diff --git a/ArduCopter/Makefile b/ArduCopter/Makefile
index 2beb16563a9bd70b479f5c120bde6f2c5e1418c7..5f5d5937c1fb2e0b5037ae303aa69d24b53e5f90 100644
--- a/ArduCopter/Makefile
+++ b/ArduCopter/Makefile
@@ -21,6 +21,9 @@ heli:
apm2:
make -f Makefile EXTRAFLAGS="-DCONFIG_APM_HARDWARE=APM_HARDWARE_APM2"
+apm2-mavlink10:
+ make -f Makefile EXTRAFLAGS="-DCONFIG_APM_HARDWARE=APM_HARDWARE_APM2 -DMAVLINK10=1"
+
apm2hexa:
make -f Makefile EXTRAFLAGS="-DCONFIG_APM_HARDWARE=APM_HARDWARE_APM2 -DFRAME_CONFIG=HEXA_FRAME"
diff --git a/ArduPlane/Makefile b/ArduPlane/Makefile
index d8ed558b997538b878f88c337ec8ba03cd12268b..8205e702f7205e3867dd5e9239755bda7e267daa 100644
--- a/ArduPlane/Makefile
+++ b/ArduPlane/Makefile
@@ -24,6 +24,10 @@ apm2:
apm2beta:
make -f Makefile EXTRAFLAGS="-DCONFIG_APM_HARDWARE=APM_HARDWARE_APM2 -DAPM2_BETA_HARDWARE"
+
+apm2-mavlink10:
+ make -f Makefile EXTRAFLAGS="-DCONFIG_APM_HARDWARE=APM_HARDWARE_APM2 -DMAVLINK10=1"
+
mavlink10:
make -f Makefile EXTRAFLAGS="-DMAVLINK10=1"
diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index 80de97e5411778302ff5f70f4eb36a7737a822c3..b6ba3db47b0700b3f26126968e90ece868128964 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -7,9 +7,9 @@ import mavutil, mavwp, random
# get location of scripts
testdir=os.path.dirname(os.path.realpath(__file__))
-FRAME='octa'
-TARGET='sitl-octa'
-HOME=location(-35.362938,149.165085,584,270)
+FRAME='+'
+TARGET='sitl'
+HOME=mavutil.location(-35.362938,149.165085,584,270)
homeloc = None
num_wp = 0
@@ -68,13 +68,13 @@ def loiter(mavproxy, mav, holdtime=60, maxaltchange=20):
wait_mode(mav, 'LOITER')
m = mav.recv_match(type='VFR_HUD', blocking=True)
start_altitude = m.alt
- start = current_location(mav)
+ start = mav.location()
tstart = time.time()
tholdstart = time.time()
print("Holding loiter at %u meters for %u seconds" % (start_altitude, holdtime))
while time.time() < tstart + holdtime:
m = mav.recv_match(type='VFR_HUD', blocking=True)
- pos = current_location(mav)
+ pos = mav.location()
delta = get_distance(start, pos)
print("Loiter Dist: %.2fm, alt:%u" % (delta, m.alt))
if math.fabs(m.alt - start_altitude) > maxaltchange:
@@ -174,7 +174,7 @@ def fly_RTL(mavproxy, mav, side=60):
tstart = time.time()
while time.time() < tstart + 200:
m = mav.recv_match(type='VFR_HUD', blocking=True)
- pos = current_location(mav)
+ pos = mav.location()
#delta = get_distance(start, pos)
print("Alt: %u" % m.alt)
if(m.alt <= 1):
@@ -199,7 +199,7 @@ def fly_failsafe(mavproxy, mav, side=60):
tstart = time.time()
while time.time() < tstart + 250:
m = mav.recv_match(type='VFR_HUD', blocking=True)
- pos = current_location(mav)
+ pos = mav.location()
home_distance = get_distance(HOME, pos)
print("Alt: %u HomeDistance: %.0f" % (m.alt, home_distance))
if m.alt <= 1 and home_distance < 10:
@@ -404,9 +404,8 @@ def fly_ArduCopter(viewerip=None):
e = 'None'
try:
mav.wait_heartbeat()
- mav.recv_match(type='GPS_RAW', blocking=True)
setup_rc(mavproxy)
- homeloc = current_location(mav)
+ homeloc = mav.location()
print("# Calibrate level")
if not calibrate_level(mavproxy, mav):
@@ -568,7 +567,7 @@ def fly_ArduCopter(viewerip=None):
#! old_lon = 0
#!
