px4-configuration 0.1.0__tar.gz

px4_configuration-0.1.0/.gitignore

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+.venv
+.vscode
+__pycache__/
+dist/

px4_configuration-0.1.0/PKG-INFO

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+Metadata-Version: 2.4
+Name: px4-configuration
+Version: 0.1.0
+Summary: Tools and REST API for configuring PX4 from a companion computer
+Author-email: Alex <bonnefond@fly4future.com>
+License: BSD-3-Clause
+Requires-Python: >=3.8
+Requires-Dist: fastapi>=0.104.0
+Requires-Dist: mavsdk==3.0.1
+Requires-Dist: python-multipart>=0.0.6
+Requires-Dist: sse-starlette>=1.6.5
+Requires-Dist: tqdm==4.67.1
+Requires-Dist: uvicorn[standard]>=0.24.0
+Description-Content-Type: text/markdown
+
+# px4-configuration
+
+Repository that collects scripts to configure and modify PX4 from a companion Linux computer. All tooling is built on top of [MAVSDK-Python](https://github.com/mavlink/MAVSDK-Python).
+
+## Installation
+
+### Development Installation
+
+```bash
+# Optional: create a virtual environment
+python3 -m venv .venv
+source .venv/bin/activate
+
+# Install the package (installs all required dependencies)
+pip install -e .
+```
+
+### Building a Wheel Package
+
+To build a distributable wheel (`.whl`) file:
+
+```bash
+# Install build tools (if not already installed)
+pip install build
+
+# Build the wheel package
+python -m build --wheel
+
+# The wheel file will be created in the dist/ directory
+# Example: dist/px4_configuration-0.1.0-py3-none-any.whl
+```
+
+To build both wheel and source distribution:
+
+```bash
+python -m build
+```
+
+**Installing from a built wheel:**
+
+```bash
+# Install from the wheel file
+pip install dist/px4_configuration-0.1.0-py3-none-any.whl
+```
+
+## Requirements
+
+- Python 3.8+
+- PX4 flight controller connected over serial (e.g. `/dev/pixhawk`)
+- User added to the `dialout` group for serial access (`sudo usermod -aG dialout $USER`)
+
+## Scripts
+
+_All scripts use a serial connection to talk to PX4._
+
+- `scripts/calibrate.py` – run gyro, accel, mag, level and (future) ESC calibration
+- `scripts/set-params.py` – bulk upload parameters from `.params` files in `configs/`
+- `scripts/upload-sdcard-config.py` – upload files (e.g. `extras.txt`) to the PX4 SD card via MAVLink FTP
+- `scripts/shell.py` – open an interactive PX4 NSH shell session over MAVLink
+- `scripts/px_uploader.py` – PX4 firmware uploader (original PX4 script, unverified here)
+
+## REST API (FastAPI)
+
+The companion computer can expose the same functionality through a REST API located in `px4_configuration/api/`.
+
+### Run the API server
+
+```bash
+# Using the packaged console script
+px4-config-api --host 0.0.0.0 --port 8000
+
+# Or via the helper module
+python run_api.py
+
+# Or directly with uvicorn
+uvicorn px4_configuration.api.main:app --host 0.0.0.0 --port 8000
+```
+
+### Endpoints
+
+- `GET /api/health` – health check
+- `POST /api/calibration/start` – start selected calibrations, returns Server-Sent Events (SSE) with progress
+- `POST /api/params/upload` – upload a `.params` file (multipart form), SSE progress stream
+- `POST /api/sdcard/upload` – upload a file (e.g. `extras.txt`) to the SD card, SSE progress stream
+- `WS /api/shell/connect` – interactive PX4 shell over WebSocket
+
+All endpoints accept optional `port` and `baudrate` (defaults `/dev/pixhawk`, `2000000`). SSE responses emit JSON payloads with keys such as `type`, `message`, `progress`, etc.
+
+### Calibration Message Structure
+
+The `/api/calibration/start` endpoint returns structured JSON messages via Server-Sent Events (SSE). Each calibration type has a specific message format:
+
+#### Accelerometer Calibration
+
+```json
+{
