pyMAVLinCS 1.0.4__tar.gz → 1.1.0__tar.gz

{pymavlincs-1.0.4 → pymavlincs-1.1.0}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: pyMAVLinCS
-Version: 1.0.4
+Version: 1.1.0
 Summary: Python API for autonomous drone control based on pymavlink
 Author-email: Noah Redon <redonnoah.cs@gmail.com>
 License: GPL-3.0-or-later

{pymavlincs-1.0.4 → pymavlincs-1.1.0}/pyMAVLinCS/__init__.py

@@ -23,55 +23,62 @@ class MAVLinCS:
     """Allows connection to one or more flight controllers on one link."""
     def __init__(self,
             address: str,
+            baud: int = 57600,
             source_system: int = 255,
             source_component: int = mavutil.mavlink.MAV_COMP_ID_MISSIONPLANNER,
             target_system: int|None = None,
-            baud: int = 57600,
-            timeout_heartbeat: float|None = None,
-            send_automatic_timesync: bool = True,
-            timesync_delay: int = 3,
-            send_automatic_home_request: bool = True,
-            home_request_delay: int = 3,
-            sysid_to_request_home: None|int|set|list[int] = None,
-            pos_rate: float = 4,
             dialect: str = "ardupilotmega",
+            mcc_class = MCC,
             logger: logging.Logger = default_logger,
             mavlogfile: str | None = 'mav.tlog',
             relative_path_to_cwd: bool = True,
-            command_ack_to_hide: None|int|set|list[int] = None,
-            mcc_class = MCC
+            **kwargs
         ):
         """Initializes the connection.
 
         Args:
             address (str): Connection address.
+            baud (int): Connection baudrate.
             source_system (int): Ground station MAVLink system ID.
             source_component (int): Ground station MAV_COMPONENT.
             target_system (int|None): MAVLink system ID of the target flight controller.
-            baud (int): Connection baudrate.
-            timeout_heartbeat (float): Timeout (in seconds) while waiting for a HEARTBEAT before considering the connection impossible (raises an Exception).
-            send_automatic_timesync (bool): Whether to send TIMESYNC messages at regular intervals.
-            timesync_delay (int): Delay (in seconds) between two automatic TIMESYNC messages.
-            send_automatic_home_request (bool): Whether to request the HOME position at regular intervals.
-            home_request_delay (int): Delay (in seconds) between two automatic HOME position requests.
-            sysid_to_request_home (None|int|set|list[int]): List of system IDs to which HOME position requests should be sent regularly.
-            pos_rate (float): Rate at which the flight controller sends position updates to the ground station.
             dialect (str): MAVLink dialect, essential if timeout_heartbeat == 0. 'ardupilotmega' for ArduPilot, 'common' for PX4.
+            mcc_class: MCC base class used in your code (gives access to your custom MCCs).
             logger (logging.Logger): Logger to use.
             mavlogfile (str|None): Filename for MAVLink message logging.
             relative_path_to_cwd (bool): Whether the tlog path is relative to the current working directory.
-            command_ack_to_hide (None|int|set|list[int]|): List of COMMAND_ACK (MAV_CMD) to show only in debug mode.
-            mcc_class: MCC base class used in your code (gives access to your custom MCCs).
+            **timeout_heartbeat (float): Timeout (in seconds) while waiting for a HEARTBEAT before considering the connection impossible (raises an Exception). Default: None.
+            **pos_rate (float): Rate at which the flight controller sends position updates to the ground station. Default: 4.
+            **send_automatic_timesync (bool): Whether to send TIMESYNC messages at regular intervals. Default: False.
+            **timesync_delay (int): Delay (in seconds) between two automatic TIMESYNC messages. Default: 3.
+            **send_automatic_home_request (bool): Whether to request the HOME position at regular intervals. Default: True.
+            **home_request_delay (int): Delay (in seconds) between two automatic HOME position requests. Default: 3.
+            **sysid_to_request_home (None|int|set|list[int]): List of system IDs to which HOME position requests should be sent regularly. Default: None.
+            **command_ack_to_hide (None|int|set|list[int]|): List of COMMAND_ACK (MAV_CMD) to show only in debug mode. Default: None.
 
         Note:
             - If target_system is None, the MAVLink ID of the first detected vehicle is used as target.
-            - If timeout_heartbeat is None, blocking wait until a valid HEARTBEAT is received (does not raise an Exception).
-            - If timeout_heartbeat is 0, no HEARTBEAT wait is performed. Requires the correct MAVLink dialect and assumes MAVLink 2.
-            - If sysid_to_request_home is None, HOME position requests are sent only to the target flight controller.
             - If mavlogfile is None, no .tlog file will be generated.
-            - If pos_rate<=0, doesn't request position.
+            - If **timeout_heartbeat is None, blocking wait until a valid HEARTBEAT is received (does not raise an Exception).
+            - If **timeout_heartbeat is 0, no HEARTBEAT wait is performed. Requires the correct MAVLink dialect and assumes MAVLink 2.
+            - If **sysid_to_request_home is None, HOME position requests are sent only to the target flight controller.
+            - If **pos_rate<=0, doesn't request position.
         """
         logger.debug("Initializing MAVLinCS..")
+
+        # ------
+        # kwargs
+        # ------
+
+        timeout_heartbeat = kwargs.get('timeout_heartbeat', None)
+        pos_rate = kwargs.get('pos_rate', 4)
+        send_automatic_timesync = kwargs.get('send_automatic_timesync', False)
+        timesync_delay = kwargs.get('timesync_delay', 3)
+        send_automatic_home_request = kwargs.get('send_automatic_home_request', True)
+        home_request_delay = kwargs.get('home_request_delay', 3)
+        sysid_to_request_home = kwargs.get('sysid_to_request_home', None)
+        command_ack_to_hide = kwargs.get('command_ack_to_hide', None)
+
         # -----------------------
         # User-provided variables
         # -----------------------
@@ -145,13 +152,13 @@ class MAVLinCS:
         # Open connection
         self.open(
             address=address,
+            baud=baud,
             source_system=source_system,
             source_component=source_component,
             target_system=target_system,
-            baud=baud,
+            dialect=dialect,
             timeout_heartbeat=timeout_heartbeat,
-            pos_rate=pos_rate,
-            dialect=dialect
+            pos_rate=pos_rate
         )
 
     # ----------------------------------------------
@@ -208,7 +215,7 @@ class MAVLinCS:
 
         Note:
             All returned values are NaN if no data has been received.
-        """ 
+        """
         m = self.get_msg(
             msg_type="GLOBAL_POSITION_INT",
             source_system=source_system
@@ -830,21 +837,22 @@ class MAVLinCS:
     def set_servo(self,
             servo_channel: int,
             pwm: int,
-            timeout_ack: float|None = 2,
-            target_system: int|None = None
+            target_system: int|None = None,
+            **kwargs
         ) -> bool:
         """Sets the position of a servo.
 
         Args:
             servo_channel (int): Servo channel.
             pwm (int): PWM value (between 1000 and 2000. 1000=closed, 2000=open).
-            timeout_ack (float|None): Acknowledgment wait time.
             target_system (int|None): Target MAVLink system ID for the command. Defaults to the master's ID.
+            **timeout_ack (float|None): Acknowledgment wait time. Default: 2.
 
         Returns:
             bool: Result of the operation.
         """
         self.logger.debug("Setting servo..")
+        timeout_ack = kwargs.get('timeout_ack', 2)
         if self.mission_ended:
             self.logger.critical("Mission stopped: Impossible to set servo")
             return False
@@ -871,8 +879,8 @@ class MAVLinCS:
         )
         accepted = self.wait_command_ack(
             command=mavutil.mavlink.MAV_CMD_DO_SET_SERVO,
-            timeout=timeout_ack,
-            source_system=target_system
+            source_system=target_system,
+            timeout=timeout_ack
         )
         if accepted:
             self.logger.info("Servo set")
@@ -889,7 +897,7 @@ class MAVLinCS:
             latitude: float,
             longitude: float,
             altitude: float,
-            timeout_ack: float = 3
+            **kwargs
         ) -> bool:
         """Sends a target GPS position.
 
@@ -897,13 +905,14 @@ class MAVLinCS:
             latitude (float): Latitude in degrees.
             longitude (float): Longitude in degrees.
             altitude (float): Absolute altitude (MSL) in meters.
-            timeout_ack (float): ACK wait timeout in seconds.
+            **timeout_ack (float): ACK wait timeout in seconds. Default: 3.
 
         Returns:
             bool: Result of the operation.
         """
         # Function not tested but should work by changing the gimbal mode (function to implement)
         self.logger.debug("Setting Gimbal Target..")
+        timeout_ack = kwargs.get('timeout_ack', 3)
         if self.mission_ended:
             self.logger.critical("Mission stopped: Impossible to set Gimbal target")
             return False
@@ -941,24 +950,25 @@ class MAVLinCS:
             pitch_rate: float = 0.0, yaw_rate: float = 0.0,
             lock_pitch: bool = True, lock_yaw: bool = True,
             yaw_in_earth_frame: bool = True,
-            timeout_ack: float = 3.0
+            **kwargs
         ) -> bool:
         """Orients the gimbal.
 
         Args:
-            pitch (float): Pitch angle (rad).
-            yaw (float): Yaw angle (rad).
-            pitch_rate (float): Pitch rotation speed (rad/s).
-            yaw_rate (float): Yaw rotation speed (rad/s).
+            pitch (float): Pitch angle (deg).
+            yaw (float): Yaw angle (deg).
+            pitch_rate (float): Pitch rotation speed (deg/s).
+            yaw_rate (float): Yaw rotation speed (deg/s).
             lock_pitch (bool): True = lock pitch relative to the horizon.
             lock_yaw (bool): True = lock yaw relative to North (earth frame).
             yaw_in_earth_frame (bool): True = yaw expressed in Earth frame, otherwise vehicle frame.
-            timeout_ack (float): Maximum wait time for ACK (seconds).
+            **timeout_ack (float): Maximum wait time for ACK (seconds). Default: 3.
 
         Returns:
             bool: True if ACK received (command accepted), False otherwise.
         """
         self.logger.debug("Setting Gimbal Angles..")
+        timeout_ack = kwargs.get('timeout_ack', 3)
         if self.mission_ended:
             self.logger.critical("Mission stopped: Impossible to set Gimbal angles")
             return False
@@ -987,7 +997,7 @@ class MAVLinCS:
             self.master.target_system,
             self.master.target_component,
             mavutil.mavlink.MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW,
-            1, pitch, yaw, pitch_rate, yaw_rate,    # Speeds (rad/s)
+            1, pitch, yaw, pitch_rate, yaw_rate,    # Speeds (deg/s)
             flags, 0, 0
         )
         accepted = self.wait_command_ack(
@@ -1005,16 +1015,17 @@ class MAVLinCS:
             self.logger.error("Gimbal Angles setting failed")
         return bool(accepted)
 
-    def set_gimbal_retract(self, timeout_ack: float = 3.0) -> bool:
+    def set_gimbal_retract(self, **kwargs) -> bool:
         """Sets the gimbal to retract position (no stabilization).
 
         Args:
-            timeout_ack (float): Maximum wait time for ACK (seconds).
+            **timeout_ack (float): Maximum wait time for ACK (seconds). Default: 3.
 
         Returns:
             bool: True if ACK received (command accepted), False otherwise.
         """
         self.logger.debug("Setting Gimbal Retract..")
+        timeout_ack = kwargs.get('timeout_ack', 3)
         if self.mission_ended:
             self.logger.critical("Mission stopped: Impossible to set Gimbal Retract")
             return False
@@ -1047,16 +1058,17 @@ class MAVLinCS:
             self.logger.error("Gimbal Retract setting failed")
         return bool(accepted)
 
-    def set_gimbal_neutral(self, timeout_ack: float = 3.0) -> bool:
+    def set_gimbal_neutral(self, **kwargs) -> bool:
         """Sets the gimbal to neutral position (roll=pitch=yaw=0).
 
         Args:
-            timeout_ack (float): Maximum wait time for ACK (seconds).
+            **timeout_ack (float): Maximum wait time for ACK (seconds). Default: 3.
 
         Returns:
             bool: True if ACK received (command accepted), False otherwise.
         """
         self.logger.debug("Setting Gimbal Neutral..")
+        timeout_ack = kwargs.get('timeout_ack', 3)
         if self.mission_ended:
             self.logger.critical("Mission stopped: Impossible to set Gimbal Neutral")
             return False
@@ -1091,15 +1103,14 @@ class MAVLinCS:
 
     def request_home_position(self,
             target_system: int|None = None,
-            timeout_ack: float|None = 2,
-            timeout_home_reception: float|None = 2
+            **kwargs
         ) -> mavtypes.HomePosition:
         """Requests and waits to receive the HOME position.
 
         Args:
             target_system (int|None): Target MAVLink system ID for the request. Defaults to the master's ID.
-            timeout_ack (float|None): ACK wait timeout. 0 if no wait (returns NaN, NaN, NaN). None if no timeout.
-            timeout_home_reception (float|None): Timeout for receiving the HOME position after ACK. 0 if no wait (returns NaN, NaN, NaN). None if no timeout.
+            **timeout_ack (float|None): ACK wait timeout. 0 if no wait (returns NaN, NaN, NaN). None if no timeout. Default: 2.
+            **timeout_home_reception (float|None): Timeout for receiving the HOME position after ACK. 0 if no wait (returns NaN, NaN, NaN). None if no timeout. Default: 2.
 
         Returns:
             mavtypes.HomePosition:
@@ -1111,6 +1122,8 @@ class MAVLinCS:
             All returned values are NaN if no data has been received.
         """
         self.logger.info("Requesting HOME..")
+        timeout_ack = kwargs.get('timeout_ack', 2)
+        timeout_home_reception = kwargs.get('timeout_home_reception', 2)
         if self.mission_ended:
             self.logger.critical("Mission stopped: Impossible to request HOME")
             return mavtypes.HomePosition(latitude_home=math.nan, longitude_home=math.nan, altitude_home=math.nan)
@@ -1165,7 +1178,7 @@ class MAVLinCS:
             msg_type: str | int,
             rate: float,
             target_system: int|None = None,
-            timeout_ack: float|None = 2
+            **kwargs
         ) -> bool:
         """Changes the sending frequency of a specific flight controller message.
 
@@ -1173,12 +1186,13 @@ class MAVLinCS:
             msg_type (str | int): Message type (name or ID).
             rate (float): Transmission frequency in Hz.
             target_system (int|None): Target MAVLink system ID. Defaults to the master's ID.
-            timeout_ack (float|None): ACK wait timeout. 0 if no wait (returns False). None if no timeout.
+            **timeout_ack (float|None): ACK wait timeout. 0 if no wait (returns False). None if no timeout. Default: 2.
 
         Returns:
             bool: True if the request was accepted by the flight controller, False otherwise.
         """
         self.logger.debug("Setting Msg Rate..")
+        timeout_ack = kwargs.get('timeout_ack', 2)
         if self.mission_ended:
             self.logger.critical("Mission stopped: Impossible to set msg rate")
             return False
@@ -1389,22 +1403,23 @@ class MAVLinCS:
 
     def arm(self,
             force: bool = False,
-            timeout_ack: float|None = 2,
-            timeout_arming: float|None = 4,
-            target_system: int|None = None
+            target_system: int|None = None,
+            **kwargs
         ) -> bool:
         """Arms the drone.
 
         Args:
             force (bool): Whether to force arming or not.
-            timeout_ack (float|None): ACK wait timeout. 0 if no wait (returns False). None if no timeout.
-            timeout_arming (float|None): Arming wait timeout. 0 if no wait after ACK (returns the ACK wait result as bool). None if no timeout.
             target_system (int|None): Target MAVLink system ID. Defaults to the master's ID.
+            **timeout_ack (float|None): ACK wait timeout. 0 if no wait (returns False). None if no timeout. Default: 2.
+            **timeout_arming (float|None): Arming wait timeout. 0 if no wait after ACK (returns the ACK wait result as bool). None if no timeout. Default: 4.
 
         Returns:
             bool: Whether the drone was armed or not.
         """
         self.logger.info("Arming..")
+        timeout_ack = kwargs.get('timeout_ack', 2)
+        timeout_arming = kwargs.get('timeout_arming', 4)
         if self.mission_ended:
             self.logger.critical("Mission stopped: Impossible to arm")
             return False
@@ -1433,9 +1448,7 @@ class MAVLinCS:
                 self.logger.warning("Mode %s not armable: trying to change mode to GUIDED", custom_mode)
                 mod_changed = self.set_mode(
                     mode="GUIDED",
-                    target_system=target_system,
-                    timeout_ack=3,
-                    timeout_set_mode=5
+                    target_system=target_system
                 )
                 if not force and not mod_changed:
                     self.logger.critical("Not the right mode, impossible to arm")
@@ -1455,8 +1468,8 @@ class MAVLinCS:
         )
         accepted = self.wait_command_ack(
             command=mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
-            timeout=timeout_ack,
-            source_system=target_system
+            source_system=target_system,
+            timeout=timeout_ack
         )
         if accepted is None: # End of mission or Timeout
             if self.mission_ended:
@@ -1480,22 +1493,23 @@ class MAVLinCS:
 
     def disarm(self,
             force: bool = False,
-            timeout_ack: float|None = 2,
-            timeout_disarming: float|None = 4,
-            target_system: int|None = None
+            target_system: int|None = None,
+            **kwargs
         ) -> bool:
         """Disarms the drone.
 
         Args:
             force (bool): Whether to force disarming or not.
-            timeout_ack (float|None): ACK wait timeout. 0 if no wait (returns False). None if no timeout.
-            timeout_disarming (float|None): Disarming wait timeout. 0 if no wait after ACK (returns the ACK wait result as bool). None if no timeout.
             target_system (int|None): Target MAVLink system ID. Defaults to the master's ID.
+            **timeout_ack (float|None): ACK wait timeout. 0 if no wait (returns False). None if no timeout. Default: 2.
+            **timeout_disarming (float|None): Disarming wait timeout. 0 if no wait after ACK (returns the ACK wait result as bool). None if no timeout. Default: 4.
 
