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mixer_multirotor.py: fixes for Python3

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This fixed running `make tests` on Arch Linux where Python 3 is the
default.
This commit is contained in:
Julian Oes
2019-03-15 10:12:16 +01:00
committed by Beat Küng
parent bfa0a4a8f1
commit 2ebb9d2ab5
1 changed files with 11 additions and 11 deletions
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src/lib/mixer/mixer_multirotor.py
+11 -11
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@@ -101,7 +101,7 @@ def mix_yaw(m_sp, u, P, u_min, u_max):
def airmode_rp(m_sp, P, u_min, u_max):
"""
Mix roll, pitch, yaw and thrust.
Desaturation behavior: airmode for roll/pitch:
thrust is increased/decreased as much as required to meet the demanded roll/pitch.
Yaw is not allowed to increase the thrust, @see mix_yaw() for the exact behavior.
@@ -124,7 +124,7 @@ def airmode_rp(m_sp, P, u_min, u_max):
def airmode_rpy(m_sp, P, u_min, u_max):
"""
Mix roll, pitch, yaw and thrust.
Desaturation behavior: full airmode for roll/pitch/yaw:
thrust is increased/decreased as much as required to meet demanded the roll/pitch/yaw.
"""
@@ -140,7 +140,7 @@ def airmode_rpy(m_sp, P, u_min, u_max):
def normal_mode(m_sp, P, u_min, u_max):
"""
Mix roll, pitch, yaw and thrust.
Desaturation behavior: no airmode, thrust is NEVER increased to meet the demanded
roll/pitch/yaw. Instead roll/pitch/yaw is reduced as much as needed.
Thrust can be reduced to unsaturate the upper side.
@@ -256,15 +256,15 @@ def run_tests(mixer_cb, P, test_mixer_binary, test_index=None):
#'cat > /tmp/test_'+str(mode_idx), shell=True, # just to test the output
stdout=subprocess.PIPE,
stdin=subprocess.PIPE)
proc.stdin.write("{:}\n".format(mode_idx)) # airmode
proc.stdin.write("{:}\n".format(mode_idx).encode('utf-8')) # airmode
motor_count = P.shape[0]
proc.stdin.write("{:}\n".format(motor_count)) # motor count
proc.stdin.write("{:}\n".format(motor_count).encode('utf-8')) # motor count
# control allocation matrix
for row in P.getA():
for col in row:
proc.stdin.write("{:.8f} ".format(col))
proc.stdin.write("\n")
proc.stdin.write("\n")
proc.stdin.write("{:.8f} ".format(col).encode('utf-8'))
proc.stdin.write("\n".encode('utf-8'))
proc.stdin.write("\n".encode('utf-8'))
failed = False
try:
@@ -277,7 +277,7 @@ def run_tests(mixer_cb, P, test_mixer_binary, test_index=None):
actuator_controls = test_cases[[i], :].T
proc.stdin.write("{:.8f} {:.8f} {:.8f} {:.8f}\n"
.format(actuator_controls[0, 0], actuator_controls[1, 0],
actuator_controls[2, 0], actuator_controls[3, 0]))
actuator_controls[2, 0], actuator_controls[3, 0]).encode('utf-8'))
(u, u_new) = mixer_cb(actuator_controls, P, 0.0, 1.0)
# Saturate the outputs between 0 and 1
@@ -285,8 +285,8 @@ def run_tests(mixer_cb, P, test_mixer_binary, test_index=None):
u_new_sat = np.minimum(u_new_sat, np.matlib.ones(u.size).T)
# write expected outputs
for j in range(motor_count):
proc.stdin.write("{:.8f} ".format(u_new_sat[j, 0]))
proc.stdin.write("\n")
proc.stdin.write("{:.8f} ".format(u_new_sat[j, 0]).encode('utf-8'))
proc.stdin.write("\n".encode('utf-8'))
proc.stdin.close()
except IOError as e: