Williangalvani

AP_Motors6DOF mixer equivalence proof

Result: PASS. The merged output_armed_stabilizing() produces bit-identical _thrust_rpyt_out[] and the same throttle limit flags as the three pre-merge functions, for the same inputs.

What was compared

	Commit	Function(s)
Old	f808f78ce5 (HEAD^ tree of libraries/AP_Motors/AP_Motors6DOF.cpp)	output_armed_stabilizing() dispatcher + output_armed_stabilizing_vectored() + output_armed_stabilizing_vectored_6dof()
New	4e2f5ba108 AP_Motors: merge the three Sub's output functions	merged output_armed_stabilizing()

Williangalvani

#!/usr/bin/env python3

from mavlink2rest_helper import Mavlink2RestHelper
import time

MAVLINK2REST_ADDRESS = "http://192.168.15.132/mavlink2rest"
helper = Mavlink2RestHelper(MAVLINK2REST_ADDRESS)

def set_servo_params():
    """Set all SERVO_FUNCTIONS to RCIN"""

Williangalvani

Instructions for building and debugging ArduSub in Blueos

This uses a fixed gcc version, 10.2, as that is what ardupilot is using, and seems to play along fine with glibc and gdbserver in blueos.

10.3 WILL NOT WORK IN BLUEOS

wget --no-clobber http://new.galvanicloop.com:8000/gcc-arm-10.2-2020.11-x86_64-arm-none-linux-gnueabihf.tar.xz
tar -xxvf gcc-arm-10.2-2020.11-x86_64-arm-none-linux-gnueabihf.tar.xz
git clone --recurse-submodules --branch Sub-4.1 https://github.com/ArduPilot/ardupilot.git

Williangalvani

"""
Example of how to set target speed in guided mode with pymavlink
"""

import time
import math
# Import mavutil
from pymavlink import mavutil
# Imports for attitude
from pymavlink.quaternion import QuaternionBase

Williangalvani

from pymavlink import mavutil
import time

############################## WARNING ################################
# THIS WILL DISABLE ARDUSUB'S ABILITIES TO CONTROL THE ROV BY ITSELF.
# USE WITH CAUTION
# MOTORS WILL SPIN WHEN THIS RUNS EVEN IF DISARMED
#######################################################################

# This example allows direct control of the thrusters, bypassing the

Williangalvani

{
  "stable": {
    "dockers": {
      "supervisor": {
        "tag": "stable",
        "image": "williangalvani/supervisor",
        "enabled": true,
        "webui": false,
        "ports": {
          "8080/tcp": 8080

Williangalvani

#!/usr/bin/env python3
"""
This script is used to integrate the nortek DVL1000 with ardupilot.
The DVL must be outputting messages $PNORBT6 to port 9000 of whoever runs this script.

There must also be a mavlink connection avaiable at 0.0.0.0:14551 so the script can get
ATTITUDE messages
"""

import asyncio

Williangalvani

#!/usr/bin/env python3
"""
This script is used to integrate the Waterlinked A50 DVL with ardupilot.

It uses a tcp connection to port 
There must also be a mavlink connection avaiable at 0.0.0.0:14551 so the script can get
ATTITUDE messages
"""
import asyncio
from pymavlink import mavutil

Williangalvani

# Import mavutil
from pymavlink import mavutil
from pymavlink.quaternion import QuaternionBase
import math
import time
import sys
ALT_HOLD_MODE = 2

def is_armed():
    try:

Williangalvani

#This makes my thrusters go insane!

# Import mavutil
from pymavlink import mavutil
import time 

# Create the connection
master = mavutil.mavlink_connection('udpin:0.0.0.0:14551')
# Wait a heartbeat before sending commands
master.wait_heartbeat()