         Returns:
             bool: Whether the drone was disarmed or not.
         """
         self.logger.info("Disarming..")
+        timeout_ack = kwargs.get('timeout_ack', 2)
+        timeout_disarming = kwargs.get('timeout_disarming', 4)
         if self.mission_ended:
             self.logger.critical("Mission stopped: Impossible to disarm")
             return False
@@ -1520,8 +1534,8 @@ class MAVLinCS:
         )
         accepted = self.wait_command_ack(
             command=mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
-            timeout=timeout_ack,
-            source_system=target_system
+            source_system=target_system,
+            timeout=timeout_ack
         )
         if accepted is None: # End of mission or Timeout
             if self.mission_ended:
@@ -1545,22 +1559,23 @@ class MAVLinCS:
 
     def set_mode(self,
             mode: str|int|tuple[int, int, int],
-            timeout_ack: float|None = 2,
-            timeout_set_mode: float|None = 4,
-            target_system: int|None = None
+            target_system: int|None = None,
+            **kwargs
         ) -> bool:
         """Changes the flight mode.
 
         Args:
             mode (str|int|tuple[int, int, int]): Flight mode. str: mode name. int: mode ID on ArduPilot. tuple[int, int, int]: (MAV_MODE_FLAG, Custom Main Mode, Custom Sub Mode) on PX4.
-            timeout_ack (float|None): ACK wait timeout. 0 if no wait (returns False). None if no timeout.
-            timeout_set_mode (float|None): Mode change wait timeout. 0 if no wait (returns the ACK wait result as bool). None if no timeout.
             target_system (int|None): Target MAVLink system ID. Defaults to the master's ID.
+            **timeout_ack (float|None): ACK wait timeout. 0 if no wait (returns False). None if no timeout. Default: 2.
+            **timeout_set_mode (float|None): Mode change wait timeout. 0 if no wait (returns the ACK wait result as bool). None if no timeout. Default: 4.
 
         Returns:
             bool: Whether the mode was changed or not.
         """
         self.logger.info("Setting Mode..")
+        timeout_ack = kwargs.get('timeout_ack', 2)
+        timeout_set_mode = kwargs.get('timeout_set_mode', 4)
         if self.mission_ended:
             self.logger.critical("Mission stopped: Impossible to change mode")
             return False
@@ -1615,8 +1630,8 @@ class MAVLinCS:
 
         accepted = self.wait_command_ack(
             command=mavutil.mavlink.MAV_CMD_DO_SET_MODE,
-            timeout=timeout_ack,
-            source_system=target_system
+            source_system=target_system,
+            timeout=timeout_ack
         )
         if accepted is None: # End of mission or Timeout
             if self.mission_ended:
@@ -1805,25 +1820,26 @@ class MAVLinCS:
     def takeoff(self,
             altitude: float,
             pitch: float = 0,
-            timeout_ack: float|None = 2,
-            timeout_takeoff: float|None = None,
-            precision: float = 1,
-            target_system: int|None = None
+            target_system: int|None = None,
+            **kwargs
         ) -> bool:
         """Perform a takeoff. Make sure to arm the drone beforehand.
 
         Args:
             altitude (float): Takeoff altitude.
             pitch (float): Enforced pitch.
-            timeout_ack (float|None): Timeout while waiting for the ack. 0 means no waiting (returns False). None means no timeout.
-            timeout_takeoff (float|None): Timeout while waiting for the takeoff to complete. 0 means no waiting (returns the ack result as bool). None means no timeout.
-            precision (float): Required altitude precision in meters to consider the takeoff successful. Defaults to 1.
             target_system (int|None): Target MAVLink system ID. Defaults to the master's ID.
+            **precision (float): Required altitude precision in meters to consider the takeoff successful. Default: 1.
+            **timeout_ack (float|None): Timeout while waiting for the ack. 0 means no waiting (returns False). None means no timeout. Default: 2.
+            **timeout_takeoff (float|None): Timeout while waiting for the takeoff to complete. 0 means no waiting (returns the ack result as bool). None means no timeout. Default: None.
 
         Returns:
             bool: Takeoff result.
         """
         self.logger.debug("Starting takeoff..")
+        precision = kwargs.get('precision', 1)
+        timeout_ack = kwargs.get('timeout_ack', 2)
+        timeout_takeoff = kwargs.get('timeout_takeoff', None)
         if self.mission_ended:
             self.logger.critical("Mission stopped: Unable to takeoff")
             return False
@@ -1843,8 +1859,6 @@ class MAVLinCS:
                 self.logger.warning("Mode %s != GUIDED", self.mode(source_system=target_system))
                 mod_changed = self.set_mode(
                     mode="GUIDED",
-                    timeout_ack=3,
-                    timeout_set_mode=5,
                     target_system=target_system
                 )
                 if not mod_changed:
@@ -1891,7 +1905,8 @@ class MAVLinCS:
             )
             accepted = self.wait_command_ack(
                 command=mavutil.mavlink.MAV_CMD_NAV_TAKEOFF,
-                timeout=timeout_ack, source_system=target_system
+                source_system=target_system,
+                timeout=timeout_ack
             )
             if accepted is None:
                 self.logger.critical("Takeoff failed: insufficient data")
@@ -1960,23 +1975,24 @@ class MAVLinCS:
             time.sleep(0.05)
 
     def land(self,
-            timeout_ack: float|None = 2,
-            timeout_set_mode: float|None = 3,
-            timeout_land: float|None = None,
-            target_system: int|None = None
+            target_system: int|None = None,
+            **kwargs
         ) -> bool:
         """Perform a simple landing. Currently implemented only for ArduPilot.
 