#! while(1):
-#! pos = current_location(mav)
+#! pos = mav.location()
#! tmp = (pos.lat *10e7) - (old_lat *10e7)
#! print("tmp %d " % tmp)
#! if(tmp > 0 ):
diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index fefd770cc8bc9286210d9036a8bc512d3e624edc..6e4626c55a92c4025f3c0a93a1c0c7a0e114cbf8 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -287,11 +287,13 @@ def fly_ArduPlane(viewerip=None):
failed = False
e = 'None'
try:
+ print("Waiting for a heartbeat with mavlink protocol %s" % mav.WIRE_PROTOCOL_VERSION)
mav.wait_heartbeat()
+ print("Setting up RC parameters")
setup_rc(mavproxy)
- mav.recv_match(type='GPS_RAW', condition='MAV.flightmode!="INITIALISING" and GPS_RAW.fix_type==2 and GPS_RAW.lat != 0 and GPS_RAW.alt != 0 and VFR_HUD.alt > 10',
- blocking=True)
- homeloc = current_location(mav)
+ print("Waiting for GPS fix")
+ mav.wait_gps_fix()
+ homeloc = mav.location()
print("Home location: %s" % homeloc)
if not takeoff(mavproxy, mav):
print("Failed takeoff")
diff --git a/Tools/autotest/autotest.py b/Tools/autotest/autotest.py
index 16543603d2d2e59f01c7019160b7b2df9b810e08..7daf143b95a0ae13a79d41fff0f28df9e44b0e70 100755
--- a/Tools/autotest/autotest.py
+++ b/Tools/autotest/autotest.py
@@ -7,7 +7,7 @@ import optparse, fnmatch, time, glob, traceback
sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), 'pysim'))
sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), 'pymavlink'))
-import util, arducopter, arduplane
+import util
os.environ['PYTHONUNBUFFERED'] = '1'
@@ -111,9 +111,18 @@ parser.add_option("--skip", type='string', default='', help='list of steps to sk
parser.add_option("--list", action='store_true', default=False, help='list the available steps')
parser.add_option("--viewerip", default=None, help='IP address to send MAVLink and fg packets to')
parser.add_option("--experimental", default=False, action='store_true', help='enable experimental tests')
+parser.add_option("--mav10", action='store_true', default=False, help="Use MAVLink protocol 1.0")
opts, args = parser.parse_args()
+if opts.mav10 or os.getenv('MAVLINK10'):
+ os.environ['MAVLINK10'] = '1'
+ import mavlinkv10 as mavlink
+else:
+ import mavlink as mavlink
+
+import arducopter, arduplane
+
steps = [
'prerequesites',
'build1280.ArduPlane',
diff --git a/Tools/autotest/common.py b/Tools/autotest/common.py
index 61fe2e669c6c2abb0af5a1380917f4cd7888bb00..7668a3cef581eb0190d487d90d9ca1a459a622af 100644
--- a/Tools/autotest/common.py
+++ b/Tools/autotest/common.py
@@ -23,8 +23,6 @@ def idle_hook(mav):
def message_hook(mav, msg):
'''called as each mavlink msg is received'''
-# if msg.get_type() in [ 'NAV_CONTROLLER_OUTPUT', 'GPS_RAW' ]:
-# print(msg)
idle_hook(mav)
def expect_callback(e):
@@ -35,17 +33,6 @@ def expect_callback(e):
continue
util.pexpect_drain(p)
-class location(object):
- '''represent a GPS coordinate'''
- def __init__(self, lat, lng, alt=0, heading=0):
- self.lat = lat
- self.lng = lng
- self.alt = alt
- self.heading = heading
-
- def __str__(self):
- return "lat=%.6f,lon=%.6f,alt=%.1f" % (self.lat, self.lng, self.alt)
-
def get_distance(loc1, loc2):
'''get ground distance between two locations'''
dlat = loc2.lat - loc1.lat
@@ -61,15 +48,6 @@ def get_bearing(loc1, loc2):
bearing += 360.00
return bearing;
-def current_location(mav):
- '''return current location'''
- # ensure we have a position
