Mavlink/Pixhawk controller and drivetrain parts #1038
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- #1036 - mavlink.py includes MavlinkController throttle/steering input and MavlinkDriver for the drivetrain.
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| #!/usr/bin/env python3 | |||
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This shouldn't be run as main, so probably delete the shebang
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| #!/usr/bin/env python3 | |||
| from __future__ import print_function | |||
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Pls remove we are in py3.X
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| import time | ||
| import donkeycar as dk | ||
| import config as cfg |
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This line fails, pls see the CI output.
| print("PySerial not found. Please install: pip install pyserial") | ||
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| try: | ||
| from pymavlink import mavutil |
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This test probably doesn't make sense as a pytest, if it can only be run where the corresponding part can be installed as well. Better to make this a main() method in the mavlink.py module.
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| #!/usr/bin/env python3 | |||
| from __future__ import print_function | |||
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Pls remove, we are on py3.X
| If you're getting a permissions error on the USB port: "sudo chmod 666 /dev/ttyACM0" | ||
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| requires: | ||
| --gcc (sudo apt install gcc) |
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I believe this is installed on all our platforms.
| requires: | ||
| --gcc (sudo apt install gcc) | ||
| --pymavlink (pip install pymavlink) | ||
| --docopt (pip install docopt) |
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Docent is part of donkey dependencies.
| Driver to read MAVLink RC data from a Pixhawk, for manual control | ||
| ''' | ||
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| def __init__(self, cfg, debug=False): |
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Logging should be set on a global level and then using the logging module like in other parts.
| return | ||
| else: | ||
| if msg.get_type() == "ATTITUDE": | ||
| print ("pitch", round(msg.pitch,2), "roll", round(msg.roll,2), "yaw", round(msg.yaw,2), "pitchspeed", round(msg.pitchspeed,2), "rollspeed", round(msg.rollspeed,2), "yawspeed", round(msg.yawspeed,2)) |
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... Like here, these should be logger outputs.
| while True: | ||
| try: | ||
| self.read_serial() | ||
| except: |
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Better to only catch the serial error.
throttle/steering input and MavlinkDriver for
the drivetrain.