Explorer/RaspberryPi/Autopilot/Proxy/Exec - Revision history

Xp31 at 13:58, 31 July 2020

2020-07-31T13:58:32Z

← Older revision		Revision as of 07:58, 31 July 2020
Line 253:		Line 253:

	muxlib = CDLL("/home/pi/muxer/lib/libmux.so")		muxlib = CDLL("/home/pi/muxer/lib/libmux.so")

	muxlib.muxlib_init.argtypes = [c_int,POINTER(c_char)]		muxlib.muxlib_init.argtypes = [c_int,POINTER(c_char)]
	muxlib.muxlib_check_and_parse.restype = c_int		muxlib.muxlib_check_and_parse.restype = c_int
Line 263:		Line 263:
	ALT_UNIT_COEF_GYR = 57.29578		ALT_UNIT_COEF_GYR = 57.29578

	CLASS_TELEMETRY = 1		CLASS_TELEMETRY = 1
	CLASS_DATALINK = 2		CLASS_DATALINK = 2

	# datalink		# datalink
	PPRZ_MSG_ID_SETTING = 4		PPRZ_MSG_ID_SETTING = 4
Line 304:		Line 304:
	gps_nb_err: int		gps_nb_err: int
	gps_g = gps_t()		gps_g = gps_t()

	class mde_t:		class mde_t:
	stamp: time		stamp: time
Line 314:		Line 314:
	mcu1_status: int		mcu1_status: int
	mde_g = mde_t()		mde_g = mde_t()

	class des_t:		class des_t:
	stamp: time		stamp: time
Line 332:		Line 332:
	myvalues = []		myvalues = []
	cmd_g = cmd_t()		cmd_g = cmd_t()

	class act_t:		class act_t:
	stamp: time		stamp: time
Line 389:		Line 389:
	tv = time.time()		tv = time.time()
	start = tv		start = tv

	while (ret>=0):		while (ret>=0):

Line 400:		Line 400:

	if(classid == CLASS_DATALINK):		if(classid == CLASS_DATALINK):

	if(msgid.value == PPRZ_MSG_ID_SETTING):		if(msgid.value == PPRZ_MSG_ID_SETTING):
	index=struct.unpack('B',bytearray(buf[4:5]))[0]		index=struct.unpack('B',bytearray(buf[4:5]))[0]
Line 412:		Line 412:
	# goto to a position relative to current position and heading in meters		# goto to a position relative to current position and heading in meters
	muxlib.muxlib_send_GUIDED_SETPOINT_NED(1,2,1.0,0.0,0.0,0.0);		muxlib.muxlib_send_GUIDED_SETPOINT_NED(1,2,1.0,0.0,0.0,0.0);

	if(classid == CLASS_TELEMETRY):		if(classid == CLASS_TELEMETRY):

	if(msgid.value == PPRZ_MSG_ID_ATTITUDE):		if(msgid.value == PPRZ_MSG_ID_ATTITUDE):
	att_g.stamp = tv		att_g.stamp = tv
Line 457:		Line 457:
	print("%.4f %d PPRZ_MODE %d %d %d %d %d %d\n" % (elapsed,acid,		print("%.4f %d PPRZ_MODE %d %d %d %d %d %d\n" % (elapsed,acid,
	mde_g.ap_mode,mde_g.ap_gaz,mde_g.ap_lateral,mde_g.ap_horizontal,		mde_g.ap_mode,mde_g.ap_gaz,mde_g.ap_lateral,mde_g.ap_horizontal,
	mde_g.if_calib_mode,mde_g.mcu1_status))		mde_g.if_calib_mode,mde_g.mcu1_status))

