mosquito-API

Python wrapper around bare MSP messages to talk to the Mosquito via WiFi.

Requirements

Python 3

How to use it

Import the wrapper

Download the wrapper via pip (not yet supported) or clone this repository by typing in a terminal: git clone https://github.com/juangallostra/mosquito-API.git
Start a terminal session in the directory where you cloned the repository (only required if the repository was cloned)
To install the library run sudo python3 setup.py install (only required if the repository was cloned). Note that this will result in a system wide installation. Altrnatives to this are using virtual environments or including the library folders and files inside your project.

Import the wrapper with:

>>> from mosquito import mapi
>>> Mosquito = mapi.Mosquito()

API Methods

For the API methods to work, one should first connect to the Mosquito's WiFi network.

Mosquito.connect

Connect to the Mosquito.

Parameters: None
Returns: None
```
>>> Mosquito.connect()
```

Mosquito.disconnect

Disconnect from the Mosquito.

Parameters: None
Returns: None
```
>>> Mosquito.disconnect()
```

Mosquito.arm

Arm the Mosquito.

Parameters: None
Returns: None
```
>>> Mosquito.arm()
```

Mosquito.disarm

Disarm the Mosquito.

Parameters: None
Returns: None
```
>>> Mosquito.disarm()
```

Mosquito.set_position_board

Set if the Mosquito has the positoning board.

Parameters:
- has_position_board: Indicates via a boolean value wether the Mosquito is equipped with a positioning board or not.

Returns: None

>>> Mosquito.set_position_board(has_position_board)

Mosquito.position_board_connected

Check if the position board is connected to the Mosquito.

Parameters: None
Returns: The connection status of the position board. True if connected and False otherwise.
```
>>> Mosquito.position_board_connected()
```

Mosquito.set_mosquito_version

Set the version of the Mosquito (True meaning Mosquito 90 and False meaning Mosquito 150).

Parameters:
- is_mosquito_90: Indicates via a boolean value the version of the Mosquito. True meaning Mosquito 90 and False meaning Mosquito 150

Returns: None

>>> Mosquito.set_mosquito_version(is_mosquito_90)

Mosquito.get_firmware_version

Get the version of the firmware running on the Mosquito.

Parameters: None
Returns: Firmware version as an integer
```
>>> Mosquito.get_firmware_version()
```

Mosquito.calibrate_ESCs

Calibrate ESCs with the MultiShot protocol. When this message is sent, the calibration will be performed after powering off and on the board. Here are some additional links if you want to know a bit more about ESC protocols:

Parameters: None
Returns: None
```
>>> Mosquito.calibrate_ESCs()
```

Mosquito.calibrate_transmitter

Trigger the different stages (0,1,2) of the transmitter calibration. This calibration consists of three steps.

First stage (stage = 0): Throttle stick (left stick) at its minimum value and right stick centered.
Second stage (stage = 1): Move both sticks randomly between its maximum and minimum values.
Third stage (stage = 2): Sticks at rest. Trigger calibration computations.

Parameters:
- stage: Indicates the calibration stage with an integer in the range 0-2.

Returns: None

>>> Mosquito.calibrate_transmitter(stage)

Mosquito.get_attitude

Get the orientation of the Mosquito in radians or degrees. By default (if the parameter degrees is omitted) the attitude will be obtained in radians.

Parameters:
- degrees: Boolean value that indicates if the attitude should be returned in degrees. It is False by default
Returns: 3 value tuple with the orientation of the Mosquito in radians as (Roll, Pitch, Yaw)
```
>>> Mosquito.get_attitude(degrees=True/False)
```

Mosquito.get_velocities

Get the linear velocities of the Mosquito in meters per second.

Parameters: None
Returns: 3 value tuple with the linear velocities of the Mosquito in the x, y and z IMU axis. Note that, in the IMU reference frame, the y axis points to the front, the x axis to the left and the z axis folloes the right hand rule.
```
>>> Mosquito.get_velocities()
```

Mosquito.set_motor

Set the value of the specified motor.

Parameters:
- motor: target motor. The value should be in the range 1-4
- value: desired value. Should be a float in the range 0-1
Returns: None
```
>>> Mosquito.set_motor(motor, value)
```

Mosquito.set_motors

Set the values of the four motors.

Parameters:
- values: ordered tuple containing the desired values for the motors. Values should be floats in the range 0-1. The value in the first position will be set to the first motor, the second value will be set to the second motor and so on.
Returns: None
```
>>> Mosquito.set_motors(values)
```

Mosquito.get_motor

Get the current value of a single motor.

