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Get altitude from Pixhawk + update README #2

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Get altitude from Pixhawk + update README #2

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c832b82
Get altitude from Pixhawk + update README
huttongrabiel Apr 16, 2024
585771b
Remove accidental add back of heading + remove heading from map
huttongrabiel May 14, 2024
9682fb1
Remove heading from README
huttongrabiel May 14, 2024
1492a3d
added alt to GPS
PatrickRung Nov 19, 2024
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15 changes: 8 additions & 7 deletions ArduPilotDriver.py
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Original file line number Diff line number Diff line change
Expand Up @@ -25,11 +25,12 @@ def debug_GPS_vars():
time.sleep(1)
lat = ardupilot.location.global_frame.lat
lon = ardupilot.location.global_frame.lon
alt = ardupilot.location.global_frame.alt
roll = ardupilot.attitude.roll
pitch = ardupilot.attitude.pitch
yaw = ardupilot.heading
print("lat: {}, lon: {}, roll: {}, pitch: {}, yaw: {}"
.format(lat, lon, roll, pitch, yaw))
print("lat: {}, lon: {}, alt {}, roll: {}, pitch: {}, yaw: {}"
.format(lat, lon, alt, roll, pitch, yaw))


def get_args():
Expand All @@ -45,11 +46,12 @@ def get_args():
return parser.parse_args()


async def send_gps_message(websocket, lat, lon):
async def send_gps_message(websocket, lat, lon, alt):
msg = {
"type": "gps",
"lat": lat,
"lon": lon
"lon": lon,
"alt": alt
}
await websocket.send(json.dumps(msg))

Expand Down Expand Up @@ -78,8 +80,7 @@ def cleanup():
curr_time = time.perf_counter()
last_data_send_times = {
"gps": curr_time,
"orientation": curr_time,
"heading": curr_time
"orientation": curr_time
}

# From M8N documentation:
Expand All @@ -100,7 +101,7 @@ def gps_callback(self, _, frame):
print("GPS Fix:", ardupilot.gps_0.fix_type, frame)
if ardupilot.gps_0.fix_type > 1:
last_data_send_times["gps"] = curr_time
asyncio.run(send_gps_message(websocket, frame.lat, frame.lon))
asyncio.run(send_gps_message(websocket, frame.lat, frame.lon, frame.alt))

def orientation_callback(self, _, attitude):
curr_time = time.perf_counter()
Expand Down
11 changes: 2 additions & 9 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -39,7 +39,8 @@ Make sure `tmux` is installed, if not then `sudo apt install tmux`. Then:
{
"type": "gps",
"lat": number,
"lon": number
"lon": number,
"alt": number
}
```

Expand All @@ -52,11 +53,3 @@ Make sure `tmux` is installed, if not then `sudo apt install tmux`. Then:
"yaw": number
}
```

### Heading
```
{
"type": "heading",
"heading": number
}
```