px4-configuration 0.2.0__py3-none-any.whl → 0.2.1__py3-none-any.whl

px4_configuration/api/main.py

@@ -70,11 +70,11 @@ async def start_calibration(request: CalibrationRequest):
                 calibration_type=request.calibration_type,  # <-- enum here
             ):
                 # Convert dict -> SSE frame
-                yield f"data: {json.dumps(payload)}\n\n"
+                yield json.dumps(payload)
         except Exception as exc:
-            yield f"data: {json.dumps({'type': 'error', 'message': str(exc)})}\n\n"
+            yield json.dumps({'type': 'error', 'message': str(exc)})
         finally:
-            yield f"data: {json.dumps({'type': 'complete'})}\n\n"
+            yield json.dumps({'type': 'complete'})
 
     return EventSourceResponse(event_generator())
 

px4_configuration/api/models.py

@@ -1,12 +1,12 @@
 from __future__ import annotations
 
-from enum import StrEnum
+from enum import Enum
 from typing import Literal, Optional, Dict, Any
 
 from pydantic import BaseModel, Field, ConfigDict
 
 
-class CalibrationType(StrEnum):
+class CalibrationType(Enum):
     """Supported calibration types."""
     GYROSCOPE = "gyroscope"
     ACCELEROMETER = "accelerometer"

px4_configuration/api/services/calibration_service.py

@@ -53,8 +53,10 @@ async def calibrate_sensors(
             "message": "Starting gyroscope calibration...",
         }
 
+        prev: Dict[str, Any] | None = None
         async for progress_data in drone.calibration.calibrate_gyro():
-            structured_data = parse_gyroscope_progress(progress_data)
+            structured_data = parse_gyroscope_progress(progress_data, prev=prev)
+            prev = structured_data
             yield structured_data
 
         yield {
@@ -70,8 +72,10 @@ async def calibrate_sensors(
             "message": "Starting accelerometer calibration...",
         }
 
+        prev = None
         async for progress_data in drone.calibration.calibrate_accelerometer():
-            structured_data = parse_accelerometer_progress(progress_data)
+            structured_data = parse_accelerometer_progress(progress_data, prev=prev)
+            prev = structured_data
             yield structured_data
 
         yield {
@@ -87,8 +91,10 @@ async def calibrate_sensors(
             "message": "Starting magnetometer calibration...",
         }
 
+        prev = None
         async for progress_data in drone.calibration.calibrate_magnetometer():
-            structured_data = parse_magnetometer_progress(progress_data)
+            structured_data = parse_magnetometer_progress(progress_data, prev=prev)
+            prev = structured_data
             yield structured_data
 
         yield {
@@ -104,8 +110,10 @@ async def calibrate_sensors(
             "message": "Starting board level horizon calibration...",
         }
 
+        prev = None
         async for progress_data in drone.calibration.calibrate_level_horizon():
-            structured_data = parse_horizon_progress(progress_data)
+            structured_data = parse_horizon_progress(progress_data, prev=prev)
+            prev = structured_data
             yield structured_data
 
         yield {

px4_configuration/api/services/health_service.py

@@ -3,7 +3,7 @@
 from __future__ import annotations
 
 import asyncio
-from typing import Optional, Dict, Any
+from typing import Optional, Dict, Any, Iterable
 
 from mavsdk import System
 
@@ -37,6 +37,42 @@ async def _get_gps_info_once(drone: System, timeout_s: float = 5.0):
     return await asyncio.wait_for(_first(), timeout_s)
 
 
+SENSOR_INDEXES: Iterable[int] = (0, 1, 2)
+
+
+async def _is_family_calibrated(
+    drone: System,
+    family: str,
+    indexes: Iterable[int] = SENSOR_INDEXES,
+) -> bool:
+    """
+    Param-based heuristic:
+
+    A sensor family (gyro/accel/mag) is considered calibrated if ANY
+    CAL_FAMILYn_ID != 0 for the probed indexes and the param read succeeds.
+    """
+    prefix_map = {
+        "gyro": "CAL_GYRO",
+        "accel": "CAL_ACC",
+        "mag": "CAL_MAG",
+    }
+    prefix = prefix_map.get(family)
+    if not prefix:
+        return False
+
+    for i in indexes:
+        name = f"{prefix}{i}_ID"
+        try:
+            sensor_id = await drone.param.get_param_int(name)
+        except Exception:
+            # Ignore this index if param read fails
+            continue
+        if sensor_id != 0:
+            return True
+
+    return False
+
+
 async def read_px4_health(
     port: Optional[str] = None,
     baudrate: Optional[int] = None,
@@ -45,7 +81,8 @@ async def read_px4_health(
     """
     Connect to PX4 via MAVSDK and return a one-shot health snapshot.
 
