/
servo_tuner.py
497 lines (418 loc) · 23 KB
/
servo_tuner.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
# -*- coding: utf-8 -*-
"""
servo_tuner.py
Creates an IronPython dialog to augment servo tuning
Tested under Windows 10, but should be Linux compatible
(assuming that IronPython sucks less at cross-compatibility than it does ease of coding...)
-- Yuri - Aug 2021
"""
print('\n*** ServoTuner ***\n')
print('Loading modules...')
from collections import OrderedDict
import clr
clr.AddReference('MAVLink')
clr.AddReference('System.Drawing')
clr.AddReference('System.Windows.Forms')
import MAVLink
from System import Char, Func, Array
from System.Windows.Forms import Application, Screen, Form, Keys, HorizontalAlignment, \
FlatStyle, BorderStyle, ProgressBar, CheckBox, Label, NumericUpDown, Button, ToolTip
from System.Drawing import Point, Color
SEVERITY = ['EMERGENCY: ', 'ALERT: ', 'CRITICAL: ', 'ERROR: ', 'WARNING: ', 'NOTICE: ', 'INFO: ', 'DEBUG: ']
SPINNER = ['-', '\\', '|', '/']
MIN_PWM = 800
MAX_PWM = 2200
AIL_CH = int(Script.GetParam('RCMAP_ROLL'))
ELE_CH = int(Script.GetParam('RCMAP_PITCH'))
THR_CH = int(Script.GetParam('RCMAP_THROTTLE'))
RUD_CH = int(Script.GetParam('RCMAP_YAW'))
class MPColor:
""" System.Drawing.Color is a sealed value type that disallows class inheritance
Dynamically creating MPColor attributes is a workaround for that """
def __init__(self):
pass
for attr in dir(Color):
setattr(MPColor, attr, getattr(Color, attr))
setattr(MPColor, 'MPDarkGray', Color.FromArgb(38, 39, 40))
setattr(MPColor, 'MPMediumGray', Color.FromArgb(53, 54, 55))
setattr(MPColor, 'MPLightGray', Color.FromArgb(68, 69, 70))
setattr(MPColor, 'MPGreen', Color.FromArgb(165, 203, 70))
setattr(MPColor, 'ServoBG', Color.FromArgb(200, 201, 202))
CustomColor = MPColor()
class ServoTunerForm(Form):
def __init__(self):
MAV.SubscribeToPacketType(MAVLink.MAVLINK_MSG_ID.SERVO_OUTPUT_RAW,
Func[MAVLink.MAVLinkMessage, bool](self.get_servo_data))
MAV.SubscribeToPacketType(MAVLink.MAVLINK_MSG_ID.HEARTBEAT,
Func[MAVLink.MAVLinkMessage, bool](self.heartbeat_received))
MAV.OnPacketReceived += self.packet_handler
self.Text = 'Servo Tuner'
self.Location = Point(0, 0)
self.TopMost = True
self.BackColor = CustomColor.MPDarkGray
self.ForeColor = CustomColor.White
self.Shown += self.on_load
self.FormClosing += self.on_exit
self.heartbeat_count = 0
self.margin = 5
start_x, start_y = 12, 10
self.servo_widgets = []
for x in range(16):
progress_bar = ProgressBar()
progress_bar.Width = 150
progress_bar.Height = 20
progress_bar.BackColor = CustomColor.MPMediumGray
progress_bar.ForeColor = CustomColor.MPGreen
progress_bar.Minimum = MIN_PWM
progress_bar.Maximum = MAX_PWM
progress_bar.Value = int((MIN_PWM + MAX_PWM) / 2)
progress_bar.Text = str(x)
lbl_servo = Label()
lbl_servo.Text = 'Servo ' + str(x + 1)
lbl_servo.BackColor = CustomColor.MPDarkGray
lbl_servo.Width = 60
lbl_servo.Height = progress_bar.Height - 8
lbl_value = Label()
lbl_value.Text = str(progress_bar.Value)
lbl_value.BackColor = CustomColor.ServoBG
lbl_value.ForeColor = Color.Black
lbl_value.Width = 30
lbl_value.Height = progress_bar.Height - 8
lbl_min = Label()
lbl_min.Text = str(MAX_PWM + 1)
lbl_min.BackColor = CustomColor.MPMediumGray
lbl_min.Width = 30
lbl_min.Height = progress_bar.Height - 8
lbl_max = Label()
lbl_max.Text = str(MIN_PWM - 1)
