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Yet Another Multiwii Serial Protocol Python Interface... for Betaflight, iNAV, etc...

Home Page: https://thecognifly.github.io/

License: GNU General Public License v3.0

Python 100.00%

betaflight cleanflight drones inav msp mspv2 multiwii python uav

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inav communication

Hi Ricardo,
Hope all is good, I had to take a step our for a while... but now I am back and will update regarding gpiozero etc.
I wanted to ask a quick question - I've changed the drone's firmware form betaflight to INAV.
The problem that the drone is not arming when I press the associated key.
I think that the problem is that "arming" is associated with "Aux1" while in INAV configurator arming is associated with "ch5". The drone can be armed via RC (Taranis X9 lite).
I've tried to change "aux1" to "ch5" or "CH5".

What do you think?
John

Joystick Event Values Problem

So I recently had to get a new SD card with Raspbian because my old one stopped working for some reason. I downloaded the most recent versions of the linux kernel and python-evdev, and when I run jstest the event values are between -32765 and 32765, or thereabouts, as opposed to 0-255. When I move the sticks, the event values change as expected. However, when I run the joystick-async.py script, nothing happens when I move the stick. I altered the code values to work with the new event values, but still nothing. I inserted a print statement into the code, but moving the sticks does nothing, for the event values, or the RC commands. What should I do? Should I just revert to an older version of the python-evdev package and the linux kernel? Or do I need to configure python-evdev somehow?

Documentation missing

Documentation for MSP codes missing in codeline 64 in init.py
Link expired https://git.io/fjRAa
Where can I find the new documentaion?

Altitude reading

Hi, I'm comparing altitude reading from MSP and one I see in OSD. In static position they match move when I move drone the altitude increases, but slowly climbing back to 0 so that when I put the quad down it becomes negative and starts increasing. Any ideas what's happening?

In MSP reference I see this:

Maybe parsing is wrong and "vario" affects reading?

work without a loop

Hello Ricardo,
Hope all is good :)
I've tried with gpizero and it looks nice but would like to try and use the code without keyboard.
So, for that I wrote a new main function without a loop where I use YAMSPy as following:

board = MSPy(device="/dev/ttyAMA0", loglevel='WARNING', baudrate=115200)
board.enter()
print('after connection')
CMDS = {'roll':1500,'pitch':1500,'throttle': 900,'yaw':1500,'CH5':2000,'aux2':1000}
CMDS_ORDER = ['roll', 'pitch', 'throttle', 'yaw', 'CH5', 'aux2']
if board.send_RAW_RC([CMDS[ki] for ki in CMDS_ORDER]):
dataHandler = board.receive_msg()
board.process_recv_data(dataHandler)
print('after commands')

The value of CH5 (2000) is configured to arm the drone.
When I use the regular simpleUI script the drone is armed, but when I use the modified script I see in INAV configurator that CH5 indeed is changed to 2000 but the drone is not armed.
The only difference is the loop.
What do you think?

Beast regards and stay healthy!

John

Sending GPS to the FC

Hi,
I'm trying to send GPS data through MSP to an FC with betaflight (the current latest version). I'm using code MSP_SET_RAW_GPS that according to this it sets a set of GPS observables. I show below an example of a code I'm using that sends PS4 controller commands for roll, pitch, yaw, and throttle, followed by an attempt to send the GPS data as well. My problem is that the GPS section is not working. For some reason, it freezes the loop. Any idea why is not working?
Note that I'm using betaflight because it allows setting MSP GPS mode, which I believe is to work precisely as I'm trying to do.

