Classes
class	DCM_State
class	PX4_State
Functions
def	airspeed
def	airspeed_energy_error
def	airspeed_ratio
def	airspeed_voltage
def	altitude
def	altitude2
def	angle_diff
def	armed
def	average
def	DCM_update
def	delta
def	delta_angle
def	demix1
def	demix2
def	diff
def	distance_gps2
def	distance_home
def	distance_two
def	downsample
def	earth_accel
def	earth_accel2
def	earth_accel2_df
def	earth_accel_df
def	earth_gyro
def	earth_rates
def	EAS2TAS
def	ekf1_pos
def	energy_error
def	euler_to_quat
def	expected_mag
def	expected_magx
def	expected_magy
def	expected_magz
def	get_motor_offsets
def	gps_newpos
def	gps_offset
def	gps_velocity
def	gps_velocity_body
def	gps_velocity_df
def	gps_velocity_old
def	gravity
def	kmh
def	lowpass
def	mag_discrepancy
def	mag_field
def	mag_field_df
def	mag_field_motors
def	mag_heading
def	mag_heading_motors
def	mag_inclination
def	mag_pitch
def	mag_roll
def	mag_rotation
def	mag_yaw
def	mix1
def	mix2
def	mixer
def	pitch_estimate
def	pitch_rate
def	pitch_sim
def	PX4_update
def	quat_to_euler
def	rate_of_turn
def	roll_estimate
def	roll_rate
def	rotate_quat
def	rotation
def	rotation2
def	rotation_df
def	rover_lat_accel
def	rover_turn_circle
def	rover_yaw_rate
def	sawtooth
def	second_derivative_5
def	second_derivative_9
def	wingloading
def	wrap_180
def	wrap_360
def	wrap_valid_longitude
def	yaw_rate
Variables
int	_downsample_N = 0
dictionary	average_data = {}
	dcm_state = None
dictionary	derivative_data = {}
	ekf_home = None
	first_fix = None
dictionary	last_delta = {}
dictionary	last_diff = {}
dictionary	lowpass_data = {}
	px4_state = None
float	radius_of_earth = 6378100.0

Function Documentation

def pymavlink.mavextra.airspeed	(	VFR_HUD,
		ratio = `None`,
		used_ratio = `None`,
		offset = `None`
	)

recompute airspeed with a different ARSPD_RATIO

Definition at line 527 of file mavextra.py.

def pymavlink.mavextra.airspeed_energy_error	(	NAV_CONTROLLER_OUTPUT,
		VFR_HUD
	)

return airspeed energy error matching APM internals
This is positive when we are going too slow

Definition at line 649 of file mavextra.py.

def pymavlink.mavextra.airspeed_ratio ( VFR_HUD )

recompute airspeed with a different ARSPD_RATIO

Definition at line 557 of file mavextra.py.

def pymavlink.mavextra.airspeed_voltage	(	VFR_HUD,
		ratio = `None`
	)

back-calculate the voltage the airspeed sensor must have seen

Definition at line 565 of file mavextra.py.

def pymavlink.mavextra.altitude	(	SCALED_PRESSURE,
		ground_pressure = `None`,
		ground_temp = `None`
	)

calculate barometric altitude

Definition at line 24 of file mavextra.py.

def pymavlink.mavextra.altitude2	(	SCALED_PRESSURE,
		ground_pressure = `None`,
		ground_temp = `None`
	)

calculate barometric altitude

Definition at line 38 of file mavextra.py.

def pymavlink.mavextra.angle_diff	(	angle1,
		angle2
	)

show the difference between two angles in degrees

Definition at line 154 of file mavextra.py.

def pymavlink.mavextra.armed ( HEARTBEAT )

return 1 if armed, 0 if not

Definition at line 867 of file mavextra.py.

def pymavlink.mavextra.average	(	var,
		key,
		N
	)

average over N points

Definition at line 165 of file mavextra.py.

def pymavlink.mavextra.DCM_update	(	IMU,
		ATT,
		MAG,
		GPS
	)

implement full DCM system

Definition at line 813 of file mavextra.py.

def pymavlink.mavextra.delta	(	var,
		key,
		tusec = `None`
	)

calculate slope

Definition at line 242 of file mavextra.py.

def pymavlink.mavextra.delta_angle	(	var,
		key,
		tusec = `None`
	)

calculate slope of an angle

Definition at line 263 of file mavextra.py.

def pymavlink.mavextra.demix1	(	servo1,
		servo2,
		gain = `0.5`
	)

de-mix a mixed servo output

Definition at line 703 of file mavextra.py.

def pymavlink.mavextra.demix2	(	servo1,
		servo2,
		gain = `0.5`
	)

de-mix a mixed servo output

Definition at line 711 of file mavextra.py.