Parameters:
- motor: Motor index -in the range 1,4- whose value is wanted.
Returns: The current value of the motor in the range 0,1
```
>>> Mosquito.get_motor(motor)
```

Mosquito.get_motors

Get the current value of the four motors.

Parameters: None
Returns: An ordered tuple with the current value of the four motors in the range 0,1. The values are ordered so that the position in the tuple matches the motor index
```
>>> Mosquito.get_motors()
```

Mosquito.set_voltage

Set the voltage of the battery in the Mosquito. This MSP message is only used by the ESP32 in order to send the computed voltage to the STM32. This message in the API can be used to override.

Parameters:
- voltage: battery voltage in V as a float
Returns: None
```
>>> Mosquito.set_voltage(voltage)
```

Mosquito.get_voltage

Get the voltage of the battery in the Mosquito. If the battery is not connected (or detected) it returns 0.0.

Parameters: None
Returns: Battery voltage in V as a float
```
>>> Mosquito.get_voltage()
```

Mosquito.set_PID

Set the constants (as floats) of every PID controller in Hackflight.

Parameters:
- gyro_roll_pitch_P: Rate Pitch & Roll controller. Proportional constant.
- gyro_roll_pitch_I: Rate Pitch & Roll controller. Integral constant.
- gyro_roll_pitch_D: Rate Pitch & Roll controller. Derivative constant.
- gyro_yaw_P: Rate Yaw controller. Proportional constant.
- gyro_yaw_I: Rate Yaw controller. Proportional constant.
- demands_to_rate: In rate mode, demands from RC are multiplied by demandstoRate.
- level_P: Level Pitch & Roll controller. Proportional constant.
- altHold_P: Altitude controller. Proportional constant.
- altHold_vel_P: Vertical velocity controller. Proportional constant.
- altHold_vel_I: Vertical velocity controller. Integral constant.
- altHold_vel_D: Vertical velocity controller. Derivative constant.
- min_altitude: Minimum altitude, in meters.
- posHold_vel_P: Horizontal velocity controller. Proportional constant.
- posHold_vel_I: Horizontal velocity controller. Integral constant.
- posHold_vel_D: Horizontal velocity controller. Derivative constant.
- param9: Param9

Returns: None

>>> Mosquito.set_PID(gyro_roll_pitch_P, gyro_roll_pitch_I, gyro_roll_pitch_D,
   gyro_yaw_P, gyro_yaw_I, demands_to_rate,
   level_P, altHold_P, altHold_vel_P, altHold_vel_I, altHold_vel_D, min_altitude,
   posHold_vel_P, posHold_vel_I, posHold_vel_D, param9)

Mosquito.get_PID

Get the constants of every PID controller in Hackflight.

Parameters: None
Returns: Current values for PID controllers. See 'set_PID()' documentation for tuple details
```
>>> Mosquito.get_PID()
```

Mosquito.set_leds

Turn on or off the LEDs of the board. If any of the LEDs is omitted in the method call its current status is preserved.

Parameters:
- red: Keyword argument indicating the status of the red LED. A True/1 value will turn the LED on and a False/0 value off.
- green: Keyword argument indicating the status of the green LED. A True/1 value will turn the LED on and a False/0 value off.
- blue: Keyword argument indicating the status of the blue LED. A True/1 value will turn the LED on and a False/0 value off.

Returns: None

>>> Mosquito.set_leds(red=0/1,green=0/1,blue=0/1)

Mosquito.clear_EEPROM

Clear a specific section, or all, of the Mosquito's EEPROM. There are three available options that clear different sections of the EEPROM. These are are:

Clear the parameters section - section 0
Clear the mission section - section 1
Clear the whole EEPROM - section 2

Parameters:
- section: Integer indicating the section to clear. 0 - Parameters, 1 - Mission, 2 - all
Returns: None
```
>>> Mosquito.clear_EEPROM(section)
```

Mosquito.execute_mission

Begin the execution of a flight mission stored in the EEPROM

Parameters: None
Returns: None
```
>>> Mosquito.execute_mission()
```

Mosquito.stop

Trigger an emergency stop that will hault the Mosquito and stop any action being performed.

Parameters: None
Returns: None
```
>>> Mosquito.stop()
```

Mosquito.take_off

Take off and hover at the specified height.

Parameters:
- height: Integer indicating the height (in cm) at which the drone should hover after takeoff. By default, the take off height is 1m.
Returns: None
```
>>> Mosquito.take_off(height)
```

Mosquito.land

Land the Mosquito.

