Controllers¶

Basic Controller¶

This module is responsible for controlling ardupilot.

class MAVez.controller.Controller(connection_string='tcp:127.0.0.1:5762', baud=57600, logger=None, message_host='127.0.0.1', message_port=5555, message_topic='', timesync=False)¶

Bases: object

Controller class for atomic MAVLink communication with ardupilot.

Parameters:

connection_string (str) – The connection string for ardupilot. Default is “tcp:127.0.0.1:5762” used for SITL.
baud (int) – The baud rate for the connection. Default is 57600.
logger (Logger | None) – Logger instance for logging messages (optional).
message_host (str) – The host for the messaging system. Default is “127.0.0.1”.
message_port (int) – The port for the messaging system. Default is 5555.
message_topic (str) – The topic prefix for the messaging system. Default is “”.

Raises:

ConnectionError – If the connection to ardupilot fails.

BAD_RESPONSE_ERROR = 102¶

TIMEOUT_DURATION = 5¶

TIMEOUT_ERROR = 101¶

UNKNOWN_MODE = 111¶

async arm(force=False)¶

Arm ardupilot

Parameters:: force (bool) – If True, ardupilot will be armed regardless of its state.
Returns:: 0 if ardupilot was armed successfully, error code if there was an error, 101 if the response timed out.
Return type:: int

async clock_synchronizer()¶: Periodically sync the flight controller clock with the system clock.

decode_error(error_code)¶

Decode the error code into a human-readable string.

Parameters:: error_code (int) – The error code to decode.
Returns:: A human-readable error message.
Return type:: str

async disable_geofence(floor_only=False)¶

Disable the geofence.

Parameters:: floor_only (bool) – If True, only the floor of the geofence will be disabled.
Returns:: 0 if the geofence was disabled successfully, 101 if the response timed out.
Return type:: int

async disable_message_interval(message_type)¶

Disable the message interval for the specified message type.

Parameters:

message_type (str) – The type of message to disable the interval for.
timeout (int) – The timeout duration in seconds. Default is 5 seconds.

Returns:

0 if the message interval was disabled successfully, error code if there was an error, 101 if the response timed out.

Return type:

int

async disarm(force=False)¶

Disarm ardupilot.

Parameters:: force (bool) – If True, ardupilot will be disarmed regardless of its state.
Returns:: 0 if ardupilot was disarmed successfully, error code if there was an error, 101 if the response timed out.
Return type:: int

async enable_geofence()¶

Enable the geofence.

Returns:: 0 if the geofence was enabled successfully, 101 if the response timed out.
Return type:: int

async message_pump()¶

Continuously read MAVLink messages and push them into a queue.

Returns:: None

monotonic_time_ns()¶

Get the current monotonic time in nanoseconds since the controller started.

Returns:: The current monotonic time in nanoseconds since the controller started.
Return type:: int

async receive_attitude(timeout=5)¶

Wait for an attitude message from ardupilot.

Parameters:: timeout (int) – The timeout duration in seconds. Default is 5 seconds.
Return type:: int | Any
Returns:: response if an attitude message was received, TIMEOUT_ERROR (101) if the response timed out.

async receive_channel_input()¶

Wait for an RC_CHANNELS message from ardupilot.

Parameters:: timeout (int) – The timeout duration in seconds. Default is 5 seconds.
Return type:: int | Any
Returns:: response if an RC_CHANNELS message was received, 101 if the response timed out

async receive_current_mission_index()¶

Get the current mission index.

Returns:: The current mission index if received, TIMEOUT_ERROR (101) if the response timed out.
Return type:: int

async receive_gps(timeout=5, normalize_time=False)¶

Wait for a GLOBAL_POSITION_INT message from ardupilot.

Parameters:

timeout (int) – The timeout duration in seconds. Default is 5 seconds.
normalize_time (bool) – If True, the timestamp will be normalized to the controller’s clock. Default is False.

Returns:

A Coordinate object containing the GPS data if received, TIMEOUT_ERROR (101) if the response timed out.

Return type:

Coordinate

async receive_landing_status(timeout=5)¶

Wait for a landed_state message from ardupilot.