lbl_max.BackColor = CustomColor.MPMediumGray
lbl_max.Width = 30
lbl_max.Height = progress_bar.Height - 8
lbl_diff = Label()
lbl_diff.Text = ''
lbl_diff.BackColor = CustomColor.MPMediumGray
lbl_diff.Width = 30
lbl_diff.Height = progress_bar.Height - 8
lbl_midpt = Label()
lbl_midpt.Text = ''
lbl_midpt.BackColor = CustomColor.MPMediumGray
lbl_midpt.Width = 30
lbl_midpt.Height = progress_bar.Height - 8
self.servo_widgets.append(OrderedDict([('lbl_servo', lbl_servo),
('progress_bar', progress_bar),
('lbl_value', lbl_value),
('lbl_min', lbl_min),
('lbl_max', lbl_max),
('lbl_diff', lbl_diff),
('lbl_midpt', lbl_midpt)]))
self.lbl_min_hdr = Label()
self.lbl_min_hdr.Text = ' Min:'
self.lbl_min_hdr.AutoSize = True
self.lbl_max_hdr = Label()
self.lbl_max_hdr.Text = ' Max:'
self.lbl_max_hdr.AutoSize = True
self.lbl_diff_hdr = Label()
self.lbl_diff_hdr.Text = 'Diff:'
self.lbl_diff_hdr.AutoSize = True
self.lbl_midpt_hdr = Label()
self.lbl_midpt_hdr.Text = 'MidPt:'
self.lbl_midpt_hdr.AutoSize = True
self.spn_aileron = NumericUpDown()
self.spn_aileron.Width = 50
self.spn_aileron.BorderStyle = BorderStyle.FixedSingle
self.spn_aileron.BackColor = CustomColor.MPLightGray
self.spn_aileron.ForeColor = CustomColor.White
self.spn_aileron.Minimum = int(Script.GetParam('RC' + str(AIL_CH) + '_MIN'))
self.spn_aileron.Maximum = int(Script.GetParam('RC' + str(AIL_CH) + '_MAX'))
self.spn_aileron.Increment = 1
self.spn_aileron.Value = int(Script.GetParam('RC' + str(AIL_CH) + '_TRIM'))
self.chk_aileron = CheckBox()
self.chk_aileron.Name = str(AIL_CH) + ',spn_aileron'
self.chk_aileron.FlatAppearance.BorderSize = 1
self.chk_aileron.FlatAppearance.BorderColor = CustomColor.MPLightGray
self.chk_aileron.Text = 'Override RC Aileron'
self.chk_aileron.Checked = False
self.chk_aileron.AutoSize = True
self.chk_aileron.CheckedChanged += self.handle_overrides
self.spn_elevator = NumericUpDown()
self.spn_elevator.Width = 50
self.spn_elevator.BorderStyle = BorderStyle.FixedSingle
self.spn_elevator.BackColor = CustomColor.MPLightGray
self.spn_elevator.ForeColor = CustomColor.White
self.spn_elevator.Minimum = int(Script.GetParam('RC' + str(ELE_CH) + '_MIN'))
self.spn_elevator.Maximum = int(Script.GetParam('RC' + str(ELE_CH) + '_MAX'))
self.spn_elevator.Increment = 1
self.spn_elevator.Value = int(Script.GetParam('RC' + str(ELE_CH) + '_TRIM'))
self.chk_elevator = CheckBox()
self.chk_elevator.Name = str(ELE_CH) + ',spn_elevator'
self.chk_elevator.FlatAppearance.BorderSize = 1
self.chk_elevator.FlatAppearance.BorderColor = CustomColor.MPLightGray
self.chk_elevator.Text = 'Override RC Elevator'
self.chk_elevator.Checked = False
self.chk_elevator.AutoSize = True
self.chk_elevator.CheckedChanged += self.handle_overrides
self.spn_throttle = NumericUpDown()
self.spn_throttle.Width = 50
self.spn_throttle.BorderStyle = BorderStyle.FixedSingle
self.spn_throttle.BackColor = CustomColor.MPLightGray
self.spn_throttle.ForeColor = CustomColor.White
self.spn_throttle.Minimum = int(Script.GetParam('RC' + str(THR_CH) + '_MIN'))
self.spn_throttle.Maximum = int(Script.GetParam('RC' + str(THR_CH) + '_MAX'))
self.spn_throttle.Increment = 1
self.spn_throttle.Value = int(Script.GetParam('RC' + str(THR_CH) + '_TRIM'))
self.chk_throttle = CheckBox()
self.chk_throttle.Name = str(THR_CH) + ',spn_throttle'
self.chk_throttle.FlatAppearance.BorderSize = 1