def pymavlink.mavextra.diff	(	var,
		key
	)

calculate differences between values

Definition at line 229 of file mavextra.py.

def pymavlink.mavextra.distance_gps2	(	GPS,
		GPS2
	)

distance between two points

Definition at line 917 of file mavextra.py.

def pymavlink.mavextra.distance_home ( GPS_RAW )

distance from first fix point

Definition at line 495 of file mavextra.py.

def pymavlink.mavextra.distance_two	(	GPS_RAW1,
		GPS_RAW2,
		horizontal = `True`
	)

distance between two points

Definition at line 459 of file mavextra.py.

def pymavlink.mavextra.downsample ( N )

conditional that is true on every Nth sample

Definition at line 861 of file mavextra.py.

def pymavlink.mavextra.earth_accel	(	RAW_IMU,
		ATTITUDE
	)

return earth frame acceleration vector

Definition at line 637 of file mavextra.py.

def pymavlink.mavextra.earth_accel2	(	RAW_IMU,
		ATTITUDE
	)

return earth frame acceleration vector from AHRS2

Definition at line 891 of file mavextra.py.

def pymavlink.mavextra.earth_accel2_df	(	IMU,
		IMU2,
		ATT
	)

return earth frame acceleration vector from df log

Definition at line 903 of file mavextra.py.

def pymavlink.mavextra.earth_accel_df	(	IMU,
		ATT
	)

return earth frame acceleration vector from df log

Definition at line 897 of file mavextra.py.

def pymavlink.mavextra.earth_gyro	(	RAW_IMU,
		ATTITUDE
	)

return earth frame gyro vector

Definition at line 643 of file mavextra.py.

def pymavlink.mavextra.earth_rates ( ATTITUDE )

return angular velocities in earth frame

Definition at line 586 of file mavextra.py.

def pymavlink.mavextra.EAS2TAS	(	ARSP,
		GPS,
		BARO,
		ground_temp = `25`
	)

EAS2TAS from ARSP.Temp

Definition at line 551 of file mavextra.py.

def pymavlink.mavextra.ekf1_pos ( EKF1 )

calculate EKF position when EKF disabled

Definition at line 959 of file mavextra.py.

def pymavlink.mavextra.energy_error	(	NAV_CONTROLLER_OUTPUT,
		VFR_HUD
	)

return energy error matching APM internals
This is positive when we are too low or going too slow

Definition at line 659 of file mavextra.py.

def pymavlink.mavextra.euler_to_quat ( e )

Get quaternion from euler angles
:param e: euler angles [roll, pitch, yaw]
:returns: quaternion [w, x, y , z]

Definition at line 981 of file mavextra.py.

def pymavlink.mavextra.expected_mag	(	RAW_IMU,
		ATTITUDE,
		inclination,
		declination
	)

return expected mag vector

Definition at line 371 of file mavextra.py.

def pymavlink.mavextra.expected_magx	(	RAW_IMU,
		ATTITUDE,
		inclination,
		declination
	)

estimate  from mag

Definition at line 408 of file mavextra.py.

def pymavlink.mavextra.expected_magy	(	RAW_IMU,
		ATTITUDE,
		inclination,
		declination
	)

estimate  from mag

Definition at line 413 of file mavextra.py.

def pymavlink.mavextra.expected_magz	(	RAW_IMU,
		ATTITUDE,
		inclination,
		declination
	)

estimate  from mag

Definition at line 418 of file mavextra.py.

def pymavlink.mavextra.get_motor_offsets	(	SERVO_OUTPUT_RAW,
		ofs,
		motor_ofs
	)

calculate magnetic field strength from raw magnetometer

Definition at line 117 of file mavextra.py.

def pymavlink.mavextra.gps_newpos	(	lat,
		lon,
		bearing,
		distance
	)

extrapolate latitude/longitude given a heading and distance
thanks to http://www.movable-type.co.uk/scripts/latlong.html

Definition at line 933 of file mavextra.py.

def pymavlink.mavextra.gps_offset	(	lat,
		lon,
		east,
		north
	)

return new lat/lon after moving east/north
by the given number of meters

Definition at line 949 of file mavextra.py.

def pymavlink.mavextra.gps_velocity ( GLOBAL_POSITION_INT )

return GPS velocity vector

Definition at line 620 of file mavextra.py.

def pymavlink.mavextra.gps_velocity_body	(	GPS_RAW_INT,
		ATTITUDE
	)

return GPS velocity vector in body frame

Definition at line 630 of file mavextra.py.

def pymavlink.mavextra.gps_velocity_df ( GPS )

return GPS velocity vector

Definition at line 911 of file mavextra.py.

def pymavlink.mavextra.gps_velocity_old ( GPS_RAW_INT )

return GPS velocity vector

Definition at line 625 of file mavextra.py.

