mrtautopilot 9__tar.gz → 10__tar.gz

{mrtautopilot-9 → mrtautopilot-10}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: mrtautopilot
-Version: 9
+Version: 10
 Summary: Communicate with the MRT Autopilot Mavlink API
 Maintainer-email: Nathan Knotts <nathan@magothyrt.com>
 Project-URL: Homepage, https://www.magothyrt.com/

{mrtautopilot-9 → mrtautopilot-10}/mrtautopilot/__init__.py

@@ -1,4 +1,4 @@
-__version__ = "9"
+__version__ = "10"
 
 from .autopilot import *
 from .mission import *

{mrtautopilot-9 → mrtautopilot-10}/mrtautopilot/autopilot.py

@@ -460,6 +460,7 @@ class MavlinkThread:
     ):
         self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
         self.sock.setblocking(False)
+        self.msg_callback: Callable[[mrtmavlink.MAVLink_message], None] = lambda x: None
 
         if multicast_group:
             self.sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
@@ -561,7 +562,13 @@ class MavlinkThread:
             self.ack_result = result
             self.ack_cond.notify()
 
+    def register_message_callback(
+        self, callback: Callable[[mrtmavlink.MAVLink_message], None]
+    ):
+        self.msg_callback = callback
+
     def _msg_callback(self, msg: mrtmavlink.MAVLink_message):
+        self.msg_callback(msg)
         sys_id = msg.get_srcSystem()
         logging.debug(f"Received: {msg.msgname}, sys_id={sys_id}, {msg}")
         if self.system_id != sys_id:
@@ -1070,3 +1077,42 @@ class MavlinkThread:
 
         finally:
             self.is_sending_mission = False
+
+    def set_attitude(
+        self,
+        roll_rad: float = 0,
+        pitch_rad: float = 0,
+        yaw_rad: float = 0,
+        roll_rate_rps: float = 0,
+        pitch_rate_rps: float = 0,
+        yaw_rate_rps: float = 0,
+    ):
+        self.loop.call_soon_threadsafe(
+            lambda: self._set_attitude(
+                roll_rad,
+                pitch_rad,
+                yaw_rad,
+                roll_rate_rps,
+                pitch_rate_rps,
+                yaw_rate_rps,
+            )
+        )
+
+    def _set_attitude(
+        self,
+        roll_rad: float,
+        pitch_rad: float,
+        yaw_rad: float,
+        roll_rate_rps: float,
+        pitch_rate_rps: float,
+        yaw_rate_rps: float,
+    ):
+        self.conn.attitude_send(
+            0,
+            roll_rad,
+            pitch_rad,
+            yaw_rad,
+            roll_rate_rps,
+            pitch_rate_rps,
+            yaw_rate_rps,
+        )

{mrtautopilot-9 → mrtautopilot-10}/mrtautopilot.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: mrtautopilot
-Version: 9
+Version: 10
 Summary: Communicate with the MRT Autopilot Mavlink API
 Maintainer-email: Nathan Knotts <nathan@magothyrt.com>
 Project-URL: Homepage, https://www.magothyrt.com/