- mav.recv_match(type='VFR_HUD', blocking=True)
- mav.recv_match(type='GPS_RAW', blocking=True)
- return location(mav.messages['GPS_RAW'].lat,
- mav.messages['GPS_RAW'].lon,
- mav.messages['VFR_HUD'].alt)
-
def wait_altitude(mav, alt_min, alt_max, timeout=30):
climb_rate = 0
previous_alt = 0
@@ -148,10 +126,9 @@ def wait_heading(mav, heading, accuracy=5, timeout=30):
def wait_distance(mav, distance, accuracy=5, timeout=30):
'''wait for flight of a given distance'''
tstart = time.time()
- start = current_location(mav)
+ start = mav.location()
while time.time() < tstart + timeout:
- m = mav.recv_match(type='GPS_RAW', blocking=True)
- pos = current_location(mav)
+ pos = mav.location()
delta = get_distance(start, pos)
print("Distance %.2f meters" % delta)
if math.fabs(delta - distance) <= accuracy:
@@ -172,8 +149,7 @@ def wait_location(mav, loc, accuracy=5, timeout=30, target_altitude=None, height
print("Waiting for location %.4f,%.4f at altitude %.1f height_accuracy=%.1f" % (
loc.lat, loc.lng, target_altitude, height_accuracy))
while time.time() < tstart + timeout:
- m = mav.recv_match(type='GPS_RAW', blocking=True)
- pos = current_location(mav)
+ pos = mav.location()
delta = get_distance(loc, pos)
print("Distance %.2f meters alt %.1f" % (delta, pos.alt))
if delta <= accuracy:
@@ -188,9 +164,7 @@ def wait_waypoint(mav, wpnum_start, wpnum_end, allow_skip=True, max_dist=2, time
'''wait for waypoint ranges'''
tstart = time.time()
# this message arrives after we set the current WP
- m = mav.recv_match(type='WAYPOINT_CURRENT', blocking=True)
-
- start_wp = m.seq
+ start_wp = mav.waypoint_current()
current_wp = start_wp
print("\ntest: wait for waypoint ranges start=%u end=%u\n\n" % (wpnum_start, wpnum_end))
@@ -199,8 +173,7 @@ def wait_waypoint(mav, wpnum_start, wpnum_end, allow_skip=True, max_dist=2, time
# return False
while time.time() < tstart + timeout:
- m = mav.recv_match(type='WAYPOINT_CURRENT', blocking=True)
- seq = m.seq
+ seq = mav.waypoint_current()
m = mav.recv_match(type='NAV_CONTROLLER_OUTPUT', blocking=True)
wp_dist = m.wp_dist
m = mav.recv_match(type='VFR_HUD', blocking=True)
diff --git a/Tools/autotest/jsbsim/runsim.py b/Tools/autotest/jsbsim/runsim.py
index 528a811bf5cfda746a06b261555b47db7c72a83b..2ca40a12554989bf1f98f180495e15fb8d3b3b70 100755
--- a/Tools/autotest/jsbsim/runsim.py
+++ b/Tools/autotest/jsbsim/runsim.py
@@ -5,6 +5,7 @@ import sys, os, pexpect, fdpexpect, socket
import math, time, select, struct, signal, errno
sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..', 'pysim'))
+sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..', 'pymavlink'))
import util, fgFDM, atexit
@@ -260,7 +261,7 @@ def main_loop():
update_wind(wind)
last_wind_update = tnow
- if tnow - last_report > 0.5:
+ if tnow - last_report > 3:
print("FPS %u asl=%.1f agl=%.1f roll=%.1f pitch=%.1f a=(%.2f %.2f %.2f)" % (
frame_count / (time.time() - last_report),
fdm.get('altitude', units='meters'),
diff --git a/Tools/autotest/pymavlink/mavutil.py b/Tools/autotest/pymavlink/mavutil.py
index d1ee4e7121c0c294dba83518991231584a88ba6f..12a1d91f0293ac58e8f7d0fce269a74da6d8610f 100644
--- a/Tools/autotest/pymavlink/mavutil.py
+++ b/Tools/autotest/pymavlink/mavutil.py
@@ -10,7 +10,7 @@ import socket, math, struct, time, os, fnmatch, array, sys, errno
from math import *
from mavextra import *
