From a2abe638f93dc72bdd06c218d8cb1deab9d73edc Mon Sep 17 00:00:00 2001
From: TongBingda <33590905+TongBingda@users.noreply.github.com>
Date: Wed, 12 Jul 2023 21:24:01 +0800
Subject: [PATCH 1/3] Update __init__.py

The RAW values of the servo outputs.

    An object of this type is returned by :py:attr:`Vehicle.servos`.

    :param port: Servo output port (set of 8 outputs = 1 port). Flight stacks running on Pixhawk should use: 0 = MAIN, 1 = AUX.
    :param servo_raw['1'] ~ servo_raw['16']: Servo output 1 ~ 16 value.
---
 dronekit/__init__.py | 40 ++++++++++++++++++++++++++++++++++++++++
 1 file changed, 40 insertions(+)

diff --git a/dronekit/__init__.py b/dronekit/__init__.py
index bc05a7098..16c9b6b03 100644
--- a/dronekit/__init__.py
+++ b/dronekit/__init__.py
@@ -247,6 +247,23 @@ def __str__(self):
         return "Wind: wind direction: {}, wind speed: {}, wind speed z: {}".format(self.wind_direction, self.wind_speed, self.wind_speed_z)
 
 
+class Servos(object):
+    """
+    The RAW values of the servo outputs.
+
+    An object of this type is returned by :py:attr:`Vehicle.servos`.
+
+    :param port: Servo output port (set of 8 outputs = 1 port). Flight stacks running on Pixhawk should use: 0 = MAIN, 1 = AUX.
+    :param servo_raw['1'] ~ servo_raw['16']: Servo output 1 ~ 16 value.
+    """
+    def __init__(self, port, servo_raw):
+        self.port = port
+        self.servo_raw = servo_raw
+    
+    def __str__(self):
+        return "Servos: servo output port: {}, servo value: {}".format(self.port, self.servo_raw)
+
+
 class Battery(object):
     """
     System battery information.
@@ -1195,6 +1212,20 @@ def set_rc(chnum, v):
 
             self.notify_attribute_listeners('channels', self.channels)
 
+        self._port = None
+        self._servo_raw = None
+
+        @self.on_message('SERVO_OUTPUT_RAW')
+        def listener(self, name, m):
+            def set_servo(servonum, v):
+                """Private utility for handling servo output messages"""
+                self._servo_raw[str(i)] = v
+            self._port = m.port
+            self._servo_raw = {}
+            for i in range(1, 16+1):
+                set_servo(i, getattr(m, "servo{}_raw".format(i)))
+            self.notify_attribute_listeners('servos', self.servos)
+        
         self._voltage = None
         self._current = None
         self._level = None
@@ -1727,6 +1758,15 @@ def wind(self):
             return None
         return Wind(self._wind_direction, self._wind_speed, self._wind_speed_z)
 
+    @property
+    def servos(self):
+        """
+        Current servo outputs (:py:class:`Servos`)
+        """
+        if self._port is None or self._servo_raw is None:
+            return None
+        return Servos(self._port, self._servo_raw)
+    
     @property
     def battery(self):
         """

From f635f376abd196f6d8a7c17744eae0b896e041b1 Mon Sep 17 00:00:00 2001
From: TongBingda <33590905+TongBingda@users.noreply.github.com>
Date: Wed, 12 Jul 2023 21:26:29 +0800
Subject: [PATCH 2/3] Update __init__.py

spelling mistake correction
---
 dronekit/__init__.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/dronekit/__init__.py b/dronekit/__init__.py
index 16c9b6b03..9e883857a 100644
--- a/dronekit/__init__.py
+++ b/dronekit/__init__.py
@@ -1752,7 +1752,7 @@ def listener(self, attr_name, value):
     @property
     def wind(self):
         """
-        Current wind status (:pu:class: `Wind`)
+        Current wind status (:py:class: `Wind`)
         """
         if self._wind_direction is None or self._wind_speed is None or self._wind_speed_z is None:
             return None

From 4082b131d9247abe2e1652dd3a717ff66711ad87 Mon Sep 17 00:00:00 2001
From: TongBingda <33590905+TongBingda@users.noreply.github.com>
Date: Wed, 19 Jul 2023 22:03:54 +0800
Subject: [PATCH 3/3] Update SERVO_OUTPUT_RAW message for mavlink 1 and 2

When running ardupilot firmware using the sitl method, SERVO_OUTPUT_RAW usually uses mavlink 2.0, whereas this message usually uses mavlink 1.0 when I run ardupilot firmware using the Cube Orange, which makes it impossible to get the values from servo9_raw to servo16 _raw values. So I used len(m.lengths) to get the actual number of servo_outputs.
---
 dronekit/__init__.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/dronekit/__init__.py b/dronekit/__init__.py
index 9e883857a..42ee0d8da 100644
--- a/dronekit/__init__.py
+++ b/dronekit/__init__.py
@@ -1222,7 +1222,7 @@ def set_servo(servonum, v):
                 self._servo_raw[str(i)] = v
             self._port = m.port
             self._servo_raw = {}
-            for i in range(1, 16+1):
+            for i in range(1, len(m.lengths)-1):
                 set_servo(i, getattr(m, "servo{}_raw".format(i)))
             self.notify_attribute_listeners('servos', self.servos)