-    - Uses telemetry.health() for calibration + armable flags.
+    - Uses PX4 CAL_* params to derive calibration health.
+    - Uses telemetry.health() for armable + positional flags.
     - Uses telemetry.gps_info() for fix type + satellites.
     - Returns Px4HealthResponse; never raises to the API layer.
     """
@@ -61,49 +98,105 @@ async def read_px4_health(
         # Connect to PX4
         await drone.connect(system_address=serial)
 
-        # Get health & GPS within the global timeout
-        health = await _get_health_once(drone, timeout_s=timeout_s / 2)
+        # Optional: verify we actually got a connection state
+        async for state in drone.core.connection_state():
+            if not state.is_connected:
+                # Treat as disconnected; don't bother with the rest
+                return Px4HealthResponse(
+                    status="disconnected",
+                    connection_port=port,
+                    connection_baudrate=baudrate,
+                    calibration=None,
+                    gps_fix_type=None,
+                    satellites_used=None,
+                    armable=False,
+                    raw_health=None,
+                )
+            break
+
+        # -------- PARAM-BASED CALIBRATION (source of truth) --------
+        gyroscope_ok = await _is_family_calibrated(drone, "gyro")
+        accelerometer_ok = await _is_family_calibrated(drone, "accel")
+        magnetometer_ok = await _is_family_calibrated(drone, "mag")
+
+        calibration = CalibrationHealth(
+            gyroscope_ok=gyroscope_ok,
+            accelerometer_ok=accelerometer_ok,
+            magnetometer_ok=magnetometer_ok,
+        )
+
+        # -------- TELEMETRY HEALTH (for armable + debug) --------
+        try:
+            health = await _get_health_once(drone, timeout_s=timeout_s / 2)
+        except asyncio.TimeoutError:
+            health = None
+
+        # -------- GPS INFO (unchanged) --------
         try:
             gps_info = await _get_gps_info_once(drone, timeout_s=timeout_s / 2)
         except asyncio.TimeoutError:
             gps_info = None
 
-        # Build calibration health
-        calibration = CalibrationHealth(
-            gyroscope_ok=health.is_gyrometer_calibration_ok,
-            accelerometer_ok=health.is_accelerometer_calibration_ok,
-            magnetometer_ok=health.is_magnetometer_calibration_ok,
-        )
-
-        # GPS fields
         gps_fix_type: Optional[str] = None
         satellites_used: Optional[int] = None
 
         if gps_info is not None:
-            # gps_info.fix_type is an enum; prefer its name
             if hasattr(gps_info.fix_type, "name"):
                 gps_fix_type = gps_info.fix_type.name.lower()
             else:
                 gps_fix_type = str(gps_info.fix_type).lower()
 
-            # MAVSDK docs: num_satellites = number of visible satellites in use
             satellites_used = int(getattr(gps_info, "num_satellites", 0))
 
-        # High-level status heuristic
-        if calibration.requires_calibration:
-            status = "degraded"
-        else:
+        # -------- STATUS + ARMABLE (respect your Literal) --------
+        armable: Optional[bool] = None
+        if health is not None:
+            armable = health.is_armable
+
+        # Map everything into your fixed status vocabulary:
+        # - disconnected: handled in exception / early return
+        # - ok: armable and all calibrated
+        # - degraded: anything else (not armable or missing calibration)
+        if armable and not calibration.requires_calibration:
             status = "ok"
+        else:
+            status = "degraded"
 