import time
from yamspy import MSPy
from approxeng.input.selectbinder import ControllerResource

serial_port = "/dev/serial0"
FC_SEND_LOOP_TIME = 0.05
CMDS_ORDER = ['roll', 'pitch', 'throttle', 'yaw', 'aux1', 'aux2']
CMDS = {
        'roll':     1500,
        'pitch':    1500,
        'yaw':      1500,
        'aux1':     1000,
        'aux2':     1000
        }

def stick2pwm(x):
    return int(200*x)


with MSPy(device=serial_port, loglevel='WARNING', baudrate=115200) as board:
    command_list = ['MSP_API_VERSION', 'MSP_FC_VARIANT', 'MSP_FC_VERSION', 'MSP_BUILD_INFO',
                    'MSP_BOARD_INFO', 'MSP_UID', 'MSP_ACC_TRIM', 'MSP_NAME', 'MSP_STATUS',
                    'MSP_STATUS_EX','MSP_BATTERY_CONFIG', 'MSP_BATTERY_STATE', 'MSP_BOXNAMES']
    for msg in command_list:
        if board.send_RAW_msg(MSPy.MSPCodes[msg], data=[]):
            dataHandler = board.receive_msg()
            board.process_recv_data(dataHandler)
    try:

        with ControllerResource() as joystick:
            while joystick.connected:
                #lx -> ga_0
                #ly -> ga_1

                #rx -> ga_2
                #ry -> ga_3
                lx,ly,rx,ry,triangle,rt,lt = joystick['lx','ly','rx','ry','triangle','rt','lt']
                throttle = ly
                yaw = lx
                roll = rx
                pitch = ry

                if throttle > 0:
                    CMDS['throttle'] = 1000+stick2pwm(throttle)
                else:
                    CMDS['throttle'] = 1000


                if yaw > 0:
                    CMDS['yaw'] = 1500+stick2pwm(yaw)
                elif yaw < 0:
                    CMDS['yaw'] = 1500+stick2pwm(yaw)
                else:
                    CMDS['yaw'] = 1500

                if roll > 0:
                    CMDS['roll'] = 1500+stick2pwm(roll)
                elif roll < 0:
                    CMDS['roll'] = 1500+stick2pwm(roll)
                else:
                    CMDS['roll'] = 1500

                if pitch > 0:
                    CMDS['pitch'] = 1500+stick2pwm(pitch)
                elif pitch < 0:
                    CMDS['pitch'] = 1500+stick2pwm(pitch)
                else:
                    CMDS['pitch'] = 1500

                if rt > 0.9 and CMDS['aux1'] < 1500:
                    CMDS['aux1'] = 1800
                elif lt > 0.9 and CMDS['aux1'] > 1500:
                    CMDS['aux1'] = 1000

                #send cmds to FC
                CMDS_RC = [CMDS[ki] for ki in CMDS_ORDER]
                if board.send_RAW_RC(CMDS_RC):
                    dataHandler = board.receive_msg()
                    board.process_recv_data(dataHandler)

                ############ SEND GPS DATA #############
                gps_fix = 1
                gps_numSat = 7 #num_sat
                gps_lat = int(3843.037537*10000000) #lat
                gps_lon = int(00907.745287*10000000) #lon
                gps_alt = int(89.2*100) #altitude
                gps_spe = int(0.0) #spd_over_grnd
                gps_grd_cou = int(74.6*10) #true_course
                # gps_hdop = int(1.0*100)

                data_gps = board.convert([gps_fix], 8)
                data_gps += board.convert([gps_numSat], 8)
                data_gps += board.convert([gps_lat], 32)
                data_gps += board.convert([gps_lon], 32)
                data_gps += board.convert([gps_alt], 16)
                data_gps += board.convert([gps_spe], 16)
                # data_gps += board.convert([gps_grd_cou], 16)

                if board.send_RAW_msg(MSPy.MSPCodes['MSP_SET_RAW_GPS'], data=data_gps):
                    dataHandler = board.receive_msg()
                    board.process_recv_data(dataHandler)