self.chk_throttle.FlatAppearance.BorderColor = CustomColor.MPLightGray
self.chk_throttle.Text = 'Override RC Throttle'
self.chk_throttle.Checked = False
self.chk_throttle.AutoSize = True
self.chk_throttle.CheckedChanged += self.handle_overrides
self.spn_rudder = NumericUpDown()
self.spn_rudder.Width = 50
self.spn_rudder.BorderStyle = BorderStyle.FixedSingle
self.spn_rudder.BackColor = CustomColor.MPLightGray
self.spn_rudder.ForeColor = CustomColor.White
self.spn_rudder.Minimum = int(Script.GetParam('RC' + str(RUD_CH) + '_MIN'))
self.spn_rudder.Maximum = int(Script.GetParam('RC' + str(RUD_CH) + '_MAX'))
self.spn_rudder.Increment = 1
self.spn_rudder.Value = int(Script.GetParam('RC' + str(RUD_CH) + '_TRIM'))
self.chk_rudder = CheckBox()
self.chk_rudder.Name = str(RUD_CH) + ',spn_rudder'
self.chk_rudder.FlatAppearance.BorderSize = 1
self.chk_rudder.FlatAppearance.BorderColor = CustomColor.MPLightGray
self.chk_rudder.Text = 'Override RC Rudder'
self.chk_rudder.Checked = False
self.chk_rudder.AutoSize = True
self.chk_rudder.CheckedChanged += self.handle_overrides
self.spn_channel_num = NumericUpDown()
self.spn_channel_num.Width = 35
self.spn_channel_num.BorderStyle = BorderStyle.FixedSingle
self.spn_channel_num.BackColor = CustomColor.MPLightGray
self.spn_channel_num.ForeColor = CustomColor.White
self.spn_channel_num.Minimum = 1
self.spn_channel_num.Maximum = 16
self.spn_channel_num.Increment = 1
self.spn_channel_num.Value = 1
self.spn_channel_num.ValueChanged += self.set_channel_min_max
self.spn_channel = NumericUpDown()
self.spn_channel.Width = 50
self.spn_channel.BorderStyle = BorderStyle.FixedSingle
self.spn_channel.BackColor = CustomColor.MPLightGray
self.spn_channel.ForeColor = CustomColor.White
self.spn_channel.Minimum = int(Script.GetParam('RC' + str(self.spn_channel_num.Value) + '_MIN'))
self.spn_channel.Maximum = int(Script.GetParam('RC' + str(self.spn_channel_num.Value) + '_MAX'))
self.spn_channel.Increment = 1
self.spn_channel.Value = int(Script.GetParam('RC' + str(self.spn_channel_num.Value) + '_TRIM'))
self.chk_channel = CheckBox()
self.chk_channel.Name = str(self.spn_channel_num.Value) + ',spn_channel'
self.chk_channel.FlatAppearance.BorderSize = 1
self.chk_channel.FlatAppearance.BorderColor = CustomColor.MPLightGray
self.chk_channel.Text = 'Override RC Channel'
self.chk_channel.Checked = False
self.chk_channel.AutoSize = True
self.chk_channel.CheckedChanged += self.handle_overrides
self.btn_reset = Button()
self.btn_reset.Width = 130
self.btn_reset.FlatStyle = FlatStyle.Flat
self.btn_reset.FlatAppearance.BorderSize = 1
self.btn_reset.FlatAppearance.BorderColor = CustomColor.MPLightGray
self.btn_reset.BackColor = CustomColor.MPGreen
self.btn_reset.ForeColor = CustomColor.Black
self.btn_reset.Text = 'Reset Min/Max Values'
self.btn_reset.Click += self.reset_min_max
self.btn_inhibit_overrides = Button()
self.btn_inhibit_overrides.Width = self.btn_reset.Width
self.btn_inhibit_overrides.Height = self.btn_reset.Height + 15
self.btn_inhibit_overrides.FlatStyle = FlatStyle.Flat
self.btn_inhibit_overrides.FlatAppearance.BorderSize = 1
self.btn_inhibit_overrides.FlatAppearance.BorderColor = CustomColor.MPLightGray
self.btn_inhibit_overrides.BackColor = Color.DarkRed
self.btn_inhibit_overrides.ForeColor = Color.White
self.btn_inhibit_overrides.Text = 'Return RC Control\nNOW!'