         Args:
-            timeout_ack (float|None): Timeout while waiting for the ack.
-            timeout_set_mode (float|None): Timeout while waiting for the mode change.
-            timeout_land (float|None): Timeout while waiting for the landing to complete.
             target_system (int|None): Target MAVLink system ID. Defaults to the master's ID.
+            **timeout_ack (float|None): Timeout while waiting for the ack. Default: 2.
+            **timeout_set_mode (float|None): Timeout while waiting for the mode change. Default: 3.
+            **timeout_land (float|None): Timeout while waiting for the landing to complete. Default: None.
 
         Returns:
             bool: Result of the operation.
         """
         self.logger.info("Landing..")
+        timeout_ack = kwargs.get('timeout_ack', 2)
+        timeout_set_mode = kwargs.get('timeout_set_mode', 3)
+        timeout_land = kwargs.get('timeout_land', None)
         if self.mission_ended:
             self.logger.critical("Mission stopped: Unable to land")
             return False
@@ -1993,9 +2009,9 @@ class MAVLinCS:
 
         if not self.set_mode(
             mode="LAND",
+            target_system=target_system,
             timeout_ack=timeout_ack,
-            timeout_set_mode=timeout_set_mode,
-            target_system=target_system
+            timeout_set_mode=timeout_set_mode
         ):
             self.logger.critical("Landing failed")
             return False
@@ -2188,19 +2204,20 @@ class MAVLinCS:
         return True
 
     def clear_waypoints(self,
-            timeout: float|None = 2,
-            target_system: int|None = None
+            target_system: int|None = None,
+            **kwargs
         ) -> bool:
         """Delete all waypoints.
 
         Args:
-            timeout (float|None): Timeout while waiting for the ack.
             target_system (int|None): Target MAVLink system ID. Defaults to the master's ID.
+            **timeout (float|None): Timeout while waiting for the ack. Default: 2.
 
         Returns:
             bool: Result of the request.
         """
         self.logger.debug("Deleting waypoints..")
+        timeout = kwargs.get('timeout', 2)
         if self.mission_ended:
             self.logger.critical("Mission stopped: Unable to clear waypoints")
             return False
@@ -2220,8 +2237,8 @@ class MAVLinCS:
 
         accepted = self.wait_mission_ack(
             mission_type=mavutil.mavlink.MAV_MISSION_TYPE_MISSION,
-            timeout=timeout,
-            source_system=target_system
+            source_system=target_system,
+            timeout=timeout
         )
         if accepted:
             self.logger.info("Waypoints cleared")
@@ -2237,19 +2254,20 @@ class MAVLinCS:
     def start_mission(self,
             first_wp_tkoff: bool,
             target_system: int|None = None,
-            timeout: float|None = 3
+            **kwargs
         ) -> bool:
         """Start the mission. Currently implemented only for ArduPilot.
 
         Args:
             first_wp_tkoff (bool): True if the first waypoint is a takeoff waypoint, False otherwise.
             target_system (int|None): Target MAVLink system ID. Defaults to the master's ID.
-            timeout (float|None): Waiting timeout (used in several places).
+            **timeout (float|None): Waiting timeout (used in several places). Default: 3.
 
         Returns:
             bool: Whether the mission has started.
         """
         self.logger.info("Starting mission..")
+        timeout = kwargs.get('timeout', 3)
         if self.mission_ended:
             self.logger.critical("Mission stopped: Unable to start mission")
             return False
@@ -2268,18 +2286,18 @@ class MAVLinCS:
             target_system = self.master.target_system
         if first_wp_tkoff:
             armed = self.arm(
+                target_system=target_system,
                 timeout_ack=timeout,
-                timeout_arming=timeout,
-                target_system=target_system
+                timeout_arming=timeout
             )
             if not armed:
                 self.logger.critical("Start mission failed")
                 return False
             mod_auto = self.set_mode(
                 mode="AUTO",
+                target_system=target_system,
                 timeout_ack=timeout,
-                timeout_set_mode=timeout,
-                target_system=target_system
+                timeout_set_mode=timeout
             )
             if not mod_auto:
                 self.logger.critical("Start mission failed")
@@ -2287,18 +2305,18 @@ class MAVLinCS:
             self.logger.info("Mission started")
             return True
         disarmed = self.disarm(
+            target_system=target_system,
             timeout_ack=timeout,
-            timeout_disarming=timeout,
-            target_system=target_system
+            timeout_disarming=timeout
         )
         if not disarmed:
             self.logger.critical("Start mission failed")
             return False
         mod_auto = self.set_mode(
             mode="AUTO",
+            target_system=target_system,
             timeout_ack=timeout,
-            timeout_set_mode=timeout,
-            target_system=target_system
+            timeout_set_mode=timeout
         )
         if not mod_auto:
             self.logger.critical("Start mission failed")
@@ -2329,19 +2347,20 @@ class MAVLinCS:
         return bool(ack)
 