                #######################################


                time.sleep(FC_SEND_LOOP_TIME)


    except KeyboardInterrupt:
        print("stop")
        CMDS = {
                'roll':     1500,
                'pitch':    1500,
                'yaw':      1500,
                'aux1':     1000,
                'aux2':     1000
                }
        CMDS_RC = [CMDS[ki] for ki in CMDS_ORDER]
        if board.send_RAW_RC(CMDS_RC):
            dataHandler = board.receive_msg()
            board.process_recv_data(dataHandler)

        pass

The code works correctly or not on my microcontroller F411 NOXE V3

Thanks @ricardodeazambuja for the useful code.
My ports setup

I run the example code simpleUI.py, the result is like this

Press 'q' to quit, 'r' to reboot, 'm' to change mode, 'a' to arm, 'd' to disarm and arrow keys to control


ARMED: False                                      armingDisableFlags: ['RXLOSS', 'ANGLE', 'MSP']
cpuload: 31                                       cycleTime: 249
mode: 0                                           Flight Mode: []
Battery Voltage: 0.01V  VOLTAGE TOO HIGH
Motor Values: [1000, 1000, 1000, 1000, 0, 0, 0, 0]
RC Channels Values: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
GUI cycleTime: 18.98ms (average 74.16Hz)


apiVersion: 1.45.0                                flightControllerIdentifier: BTFL
flightControllerVersion: 4.4.3                    boardIdentifier: S411
boardName: JHEF411                                name:

If I select the ARM/DISARM command, it’s as if the command is not being sent, and I have questions in the RX input of my flight controller.

Sending Arm command...
ARMED: False

Sending Disarm command...
ARMED: False

Armed never changes, as if the command does not reach the flight's microcontroller.
But when I select the REBOOT command, the pilot reboots.
I don’t yet have enough knowledge in betaflight firmware, as far as I understand, the ARM flag appears in three cases:
1. When there is no connection with the receiver(pult)
2. When the accelerometer sensor does not show the horizon, it is not calibrated/aligned
3. There is no connection via the MSP protocol
I don't have a pult/control panel, ESC board, battery or motors.
How is it possible to put into operation a “naked” flight controller without peripherals?

Change PS4 joystick example code to use curses

Currently it just print stuff on the screen and that is pretty annoying. simpleUI uses curses and it's much easier to test things that way.

AssertionError: There's something wrong with the serial connection... check the logfile!

Hi,
Can't run any of the examples. For example, read_altitude.py example gives the error:

AssertionError: There's something wrong with the serial connection... check the logfile!

But the serial connection is working. The log file:

[DEBUG] [2021-09-08 10:56:05,496]: RAW message sent: bytearray(b'$M<\x00\x01\x01')
[DEBUG] [2021-09-08 10:56:05,499]: State: 0 - byte received (at 1631094965.4989734): 36
[DEBUG] [2021-09-08 10:56:05,499]: State: 1 - byte received (at 1631094965.4989734): 77
[DEBUG] [2021-09-08 10:56:05,499]: State: 2 - byte received (at 1631094965.4989734): 62
[DEBUG] [2021-09-08 10:56:05,499]: State: 3 - byte received (at 1631094965.4989734): 3
[DEBUG] [2021-09-08 10:56:05,499]: State: 4 - byte received (at 1631094965.4989734): 1
[DEBUG] [2021-09-08 10:56:05,499]: State: 7 - byte received (at 1631094965.4989734): 0
[DEBUG] [2021-09-08 10:56:05,500]: State: 8 - byte received (at 1631094965.4989734): 1
[DEBUG] [2021-09-08 10:56:05,500]: State: 8 - byte received (at 1631094965.4989734): 44
[DEBUG] [2021-09-08 10:56:05,500]: State: 9 - byte received (at 1631094965.4989734): 47
[DEBUG] [2021-09-08 10:56:05,500]: Message received (length 3) - Code 1
[DEBUG] [2021-09-08 10:56:05,500]: RAW message sent: bytearray(b'$M<\x00\x0
```2\x02')
[DEBUG] [2021-09-08 10:56:05,509]: State: 0 - byte received (at 1631094965.5091374): 36
[DEBUG] [2021-09-08 10:56:05,509]: State: 1 - byte received (at 1631094965.5091374): 77
[DEBUG] [2021-09-08 10:56:05,509]: State: 2 - byte received (at 1631094965.5091374): 62
[DEBUG] [2021-09-08 10:56:05,509]: State: 3 - byte received (at 1631094965.5091374): 4
[DEBUG] [2021-09-08 10:56:05,509]: State: 4 - byte received (at 1631094965.5091374): 2
[DEBUG] [2021-09-08 10:56:05,509]: State: 7 - byte received (at 1631094965.5091374): 66
[DEBUG] [2021-09-08 10:56:05,510]: State: 8 - byte received (at 1631094965.5091374): 84
[DEBUG] [2021-09-08 10:56:05,510]: State: 8 - byte received (at 1631094965.5091374): 70
[DEBUG] [2021-09-08 10:56:05,510]: State: 8 - byte received (at 1631094965.5091374): 76


... (quite big)


[DEBUG] [2021-09-08 10:56:05,595]: Message received (length 22) - Code 101
[DEBUG] [2021-09-08 10:56:05,595]: RAW message sent: bytearray(b'$M<\x00\x96\x96')
[DEBUG] [2021-09-08 10:56:05,600]: State: 0 - byte received (at 1631094965.6009123): 36
[DEBUG] [2021-09-08 10:56:05,601]: State: 1 - byte received (at 1631094965.6009123): 77
[DEBUG] [2021-09-08 10:56:05,601]: State: 2 - byte received (at 1631094965.6009123): 62
[DEBUG] [2021-09-08 10:56:05,601]: State: 3 - byte received (at 1631094965.6009123): 22
[DEBUG] [2021-09-08 10:56:05,601]: State: 4 - byte received (at 1631094965.6009123): 150
[DEBUG] [2021-09-08 10:56:05,603]: State: 7 - byte received (at 1631094965.6009123): 46
[DEBUG] [2021-09-08 10:56:05,603]: State: 8 - byte received (at 1631094965.6009123): 1
[DEBUG] [2021-09-08 10:56:05,603]: State: 8 - byte received (at 1631094965.6009123): 0
[DEBUG] [2021-09-08 10:56:05,603]: State: 8 - byte received (at 1631094965.6009123): 0
[DEBUG] [2021-09-08 10:56:05,603]: State: 8 - byte received (at 1631094965.6009123): 33
[DEBUG] [2021-09-08 10:56:05,603]: State: 8 - byte received (at 1631094965.6009123): 0
[DEBUG] [2021-09-08 10:56:05,603]: State: 8 - byte received (at 1631094965.6009123): 0
[DEBUG] [2021-09-08 10:56:05,603]: State: 8 - byte received (at 1631094965.6009123): 0
[DEBUG] [2021-09-08 10:56:05,604]: State: 8 - byte received (at 1631094965.6009123): 0
[DEBUG] [2021-09-08 10:56:05,604]: State: 8 - byte received (at 1631094965.6009123): 0
[DEBUG] [2021-09-08 10:56:05,604]: State: 8 - byte received (at 1631094965.6009123): 0
[DEBUG] [2021-09-08 10:56:05,604]: State: 8 - byte received (at 1631094965.6009123): 65
[DEBUG] [2021-09-08 10:56:05,604]: State: 8 - byte received (at 1631094965.6009123): 0
[DEBUG] [2021-09-08 10:56:05,604]: State: 8 - byte received (at 1631094965.6009123): 3
[DEBUG] [2021-09-08 10:56:05,604]: State: 8 - byte received (at 1631094965.6009123): 0
[DEBUG] [2021-09-08 10:56:05,604]: State: 8 - byte received (at 1631094965.6009123): 0
[DEBUG] [2021-09-08 10:56:05,605]: State: 8 - byte received (at 1631094965.6009123): 26