def pymavlink.mavextra.gravity	(	RAW_IMU,
		SENSOR_OFFSETS = `None`,
		ofs = `None`,
		mul = `None`,
		smooth = `0.7`
	)

estimate pitch from accelerometer

Definition at line 423 of file mavextra.py.

def pymavlink.mavextra.kmh ( mps )

convert m/s to Km/h

Definition at line 20 of file mavextra.py.

def pymavlink.mavextra.lowpass	(	var,
		key,
		factor
	)

a simple lowpass filter

Definition at line 218 of file mavextra.py.

def pymavlink.mavextra.mag_discrepancy	(	RAW_IMU,
		ATTITUDE,
		inclination,
		declination = `None`
	)

give the magnitude of the discrepancy between observed and expected magnetic field

Definition at line 384 of file mavextra.py.

def pymavlink.mavextra.mag_field	(	RAW_IMU,
		SENSOR_OFFSETS = `None`,
		ofs = `None`
	)

calculate magnetic field strength from raw magnetometer

Definition at line 98 of file mavextra.py.

def pymavlink.mavextra.mag_field_df	(	MAG,
		ofs = `None`
	)

calculate magnetic field strength from raw magnetometer (dataflash version)

Definition at line 109 of file mavextra.py.

def pymavlink.mavextra.mag_field_motors	(	RAW_IMU,
		SENSOR_OFFSETS,
		ofs,
		SERVO_OUTPUT_RAW,
		motor_ofs
	)

calculate magnetic field strength from raw magnetometer

Definition at line 140 of file mavextra.py.

def pymavlink.mavextra.mag_heading	(	RAW_IMU,
		ATTITUDE,
		declination = `None`,
		SENSOR_OFFSETS = `None`,
		ofs = `None`
	)

calculate heading from raw magnetometer

Definition at line 52 of file mavextra.py.

def pymavlink.mavextra.mag_heading_motors	(	RAW_IMU,
		ATTITUDE,
		declination,
		SENSOR_OFFSETS,
		ofs,
		SERVO_OUTPUT_RAW,
		motor_ofs
	)

calculate heading from raw magnetometer

Definition at line 76 of file mavextra.py.

def pymavlink.mavextra.mag_inclination	(	RAW_IMU,
		ATTITUDE,
		declination = `None`
	)

give the magnitude of the discrepancy between observed and expected magnetic field

Definition at line 394 of file mavextra.py.

def pymavlink.mavextra.mag_pitch	(	RAW_IMU,
		inclination,
		declination
	)

estimate pithc from mag

Definition at line 359 of file mavextra.py.

def pymavlink.mavextra.mag_roll	(	RAW_IMU,
		inclination,
		declination
	)

estimate roll from mag

Definition at line 365 of file mavextra.py.

def pymavlink.mavextra.mag_rotation	(	RAW_IMU,
		inclination,
		declination
	)

return an attitude rotation matrix that is consistent with the current mag
   vector

Definition at line 337 of file mavextra.py.

def pymavlink.mavextra.mag_yaw	(	RAW_IMU,
		inclination,
		declination
	)

estimate yaw from mag

Definition at line 350 of file mavextra.py.

def pymavlink.mavextra.mix1	(	servo1,
		servo2,
		mixtype = `1`,
		gain = `0.5`
	)

de-mix a mixed servo output

Definition at line 742 of file mavextra.py.

def pymavlink.mavextra.mix2	(	servo1,
		servo2,
		mixtype = `1`,
		gain = `0.5`
	)

de-mix a mixed servo output

Definition at line 747 of file mavextra.py.

def pymavlink.mavextra.mixer	(	servo1,
		servo2,
		mixtype = `1`,
		gain = `0.5`
	)

mix two servos

Definition at line 719 of file mavextra.py.

def pymavlink.mavextra.pitch_estimate	(	RAW_IMU,
		GPS_RAW_INT = `None`,
		ATTITUDE = `None`,
		SENSOR_OFFSETS = `None`,
		ofs = `None`,
		mul = `None`,
		smooth = `0.7`
	)

estimate pitch from accelerometer

Definition at line 310 of file mavextra.py.

def pymavlink.mavextra.pitch_rate ( ATTITUDE )

return pitch rate in earth frame

Definition at line 609 of file mavextra.py.

def pymavlink.mavextra.pitch_sim	(	SIMSTATE,
		GPS_RAW
	)

estimate pitch from SIMSTATE accels

Definition at line 448 of file mavextra.py.

def pymavlink.mavextra.PX4_update	(	IMU,
		ATT
	)

implement full DCM using PX4 native SD log data

Definition at line 848 of file mavextra.py.

def pymavlink.mavextra.quat_to_euler ( q )

Get Euler angles from a quaternion
:param q: quaternion [w, x, y , z]
:returns: euler angles [roll, pitch, yaw]

