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Merge pull request #427 from dronekit/tcr-rc
Implements Channels functionality as its own object.
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‎docs/examples/channel_overrides.rst

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.. _example_channel_overrides:
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.. _vehicle_state_channel_override:
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==========================
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Example: Channel Overrides
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==========================
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=======================================
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Example: Channels and Channel Overrides
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=======================================
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This example shows how to get channel information and to get/set channel-override information.
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.. code:: bash
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Overriding RC channels for roll and yaw
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Current overrides are: {'1': 900, '4': 1000}
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Channel default values: {'1': 1500, '3': 1000, '2': 1500, '5': 1800, '4': 1500, '7': 1000, '6': 1000, '8': 1800}
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Cancelling override
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Connecting to vehicle on: 170.0.0.1:14550
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>>> APM:Copter V3.3 (d6053245)
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>>> Frame: QUAD
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>>> Calibrating barometer
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>>> Initialising APM...
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>>> barometer calibration complete
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>>> GROUND START
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Channel values from RC Tx: {'1': 1500, '3': 1000, '2': 1500, '5': 1800, '4': 1500, '7': 1000, '6': 1000, '8': 1800}
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Read channels individually:
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Ch1: 1500
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Ch2: 1500
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Ch3: 1000
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Ch4: 1500
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Ch5: 1800
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Ch6: 1000
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Ch7: 1000
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Ch8: 1800
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Number of channels: 8
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Channel overrides: {}
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Set Ch2 override to 200 (indexing syntax)
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Channel overrides: {'2': 200}
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Ch2 override: 200
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Set Ch3 override to 300 (dictionary syntax)
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Channel overrides: {'3': 300}
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Set Ch1-Ch8 overrides to 110-810 respectively
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Channel overrides: {'1': 110, '3': 310, '2': 210, '5': 510, '4': 4100, '7': 710, '6': 610, '8': 810}
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Cancel Ch2 override (indexing syntax)
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Channel overrides: {'1': 110, '3': 310, '5': 510, '4': 4100, '7': 710, '6': 610, '8': 810}
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Clear Ch3 override (del syntax)
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Channel overrides: {'1': 110, '5': 510, '4': 4100, '7': 710, '6': 610, '8': 810}
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Clear Ch5, Ch6 override and set channel 3 to 500 (dictionary syntax)
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Channel overrides: {'3': 500}
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Clear all overrides
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Channel overrides: {}
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Close vehicle object
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Completed
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How does it work?
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=================
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Get the default values of the channels using the :py:attr:`channel_readback <dronekit.lib.Vehicle.channel_readback>` attribute.
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You can over-ride these values using the :py:attr:`channel_override <dronekit.lib.Vehicle.channel_override>` attribute. This takes a dictionary argument defining the RC *output* channels to be overridden (specified by channel number), and their new values. Channels that are not specified in the dictionary are not overridden. All multi-channel updates are atomic. To cancel an override call ``channel_override`` again, setting zero for the overridden channels.
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The RC transmitter channels are connected to the autopilot and control the vehicle.
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The values of the first four channels map to the main flight controls: 1=Roll, 2=Pitch, 3=Throttle, 4=Yaw (the mapping is defined in ``RCMAP_`` parameters in
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`Plane <http://plane.ardupilot.com/wiki/arduplane-parameters/#rcmap__parameters>`_,
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`mission controlled <http://plane.ardupilot.com/wiki/flight-features/channel-output-functions/#disabled>`_ (i.e. it will not directly be
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controlled by normal autopilot code).
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You can read the values of the channels using the :py:attr:`Vehicle.channels <dronekit.lib.Vehicle.channels>` attribute. The values are regularly updated,
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from the UAV, based on the RC inputs from the transmitter. These can be read either as a set or individually:
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.. code:: python
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# Get all channel values from RC transmitter
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print "Channel values from RC Tx:", vehicle.channels
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# Access channels individually
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print "Read channels individually:"
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print " Ch1: %s" % vehicle.channels['1']
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print " Ch2: %s" % vehicle.channels['2']
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You can override the values sent to the vehicle by the autopilot using :py:attr:`Vehicle.channels.overrides <dronekit.lib.Channels.overrides>`
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(although this is not recommended)! The overrides can be written individually using an indexing syntax or as a set using a dictionary syntax.
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.. code:: python
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# Set Ch2 override to 200 using indexing syntax
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vehicle.channels.overrides['2'] = 200
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# Set Ch3, Ch4 override to 300,400 using dictionary syntax"
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vehicle.channels.overrides = {'3':300, '4':400}
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To clear all overrides, set the attribute to an empty dictionary.
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To clear an individual override you can set its value to ``None`` (or call ``del`` on it):
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.. code:: python
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# Clear override by setting channels to None
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# Clear using index syntax
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vehicle.channels.overrides['2'] = None
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# Clear using 'del' syntax
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del vehicle.channels.overrides['3']
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# Clear using dictionary syntax (and set override at same time!)
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vehicle.channels.overrides = {'5':None, '6':None,'3':500}
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# Clear all overrides by setting an empty dictionary
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vehicle.channels.overrides = {}
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Read the channel overrides either as a dictionary or by index.
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.. code:: python
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# Get all channel overrides
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print " Channel overrides: %s" % vehicle.channels.overrides
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# Print just one channel override
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print " Ch2 override: %s" % vehicle.channels.overrides['2']
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.. note::
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You'll get a ``KeyError`` exception if you read a channel override that has
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not been set.
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Source code

‎docs/guide/migrating.rst

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:py:func:`Vehicle.is_armable <dronekit.lib.Vehicle.is_armable>`.
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Channel Overrides
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-----------------
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.. warning::
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Channel overrides (a.k.a “RC overrides”) are highly discommended (they are primarily implemented for
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simulating user input and when implementing certain types of joystick control).
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DKPY v2 replaces the ``vehicle.channel_readback`` attribute with
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:py:attr:`Vehicle.channels <dronekit.lib.Vehicle.channels>` (and the :py:class:`Channels <dronekit.lib.Channels>`
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class) and the ``vehicle.channel_override`` attribute with
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:py:attr:`Vehicle.channels.overrides <dronekit.lib.Channels.overrides>`
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(and the :py:class:`ChannelsOverrides <dronekit.lib.ChannelsOverrides>` class).
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Documentation and example code for how to use the new API are provided in :ref:`example_channel_overrides`.
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Debugging
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=========
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