+  "type": "accelerometer_progress",
+  "progress": 0.17,
+  "status_text": "down side result: [0.020 0.819 -9.750]",
+  "pending_orientations": ["back", "front", "left", "right", "up"],
+  "current_orientation": "down",
+  "current_message": "measuring",
+  "result": [0.020, 0.819, -9.750],
+  "is_complete": false
+}
+```
+
+**Fields:**
+- `pending_orientations`: List of remaining orientations to measure (e.g., `["back", "front", "left", "right", "up"]`)
+- `current_orientation`: Currently detected orientation being measured (e.g., `"down"`, `"left"`)
+- `current_message`: Instruction type - `"hold_still"`, `"rest_detected"`, `"measuring"`, `"rotate"`, `"orientation_detected"`, `"already_completed"`, `"complete"`
+- `progress`: Progress value (0.0 to 1.0)
+- `result`: Measurement result array `[x, y, z]` when available
+- `is_complete`: Boolean indicating completion
+
+**Completion message:**
+```json
+{
+  "type": "accelerometer_complete",
+  "message": "Accelerometer calibration finished",
+  "is_complete": true
+}
+```
+
+#### Magnetometer Calibration
+
+```json
+{
+  "type": "magnetometer_progress",
+  "progress": 0.33,
+  "status_text": "right orientation detected",
+  "pending_orientations": ["back", "front", "left", "up"],
+  "current_orientation": "right",
+  "current_message": "orientation_detected",
+  "is_complete": false
+}
+```
+
+**Fields:**
+- `pending_orientations`: List of remaining orientations to measure
+- `current_orientation`: Currently detected orientation
+- `current_message`: Instruction type - `"rotate"`, `"hold_still"`, `"rest_detected"`, `"motion_detected"`, `"orientation_detected"`, `"already_completed"`, `"complete"`
+- `progress`: Progress value (0.0 to 1.0) that increments during rotation
+- `is_complete`: Boolean indicating completion (true when progress >= 1.0)
+
+**Completion message:**
+```json
+{
+  "type": "magnetometer_complete",
+  "message": "Magnetometer calibration finished",
+  "is_complete": true
+}
+```
+
+#### Gyroscope Calibration
+
+```json
+{
+  "type": "gyroscope_progress",
+  "progress": 0.5,
+  "status_text": null,
+  "current_message": "calibrating",
+  "is_complete": false
+}
+```
+
+**Fields:**
+- `progress`: Progress value (0.0 to 1.0)
+- `current_message`: `"calibrating"` during progress, `"complete"` when done
+- `is_complete`: Boolean indicating completion (true when progress >= 1.0)
+
+**Completion message:**
+```json
+{
+  "type": "gyroscope_complete",
+  "message": "Gyroscope calibration finished",
+  "is_complete": true
+}
+```
+
+#### Level Horizon Calibration
+
+```json
+{
+  "type": "horizon_progress",
+  "progress": 0.4,
+  "status_text": null,
+  "current_message": "calibrating",
+  "is_complete": false
+}
+```
+
+**Fields:**
+- `progress`: Progress value (0.0 to 1.0)
+- `current_message`: `"calibrating"` during progress, `"complete"` when done
+- `is_complete`: Boolean indicating completion (true when progress >= 1.0)
+
+**Completion message:**
+```json
+{
+  "type": "horizon_complete",
+  "message": "Level horizon calibration finished",
+  "is_complete": true
+}
+```
+
+#### Status Messages
+
+General status messages are also emitted:
+```json
+{
+  "type": "status",
+  "message": "Starting accelerometer calibration..."
+}
+```
+
+```json
+{
+  "type": "error",
+  "message": "Calibration failed: <error details>"
+}
+```
+
+```json
+{
+  "type": "success",
+  "message": "All calibrations completed"
+}
+```
+
+## Notes
+
+- Ensure the vehicle is disarmed and stationary before running calibration or parameter uploads.
+- The API and scripts require serial access; add your user to the `dialout` group if needed.
+- Example parameter files and `extras.txt` live under the `configs/` directory.
+
+