-        # Raw health flags (optional, but handy for debugging / advanced UI)
-        raw_health: Dict[str, Any] = {
-            "is_gyrometer_calibration_ok": health.is_gyrometer_calibration_ok,
-            "is_accelerometer_calibration_ok": health.is_accelerometer_calibration_ok,
-            "is_magnetometer_calibration_ok": health.is_magnetometer_calibration_ok,
-            "is_local_position_ok": getattr(health, "is_local_position_ok", None),
-            "is_global_position_ok": getattr(health, "is_global_position_ok", None),
-            "is_home_position_ok": getattr(health, "is_home_position_ok", None),
-            "is_armable": health.is_armable,
+        # -------- RAW HEALTH FOR DEBUG/UI --------
+        raw_health: Dict[str, Any] = {}
+
+        # Telemetry-derived bits (if available)
+        if health is not None:
+            raw_health.update(
+                {
+                    "is_gyrometer_calibration_ok": health.is_gyrometer_calibration_ok,
+                    "is_accelerometer_calibration_ok": health.is_accelerometer_calibration_ok,
+                    "is_magnetometer_calibration_ok": health.is_magnetometer_calibration_ok,
+                    "is_local_position_ok": getattr(health, "is_local_position_ok", None),
+                    "is_global_position_ok": getattr(health, "is_global_position_ok", None),
+                    "is_home_position_ok": getattr(health, "is_home_position_ok", None),
+                    "is_armable": health.is_armable,
+                }
+            )
+        else:
+            raw_health.update(
+                {
+                    "is_gyrometer_calibration_ok": None,
+                    "is_accelerometer_calibration_ok": None,
+                    "is_magnetometer_calibration_ok": None,
+                    "is_local_position_ok": None,
+                    "is_global_position_ok": None,
+                    "is_home_position_ok": None,
+                    "is_armable": None,
+                }
+            )
+
+        # Param-derived calibration snapshot as debug info (so you can see IDs in Swagger/UI later if you want)
+        raw_health["calibration_params"] = {
+            "source": "CAL_*_ID heuristic",
+            "gyroscope_ok": gyroscope_ok,
+            "accelerometer_ok": accelerometer_ok,
+            "magnetometer_ok": magnetometer_ok,
         }
 
         return Px4HealthResponse(
@@ -113,7 +206,7 @@ async def read_px4_health(
             calibration=calibration,
             gps_fix_type=gps_fix_type,
             satellites_used=satellites_used,
-            armable=health.is_armable,
+            armable=armable,
             raw_health=raw_health,
         )
 

px4_configuration/api/utils/calibration_parser.py

@@ -5,7 +5,10 @@ from typing import Optional, Dict, Any, List
 import math
 
 
-def parse_accelerometer_progress(progress_data) -> Dict[str, Any]:
+def parse_accelerometer_progress(
+    progress_data,
+    prev: Optional[Dict[str, Any]] = None,
+) -> Dict[str, Any]:
     """
     Parse accelerometer calibration progress data into structured format.
     
@@ -33,10 +36,11 @@ def parse_accelerometer_progress(progress_data) -> Dict[str, Any]:
             result["progress"] = float(progress_value)
     
     # Extract status text if available
+    pending_match = None
     if hasattr(progress_data, 'has_status_text') and progress_data.has_status_text:
         status_text = progress_data.status_text
         result["status_text"] = status_text
-        
+
         # Parse pending orientations (e.g., "pending: back front left right up down")
         pending_match = re.search(r'pending:\s*([a-z\s]+)', status_text, re.IGNORECASE)
         if pending_match:
@@ -65,31 +69,44 @@ def parse_accelerometer_progress(progress_data) -> Dict[str, Any]:
             except ValueError:
                 pass
         
-        # Determine current message/instruction
-        if "progress" in status_text.lower() and "<" in status_text and ">" in status_text:
+        # Determine current message/instruction (normalize to simple labels)
+        low = status_text.lower()
+        if "progress" in low and "<" in status_text and ">" in status_text:
             # This seems to be a completion indicator (e.g., "progress <102>")
             result["is_complete"] = True
             result["current_message"] = "complete"
-        elif "hold vehicle still" in status_text.lower():
+        elif pending_match:
+            result["current_message"] = "pending"
+        elif "hold vehicle still" in low:
             result["current_message"] = "hold_still"
-        elif "detected rest position" in status_text.lower():
+        elif "detected rest position" in low:
             result["current_message"] = "rest_detected"
-        elif "measuring" in status_text.lower():
+        elif "measuring" in low:
             result["current_message"] = "measuring"
-        elif "done, rotate" in status_text.lower():
+        elif "done, rotate" in low:
             result["current_message"] = "rotate"
-        elif "already completed" in status_text.lower():
+        elif "already completed" in low:
             result["current_message"] = "already_completed"
-        elif "orientation detected" in status_text.lower():
+        elif "orientation detected" in low:
             result["current_message"] = "orientation_detected"
         else:
             # Default: use the status text as message
             result["current_message"] = status_text
+
+    # Carry forward state from previous snapshot where appropriate
+    if prev:
+        if not result["pending_orientations"]:
+            result["pending_orientations"] = prev.get("pending_orientations", [])
+        if result["current_orientation"] is None:
+            result["current_orientation"] = prev.get("current_orientation")
     
     return result
 
 
-def parse_gyroscope_progress(progress_data) -> Dict[str, Any]:
+def parse_gyroscope_progress(
+    progress_data,
+    prev: Optional[Dict[str, Any]] = None,
+) -> Dict[str, Any]:
     """
     Parse gyroscope calibration progress data into structured format.
     