	if(msgid.value == PPRZ_MSG_ID_DESIRED):		if(msgid.value == PPRZ_MSG_ID_DESIRED):
Line 472:		Line 472:
	acid = buf[0]		acid = buf[0]
	print("%.4f %d DESIRED %f %f %f %f %f %f %f %f\n" % (elapsed,acid,		print("%.4f %d DESIRED %f %f %f %f %f %f %f %f\n" % (elapsed,acid,
	des_g.roll,des_g.pitch,des_g.course,des_g.x,des_g.y,des_g.altitude,		des_g.roll,des_g.pitch,des_g.course,des_g.x,des_g.y,des_g.altitude,
	des_g.climb, des_g.airspeed))		des_g.climb, des_g.airspeed))

	if(msgid.value == PPRZ_MSG_ID_COMMANDS):		if(msgid.value == PPRZ_MSG_ID_COMMANDS):
Line 511:		Line 511:
	acid=buf[0]		acid=buf[0]
	print("%.4f %d ROTORCRAFT_FP %f %f %f" % (elapsed,acid,rfp_g.phy, rfp_g.theta, rfp_g.psi))		print("%.4f %d ROTORCRAFT_FP %f %f %f" % (elapsed,acid,rfp_g.phy, rfp_g.theta, rfp_g.psi))

	if(msgid.value == PPRZ_MSG_ID_IMU_GYRO):		if(msgid.value == PPRZ_MSG_ID_IMU_GYRO):
	gyr_g.stamp = tv		gyr_g.stamp = tv

Xp31 at 13:53, 31 July 2020

2020-07-31T13:53:29Z

Show changes

Xp31 at 13:38, 31 July 2020

2020-07-31T13:38:16Z

← Older revision		Revision as of 07:38, 31 July 2020
Line 102:		Line 102:
	rgps_g.tow,rgps_g.course);		rgps_g.tow,rgps_g.course);
	}		}
	}		}

	if(classid == CLASS_TELEMETRY) {		if(classid == CLASS_TELEMETRY) {

Xp31 at 13:37, 31 July 2020

2020-07-31T13:37:19Z

← Older revision		Revision as of 07:37, 31 July 2020
Line 82:		Line 82:
	// goto to a position relative to current position and heading in meters		// goto to a position relative to current position and heading in meters
	muxlib_send_GUIDED_SETPOINT_NED(pprzlink_get_SETTING_ac_id(buf),0x0E,1.0,0.0,0.0,0.0);		muxlib_send_GUIDED_SETPOINT_NED(pprzlink_get_SETTING_ac_id(buf),0x0E,1.0,0.0,0.0,0.0);
	}		}
	}		}
	}		}

Xp31 at 13:36, 31 July 2020

2020-07-31T13:36:26Z

← Older revision		Revision as of 07:36, 31 July 2020
Line 7:		Line 7:
	#include <string.h>		#include <string.h>
	#include <stdbool.h>		#include <stdbool.h>

	#include "muxlib.h"		#include "muxlib.h"

	// from messages.xml		// from messages.xml
	#define ALT_UNIT_COEF_ATT 0.0139882		#define ALT_UNIT_COEF_ATT 0.0139882

Xp31 at 13:35, 31 July 2020

2020-07-31T13:35:53Z

Show changes

Xp31 at 14:42, 23 July 2020

2020-07-23T14:42:48Z

← Older revision		Revision as of 08:42, 23 July 2020
Line 109:		Line 109:
	muxlib.muxlib_check_and_parse.restype = c_int		muxlib.muxlib_check_and_parse.restype = c_int
	muxlib.muxlib_check_and_parse.argtypes = [POINTER(c_int),POINTER(c_int),POINTER(c_int),POINTER(c_ubyte)]		muxlib.muxlib_check_and_parse.argtypes = [POINTER(c_int),POINTER(c_int),POINTER(c_int),POINTER(c_ubyte)]
	muxlib.muxlib_send_GUIDED_SETPOINT_NED = [c_int,c_int,c_float,c_float,c_float,c_float]		muxlib.muxlib_send_GUIDED_SETPOINT_NED.argtypes = [c_int,c_int,c_float,c_float,c_float,c_float]

