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Updated heartbeat on_message to ignore gimbal heartbeats #990

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Updated heartbeat on_message to ignore gimbal heartbeats #990

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913a8a0
Updated heartbeat on_message to ignore gimbal heartbeats
Nov 22, 2019
b64ddcf
Don't stabalize orientation, fix gimbal targetting
Jan 9, 2020
10b7fa7
Testing removing the home location altitude in gimbal point
Jan 21, 2020
36c1c4c
Guard against no GPS fix in target_location()
Jan 30, 2020
b817af8
Weird scoping nonsense
Feb 13, 2020
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27 changes: 16 additions & 11 deletions dronekit/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1209,7 +1209,7 @@ def listener(self, name, m):
@self.on_message('HEARTBEAT')
def listener(self, name, m):
# ignore groundstations
if m.type == mavutil.mavlink.MAV_TYPE_GCS:
if m.type == mavutil.mavlink.MAV_TYPE_GCS or m.type == mavutil.mavlink.MAV_TYPE_GIMBAL:
return
self._armed = (m.base_mode & mavutil.mavlink.MAV_MODE_FLAG_SAFETY_ARMED) != 0
self.notify_attribute_listeners('armed', self.armed, cache=True)
Expand Down Expand Up @@ -2598,9 +2598,9 @@ def rotate(self, pitch, roll, yaw):
msg = self._vehicle.message_factory.mount_configure_encode(
0, 1, # target system, target component
mavutil.mavlink.MAV_MOUNT_MODE_MAVLINK_TARGETING, #mount_mode
1, # stabilize roll
1, # stabilize pitch
1, # stabilize yaw
0, # don't stabilize roll
0, # don't stabilize pitch
0, # don't stabilize yaw
)
self._vehicle.send_mavlink(msg)
msg = self._vehicle.message_factory.mount_control_encode(
Expand Down Expand Up @@ -2633,20 +2633,25 @@ def target_location(self, roi):
msg = self._vehicle.message_factory.mount_configure_encode(
0, 1, # target system, target component
mavutil.mavlink.MAV_MOUNT_MODE_GPS_POINT, # mount_mode
1, # stabilize roll
1, # stabilize pitch
1, # stabilize yaw
0, # don't stabilize roll
0, # don't stabilize pitch
0, # don't stabilize yaw
)
self._vehicle.send_mavlink(msg)

# Get altitude relative to home irrespective of Location object passed in.
# Global boi because python scoping rules are silly
alt = 0
if isinstance(roi, LocationGlobalRelative):
alt = roi.alt
elif isinstance(roi, LocationGlobal):
if not self.home_location:
self.commands.download()
self.commands.wait_ready()
alt = roi.alt - self.home_location.alt
if self._vehicle.home_location is not None:
self._vehicle.commands.download()
self._vehicle.commands.wait_ready()
alt = roi.alt - self._vehicle.home_location.alt
else:
# Just set to global instead of relative if home is none
alt = roi.alt
else:
raise ValueError('Expecting location to be LocationGlobal or LocationGlobalRelative.')

Expand Down