pymavswarm.state package#
Submodules#
pymavswarm.state.acceleration module#
- class pymavswarm.state.acceleration.Acceleration(optional_context_props: Optional[dict] = None)#
Bases:
State
Acceleration state.
- property context: dict#
Acceleration context.
- Returns
context
- Return type
dict
- property global_frame: Vector#
Acceleration in the global frame (MAV_FRAME_GLOBAL).
- Returns
global acceleration
- Return type
pymavswarm.state.attitude module#
- class pymavswarm.state.attitude.Attitude(pitch: float, yaw: float, roll: float, pitch_speed: float, yaw_speed: float, roll_speed: float, optional_context_props: Optional[dict] = None)#
Bases:
State
Attitude of an agent.
- property context: dict#
Attitude context.
- Returns
context
- Return type
dict
- property pitch: float#
Pitch angle [-pi..+pi].
- Returns
pitch
- Return type
float
- property pitch_speed: float#
Pitch angular speed [rad/s].
- Returns
pitch speed
- Return type
float
- property roll: float#
Roll angle [-pi..+pi].
- Returns
roll
- Return type
float
- property roll_speed: float#
Roll angular speed [rad/s].
- Returns
roll speed
- Return type
float
- property yaw: float#
Yaw angle [-pi..+pi].
- Returns
yaw
- Return type
float
- property yaw_speed: float#
Yaw angular speed [rad/s].
- Returns
yaw speed
- Return type
float
pymavswarm.state.battery module#
- class pymavswarm.state.battery.Battery(voltage: float, current: float, level: float, optional_context_props: Optional[dict] = None)#
Bases:
State
Agent battery state.
- property context: dict#
Battery context.
- Returns
context
- Return type
dict
- property current: float#
Battery current [cA].
-1: Current not sent by autopilot.
- Returns
current
- Return type
float
- property level: float#
Battery energy remaining [%].
-1: Battery remaining energy not sent by autopilot.
- Return type
float
- property voltage: float#
Battery voltage [mV].
UINT16_MAX: Voltage not sent by autopilot.
- Returns
voltage
- Return type
float
pymavswarm.state.docker_info module#
- class pymavswarm.state.docker_info.DockerInfo(version: str, last_update: datetime, optional_context_props: Optional[dict] = None)#
Bases:
State
Information related to the agent’s deployed Docker image.
- property context: dict#
Docker info context.
- Returns
context
- Return type
dict
- property last_update: datetime#
Date that the image was last updated.
- Returns
last update date
- Return type
str
- property version: str#
Docker image version deployed on an agent.
- Returns
docker image version
- Return type
str
pymavswarm.state.ekf_status module#
- class pymavswarm.state.ekf_status.EKFStatus(velocity_variance: float, pos_horiz_variance: float, pos_vert_variance: float, compass_variance: float, terrain_alt_variance: float, pos_horiz_abs: float, const_pos_mode: float, pred_pos_horiz_abs: float, optional_context_props: Optional[dict] = None)#
Bases:
State
Agent EKF status.
- property compass_variance: float#
Compass variance.
- Returns
variance
- Return type
float
- property const_pos_mode: float#
EKF Flags.
EKF is in constant position mode and does not know it’s absolute or relative position.
- Returns
flags
- Return type
float
- property context: dict#
EKF status context.
- Returns
context
- Return type
dict
- property pos_horiz_abs: float#
EKF Flags.
EKF’s Horizontal position (absolute) estimate is good.
- Returns
flags
- Return type
float
- property pos_horiz_variance: float#
Horizontal position variance.
- Returns
position variance
- Return type
float
- property pos_vert_variance: float#
Vertical position variance.
- Returns
position variance
- Return type
float
- property pred_pos_horiz_abs: float#
EKF flags.
EKF’s predicted horizontal position (absolute) estimate is good.
- Returns
flags
- Return type
float
- property terrain_alt_variance: float#
Terrain altitude variance.
- Returns
variance
- Return type
float
- property velocity_variance: float#
Velocity variance.
- Returns
variance
- Return type
float
pymavswarm.state.generic module#
- class pymavswarm.state.generic.Generic(name: str, value: Any, optional_context_props: Optional[dict] = None)#
Bases:
State
Generic state object used to provide event capabilities to basic types.
- property context: dict#
State context.
- Returns
context
- Return type
dict
- property name: str#
Name associated with the state to provide when retrieving the context.
- Returns
name
- Return type
str
- property value: Any#
Value of the state property.