px4_configuration-0.1.0/README.md

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+# px4-configuration
+
+Repository that collects scripts to configure and modify PX4 from a companion Linux computer. All tooling is built on top of [MAVSDK-Python](https://github.com/mavlink/MAVSDK-Python).
+
+## Installation
+
+### Development Installation
+
+```bash
+# Optional: create a virtual environment
+python3 -m venv .venv
+source .venv/bin/activate
+
+# Install the package (installs all required dependencies)
+pip install -e .
+```
+
+### Building a Wheel Package
+
+To build a distributable wheel (`.whl`) file:
+
+```bash
+# Install build tools (if not already installed)
+pip install build
+
+# Build the wheel package
+python -m build --wheel
+
+# The wheel file will be created in the dist/ directory
+# Example: dist/px4_configuration-0.1.0-py3-none-any.whl
+```
+
+To build both wheel and source distribution:
+
+```bash
+python -m build
+```
+
+**Installing from a built wheel:**
+
+```bash
+# Install from the wheel file
+pip install dist/px4_configuration-0.1.0-py3-none-any.whl
+```
+
+## Requirements
+
+- Python 3.8+
+- PX4 flight controller connected over serial (e.g. `/dev/pixhawk`)
+- User added to the `dialout` group for serial access (`sudo usermod -aG dialout $USER`)
+
+## Scripts
+
+_All scripts use a serial connection to talk to PX4._
+
+- `scripts/calibrate.py` – run gyro, accel, mag, level and (future) ESC calibration
+- `scripts/set-params.py` – bulk upload parameters from `.params` files in `configs/`
+- `scripts/upload-sdcard-config.py` – upload files (e.g. `extras.txt`) to the PX4 SD card via MAVLink FTP
+- `scripts/shell.py` – open an interactive PX4 NSH shell session over MAVLink
+- `scripts/px_uploader.py` – PX4 firmware uploader (original PX4 script, unverified here)
+
+## REST API (FastAPI)
+
+The companion computer can expose the same functionality through a REST API located in `px4_configuration/api/`.
+
+### Run the API server
+
+```bash
+# Using the packaged console script
+px4-config-api --host 0.0.0.0 --port 8000
+
+# Or via the helper module
+python run_api.py
+
+# Or directly with uvicorn
+uvicorn px4_configuration.api.main:app --host 0.0.0.0 --port 8000
+```
+
+### Endpoints
+
+- `GET /api/health` – health check
+- `POST /api/calibration/start` – start selected calibrations, returns Server-Sent Events (SSE) with progress
+- `POST /api/params/upload` – upload a `.params` file (multipart form), SSE progress stream
+- `POST /api/sdcard/upload` – upload a file (e.g. `extras.txt`) to the SD card, SSE progress stream
+- `WS /api/shell/connect` – interactive PX4 shell over WebSocket
+
+All endpoints accept optional `port` and `baudrate` (defaults `/dev/pixhawk`, `2000000`). SSE responses emit JSON payloads with keys such as `type`, `message`, `progress`, etc.
+
+### Calibration Message Structure
+
+The `/api/calibration/start` endpoint returns structured JSON messages via Server-Sent Events (SSE). Each calibration type has a specific message format:
+
+#### Accelerometer Calibration
+
+```json
+{
+  "type": "accelerometer_progress",
+  "progress": 0.17,
+  "status_text": "down side result: [0.020 0.819 -9.750]",
+  "pending_orientations": ["back", "front", "left", "right", "up"],
+  "current_orientation": "down",
+  "current_message": "measuring",
+  "result": [0.020, 0.819, -9.750],
+  "is_complete": false
+}
+```
+
