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Dict for control state #10

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jbpassot merged 2 commits into from
Nov 2, 2013
Merged

Dict for control state #10

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8989480
Using a dict for control state received by the drone
Nov 2, 2013
d798e3f
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Nov 2, 2013
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12 changes: 12 additions & 0 deletions libardrone/libardrone.py
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Original file line number Diff line number Diff line change
Expand Up @@ -50,6 +50,17 @@

DEBUG = False

# 0: "Not defined"
# 131072: "Landed"
# 393216: "Taking-off-Floor"
# 393217: "Taking-off-Air"
# 262144: "Hovering"
# 524288: "Landing"
# 458752: "Stabilizing"
# 196608: "Moving"
# 262153 and 196613: "Undefined"
ctrl_state_dict={0:0, 131072:1, 393216:2, 393217:3, 262144:4, 524288:5, 458752:6, 196608:7, 262153:8, 196613:9}


class ARDrone(object):
"""ARDrone Class.
Expand Down Expand Up @@ -537,6 +548,7 @@ def decode_navdata(packet):
values = struct.unpack_from("IIfffifffI", "".join(values))
values = dict(zip(['ctrl_state', 'battery', 'theta', 'phi', 'psi', 'altitude', 'vx', 'vy', 'vz', 'num_frames'], values))
# convert the millidegrees into degrees and round to int, as they
values['ctrl_state'] = ctrl_state_dict[values['ctrl_state']]
# are not so precise anyways
for i in 'theta', 'phi', 'psi':
values[i] = int(values[i] / 1000)
Expand Down