	# from messages.xml		# from messages.xml
	ALT_UNIT_COEF_ATT = 0.0139882		ALT_UNIT_COEF_ATT = 0.0139882
Line 188:		Line 188:
	acid = struct.unpack('B',bytearray(buf[5:6]))[0]		acid = struct.unpack('B',bytearray(buf[5:6]))[0]
	# goto to a position relative to current position and heading in meters		# goto to a position relative to current position and heading in meters
	muxlib_send_GUIDED_SETPOINT_NED(acid,0x0E,1.0,0.0,0.0,0.0);		muxlib.muxlib_send_GUIDED_SETPOINT_NED(acid,0x0E,1.0,0.0,0.0,0.0);

	# DOWNLINK (telemetry)		# DOWNLINK (telemetry)

Xp31 at 14:24, 23 July 2020

2020-07-23T14:24:24Z

← Older revision		Revision as of 08:24, 23 July 2020
Line 131:		Line 131:
	psi: float		psi: float
	att_g = att_t()		att_g = att_t()

	class gyr_t:		class gyr_t:
	stamp: time		stamp: time
Line 145:		Line 145:
	ar: float		ar: float
	acc_g = acc_t()		acc_g = acc_t()

	if __name__ == "__main__":		if __name__ == "__main__":
	argc = len(sys.argv)		argc = len(sys.argv)
Line 172:		Line 172:

	ret = muxlib.muxlib_check_and_parse(classid,msgid,bufsize,buf)		ret = muxlib.muxlib_check_and_parse(classid,msgid,bufsize,buf)

	if(ret>0):		if(ret>0):

	tv = time.time()		tv = time.time()

Line 191:		Line 191:

	# DOWNLINK (telemetry)		# DOWNLINK (telemetry)

	if(msgid.value == PPRZ_MSG_ID_ROTORCRAFT_FP):		if(msgid.value == PPRZ_MSG_ID_ROTORCRAFT_FP):
	elapsed = (tv - att_g.stamp) * 1000000		elapsed = (tv - att_g.stamp) * 1000000
Line 202:		Line 202:
	att_g.psi = ALT_UNIT_COEF_ATT*float(int.from_bytes(buf[offset:offset+4], byteorder='little', signed=True))		att_g.psi = ALT_UNIT_COEF_ATT*float(int.from_bytes(buf[offset:offset+4], byteorder='little', signed=True))
	print("ROTORCRAFT_FP %ld %f %f %f" % (elapsed, att_g.phy, att_g.theta, att_g.psi))		print("ROTORCRAFT_FP %ld %f %f %f" % (elapsed, att_g.phy, att_g.theta, att_g.psi))

	if(msgid.value == PPRZ_MSG_ID_IMU_GYRO):		if(msgid.value == PPRZ_MSG_ID_IMU_GYRO):
	elapsed = (tv - gyr_g.stamp) * 1000000		elapsed = (tv - gyr_g.stamp) * 1000000
Line 213:		Line 213:
	gyr_g.gr = ALT_UNIT_COEF_GYR*struct.unpack('f',bytearray(buf[offset:offset+4]))[0]		gyr_g.gr = ALT_UNIT_COEF_GYR*struct.unpack('f',bytearray(buf[offset:offset+4]))[0]
	print("IMU_GYRO %ld %f %f %f" % (elapsed, gyr_g.gp, gyr_g.gq, gyr_g.gr))		print("IMU_GYRO %ld %f %f %f" % (elapsed, gyr_g.gp, gyr_g.gq, gyr_g.gr))

	if(msgid.value == PPRZ_MSG_ID_IMU_ACCEL):		if(msgid.value == PPRZ_MSG_ID_IMU_ACCEL):
	elapsed = (tv - acc_g.stamp) * 1000000		elapsed = (tv - acc_g.stamp) * 1000000

