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Client: Add set_z_to_ground and reset_z_offset command handlers

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This commit is contained in:
Arthus Golubtsov
2019-04-08 13:00:41 +01:00
parent 5f0c78f725
commit 43ef7062bd
2 changed files with 19 additions and 0 deletions
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2
Drone/client_config.ini
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@@ -29,6 +29,7 @@ reach_first_point_time = 8.0
land_time = 3.0
x0_common = 0
y0_common = 0
z0_common = 0
[PRIVATE]
id = /hostname
@@ -36,4 +37,5 @@ use_leds = True
led_pin = 18
x0 = 0
y0 = 0
z0 = 0

17
Drone/copter_client.py
View File

@@ -45,11 +45,13 @@ class CopterClient(client.Client):
self.LAND_TIME = self.config.getfloat('COPTERS', 'land_time')
self.X0_COMMON = self.config.getfloat('COPTERS', 'x0_common')
self.Y0_COMMON = self.config.getfloat('COPTERS', 'y0_common')
self.Z0_COMMON = self.config.getfloat('COPTERS', 'z0_common')
self.TAKEOFF_CHECK = self.config.getboolean('ANIMATION', 'takeoff_animation_check')
self.LAND_CHECK = self.config.getboolean('ANIMATION', 'land_animation_check')
self.FRAME_DELAY = self.config.getfloat('ANIMATION', 'frame_delay')
self.X0 = self.config.getfloat('PRIVATE', 'x0')
self.Y0 = self.config.getfloat('PRIVATE', 'y0')
self.Z0 = self.config.getfloat('PRIVATE', 'z0')
self.USE_LEDS = self.config.getboolean('PRIVATE', 'use_leds')
self.LED_PIN = self.config.getint('PRIVATE', 'led_pin')
@@ -225,6 +227,21 @@ def _command_reset_start(**kwargs):
client.active_client.load_config()
print ("Reset start to {:.2f} {:.2f}".format(client.active_client.X0, client.active_client.Y0))
@messaging.message_callback("set_z_to_ground")
def _command_set_z(**kwargs):
telem = FlightLib.get_telemetry(client.active_client.FRAME_ID)
client.active_client.config.set('PRIVATE', 'z0', telem.z)
client.active_client.rewrite_config()
client.active_client.load_config()
print ("Set z offset to {:.2f}".format(client.active_client.Z0))
@messaging.message_callback("reset_z_offset")
def _command_reset_z(**kwargs):
client.active_client.config.set('PRIVATE', 'z0', 0)
client.active_client.rewrite_config()
client.active_client.load_config()
print ("Reset z offset to {:.2f}".format(client.active_client.Z0))
@messaging.message_callback("update_repo")
def _command_update_repo(**kwargs):