+**Fields:**
+- `pending_orientations`: List of remaining orientations to measure (e.g., `["back", "front", "left", "right", "up"]`)
+- `current_orientation`: Currently detected orientation being measured (e.g., `"down"`, `"left"`)
+- `current_message`: Instruction type - `"hold_still"`, `"rest_detected"`, `"measuring"`, `"rotate"`, `"orientation_detected"`, `"already_completed"`, `"complete"`
+- `progress`: Progress value (0.0 to 1.0)
+- `result`: Measurement result array `[x, y, z]` when available
+- `is_complete`: Boolean indicating completion
+
+**Completion message:**
+```json
+{
+  "type": "accelerometer_complete",
+  "message": "Accelerometer calibration finished",
+  "is_complete": true
+}
+```
+
+#### Magnetometer Calibration
+
+```json
+{
+  "type": "magnetometer_progress",
+  "progress": 0.33,
+  "status_text": "right orientation detected",
+  "pending_orientations": ["back", "front", "left", "up"],
+  "current_orientation": "right",
+  "current_message": "orientation_detected",
+  "is_complete": false
+}
+```
+
+**Fields:**
+- `pending_orientations`: List of remaining orientations to measure
+- `current_orientation`: Currently detected orientation
+- `current_message`: Instruction type - `"rotate"`, `"hold_still"`, `"rest_detected"`, `"motion_detected"`, `"orientation_detected"`, `"already_completed"`, `"complete"`
+- `progress`: Progress value (0.0 to 1.0) that increments during rotation
+- `is_complete`: Boolean indicating completion (true when progress >= 1.0)
+
+**Completion message:**
+```json
+{
+  "type": "magnetometer_complete",
+  "message": "Magnetometer calibration finished",
+  "is_complete": true
+}
+```
+
+#### Gyroscope Calibration
+
+```json
+{
+  "type": "gyroscope_progress",
+  "progress": 0.5,
+  "status_text": null,
+  "current_message": "calibrating",
+  "is_complete": false
+}
+```
+
+**Fields:**
+- `progress`: Progress value (0.0 to 1.0)
+- `current_message`: `"calibrating"` during progress, `"complete"` when done
+- `is_complete`: Boolean indicating completion (true when progress >= 1.0)
+
+**Completion message:**
+```json
+{
+  "type": "gyroscope_complete",
+  "message": "Gyroscope calibration finished",
+  "is_complete": true
+}
+```
+
+#### Level Horizon Calibration
+
+```json
+{
+  "type": "horizon_progress",
+  "progress": 0.4,
+  "status_text": null,
+  "current_message": "calibrating",
+  "is_complete": false
+}
+```
+
+**Fields:**
+- `progress`: Progress value (0.0 to 1.0)
+- `current_message`: `"calibrating"` during progress, `"complete"` when done
+- `is_complete`: Boolean indicating completion (true when progress >= 1.0)
+
+**Completion message:**
+```json
+{
+  "type": "horizon_complete",
+  "message": "Level horizon calibration finished",
+  "is_complete": true
+}
+```
+
+#### Status Messages
+
+General status messages are also emitted:
+```json
+{
+  "type": "status",
+  "message": "Starting accelerometer calibration..."
+}
+```
+
+```json
+{
+  "type": "error",
+  "message": "Calibration failed: <error details>"
+}
+```
+
+```json
+{
+  "type": "success",
+  "message": "All calibrations completed"
+}
+```
+
+## Notes
+
+- Ensure the vehicle is disarmed and stationary before running calibration or parameter uploads.
+- The API and scripts require serial access; add your user to the `dialout` group if needed.
+- Example parameter files and `extras.txt` live under the `configs/` directory.
+
+