-if os.getenv('MAVLINK10'):
+if os.getenv('MAVLINK10') or 'MAVLINK10' in os.environ:
import mavlinkv10 as mavlink
else:
import mavlink
@@ -34,6 +34,17 @@ def evaluate_condition(condition, vars):
mavfile_global = None
+class location(object):
+ '''represent a GPS coordinate'''
+ def __init__(self, lat, lng, alt=0, heading=0):
+ self.lat = lat
+ self.lng = lng
+ self.alt = alt
+ self.heading = heading
+
+ def __str__(self):
+ return "lat=%.6f,lon=%.6f,alt=%.1f" % (self.lat, self.lng, self.alt)
+
class mavfile(object):
'''a generic mavlink port'''
def __init__(self, fd, address, source_system=255, notimestamps=False):
@@ -223,6 +234,14 @@ class mavfile(object):
else:
self.mav.waypoint_set_current_send(self.target_system, self.target_component, seq)
+ def waypoint_current(self):
+ '''return current waypoint'''
+ if mavlink.WIRE_PROTOCOL_VERSION == '1.0':
+ m = self.recv_match(type='MISSION_CURRENT', blocking=True)
+ else:
+ m = self.recv_match(type='WAYPOINT_CURRENT', blocking=True)
+ return m.seq
+
def waypoint_count_send(self, seq):
'''wrapper for waypoint_count_send'''
if mavlink.WIRE_PROTOCOL_VERSION == '1.0':
@@ -277,6 +296,30 @@ class mavfile(object):
MAV_ACTION_CALIBRATE_ACC = 19
self.mav.action_send(self.target_system, self.target_component, MAV_ACTION_CALIBRATE_ACC)
+ def wait_gps_fix(self):
+ self.recv_match(type='VFR_HUD', blocking=True)
+ if mavlink.WIRE_PROTOCOL_VERSION == '1.0':
+ self.recv_match(type='GPS_RAW_INT', blocking=True,
+ condition='GPS_RAW_INT.fix_type==3 and GPS_RAW_INT.lat != 0 and GPS_RAW_INT.alt != 0')
+ else:
+ self.recv_match(type='GPS_RAW', blocking=True,
+ condition='GPS_RAW.fix_type==2 and GPS_RAW.lat != 0 and GPS_RAW.alt != 0')
+
+ def location(self):
+ '''return current location'''
+ self.wait_gps_fix()
+ if mavlink.WIRE_PROTOCOL_VERSION == '1.0':
+ return location(self.messages['GPS_RAW_INT'].lat*1.0e-7,
+ self.messages['GPS_RAW_INT'].lon*1.0e-7,
+ self.messages['VFR_HUD'].alt,
+ self.messages['VFR_HUD'].heading)
+ else:
+ return location(self.messages['GPS_RAW'].lat,
+ self.messages['GPS_RAW'].lon,
+ self.messages['VFR_HUD'].alt,
+ self.messages['VFR_HUD'].heading)
+
+
class mavserial(mavfile):
'''a serial mavlink port'''
def __init__(self, device, baud=115200, autoreconnect=False, source_system=255):
diff --git a/Tools/autotest/pysim/sim_multicopter.py b/Tools/autotest/pysim/sim_multicopter.py
index 95e190264eda5e76baecf1719adbdfbbdcaa3398..a4eb1fc3421383900cc74cb5dc1eb03f7105bb61 100755
--- a/Tools/autotest/pysim/sim_multicopter.py
+++ b/Tools/autotest/pysim/sim_multicopter.py
@@ -3,7 +3,10 @@
from multicopter import MultiCopter
import util, time, os, sys, math
import socket, struct
-import select, fgFDM, errno
+import select, errno
+
+sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..', 'pymavlink'))
+import fgFDM
def sim_send(m, a):
'''send flight information to mavproxy and flightgear'''
diff --git a/Tools/autotest/pysim/util.py b/Tools/autotest/pysim/util.py
index 3a058499c97ec3fe1e2b820851fc5f8f01f7ccbc..11d44eac559c4427515352d9552512c886fc2548 100644
--- a/Tools/autotest/pysim/util.py
+++ b/Tools/autotest/pysim/util.py
@@ -59,6 +59,8 @@ def deltree(path):
def build_SIL(atype, target='sitl'):
'''build desktop SIL'''
+ if os.getenv('MAVLINK10'):
+ target += '-mavlink10'
run_cmd("make clean %s" % target,
dir=reltopdir(atype),
checkfail=True)