(MOTOR_REAR_LEFT);
+	} else if (command == "wifi") {
+#if WIFI_ENABLED
+		printWiFiInfo();
+#endif
 	} else if (command == "sys") {
 #ifdef ESP32
 		print("Chip: %s\n", ESP.getChipModel());

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;

flix/wifi.ino

@@ -13,6 +13,7 @@
 #define WIFI_PASSWORD "flixwifi"
 #define WIFI_UDP_PORT 14550
 #define WIFI_UDP_REMOTE_PORT 14550
+#define WIFI_UDP_ALWAYS_BROADCAST 1
 
 WiFiUDP udp;
 
@@ -24,7 +25,9 @@ void setupWiFi() {
 
 void sendWiFi(const uint8_t *buf, int len) {
 	if (WiFi.softAPIP() == IPAddress(0, 0, 0, 0) && WiFi.status() != WL_CONNECTED) return;
-	udp.beginPacket(WiFi.softAPBroadcastIP(), WIFI_UDP_REMOTE_PORT);
+	IPAddress remote = WiFi.softAPBroadcastIP();
+	if (!WIFI_UDP_ALWAYS_BROADCAST && udp.remoteIP()) remote = udp.remoteIP();
+	udp.beginPacket(remote, WIFI_UDP_REMOTE_PORT);
 	udp.write(buf, len);
 	udp.endPacket();
 }
@@ -34,4 +37,13 @@ int receiveWiFi(uint8_t *buf, int len) {
 	return udp.read(buf, len);
 }
 
+void printWiFiInfo() {
+	print("SSID: %s\n", WiFi.softAPSSID().c_str());
+	print("Clients: %d\n", WiFi.softAPgetStationNum());
+	print("Status: %d\n", WiFi.status());
+	print("IP: %s\n", WiFi.softAPIP().toString().c_str());
+	print("Remote IP: %s\n", udp.remoteIP().toString().c_str());
+	print("Broadcast IP: %s\n", WiFi.softAPBroadcastIP().toString().c_str());
+}
+
 #endif

gazebo/flix.h

@@ -72,4 +72,5 @@ void calibrateGyro() { print("Skip gyro calibrating\n"); };
 void calibrateAccel() { print("Skip accel calibrating\n"); };
 void printIMUCalibration() { print("cal: N/A\n"); };
 void printIMUInfo() {};
+void printWiFiInfo() {};
 Vector accBias, gyroBias, accScale(1, 1, 1);

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"