@@ -126,11 +143,19 @@ def parse_gyroscope_progress(progress_data) -> Dict[str, Any]:
         result["status_text"] = status_text
         if status_text and not result["current_message"]:
             result["current_message"] = status_text
+
+    # Carry forward simple state where helpful
+    if prev:
+        if result["progress"] is None:
+            result["progress"] = prev.get("progress")
     
     return result
 
 
-def parse_magnetometer_progress(progress_data) -> Dict[str, Any]:
+def parse_magnetometer_progress(
+    progress_data,
+    prev: Optional[Dict[str, Any]] = None,
+) -> Dict[str, Any]:
     """
     Parse magnetometer calibration progress data into structured format.
     
@@ -185,29 +210,40 @@ def parse_magnetometer_progress(progress_data) -> Dict[str, Any]:
                 result["current_orientation"] = match.group(1).lower()
                 break
         
-        # Determine current message/instruction
-        if "Rotate vehicle" in status_text:
+        # Determine current message/instruction (normalize)
+        low = status_text.lower()
+        if "rotate vehicle" in status_text:
             result["current_message"] = "rotate"
-        elif "hold vehicle still" in status_text.lower():
+        elif "hold vehicle still" in low:
             result["current_message"] = "hold_still"
-        elif "detected rest position" in status_text.lower():
+        elif "detected rest position" in low:
             result["current_message"] = "rest_detected"
-        elif "detected motion" in status_text.lower():
+        elif "detected motion" in low:
             result["current_message"] = "motion_detected"
-        elif "done, rotate" in status_text.lower():
+        elif "done, rotate" in low:
             result["current_message"] = "rotate"
-        elif "already completed" in status_text.lower():
+        elif "already completed" in low:
             result["current_message"] = "already_completed"
-        elif "orientation detected" in status_text.lower():
+        elif "orientation detected" in low:
             result["current_message"] = "orientation_detected"
         else:
             # Default: use the status text as message
             result["current_message"] = status_text
+
+    # Carry forward orientation / pending where appropriate
+    if prev:
+        if not result["pending_orientations"]:
+            result["pending_orientations"] = prev.get("pending_orientations", [])
+        if result["current_orientation"] is None:
+            result["current_orientation"] = prev.get("current_orientation")
     
     return result
 
 
-def parse_horizon_progress(progress_data) -> Dict[str, Any]:
+def parse_horizon_progress(
+    progress_data,
+    prev: Optional[Dict[str, Any]] = None,
+) -> Dict[str, Any]:
     """
     Parse level horizon calibration progress data into structured format.
     
@@ -243,6 +279,11 @@ def parse_horizon_progress(progress_data) -> Dict[str, Any]:
         result["status_text"] = status_text
         if status_text and not result["current_message"]:
             result["current_message"] = status_text
+
+    # Carry forward simple state where helpful
+    if prev:
+        if result["progress"] is None:
+            result["progress"] = prev.get("progress")
     
     return result
 

{px4_configuration-0.2.0.dist-info → px4_configuration-0.2.1.dist-info}/METADATA

@@ -1,10 +1,10 @@
 Metadata-Version: 2.4
 Name: px4-configuration
-Version: 0.2.0
+Version: 0.2.1
 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-Python: >=3.10
 Requires-Dist: fastapi>=0.104.0
 Requires-Dist: mavsdk==3.0.1
 Requires-Dist: python-multipart>=0.0.6
@@ -60,7 +60,7 @@ pip install dist/px4_configuration-0.1.0-py3-none-any.whl
 
 ## Requirements
 
-- Python 3.8+
+- Python 3.10+
 - PX4 flight controller connected over serial (e.g. `/dev/pixhawk`)
 - User added to the `dialout` group for serial access (`sudo usermod -aG dialout $USER`)
 