self.btn_inhibit_overrides.Click += self.handle_overrides
self.chk_sticky = CheckBox()
self.chk_sticky.FlatAppearance.BorderSize = 1
self.chk_sticky.FlatAppearance.BorderColor = CustomColor.MPLightGray
self.chk_sticky.Text = 'Always on top'
self.chk_sticky.Checked = True
self.chk_sticky.AutoSize = True
self.lbl_status = Label()
self.lbl_status.Text = 'Waiting for heartbeat...'
self.lbl_status.BackColor = CustomColor.MPMediumGray
self.lbl_status.Height = self.servo_widgets[0]['progress_bar'].Height - 4
self.lbl_warning = Label()
self.lbl_warning.Text = ' WARNING! This script is capable of servo/motor output. Make sure the\n' \
' vehicle is safely on jack stands or cannot otherwise cause damage or injury.'
self.lbl_warning.BackColor = Color.DarkRed
self.lbl_warning.Height = 30
# pseudo-responsive form layout
self.add_control_horizontal(self.lbl_warning, start_x, start_y, self.margin)
x, y = start_x, start_y + 55
max_x = 0
for widget in self.servo_widgets:
x = start_x
x, y, x_extent = self.add_control_horizontal(widget['lbl_servo'], x, y, self.margin)
x, tmp, x_extent = self.add_control_horizontal(widget['progress_bar'], x, y - 4, self.margin)
widget.items()[2][1].Left = x - 95
widget.items()[2][1].Top = y
self.Controls.Add(widget['lbl_value'])
widget['lbl_value'].BringToFront()
x, y, x_extent = self.add_control_horizontal(widget['lbl_min'], x + 10, y, self.margin)
x, y, x_extent = self.add_control_horizontal(widget['lbl_max'], x + 10, y, self.margin)
x, y, x_extent = self.add_control_horizontal(widget['lbl_diff'], x + 10, y, self.margin)
x, y, x_extent = self.add_control_horizontal(widget['lbl_midpt'], x + 10, y, self.margin)
max_x = max([x_extent, max_x])
y += widget.items()[1][1].Height + self.margin * 3
self.Width = max_x + self.margin * 4
x = self.servo_widgets[0]['lbl_min'].Left
x, y, tmp = self.add_control_vertical(self.btn_reset, x, y + self.margin, self.margin)
x, y, tmp = self.add_control_horizontal(self.btn_inhibit_overrides, x, y + self.margin, self.margin)
x, y, tmp = self.add_control_horizontal(self.spn_aileron, start_x, self.btn_reset.Top, self.margin)
x, y, tmp = self.add_control_vertical(self.chk_aileron, x, y, self.margin)
x, y, tmp = self.add_control_horizontal(self.spn_elevator, start_x, y + 3, self.margin)
x, y, tmp = self.add_control_vertical(self.chk_elevator, x, y, self.margin)
x, y, tmp = self.add_control_horizontal(self.spn_throttle, start_x, y + 3, self.margin)
x, y, tmp = self.add_control_vertical(self.chk_throttle, x, y, self.margin)
x, y, tmp = self.add_control_horizontal(self.spn_rudder, start_x, y + 3, self.margin)
x, y, tmp = self.add_control_vertical(self.chk_rudder, x, y, self.margin)
x, y, tmp = self.add_control_horizontal(self.spn_channel, start_x, y + 3, self.margin)
x, y, tmp = self.add_control_horizontal(self.chk_channel, x, y, self.margin)
x, y, tmp = self.add_control_vertical(self.spn_channel_num, x, y, self.margin)
x, y, tmp = self.add_control_vertical(self.chk_sticky, start_x, y + 10, self.margin)