Parameters:: timeout (int) – The timeout duration in seconds. Default is 5 seconds.
Returns:: The landing state if received, TIMEOUT_ERROR (101) if the response timed out, 0 if the state is undefined, 1 if on ground, 2 if in air, 3 if taking off, 4 if landing.
Return type:: int

async receive_message(message_type, timeout=5.0)¶

Wait for a specific MAVLink message type from ardupilot.

Parameters:

message_type (str) – The type of MAVLink message to wait for.
timeout (float) – The timeout duration in seconds. Default is 5 seconds.

Returns:

Dictionary representation of MAVLink message if successful, TIMEOUT_ERROR (101) if the response timed out.

Return type:

Dict

async receive_mission_ack(timeout=5.0)¶

Wait for a mission ack from ardupilot.

Parameters:: timeout (float) – The timeout duration in seconds. Default is 5 seconds.
Returns:: 0 if a mission ack was received, error code if there was an error, 101 if the response timed out.
Return type:: int

async receive_mission_item_reached(timeout=240)¶

Wait for a mission item reached message from ardupilot.

Parameters:: timeout (int) – The timeout duration in seconds. Default is 240 seconds.
Returns:: The sequence number of the reached mission item if received, TIMEOUT_ERROR (101) if the response timed out.
Return type:: int

async receive_mission_request(timeout=5.0)¶

Wait for a mission request from ardupilot.

Parameters:: timeout (float) – The timeout duration in seconds. Default is 5 seconds.
Returns:: Mission index if a mission request was received, 101 if the response timed out, 102 if a bad response was received.
Return type:: int

async receive_timesync(timeout=5)¶

Wait for a timesync message from ardupilot.

Parameters:: timeout (int) – The timeout duration in seconds. Default is 5 seconds.
Return type:: int | Any
Returns:: response if a timesync message was received, TIMEOUT_ERROR (101) if the response timed out.

async receive_wind()¶

Wait for a wind_cov message from ardupilot.

Parameters:: timeout (int) – The timeout duration in seconds. Default is 5 seconds.
Return type:: int | Any
Returns:: response if a wind_cov message was received, 101 if the response timed out

request_timesync(current_time)¶

Request a timesync message from ardupilot.

Parameters:: current_time (int) – The current time in nanoseconds.
Returns:: 0 if the timesync request was sent successfully.
Return type:: int

send_clear_mission()¶

Clear the mission on ardupilot.

Returns:: 0 if the mission was cleared successfully
Return type:: int

send_message(message)¶

Send a MAVLink message to ardupilot.

Parameters:: message – The MAVLink message to send.
Returns:: None

send_mission_count(count, mission_type=0)¶

Send the mission count to ardupilot.

Parameters:

count (int) – The number of mission items.
mission_type (int) – The type of mission (default is 0 for MISSION_TYPE 0).

Returns:

0 if the mission count was sent successfully.

Return type:

int

async set_current_mission_index(index, reset=False)¶

sets the target mission index to the specified index

Parameters:: index (int) – The index to set as the current mission index.
Returns:: 0 if the current mission index was set successfully, error code if there was an error, 101 if the response timed out.
Return type:: int

async set_home(home_coordinate=0, 0, 0, timestamp: 0)¶

Set the home location.

Parameters:: home_coordinate (Coordinate) – The home coordinate to set. If the coordinate is (0, 0, 0), the current GPS location will be used.
Returns:: 0 if the home location was set successfully, error code if there was an error, 101 if the response timed out.
Return type:: int

async set_message_interval(message_type, interval)¶

Set the message interval for the specified message type.

Parameters:

message_type (int) – The type of message to set the interval for.
interval (int) – The interval in microseconds to set for the message type.
timeout (int) – The timeout duration in seconds. Default is 5 seconds.

Returns:

0 if the message interval was set successfully, error code if there was an error, 101 if the response timed out.

Return type:

int

async set_mode(mode)¶

Set the ardupilot mode.

Parameters:: mode (str) – The mode to set ardupilot to. Options include: “AUTO”, “GUIDED”, “FBWA”, etc…
Returns:: 0 if the mode was set successfully, 111 if the mode is unknown, 101 if the response timed out.
Return type:: int

async set_servo(servo_number, pwm)¶

Set the a servo to a specified PWM value.