- Returns
state value
- Return type
Any
pymavswarm.state.gps_info module#
- class pymavswarm.state.gps_info.GPSInfo(eph: float, epv: float, fix_type: int, satellites_visible: int, optional_context_props: Optional[dict] = None)#
Bases:
State
GPS information associated with an agent.
- property context: dict#
GPS info context.
- Returns
context
- Return type
dict
- property eph: float#
GPS HDOP horizontal dilution of position (unitless * 100).
- Returns
dilution
- Return type
float
- property epv: float#
GPS VDOP vertical dilution of position (unitless * 100).
If unknown, set to: UINT16_MAX.
- Returns
dilution
- Return type
float
- property fix_type: int#
GPS fix type.
(GPS_FIX_TYPE)
- Returns
fix type
- Return type
int
- property satellites_visible: int#
Total number of satellites visible.
- Returns
satellites visible
- Return type
int
pymavswarm.state.parameter module#
- class pymavswarm.state.parameter.Parameter(parameter_id: str, parameter_value: float | int, parameter_type: int, parameter_index: int, parameter_count: int)#
Bases:
object
Parameter that has been read from an agent.
- property parameter_count: int#
Parameter count.
- Returns
parameter count
- Return type
int
- property parameter_id: str#
Parameter ID.
- Returns
parameter ID
- Return type
str
- property parameter_index: int#
Index of the parameter.
- Returns
parameter index
- Return type
int
- property parameter_type: int#
Type of value that the parameter may contain.
Should be 6: float or int.
- Returns
parameter type
- Return type
int
- property parameter_value: float | int#
Parameter value.
- Returns
parameter value
- Return type
float | int
pymavswarm.state.parameter_list module#
- class pymavswarm.state.parameter_list.ParameterList(max_length: int, optional_context_props: Optional[dict] = None)#
Bases:
State
List of parameters read from an agent.
Implemented as a circular buffer.
- append(item: Parameter) None #
Add a parameter to the buffer.
- Parameters
item (Parameter) – parameter to add to the buffer
- clear() None #
Clear all items from the parameter buffer.
- property context: dict#
Parameter list context.
- Returns
context
- Return type
dict
- extend(params: list[pymavswarm.state.parameter.Parameter]) None #
Extend the parameter buffer to include the iterable collection of parameters.
- Parameters
params (list) – list of parameters to add to the parameter buffer
- property max_length: int#
Maximum length of the circular buffer.
- Returns
length
- Return type
int
- property parameters: list[pymavswarm.state.parameter.Parameter]#
List of stored parameters.
- Returns
stored parameters
- Return type
List[Parameter]
pymavswarm.state.position module#
- class pymavswarm.state.position.Position(optional_context_props: Optional[dict] = None)#
Bases:
State
Agent position.
- property context: dict#
Position context.
- Returns
context
- Return type
dict
- property global_frame: Vector#
Position in the global frame (MAV_FRAME_GLOBAL).
- Returns
global position
- Return type
pymavswarm.state.state module#
pymavswarm.state.telemetry module#
- class pymavswarm.state.telemetry.Telemetry(drop_rate: float, optional_context_props: Optional[dict] = None)#
Bases:
State
Telemetry state information.
- property context: dict#
Telemetry state context.
- Returns
context
- Return type
dict
- property drop_rate: float#
Drop rate.
Communication drop rate, (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
- Returns
drop rate
- Return type
float
pymavswarm.state.vector module#
- class pymavswarm.state.vector.Vector(x: float, y: float, z: float, frame: int, timestamp: float, optional_context_props: Optional[dict] = None)#
Bases:
State
Vector in 3D space.
- property context: dict#
Vector context.
- Returns
context
- Return type
dict
- property frame: int#
Coordinate frame that the vector is in.
- Returns
frame
- Return type
int
- property timestamp: float#
Timestamp that the vector was last updated.
- Returns
timestamp
- Return type
float
- property x: float#
x component.
- Returns
x component
- Return type
float
- property y: float#
y component.
- Returns
y component
- Return type
float
- property z: float#
z component.
Valueitive for up.
- Returns
z component
- Return type
float
pymavswarm.state.velocity module#
- class pymavswarm.state.velocity.Velocity(optional_context_props: Optional[dict] = None)#
Bases:
State
Velocity state.
- property context: dict#
Velocity context.
- Returns
context
- Return type
dict
- property global_frame: Vector#
Velocity in the global frame (MAV_FRAME_GLOBAL).
- Returns
global velocity
- Return type