self.lbl_status.Width = self.Width - self.margin * 7
x, y, x_extent = self.add_control_vertical(self.lbl_status, start_x, y + 3, self.margin)
self.lbl_warning.Width = self.lbl_status.Width
self.lbl_min_hdr.Location = Point(self.servo_widgets[0]['lbl_min'].Left,
self.servo_widgets[0]['lbl_min'].Top - 20)
self.lbl_max_hdr.Location = Point(self.servo_widgets[0]['lbl_max'].Left,
self.servo_widgets[0]['lbl_min'].Top - 20)
self.lbl_diff_hdr.Location = Point(self.servo_widgets[0]['lbl_diff'].Left,
self.servo_widgets[0]['lbl_min'].Top - 20)
self.lbl_midpt_hdr.Location = Point(self.servo_widgets[0]['lbl_midpt'].Left,
self.servo_widgets[0]['lbl_min'].Top - 20)
self.Controls.Add(self.lbl_min_hdr)
self.Controls.Add(self.lbl_max_hdr)
self.Controls.Add(self.lbl_diff_hdr)
self.Controls.Add(self.lbl_midpt_hdr)
self.Height = y + self.lbl_status.Height + self.margin * 5
self.Tips = ToolTip()
self.Tips.SetToolTip(self.btn_inhibit_overrides, 'Inhibit all RC overrides immediately')
warning = 'WARNING: The vehicle may move when this is enabled!'
self.Tips.SetToolTip(self.chk_aileron, warning)
self.Tips.SetToolTip(self.chk_elevator, warning)
self.Tips.SetToolTip(self.chk_throttle, warning)
self.Tips.SetToolTip(self.chk_rudder, warning)
self.Tips.SetToolTip(self.chk_channel, warning)
def set_sticky(self, sender, event):
if sender.Checked:
self.TopMost = True
return
self.TopMost = False
def set_channel_min_max(self, sender, event):
self.chk_channel.Name = str(sender.Value) + ',spn_channel'
self.spn_channel.Minimum = int(Script.GetParam('RC' + str(sender.Value) + '_MIN'))
self.spn_channel.Maximum = int(Script.GetParam('RC' + str(sender.Value) + '_MAX'))
self.spn_channel.Value = int(Script.GetParam('RC' + str(sender.Value) + '_TRIM'))
def reset_min_max(self, sender, event):
for x in range(15):
self.servo_widgets[x]['lbl_min'].Text = str(MAX_PWM + 1)
self.servo_widgets[x]['lbl_max'].Text = str(MIN_PWM - 1)
self.servo_widgets[x]['lbl_diff'].Text = ''
self.servo_widgets[x]['lbl_midpt'].Text = ''
def add_control_vertical(self, control, x, y, margin):
control.Location = Point(x, y)
self.Controls.Add(control)
return x, y + control.Height + margin, x + control.Width + margin
def add_control_horizontal(self, control, x, y, margin):
control.Location = Point(x, y)
self.Controls.Add(control)
return x + control.Width + margin, y, x + control.Width + margin
def get_servo_data(self, message):
for x in range(16):
try:
val = int(getattr(message.data, 'servo' + str(x + 1) + '_raw'))
except AttributeError:
continue
if val < MIN_PWM:
if self.servo_widgets[x]['progress_bar'].Visible:
self.servo_widgets[x]['progress_bar'].Visible = False
if self.servo_widgets[x]['lbl_min'].Visible:
self.servo_widgets[x]['lbl_min'].Visible = False
if self.servo_widgets[x]['lbl_max'].Visible:
self.servo_widgets[x]['lbl_max'].Visible = False
if self.servo_widgets[x]['lbl_diff'].Visible:
self.servo_widgets[x]['lbl_diff'].Visible = False
if self.servo_widgets[x]['lbl_midpt'].Visible:
self.servo_widgets[x]['lbl_midpt'].Visible = False
self.servo_widgets[x]['lbl_value'].Text = ' --'
continue
self.servo_widgets[x]['progress_bar'].Value = val
self.servo_widgets[x]['lbl_value'].Text = str(val)
if val < int(self.servo_widgets[x]['lbl_min'].Text):
self.servo_widgets[x]['lbl_min'].Text = str(val)
max = int(self.servo_widgets[x]['lbl_max'].Text)
self.servo_widgets[x]['lbl_diff'].Text = str(max - val)
self.servo_widgets[x]['lbl_midpt'].Text = str(int(round((max - val) / 2) + val))
if val > int(self.servo_widgets[x]['lbl_max'].Text):
self.servo_widgets[x]['lbl_max'].Text = str(val)
min = int(self.servo_widgets[x]['lbl_min'].Text)
self.servo_widgets[x]['lbl_diff'].Text = str(val - min)
self.servo_widgets[x]['lbl_midpt'].Text = str(int(round((val - min) / 2) + min))
return True
def heartbeat_received(self, message):
self.heartbeat_count = (self.heartbeat_count + 1) % 4
text = self.lbl_status.Text
if text.find('heartbeat') > 0:
text = ' FOUND: Heartbeat'
text = list(text)
text[0] = SPINNER[self.heartbeat_count]
self.lbl_status.Text = ''.join(text)
self.handle_overrides(self.chk_aileron, None)
self.handle_overrides(self.chk_elevator, None)
self.handle_overrides(self.chk_throttle, None)
self.handle_overrides(self.chk_rudder, None)
self.handle_overrides(self.chk_channel, None)
def handle_overrides(self, sender, event):
if sender == self.btn_inhibit_overrides:
if self.chk_aileron.Checked:
self.chk_aileron.Checked = False
if self.chk_elevator.Checked:
self.chk_elevator.Checked = False
if self.chk_throttle.Checked:
self.chk_throttle.Checked = False
if self.chk_rudder.Checked:
self.chk_rudder.Checked = False
if self.chk_channel.Checked:
self.chk_channel.Checked = False
return
chan, name = sender.Name.split(',')
chan = int(chan)
if sender.Checked:
val = int(getattr(self, name).Value)
Script.SendRC(chan, val, True)
if sender.BackColor != Color.DarkRed:
sender.BackColor = Color.DarkRed
return
if event is not None: # return RC control for this channel by sending a 0 pwm value
""" https://diydrones.com/forum/topics/how-to-restore-control-back-to-rc-when-running-a-python-script-in """
Script.SendRC(chan, 0, True)
if sender.BackColor != self.BackColor:
sender.BackColor = self.BackColor
def packet_handler(self, obj, message):
try:
if message.msgid == MAVLink.MAVLINK_MSG_ID.STATUSTEXT.value__:
self.lbl_status.Text = SPINNER[self.heartbeat_count] + ' ' + \
SEVERITY[message.data.severity] + str(bytes(message.data.text))
except Exception as inst:
print(inst) # not sure what situation would raise this, so leaving it for debugging
def on_load(self, sender, event):
self.chk_sticky.CheckedChanged += self.set_sticky
self.set_sticky(self.chk_sticky, None)
print('Running...')
def on_exit(self, sender, event):
MAV.UnSubscribeToPacketType(MAVLink.MAVLINK_MSG_ID.SERVO_OUTPUT_RAW)
MAV.UnSubscribeToPacketType(MAVLink.MAVLINK_MSG_ID.HEARTBEAT)
print('Loading interface...')
Application.Run(ServoTunerForm())
print('Done')