comms package

comms package#

Submodules#

comms.listener module#

class comms.listener.Listener#

Bases: Node

This node is responsible for listening for ardupilot data through the MAVLink protocol, and publishing them to the ROS network.

fetch_from_ardupilot()#: Fetches data from ardupilot based on the specified message types (or keys)

get_from_ardu_dict(types) → dict#: Determines what keys are available on the MAVLink connection

is_dict_full()#: Checks if each entry in the dictionary has been filled.

publish_to_topic()#: Publishes the specified topics to the ROS network

comms.listener.main(args=None)#

comms.mavlink module#

class comms.mavlink.MAVLink(simulation=False)#

Bases: object

This class works as an API for MAVLink connections. It is responsible for establishing and managing the protocol.

autotune(axis=0)#: Sends command to autotune a single axis.

get_port(simulation) → str#: Decides what port to use for MAVLink connection.

listen(**kwargs) → dict#: Listen to the MAVLink connection for the package that matches the arguments.

pitch(pwm)#: Sends pitch control signal.

roll(pwm)#: Sends roll control signal.

throttle(pwm)#: Sends throttle control signal.

wait_for_heartbeat()#: This function waits until a connection on MAVLink is established, signaled with a so called ‘heartbeat’ from the flight controller.

yaw(pwm)#: Sends yaw control signal.

comms.sender module#

class comms.sender.Sender#

Bases: Node

This node is responsible for sending data through the MAVLink protocol to the ardupilot

autotune()#: Used to decide which axis to autotune.

received_joystick(msg)#: Called when receiving new values from the ‘joystick’ topic.

send_pwm_values()#: Sends control signals to flight controller through the MAVLink connection.

comms.sender.main(args=None)#

Module contents#