{px4_configuration-0.2.0.dist-info → px4_configuration-0.2.1.dist-info}/RECORD

@@ -1,17 +1,17 @@
 px4_configuration/__init__.py,sha256=U0jqmbB8mDtIQ_ZPVjfHzoF7b9EM1TFJQRWEJ49Vk1I,334
 px4_configuration/api/__init__.py,sha256=o0txTrY6RjO1ehOJGtMerrVMm0QR1E4PiutPhoKtmZo,137
 px4_configuration/api/config.py,sha256=imb6qv75ye_DE4t7kbf7xbxWPvy3Yota95keVjg1c5A,562
-px4_configuration/api/main.py,sha256=xiOOVfWQB6pRhzA2rDJzFDrfGTnqAyQeIcQ3Hlzplyk,8323
-px4_configuration/api/models.py,sha256=Wi0eWsfqd4noxSPgIN4yUnKGdoncBwkmlSvCs6HAsbE,3552
+px4_configuration/api/main.py,sha256=aeGpssDFcg9xwps3sdRM0tH2p2yYeqkGn9y7QLHw3I4,8278
+px4_configuration/api/models.py,sha256=UeP_FOiimmBxJmeDZ6EGHTodRfQiBNOSt_hSfiVsglI,3546
 px4_configuration/api/services/__init__.py,sha256=U91RCGMiGcIQqtbnzscfNbWpFw65ZNz0DKabCPtTGMw,163
-px4_configuration/api/services/calibration_service.py,sha256=yLlSd3ePe4zOrb4hdXdiwVRiZ5u1f-ACO1-eiyocFSU,4076
-px4_configuration/api/services/health_service.py,sha256=3rNGRfy0GvwnQ_OMD4jU5qm-O2_YDOnfVg_AGS3Fcl4,4457
+px4_configuration/api/services/calibration_service.py,sha256=qA5NQx267djW853FKWrfGb6wTsCdqGGpTb3QN6j9zA4,4363
+px4_configuration/api/services/health_service.py,sha256=T1pSMQLxpC41puxQIuTsFj5FVy5NAV0dtTkEoHfHvXE,7539
 px4_configuration/api/services/param_service.py,sha256=95Ee5v3rEGjXiW2LJURTUHXqtxBl2JomV_tMcLwGjac,5201
 px4_configuration/api/services/sdcard_service.py,sha256=6bnMTcaHddo8ZOsrKtl39V518MBO_Z-2fXFT4PTLT5M,2643
 px4_configuration/api/services/shell_service.py,sha256=A_28vCxWyc6e-Usf3QLHqCy5Auf7tyGwqySQ5E5LO1s,2096
 px4_configuration/api/utils/__init__.py,sha256=KR-_U6nAXr8V1uxsB1hCFXPxKYYEwbf096kvhhUJfFk,54
-px4_configuration/api/utils/calibration_parser.py,sha256=ARn702mhz16gJV3gw0-HvFQmUSNCMbohwxTAtcs06GQ,9821
-px4_configuration-0.2.0.dist-info/METADATA,sha256=MaxU3zpqE8nUdJgb892fbuMvrnqL1irMfyAs43fyYus,7106
-px4_configuration-0.2.0.dist-info/WHEEL,sha256=qtCwoSJWgHk21S1Kb4ihdzI2rlJ1ZKaIurTj_ngOhyQ,87
-px4_configuration-0.2.0.dist-info/entry_points.txt,sha256=mBRa68p2qL9HPLE9nCruYZDtTmuDOhFIbkY_nwX-WTc,67
-px4_configuration-0.2.0.dist-info/RECORD,,
+px4_configuration/api/utils/calibration_parser.py,sha256=rlW4D-ogc0z8o80jBkazZ3oqucAvSMGp_vKfpp5bLp0,10990
+px4_configuration-0.2.1.dist-info/METADATA,sha256=URkhx2PatvDNwcOVKWCyhqv60E6qDyAwnqGj2IaUQ3c,7108
+px4_configuration-0.2.1.dist-info/WHEEL,sha256=WLgqFyCfm_KASv4WHyYy0P3pM_m7J5L9k2skdKLirC8,87
+px4_configuration-0.2.1.dist-info/entry_points.txt,sha256=mBRa68p2qL9HPLE9nCruYZDtTmuDOhFIbkY_nwX-WTc,67
+px4_configuration-0.2.1.dist-info/RECORD,,

{px4_configuration-0.2.0.dist-info → px4_configuration-0.2.1.dist-info}/WHEEL

@@ -1,4 +1,4 @@
 Wheel-Version: 1.0
-Generator: hatchling 1.27.0
+Generator: hatchling 1.28.0
 Root-Is-Purelib: true
 Tag: py3-none-any