     def return_to_launch(self,
-            timeout: float|None = 2,
-            target_system: int|None = None
+            target_system: int|None = None,
+            **kwargs
         ) -> bool:
         """Send a Return-To-Launch (RTL) request.
 
         Args:
-            timeout (float|None): ACK waiting timeout.
             target_system (int|None): Target MAVLink system ID. Defaults to the master's ID.
+            **timeout_ack (float|None): ACK waiting timeout. Default: 2.
 
         Returns:
             bool: Result of the request.
         """
         self.logger.debug("RTL..")
+        timeout_ack = kwargs.get('timeout_ack', 2)
         if self.mission_ended:
             self.logger.critical("Mission stopped: Unable to RTL")
             return False
@@ -2365,8 +2384,8 @@ class MAVLinCS:
 
         accepted = self.wait_command_ack(
             command=mavutil.mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH,
-            timeout=timeout,
-            source_system=target_system
+            source_system=target_system,
+            timeout=timeout_ack
         )
         if accepted:
             self.logger.info("RTL started")
@@ -2380,21 +2399,22 @@ class MAVLinCS:
         return bool(accepted)
 
     def reboot(self,
-            timeout_ack: float|None = 2,
+            force=False,
             target_system: int|None = None,
-            force=False
+            **kwargs
         ) -> bool:
         """Reboot the autopilot.
 
         Args:
-            timeout_ack (float|None): ACK waiting timeout.
-            target_system (int|None): Target MAVLink system ID.
             force (bool): Whether to perform a forced reboot (not recommended; for reference only).
+            target_system (int|None): Target MAVLink system ID.
+            **timeout_ack (float|None): ACK waiting timeout. Default: 2.
 
         Returns:
             bool: Result of the operation.
         """
         self.logger.debug("Rebooting..")
+        timeout_ack = kwargs.get('timeout_ack', 2)
         if self.mission_ended:
             self.logger.critical("Mission stopped: Unable to reboot")
             return False
@@ -2424,8 +2444,8 @@ class MAVLinCS:
 
         accepted = self.wait_command_ack(
             command=mavutil.mavlink.MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN,
-            timeout=timeout_ack,
-            source_system=target_system
+            source_system=target_system,
+            timeout=timeout_ack
         )
         if accepted:
             self.logger.info("Reboot accepted")
@@ -3264,32 +3284,39 @@ class MAVLinCS:
 
     def open(self,
             address: str,
+            baud: int = 57600,
             source_system: int = 255,
             source_component: int = mavutil.mavlink.MAV_COMP_ID_MISSIONPLANNER,
             target_system: int|None = None,
-            baud: int = 57600,
-            timeout_heartbeat: float|None = None,
-            pos_rate: float = 4,
-            dialect: str = "ardupilotmega"
+            dialect: str = "ardupilotmega",
+            **kwargs
         ):
         """Opens a MAVLink connection. Ensure any previous connection is closed.
 
         Args:
             address (str): Connection address (e.g., serial port or UDP endpoint).
+            baud (int): Baud rate for serial connection.
             source_system (int): MAVLink system ID for the ground station.
             source_component (int): MAVLink component ID for the ground station.
             target_system (int|None): MAVLink system ID of the flight controller. If None, first detected vehicle is used.
-            baud (int): Baud rate for serial connection.
-            timeout_heartbeat (float|None): Time to wait for a HEARTBEAT before considering connection impossible. None = wait indefinitely, 0 = skip waiting.
-            pos_rate (float): Frequency (Hz) at which the flight controller sends position messages to the ground station.
-            dialect (str): MAVLink dialect, required if timeout_heartbeat==0. "ardupilotmega" for ArduPilot, "common" for PX4.
+            dialect (str): MAVLink 2 dialect. Example: "ardupilotmega" for ArduPilot, "common" for PX4.
+            **timeout_heartbeat (float|None): Time to wait for a HEARTBEAT before considering connection impossible. None = wait indefinitely, 0 = skip waiting. Default: None.
+            **pos_rate (float): Frequency (Hz) at which the flight controller sends position messages to the ground station. Default: 4.
 