Parameters: None
Returns: None
```
>>> Mosquito.land()
```

Mosquito.hover

Hover at the current position for the specified amount of time.

Parameters:
- time: Integer indicating number of seconds that the hover action should last.
Returns: None
```
>>> Mosquito.hover(time)
```

Mosquito.change_height

Set the target height at which the Mosquito should hover.

Parameters:
- height: Integer indicating the desired hovering altitude in centimeters.
Returns: None
```
>>> Mosquito.change_height(height)
```

Mosquito.move_forward

Move forward for the specified amount of time

Parameters:
- time: Integer indicating the number of seconds the action should last.
Returns: None
```
>>> Mosquito.move_forward(time)
```

Mosquito.move_backwards

Move backwards for the specified amount of time

Parameters:
- time: Integer indicating the number of seconds the action should last.
Returns: None
```
>>> Mosquito.move_backwards(time)
```

Mosquito.move_left

Move left for the specified amount of time

Parameters:
- time: Integer indicating the number of seconds the action should last.
Returns: None
```
>>> Mosquito.move_left(time)
```

Mosquito.move_right

Move right for the specified amount of time

Parameters:
- time: Integer indicating the number of seconds the action should last.
Returns: None
```
>>> Mosquito.move_right(time)
```

Mosquito.turn

Turn the specified angle. If the angle is greater than 0 the rotation will be counter clockwise, and clockwise otherwise.

Parameters:
- angle: Integer indicating the number of degrees of the turn.
Returns: None
```
>>> Mosquito.turn(angle)
```

Examples

Under the examples folder there are several scripts that show how the API can be used. For the examples to work one should either have installed the API via pip or cloned this repository. A part from that, the laptop should be connected to the Mosquito WiFi.

get_attitude.py

Script

Until exiting the program via Ctrl-C it constantly asks the Mosquito for its attitude and prints it on the terminal.

get_velocities.py

Script

Asks the Mosquito for its linear velocities and prints them on the terminal. This script accepts three command line arguments.

--save, -s: If set to 1 data is stored in CSV format at velocities.csv. If set to 0 or omitted, data is not stored and it is only printed to the terminal.
--duration, -d: Allows to set the log duration in seconds. If omitted, the script will run until interrupted.
--timestamp, -t: if set to 1, the script also stores and prints the time, in seconds, at which data was collected with respect to the start of the program execution. If set to 0 or omitted, no timestamps are stored or printed.

set_motors.py

Script

Sets each of the motors (from 1 to 4) to a 20% of its maximum power for one second.

attitude_and_motors.py

Script

When the absolute value of roll or pitch is bigger than 20 degrees the four motors start spinning at 20 percent of its maximum speed.

set_leds.py

Script

Turns the leds of the board on and off at 2 second intervals.

calibrate_transmitter.py

Script

Perform the calibration of the transmitter. Transmitter calibration consists in measuring the offsets between the measured and expected values of each of the transmitter sticks at certain positions (minimum, center, maximum) to be able to map the specific transmitter values to the exected values.

M90_set_parameters.py

Script

Set the values of the PID controllers for the Mosquito 90.

land.py

Script

Trigger a land action 20 seconds after estblishing connection with the Mosquito.

simple_flight.py

Script

Execute a simple flight that consists in taking off to a height of 100 cm, hovering for 2 seconds and landing.

BonaDrone/mosquito-API

mosquito-API

Requirements

How to use it

Import the wrapper

API Methods

Mosquito.connect

Mosquito.disconnect

Mosquito.arm

Mosquito.disarm

Mosquito.set_position_board

Mosquito.position_board_connected

Mosquito.set_mosquito_version

Mosquito.get_firmware_version

Mosquito.calibrate_ESCs

Mosquito.calibrate_transmitter

Mosquito.get_attitude

Mosquito.get_velocities

Mosquito.set_motor

Mosquito.set_motors

Mosquito.get_motor

Mosquito.get_motors

Mosquito.set_voltage

Mosquito.get_voltage

Mosquito.set_PID

Mosquito.get_PID

Mosquito.set_leds

Mosquito.clear_EEPROM

Mosquito.execute_mission

Mosquito.stop

Mosquito.take_off

Mosquito.land

Mosquito.hover

Mosquito.change_height

Mosquito.move_forward

Mosquito.move_backwards

Mosquito.move_left

Mosquito.move_right

Mosquito.turn

Examples

get_attitude.py

get_velocities.py

set_motors.py

attitude_and_motors.py

set_leds.py

calibrate_transmitter.py

M90_set_parameters.py

land.py

simple_flight.py