Parameters:

servo_number (int) – The servo number to set.
pwm (int) – The PWM value to set the servo to.

Returns:

0 if the servo was set successfully, error code if there was an error, 101 if the response timed out.

Return type:

int

async start()¶

Start the controller by initiating the message pump.

Returns:: None

async start_mission(start_index, end_index)¶

Start the mission at the specified index.

Parameters:

start_index (int) – The index to start the mission from.
end_index (int) – The index to end the mission at.

Returns:

0 if the mission was started successfully, error code if there was an error, 101 if the response timed out.

Return type:

int

async stop()¶

Stop the controller by cancelling running tasks.

Returns:: None

async sync_clocks()¶

Sync the flight controller clock with the system clock.

Returns:: 0 if the clocks were synced successfully, otherwise an error code.
Return type:: int

Flight Controller¶

This module is responsible for managing the flight of ardupilot.

class MAVez.flight_controller.FlightController(connection_string='tcp:127.0.0.1:5762', baud=57600, logger=None, message_host='127.0.0.1', message_port=5555, message_topic='', timesync=False)¶

Bases: Controller

Manages the flight plan for ardupilot. Extends the Controller class to provide complex flight functionalities.

Parameters:

connection_string (str) – The connection string to ardupilot.
baud (int) – The baud rate for the connection. Default is 57600.
logger (Logger | None) – Optional logger for logging flight events.
message_host (str) – The host for messaging.
message_host – The host for the messaging system. Default is “127.0.0.1”.
message_port (int) – The port for the messaging system. Default is 5555.
message_topic (str) – The topic prefix for the messaging system. Default is “”.
timesync (bool) – Whether to enable time synchronization. Default is False.

Raises:

ConnectionError – If the connection to ardupilot fails.

Returns:

An instance of the Flight_Controller class.

Return type:

Flight_Controller

BAD_RESPONSE_ERROR = 102¶

INVALID_MISSION_ERROR = 301¶

Literal = typing.Literal¶

TIMEOUT_ERROR = 101¶

UNKNOWN_MODE_ERROR = 111¶

append_mission(filename)¶

Append a mission to the mission list.

Parameters:: filename (str) – The file containing the mission to append.
Returns:: 0 if the mission was appended successfully, otherwise an error code.
Return type:: int

async auto_send_next_mission()¶

Waits for the last waypoint to be reached, clears the mission, sends the next mission, sets mode to auto.

Returns:: 0 if the next mission was sent successfully, otherwise an error code.
Return type:: int

decode_error(error_code)¶

Decode an error code.

Parameters:: error_code (int) – The error code to decode.
Returns:: A string describing the error.
Return type:: str

async jump_to_next_mission_item()¶

Jump to the next mission item.

Returns:: 0 if the jump was successful, otherwise an error code.
Return type:: int

async set_geofence(geofence_filename)¶

Send and enable the geofence from a file.

Parameters:: geofence_filename (str) – The file containing the geofence mission.
Returns:: 0 if the geofence was set successfully, otherwise an error code.
Return type:: int

async takeoff(takeoff_mission_filename)¶

Takeoff ardupilot.

Parameters:: takeoff_mission_filename (str) – The file containing the takeoff mission.
Returns:: 0 if the takeoff was successful, otherwise an error code.
Return type:: int

async wait_for_channel_input(channel, value, wait_time=120, value_tolerance=100)¶

Wait for a specified rc channel to reach a given value

Parameters:

channel (int) – The channel number to wait for.
value (int) – The value to wait for.
wait_time (int) – The maximum time to wait for the channel to be set in seconds.
value_tolerance (int) – The tolerance range for the set value.

Returns:

0 if the channel was set to the desired value, otherwise an error code

Return type:

int

async wait_for_landing(timeout=60)¶

Wait for ardupilot to signal landed.

Parameters:: timeout (int) – The maximum time to wait for the landing status in seconds.
Returns:: 0 if the landing was successful, otherwise an error code.
Return type:: int

async wait_for_waypoint(target)¶

Wait for ardupilot to reach the current waypoint.

Parameters:: target (int) – The target waypoint index to wait for.
Returns:: 0 if the waypoint was reached successfully, otherwise an error code.
Return type:: int