[DEBUG] [2021-09-08 10:56:05,605]: State: 8 - byte received (at 1631094965.6009123): 4
[DEBUG] [2021-09-08 10:56:05,605]: State: 8 - byte received (at 1631094965.6009123): 0
[DEBUG] [2021-09-08 10:56:05,605]: State: 8 - byte received (at 1631094965.6009123): 0
[DEBUG] [2021-09-08 10:56:05,605]: State: 8 - byte received (at 1631094965.6009123): 1
[DEBUG] [2021-09-08 10:56:05,605]: State: 8 - byte received (at 1631094965.6009123): 0
[DEBUG] [2021-09-08 10:56:05,605]: State: 9 - byte received (at 1631094965.6009123): 211
[DEBUG] [2021-09-08 10:56:05,605]: Message received (length 22) - Code 150

Error sending data and receiving imu data

I have some issues with your project,
The speed of motor didn't change when the value of throttle, pitch, roll, and yaw have changed.
But your project can detect which board is used.
I use ubuntu 18.04.
I attach some pictures about my setting in betaflight, maybe I did some mistakes.
Thank you.

Wifi access

Hi,
I saw that the device is written as "tty/..." can I write an IP address instead? so I will transmit the command to ESP module that is on the drone (the ESP is just a bridge) or am I missing something in the setup?
Thanks

Omnibus F4 V3 connection with Raspberry pi4 by using MSP

Hello, I am trying to make a otonom drone without person control. Rashperry pi will send images to computer and I will process that image in computer. After that computer send command to raspberry pi. And raspberry pi send command to omnibus for motors. I have a problem about betaflight and MSP. We tried a lot of things but we still have problems. Betaflight supported our controller, we can get data by using usb port. We are trying to use raspberry pi4 and UART6(on flight controller). We couldn't do it "MSP RX input" configuration. Therefore, when using raspberry, we cannot receive the data like when using the usb port.

crashing reading

I running inav 2.3

And crashing running read_adtitude.py it looks like data is being readed.
MSPy.log

Traceback (most recent call last):
File "read_altitude.py", line 45, in
with MSPy(device=serial_port, loglevel='DEBUG', baudrate=115200) as board:
File "/usr/local/lib/python3.7/dist-packages/yamspy/init.py", line 869, in enter
self.is_serial_open = not self.connect(trials=self.ser_trials)
File "/usr/local/lib/python3.7/dist-packages/yamspy/init.py", line 903, in connect
self.basic_info()
File "/usr/local/lib/python3.7/dist-packages/yamspy/init.py", line 938, in basic_info
dataHandler = self.receive_msg()
File "/usr/local/lib/python3.7/dist-packages/yamspy/init.py", line 1089, in receive_msg
data = received_bytes[di]
IndexError: index out of range

Add type hints and test mypyc

It would be interesting to add type hints (for readability) and test whether mypyc will speed up things.

Issues with arming using custom code

I've been trying to follow the provided examples to arm my quad using my custom code. Here's my code:

#!!!
import time
from yamspy import MSPy


CMDS = {
            'roll':     1500,
            'pitch':    1500,
            'throttle': 900,
            'yaw':      1500,
            'aux1':     1000,
            'aux2':     1000
            #'aux3':     1000,
            #'aux4':     1000
            }

#CMDS = [1500,1500,900,1500,1000,1000]
CMDS_ORDER = ['roll', 'pitch', 'throttle', 'yaw', 'aux1', 'aux2']

serial_port = "/dev/ttyUSB0"
with MSPy(device=serial_port, loglevel='WARNING', baudrate=115200) as board:
    command_list = ['MSP_API_VERSION', 'MSP_FC_VARIANT', 'MSP_FC_VERSION', 'MSP_BUILD_INFO',
                    'MSP_BOARD_INFO', 'MSP_UID', 'MSP_ACC_TRIM', 'MSP_NAME', 'MSP_STATUS',
                    'MSP_STATUS_EX','MSP_BATTERY_CONFIG', 'MSP_BATTERY_STATE', 'MSP_BOXNAMES']
    for msg in command_list:
        if board.send_RAW_msg(MSPy.MSPCodes[msg], data=[]):
            dataHandler = board.receive_msg()