px4_configuration-0.1.0/configs/default-rc.params

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+#RC channels mapping (ATER)
+RC_MAP_ROLL, 1
+RC_MAP_THROTTLE, 2
+RC_MAP_PITCH, 3
+RC_MAP_YAW, 4
+#Switches
+RC_MAP_OFFB_SW, 5
+RC_MAP_FLTMODE, 6
+# MANUAL - ALTITUDE - POSITION
+COM_FLTMODE1, 0
+COM_FLTMODE2, -1
+COM_FLTMODE3, -1
+COM_FLTMODE4, 1
+COM_FLTMODE5, -1
+COM_FLTMODE6, 2

px4_configuration-0.1.0/configs/generic-quad-airframe.params

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+#generic-quadrotor-airframe
+SYS_AUTOSTART,  4001 
+#reset params to airframe defaults
+SYS_AUTOCONFIG, 1 

px4_configuration-0.1.0/configs/mrs-generic.params

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+#RC-loss-related
+RC_MAP_FAILSAFE, 2 
+RC_FAILS_THR, 950 
+#rc-loss failsafe - land mode
+NAV_RCL_ACT, 3 
+#motors
+PWM_MAIN_FUNC1, 101 
+PWM_MAIN_FUNC2, 102 
+PWM_MAIN_FUNC3, 103 
+PWM_MAIN_FUNC4, 104 
+#garmin
+SENS_EN_LL40LS, 2 

px4_configuration-0.1.0/configs/platforms/x500.params

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+#Battery settings
+BAT1_N_CELLS, 4
+BAT1_V_CHARGED, 4.2
+#Vehicle dimensions [m]
+CA_ROTOR0_PX, 0.25
+CA_ROTOR0_PY, 0.25
+CA_ROTOR1_PX, -0.25
+CA_ROTOR1_PY, -0.25
+CA_ROTOR2_PX, 0.25
+CA_ROTOR2_PY, -0.25
+CA_ROTOR3_PX, -0.25
+CA_ROTOR3_PY, 0.25

px4_configuration-0.1.0/configs/sd-card/extras.txt

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+mavlink start -d /dev/ttyS1 -b 2000000
+mavlink stream -d /dev/ttyS1 -s ATTITUDE -r 100
+mavlink stream -d /dev/ttyS1 -s ATTITUDE_TARGET -r 100
+mavlink stream -d /dev/ttyS1 -s HIGHRES_IMU -r 100
+mavlink stream -d /dev/ttyS1 -s RC_CHANNELS -r 10
+mavlink stream -d /dev/ttyS1 -s LOCAL_POSITION_NED -r 100
+mavlink stream -d /dev/ttyS1 -s ODOMETRY -r 100
+mavlink stream -d /dev/ttyS1 -s GLOBAL_POSITION_INT -r 100
+mavlink stream -d /dev/ttyS1 -s SYS_STATUS -r 10
+mavlink stream -d /dev/ttyS1 -s DISTANCE_SENSOR -r 100
+mavlink stream -d /dev/ttyS1 -s HEARTBEAT -r 100
+mavlink stream -d /dev/ttyS1 -s UTM_GLOBAL_POSITION -r 1
+usleep 100000

px4_configuration-0.1.0/px4_configuration/__init__.py

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+"""PX4 Configuration package."""
+
+__all__ = ["api"]
+
+
+def __getattr__(name):
+    if name == "__version__":
+        from importlib.metadata import version, PackageNotFoundError
+
+        try:
+            return version("px4-configuration")
+        except PackageNotFoundError:
+            return "0.0.0"
+    raise AttributeError(name)
+

px4_configuration-0.1.0/px4_configuration/api/__init__.py

@@ -0,0 +1,11 @@
+"""PX4 Configuration REST API package."""
+
+__all__ = [
+    "config",
+    "models",
+    "services",
+    "main",
+]
+
+__version__ = "1.0.0"
+

px4_configuration-0.1.0/px4_configuration/api/config.py

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+"""Configuration settings for the PX4 Configuration API."""
+
+import os
+
+
+class Settings:
+    """Application settings with defaults."""
+
+    # Default serial connection settings
+    default_port: str = os.getenv("PX4_DEFAULT_PORT", "/dev/pixhawk")
+    default_baudrate: int = int(os.getenv("PX4_DEFAULT_BAUDRATE", "2000000"))
+
+    # API settings
+    api_title: str = "PX4 Configuration API"
+    api_version: str = "1.0.0"
+    api_description: str = (
+        "REST API for configuring PX4 flight controller from companion computer"
+    )
+
+
+settings = Settings()
+