FilesExpand file tree

 api_load_path_context

/

microgcs.py

Copy path

Blame

More file actions

Blame

More file actions

Latest commit

 

History

History

History

54 lines (43 loc) · 1.59 KB

 api_load_path_context

/

microgcs.py

Copy path

Top

File metadata and controls

• Code
• Blame

54 lines (43 loc) · 1.59 KB

Raw

Copy raw file

Download raw file

Open symbols panel

Edit and raw actions

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

18

19

20

21

22

23

24

25

26

27

28

29

30

31

32

33

34

35

36

37

38

39

40

41

42

43

44

45

46

47

48

49

50

51

52

53

54

#

# This is a small example of the python drone API - an ultra minimal GCS

# Usage:

# * mavproxy.py --master=/dev/ttyACM0,115200

# * module load api

# * api start microgcs.py

#

from droneapi.lib import VehicleMode

from pymavlink import mavutil

from Tkinter import *

# The tkinter root object

global root

# First get an instance of the API endpoint

api = local_connect()

# get our vehicle - when running with mavproxy it only knows about one vehicle (for now)

v = api.get_vehicles()[0]

def setMode(mode):

# Now change the vehicle into auto mode

v.mode = VehicleMode(mode)

# Always call flush to guarantee that previous writes to the vehicle have taken place

v.flush()

def updateGUI(label, value):

label['text'] = value

def addObserverAndInit(name, cb):

"""We go ahead and call our observer once at startup to get an initial value"""

cb(name)

v.add_attribute_observer(name, cb)

root = Tk()

root.wm_title("microGCS - the worlds crummiest GCS")

frame = Frame(root)

frame.pack()

locationLabel = Label(frame, text = "No location", width=60)

locationLabel.pack()

attitudeLabel = Label(frame, text = "No Att", width=60)

attitudeLabel.pack()

modeLabel = Label(frame, text = "mode")

modeLabel.pack()

addObserverAndInit('attitude', lambda attr: updateGUI(attitudeLabel, v.attitude))

addObserverAndInit('location', lambda attr: updateGUI(locationLabel, v.location))

addObserverAndInit('mode', lambda attr: updateGUI(modeLabel, v.mode))

Button(frame, text = "Auto", command = lambda : setMode("AUTO")).pack()

Button(frame, text = "RTL", command = lambda : setMode("RTL")).pack()

root.mainloop()