Xp31 at 14:22, 23 July 2020

2020-07-23T14:22:41Z

← Older revision		Revision as of 08:22, 23 July 2020
Line 76:		Line 76:
	printf("IMU_GYRO %ld %f %f %f\n",elapsed,gyr_g.gp,gyr_g.gq,gyr_g.gr);		printf("IMU_GYRO %ld %f %f %f\n",elapsed,gyr_g.gp,gyr_g.gq,gyr_g.gr);
	}		}

	if (msgid == PPRZ_MSG_ID_IMU_ACCEL) {		if (msgid == PPRZ_MSG_ID_IMU_ACCEL) {
	elapsed = ((tv.tv_sec * 1000000) + tv.tv_usec) - ((acc_g.stamp.tv_sec * 1000000) + acc_g.stamp.tv_usec);		elapsed = ((tv.tv_sec * 1000000) + tv.tv_usec) - ((acc_g.stamp.tv_sec * 1000000) + acc_g.stamp.tv_usec);
Line 85:		Line 85:
	printf("IMU_ACCEL %ld %f %f %f\n",elapsed,acc_g.ax,acc_g.ay,acc_g.az);		printf("IMU_ACCEL %ld %f %f %f\n",elapsed,acc_g.ax,acc_g.ay,acc_g.az);
	}		}

	}		}
	}		}
Line 92:		Line 91:
	}		}

	~~export LD_LIBRARY_PATH=/home/pi/muxer/lib~~		socat -u /dev/ttyAMA0,raw,echo=0,b115200 udp-sendto:127.0.0.1:4246 &<br />
	~~./muxer/exe/muxer 1 2 3~~		export LD_LIBRARY_PATH=/home/pi/muxer/lib<br />
	socat -u /dev/ttyAMA0,raw,echo=0,b115200 udp-sendto:127.0.0.1:4246		./muxer/exe/muxer 4244 4245 4246<br />



	muxer/src/muxer.py		muxer/src/muxer.py

Xp31 at 14:21, 23 July 2020

2020-07-23T14:21:09Z

← Older revision		Revision as of 08:21, 23 July 2020
Line 201:		Line 201:
	att_g.psi = ALT_UNIT_COEF_ATT*float(int.from_bytes(buf[offset:offset+4], byteorder='little', signed=True))		att_g.psi = ALT_UNIT_COEF_ATT*float(int.from_bytes(buf[offset:offset+4], byteorder='little', signed=True))
	print("ROTORCRAFT_FP %ld %f %f %f" % (elapsed, att_g.phy, att_g.theta, att_g.psi))		print("ROTORCRAFT_FP %ld %f %f %f" % (elapsed, att_g.phy, att_g.theta, att_g.psi))

	if(msgid.value == PPRZ_MSG_ID_IMU_GYRO):		if(msgid.value == PPRZ_MSG_ID_IMU_GYRO):
	elapsed = (tv - gyr_g.stamp) * 1000000		elapsed = (tv - gyr_g.stamp) * 1000000
Line 223:		Line 223:
	acc_g.az = struct.unpack('f',bytearray(buf[offset:offset+4]))[0]		acc_g.az = struct.unpack('f',bytearray(buf[offset:offset+4]))[0]
	print("IMU_ACCEL %ld %f %f %f" % (elapsed, acc_g.ax, acc_g.ay, acc_g.az))		print("IMU_ACCEL %ld %f %f %f" % (elapsed, acc_g.ax, acc_g.ay, acc_g.az))

	~~export PYTHONPATH=/home/pi/pprzlink/lib/v2.0/python:$PYTHONPATH~~		socat -u /dev/ttyAMA0,raw,echo=0,b115200 udp-sendto:127.0.0.1:4246 & <br />
	socat -u /dev/ttyAMA0,raw,echo=0,b115200 udp-sendto:127.0.0.1:4246 &		export PYTHONPATH=/home/pi/pprzlink/lib/v2.0/python:$PYTHONPATH<br />
	python3 ./muxer/src/muxer.py 4244 4245 4246		python3 ./muxer/src/muxer.py 4244 4245 4246<br />