         Note:
+            - Initializes MAVLink version and dialect.
             - Sets up callbacks for sending and receiving MAVLink messages.
-            - Initializes MAVLink version and dialect if timeout_heartbeat==0.
             - Starts background MAV thread for message handling.
-            - If pos_rate<=0, doesn't request position.
+            - If **pos_rate<=0, doesn't request position.
         """
+        timeout_heartbeat = kwargs.get('timeout_heartbeat', None)
+        pos_rate = kwargs.get('pos_rate', 4)
+        self.logger.debug("Loading MAVLink version and dialect..")
+        os.environ['MAVLINK20'] = '1'
+        os.environ.pop('MAVLINK09', None)
+        mavutil.set_dialect(dialect=dialect)
+        self.logger.debug("MAVLink version and dialect loaded")
+
         self.logger.debug("Creating master object..")
         self.master: mavutil.mavfile = mavutil.mavlink_connection(
             device=address,
@@ -3300,11 +3327,15 @@ class MAVLinCS:
         )
 
         try:
-            self.logger.debug("Master object created")
+            self.master.first_byte = False
+            self.master.mav.set_callback(self._recv_msg_callback)
+            self.master.mav.set_send_callback(self._send_callback)
             self.timesync_handler.set_master(self.master)
+            self.mavthread.set_master(self.master)
+
+            self.logger.debug("Master object created")
 
             if timeout_heartbeat != 0:
-                self.master.mav.set_callback(self._recv_msg_callback)
                 self.logger.info("Waiting for HEARTBEAT%s", f" from ({target_system}:1)" if target_system else "")
                 start_time = time.time()
                 while True:
@@ -3326,19 +3357,9 @@ class MAVLinCS:
                         break
             else:
                 self.logger.info("No timeout for HEARTBEAT specified")
-                self.master.first_byte = False
-                self.master.WIRE_PROTOCOL_VERSION = "2.0"
-                os.environ['MAVLINK20'] = '1'
-                mavutil.set_dialect(dialect=dialect)
-                self.master.mav = mavutil.mavlink.MAVLink(self.master, srcSystem=self.master.source_system, srcComponent=self.master.source_component)
-                self.master.mav.robust_parsing = self.master.robust_parsing
-                self.master.WIRE_PROTOCOL_VERSION = mavutil.mavlink.WIRE_PROTOCOL_VERSION
-                self.master.mav.set_callback(self._recv_msg_callback)
                 self.master.target_system = 1 if target_system is None else target_system
                 self.master.target_component = mavutil.mavlink.MAV_COMP_ID_AUTOPILOT1
 
-            self.master.mav.set_send_callback(self._send_callback)
-
             self._sysid_to_request_home.clear()
             sysid_to_request_home = self.data_init.get("sysid_to_request_home", None)
             if isinstance(sysid_to_request_home, int):
@@ -3374,7 +3395,6 @@ class MAVLinCS:
                 self.logger.warning("%s is not a MAV_CMD", cmd)
 
             # Start MAV thread
-            self.mavthread.set_master(self.master)
             self.mavthread.start_thread()
 
             if timeout_heartbeat != 0 and pos_rate>0:

{pymavlincs-1.0.4 → pymavlincs-1.1.0}/pyMAVLinCS/setup_logger.py

@@ -20,6 +20,7 @@ try:
     colorama_init()
     _ENABLE_COLORS = True
 except ImportError:
+    print("Warning: colorama isn't installed. No logging color available")
     _ENABLE_COLORS = False
 
 _COLORS = {
@@ -28,7 +29,7 @@ _COLORS = {
     logging.WARNING: Fore.YELLOW,
     logging.ERROR: Fore.RED,
     logging.CRITICAL: Fore.RED + Style.BRIGHT,
-}
+} if _ENABLE_COLORS else {}
 _RESET = Style.RESET_ALL if _ENABLE_COLORS else ""
 
 

{pymavlincs-1.0.4 → pymavlincs-1.1.0}/pyMAVLinCS.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: pyMAVLinCS
-Version: 1.0.4
+Version: 1.1.0
 Summary: Python API for autonomous drone control based on pymavlink
 Author-email: Noah Redon <redonnoah.cs@gmail.com>
 License: GPL-3.0-or-later

{pymavlincs-1.0.4 → pymavlincs-1.1.0}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "pyMAVLinCS"
-version = "1.0.4"
+version = "1.1.0"
 description = "Python API for autonomous drone control based on pymavlink"
 authors = [
     {name="Noah Redon", email="redonnoah.cs@gmail.com"}