            board.process_recv_data(dataHandler)
    try:
        print('Arming')
        CMDS_RC = [CMDS[ki] for ki in CMDS_ORDER]
        #board.fast_msp_rc_cmd(CMDS_RC)
        while True:
            CMDS['aux1'] = 1800
            CMDS['throttle'] = 1000
            CMDS_RC = [CMDS[ki] for ki in CMDS_ORDER]
            if board.send_RAW_RC(CMDS_RC):
                dataHandler = board.receive_msg()
                board.process_recv_data(dataHandler)
            #board.fast_msp_rc_cmd(CMDS_RC)

            CMDS['throttle'] = 1050
            CMDS_RC = [CMDS[ki] for ki in CMDS_ORDER]
            board.fast_msp_rc_cmd(CMDS_RC)


    except KeyboardInterrupt:
        print('Disarming')
        CMDS['aux1'] = 900

        CMDS_RC = [CMDS[ki] for ki in CMDS_ORDER]
        if board.send_RAW_RC(CMDS_RC):
            dataHandler = board.receive_msg()
            board.process_recv_data(dataHandler)
        #board.fast_msp_rc_cmd(CMDS_RC)

My FC (an old Naze32) flashes green, indicating it's armed, but the motors won't spin. This isn't a problem for either the joystick_async.py or simpleUI.py code; both of those can arm and spin the motors. What needs to be done to arm the motors? I can't seem to find any obvious discrepancies between the example and my code.

communication with INAV

Hi,
I wanted to ask regarding the communication with INAV and raspberry pi (3b) model.
I've downloaded the library and connected the wired accordingly, verified that FC TX is connected to Rpi RX and vice versa.
However, I don't see a communication, the "curses ?UX" is not loaded.
I think it's a problem with how I configured the FC via INAV configurator.
Attached two snapshots. Could you please help here?
Thanks
Dancho

Switch between RC and MSP drone contrling on flight

I have succefully started simpleUI.py on my SpeedyBee f405 FC via USB cable. My question, is it possible to start manual flight using RC controller and then switch for autonomus controlling with Rasberry PI + YASMPy during flight?

MSP over UART (Pins)

Hello,

Has anybody successfully connected to a FC with a raspberry pi over the onboard Pins? I have deactivated bluetooth and changed many settings but still it doesn't connect successfull, it always times out. If I try another UART where I know it should not work it instantly throws an error...

Via USB everything works great, but usb is not safe enough to fly...

Example code working on Linux but not working on Windows Pycharm

Hello, the example code working on linux but I am getting this error on windows:

İs there a solution for windows? Thank you.

How to communicate with FC fast?

When I'm running commands like MSP_BOARD_INFO it takes good 5-10 seconds to process each command. Is that normal?
What is the proper way to get fast accel/gyro values from FC? Say 100 times per second.

Angle mode

I've used the library with a betaflight drone and tried simpleui.py, it worked great via raspberry pi.

The issue is that the drone is in "Angle mode" where as I understood it suppose to stabilize itself but it doesn't happen? is there something in the init.py that disables the accelerometer?

In betaflight configurator I see that the acclerometer works?

One more thing, is there an ability to control the barometer?

Best,
John

Allow to change the gains/values from analog sticks in the PS4 joystick example code

The analog sticks generate values from 0 to 255 (at least this is what I can get using evdev) , they are normalized (0 to 1) and multiplied by 1000. It's much easier to control the drone if a smaller gain is used instead of 1000 and, ideally, this should be easy to set through command line instead of hard coding it...

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I've been trying to follow the provided examples to arm my quad using my custom code. Here's my code:

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