mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-10 15:09:25 +08:00
Freek van Tienen
47c591f6fb
* [conf] Add NederDrone Trailing edge motors * Update the enter function of guidance_indi_hybrid * added guidance hybrid message * [ekf2] Fix EKF2 capabilities to fly with optitrack system * [ground] Add Herelink python script for logging RSSI Co-authored-by: Ewoud Smeur <e.j.j.smeur@tudelft.nl>
81 lines
2.7 KiB
Python
Executable File
81 lines
2.7 KiB
Python
Executable File
#!/usr/bin/env python3
|
|
#
|
|
# Copyright (C) 2021 Freek van tienen <freek.v.tienen@gmail.com>
|
|
#
|
|
# This file is part of paparazzi.
|
|
#
|
|
# paparazzi is free software; you can redistribute it and/or modify
|
|
# it under the terms of the GNU General Public License as published by
|
|
# the Free Software Foundation; either version 2, or (at your option)
|
|
# any later version.
|
|
#
|
|
# paparazzi is distributed in the hope that it will be useful,
|
|
# but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
# GNU General Public License for more details.
|
|
#
|
|
# You should have received a copy of the GNU General Public License
|
|
# along with paparazzi; see the file COPYING. If not, see
|
|
# <http://www.gnu.org/licenses/>.
|
|
#
|
|
|
|
'''
|
|
Read MAVLink messages from the herelink to get RSSI information
|
|
'''
|
|
|
|
|
|
from __future__ import print_function
|
|
|
|
import sys
|
|
from os import path, getenv
|
|
from time import time, sleep
|
|
import numpy as np
|
|
from collections import deque
|
|
import argparse
|
|
from pymavlink import mavutil
|
|
|
|
# if PAPARAZZI_HOME not set, then assume the tree containing this
|
|
# file is a reasonable substitute
|
|
PPRZ_HOME = getenv("PAPARAZZI_HOME", path.normpath(path.join(path.dirname(path.abspath(__file__)), '../../../../')))
|
|
sys.path.append(PPRZ_HOME + "/var/lib/python")
|
|
from pprzlink.ivy import IvyMessagesInterface
|
|
from pprzlink.message import PprzMessage
|
|
|
|
# parse args
|
|
parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter)
|
|
parser.add_argument('-ac', '--ac_id', dest='ac_id', type=int, help='Aircraft ID to save the RSSI information to')
|
|
parser.add_argument('-b', '--ivy_bus', dest='ivy_bus', help="Ivy bus address and port")
|
|
args = parser.parse_args()
|
|
|
|
if args.ac_id is None:
|
|
print("You need to define an aircraft ID")
|
|
exit()
|
|
|
|
# start ivy interface
|
|
if args.ivy_bus is not None:
|
|
ivy = IvyMessagesInterface("herelink2ivy", ivy_bus=args.ivy_bus)
|
|
else:
|
|
ivy = IvyMessagesInterface("herelink2ivy")
|
|
|
|
# Start a connection listening to a UDP port
|
|
conn = mavutil.mavlink_connection('udpin:0.0.0.0:14550')
|
|
|
|
print("Starting Herelink RSSI for ac_id %d" % (args.ac_id))
|
|
try:
|
|
# Start up the streaming client.
|
|
while True:
|
|
msg = conn.recv_match(type='RADIO_STATUS', blocking=True)
|
|
if not msg or msg.get_type() == "BAD_DATA":
|
|
continue
|
|
|
|
pmsg = PprzMessage("telemetry", "RSSI_COMBINED")
|
|
pmsg['remote_rssi'] = msg.remrssi
|
|
pmsg['tx_power'] = 0
|
|
pmsg['local_rssi'] = msg.rssi
|
|
pmsg['local_noise'] = msg.noise
|
|
pmsg['remote_noise'] = msg.remnoise
|
|
ivy.send(pmsg, args.ac_id)
|
|
except (KeyboardInterrupt, SystemExit):
|
|
print("Shutting down ivy interface...")
|
|
ivy.shutdown()
|