Definition at line 972 of file mavextra.py.

def pymavlink.mavextra.rate_of_turn	(	speed,
		bank
	)

return expected rate of turn in degrees/s for given speed in m/s and
   bank angle in degrees

Definition at line 515 of file mavextra.py.

def pymavlink.mavextra.roll_estimate	(	RAW_IMU,
		GPS_RAW_INT = `None`,
		ATTITUDE = `None`,
		SENSOR_OFFSETS = `None`,
		ofs = `None`,
		mul = `None`,
		smooth = `0.7`
	)

estimate roll from accelerometer

Definition at line 289 of file mavextra.py.

def pymavlink.mavextra.roll_rate ( ATTITUDE )

return roll rate in earth frame

Definition at line 604 of file mavextra.py.

def pymavlink.mavextra.rotate_quat	(	attitude,
		roll,
		pitch,
		yaw
	)

Returns rotated quaternion
:param attitude: quaternion [w, x, y , z]
:param roll: rotation in rad
:param pitch: rotation in rad
:param yaw: rotation in rad
:returns: quaternion [w, x, y , z]

Definition at line 990 of file mavextra.py.

def pymavlink.mavextra.rotation ( ATTITUDE )

return the current DCM rotation matrix

Definition at line 331 of file mavextra.py.

def pymavlink.mavextra.rotation2 ( AHRS2 )

return the current DCM rotation matrix

Definition at line 885 of file mavextra.py.

def pymavlink.mavextra.rotation_df ( ATT )

return the current DCM rotation matrix

Definition at line 879 of file mavextra.py.

def pymavlink.mavextra.rover_lat_accel	(	VFR_HUD,
		SERVO_OUTPUT_RAW
	)

return lateral acceleration in m/s/s

Definition at line 695 of file mavextra.py.

def pymavlink.mavextra.rover_turn_circle ( SERVO_OUTPUT_RAW )

return turning circle (diameter) in meters for steering_angle in degrees

Definition at line 668 of file mavextra.py.

def pymavlink.mavextra.rover_yaw_rate	(	VFR_HUD,
		SERVO_OUTPUT_RAW
	)

return yaw rate in degrees/second given steering_angle and speed

Definition at line 681 of file mavextra.py.

def pymavlink.mavextra.sawtooth	(	ATTITUDE,
		amplitude = `2.0`,
		period = `5.0`
	)

sawtooth pattern based on uptime

Definition at line 507 of file mavextra.py.

def pymavlink.mavextra.second_derivative_5	(	var,
		key
	)

5 point 2nd derivative

Definition at line 177 of file mavextra.py.

def pymavlink.mavextra.second_derivative_9	(	var,
		key
	)

9 point 2nd derivative

Definition at line 196 of file mavextra.py.

def pymavlink.mavextra.wingloading ( bank )

return expected wing loading factor for a bank angle in radians

Definition at line 523 of file mavextra.py.

def pymavlink.mavextra.wrap_180 ( angle )

Definition at line 752 of file mavextra.py.

def pymavlink.mavextra.wrap_360 ( angle )

Definition at line 760 of file mavextra.py.

def pymavlink.mavextra.wrap_valid_longitude ( lon )

wrap a longitude value around to always have a value in the range
    [-180, +180) i.e 0 => 0, 1 => 1, -1 => -1, 181 => -179, -181 => 179

Definition at line 927 of file mavextra.py.

def pymavlink.mavextra.yaw_rate ( ATTITUDE )

return yaw rate in earth frame

Definition at line 614 of file mavextra.py.

Variable Documentation

int pymavlink::mavextra::_downsample_N = 0

Definition at line 859 of file mavextra.py.

dictionary pymavlink::mavextra::average_data = {}

Definition at line 163 of file mavextra.py.

pymavlink::mavextra::dcm_state = None

Definition at line 811 of file mavextra.py.

dictionary pymavlink::mavextra::derivative_data = {}

Definition at line 175 of file mavextra.py.

pymavlink::mavextra::ekf_home = None

Definition at line 957 of file mavextra.py.

pymavlink::mavextra::first_fix = None

Definition at line 493 of file mavextra.py.

dictionary pymavlink::mavextra::last_delta = {}

Definition at line 240 of file mavextra.py.

dictionary pymavlink::mavextra::last_diff = {}

Definition at line 227 of file mavextra.py.

dictionary pymavlink::mavextra::lowpass_data = {}

Definition at line 216 of file mavextra.py.

pymavlink::mavextra::px4_state = None

Definition at line 846 of file mavextra.py.

float pymavlink::mavextra::radius_of_earth = 6378100.0

Definition at line 925 of file mavextra.py.

Classes

Functions

Variables

Function Documentation

Variable Documentation