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AJaySiAJaySi
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Update drone_utils.py
Added few utility functions for reference.
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‎drone_utils.py‎

Lines changed: 116 additions & 0 deletions
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@@ -129,6 +129,10 @@ def telemetry():
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print("Is Armable?: {}".format(vehicle.is_armable))
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print("System status: {}".format(vehicle.system_status.state))
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print("Mode: {}".format(vehicle.mode.name))
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# Call the mother of all.
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vehicle_state_json_builder()
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print_vehicle_state()
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# Check the battery percentage and land if less than 9.9
@@ -367,3 +371,115 @@ def velocity_flight():
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while True:
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sleep(1)
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def print_vehicle_state(vehicle, configs):
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# Get all vehicle attributes (state)
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print "\nGet all vehicle attribute values:"
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print " Autopilot Firmware version: %s" % vehicle.version
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print " Major version number: %s" % vehicle.version.major
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print " Minor version number: %s" % vehicle.version.minor
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print " Patch version number: %s" % vehicle.version.patch
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print " Release type: %s" % vehicle.version.release_type()
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print " Release version: %s" % vehicle.version.release_version()
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print " Stable release?: %s" % vehicle.version.is_stable()
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print " Autopilot capabilities"
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# print " Supports MISSION_FLOAT message type: %s" % vehicle.capabilities.mission_float
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print " Supports PARAM_FLOAT message type: %s" % vehicle.capabilities.param_float
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print " Supports MISSION_INT message type: %s" % vehicle.capabilities.mission_int
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print " Supports COMMAND_INT message type: %s" % vehicle.capabilities.command_int
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print " Supports PARAM_UNION message type: %s" % vehicle.capabilities.param_union
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print " Supports ftp for file transfers: %s" % vehicle.capabilities.ftp
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print " Supports commanding attitude offboard: %s" % vehicle.capabilities.set_attitude_target
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print " Supports commanding position and velocity targets in local NED frame: %s" % vehicle.capabilities.set_attitude_target_local_ned
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print " Supports set position + velocity targets in global scaled integers: %s" % vehicle.capabilities.set_altitude_target_global_int
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print " Supports terrain protocol / data handling: %s" % vehicle.capabilities.terrain
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print " Supports direct actuator control: %s" % vehicle.capabilities.set_actuator_target
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print " Supports the flight termination command: %s" % vehicle.capabilities.flight_termination
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print " Supports mission_float message type: %s" % vehicle.capabilities.mission_float
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print " Supports onboard compass calibration: %s" % vehicle.capabilities.compass_calibration
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print " Global Location: %s" % vehicle.location.global_frame
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print " Global Location (relative altitude): %s" % vehicle.location.global_relative_frame
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print " Local Location: %s" % vehicle.location.local_frame
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print " Attitude: %s" % vehicle.attitude
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print " Velocity: %s" % vehicle.velocity
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print " GPS: %s" % vehicle.gps_0
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print " Gimbal status: %s" % vehicle.gimbal
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print " Battery: %s" % vehicle.battery
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print " EKF OK?: %s" % vehicle.ekf_ok
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print " Last Heartbeat: %s" % vehicle.last_heartbeat
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print " Rangefinder: %s" % vehicle.rangefinder
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print " Rangefinder distance: %s" % vehicle.rangefinder.distance
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print " Rangefinder voltage: %s" % vehicle.rangefinder.voltage
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print " Heading: %s" % vehicle.heading
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print " Is Armable?: %s" % vehicle.is_armable
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print " System status: %s" % vehicle.system_status.state
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print " Groundspeed: %s" % vehicle.groundspeed # settable
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print " Airspeed: %s" % vehicle.airspeed # settable
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print " Mode: %s" % vehicle.mode.name # settable
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print " Armed: %s" % vehicle.armed # settable
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def vehicle_state_json_builder(vehicle, configs):
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data = {
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'drone_id': configs.get('drone', 'drone_id'),
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'timestamp': vehicle._master.timestamp,
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'air_speed': vehicle.airspeed,
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'is_armable': vehicle.is_armable,
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'autopilot_type': vehicle._autopilot_type,
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'flightmode': vehicle._flightmode,
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'groundspeed': vehicle._groundspeed,
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'heading': vehicle.heading,
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'home_location': vehicle._home_location,
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'last_heartbeat': vehicle._last_heartbeat,
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'location': {
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'alt': vehicle._location._alt,
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'down': vehicle._location._down,
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'east': vehicle._location._east,
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'north': vehicle._location._north,
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'relative_alt': vehicle._location._relative_alt,
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'lat': vehicle._location._lat,
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'log': vehicle._location._lon
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},
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'location_global': {
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'alt': vehicle._location.global_frame.alt,
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'lat': vehicle._location.global_frame.lat,
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'log': vehicle._location.global_frame.lon
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},
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'location_global_relative': {
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'alt': vehicle._location.global_relative_frame.alt,
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'lat': vehicle._location.global_relative_frame.lat,
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'log': vehicle._location.global_relative_frame.lon
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},
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'location_local': {
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'down': vehicle._location.local_frame.down,
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'east': vehicle._location.local_frame.east,
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'north': vehicle._location.local_frame.north
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},
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'attitude': {
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'pitch': vehicle._pitch,
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'pitch_speed': vehicle._pitchspeed,
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'roll': vehicle._roll,
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'roll_speed': vehicle._rollspeed,
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'yaw': vehicle._yaw,
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'yaw_speed': vehicle._yawspeed
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},
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'battery': {
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'battery_current': vehicle.battery.current,
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'battery_level': vehicle.battery.level,
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'battery_voltage': vehicle.battery.voltage
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},
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'gps': {
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'eph': vehicle.gps_0.eph,
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'epv': vehicle.gps_0.epv,
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'fix_type': vehicle.gps_0.fix_type,
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'satellites_visible': vehicle.gps_0.satellites_visible
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},
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'groundspeed': vehicle._groundspeed,
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'last_heartbeat': vehicle.last_heartbeat,
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'velocity': vehicle.velocity,
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}
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print data
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return data
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