From dfedcd4201768e967156af6ae1e49f4f5ed2d30e Mon Sep 17 00:00:00 2001 From: Andre Kjellstrup Date: Wed, 6 Mar 2024 21:05:11 +0100 Subject: [PATCH] Instructor station, initial commit --- MAVProxy/modules/lib/mp_instructor.py | 335 ++++++++++++++++++++++++ MAVProxy/modules/mavproxy_instructor.py | 219 ++++++++++++++++ 2 files changed, 554 insertions(+) create mode 100755 MAVProxy/modules/lib/mp_instructor.py create mode 100755 MAVProxy/modules/mavproxy_instructor.py diff --git a/MAVProxy/modules/lib/mp_instructor.py b/MAVProxy/modules/lib/mp_instructor.py new file mode 100755 index 0000000000..6bfd0c4ce4 --- /dev/null +++ b/MAVProxy/modules/lib/mp_instructor.py @@ -0,0 +1,335 @@ +#!/usr/bin/env python + +""" + MAVProxy instructor station, UI runs in a child process + André Kjellstrup @ NORCE +""" + +from MAVProxy.modules.lib import mp_util +from MAVProxy.modules.lib import multiproc +from MAVProxy.modules.lib.wx_loader import wx + + +class CheckboxItemState: + def __init__(self, name, state): + self.name = name + self.state = state + + +class InstructorUI: + """ + Instructor UI for MAVProxy + """ + def __init__(self, title='Instructor Station'): + self.title = title + self.menu_callback = None + self.pipe_to_gui, self.gui_pipe = multiproc.Pipe() + self.close_event = multiproc.Event() + self.close_event.clear() + self.child = multiproc.Process(target=self.child_task) + self.child.start() + + def child_task(self): + """child process - this holds all the GUI elements""" + mp_util.child_close_fds() + from MAVProxy.modules.lib.wx_loader import wx + + app = wx.App(False) + app.frame = InstructorFrame(self.gui_pipe, state=self, title=self.title) + app.frame.Show() + app.MainLoop() + + def close(self): + """close the UI""" + self.close_event.set() + if self.is_alive(): + self.child.join(2) + print("closed") + + def is_alive(self): + """check if child is still going""" + return self.child.is_alive() + + def set_check(self, name, state): + """set a status value""" + if self.child.is_alive(): + self.pipe_to_gui.send(CheckboxItemState(name, state)) + + +class InstructorFrame(wx.Frame): + """ The main frame of the console""" + + def __init__(self, gui_pipe, state, title): + self.state = state + self.gui_pipe = gui_pipe + wx.Frame.__init__(self, None, title=title, size=(500, 650), style=wx.DEFAULT_FRAME_STYLE ^ wx.RESIZE_BORDER) + + + self.panel = wx.Panel(self) + self.nb = wx.Choicebook(self.panel, wx.ID_ANY) + + # create the tabs + self.createWidgets() + + # assign events to the buttons on the tabs + self.createActions() + + # add in the pipe from MAVProxy + self.timer = wx.Timer(self) + # self.Bind(wx.EVT_TIMER, self.on_timer, self.timer) + # self.Bind(wx.EVT_TIMER, self.on_timer, self.timer) + self.Bind(wx.EVT_TIMER, lambda evt, notebook=self.nb: self.on_timer(evt, notebook), self.timer) + self.timer.Start(100) + + # finally, put the notebook in a sizer for the panel to manage + # the layout + sizer = wx.BoxSizer() + sizer.Add(self.nb, 1, wx.EXPAND) + self.panel.SetSizer(sizer) + + self.Show(True) + self.pending = [] + + + + # create controls on form - labels, buttons, etc + def createWidgets(self): + + # create the panels for the tabs + + PanelCommon = wx.Panel(self.nb) + boxCommon = wx.BoxSizer(wx.VERTICAL) + PanelCommon.SetAutoLayout(True) + PanelCommon.SetSizer(boxCommon) + PanelCommon.Layout() + + + PanelPlane = wx.Panel(self.nb) + boxPlane = wx.BoxSizer(wx.VERTICAL) + PanelPlane.SetAutoLayout(True) + PanelPlane.SetSizer(boxPlane) + PanelPlane.Layout() + + PanelCopter = wx.Panel(self.nb) + boxCopter = wx.BoxSizer(wx.VERTICAL) + PanelCopter.SetAutoLayout(True) + PanelCopter.SetSizer(boxCopter) + PanelCopter.Layout() + + + # add the data to the individual tabs + + 'Common failures' + + self.Dis_GNSS_Fix_Checkbox = wx.CheckBox(PanelCommon, wx.ID_ANY, "Disable GNSS FIX") + boxCommon.Add(self.Dis_GNSS_Fix_Checkbox) + + boxCommon.Add(wx.StaticLine(PanelCommon, -1), 0, wx.EXPAND | wx.TOP | wx.BOTTOM, 10) + boxCommon.Add(wx.StaticText(PanelCommon, wx.ID_ANY, 'Voltage drop rate mv/s:', wx.DefaultPosition, wx.DefaultSize, style=wx.ALIGN_RIGHT)) + + self.VoltageSlider = wx.Slider(PanelCommon, wx.ID_ANY, 100, 10, 200, wx.DefaultPosition, (250, -1), + wx.SL_AUTOTICKS | wx.SL_HORIZONTAL | wx.SL_LABELS) + boxCommon.Add(self.VoltageSlider) + + self.Voltage_Drop_Checkbox = wx.CheckBox(PanelCommon, wx.ID_ANY, "Voltage dropping") + boxCommon.Add(self.Voltage_Drop_Checkbox) + + boxCommon.Add(wx.StaticLine(PanelCommon, -1), 0, wx.EXPAND | wx.TOP | wx.BOTTOM, 10) + + self.FailsafeButton = wx.Button(PanelCommon, wx.ID_ANY, "Trigger FailSafe") + boxCommon.Add(self.FailsafeButton) + + boxCommon.Add(wx.StaticLine(PanelCommon, -1), 0, wx.EXPAND | wx.TOP | wx.BOTTOM, 10) + + self.GCS_Comm_Loss_Checkbox = wx.CheckBox(PanelCommon, wx.ID_ANY, "GCS Comm loss") + # disCheckbox.Enable(False) + boxCommon.Add(self.GCS_Comm_Loss_Checkbox) + + boxCommon.Add(wx.StaticLine(PanelCommon, -1), 0, wx.EXPAND | wx.TOP | wx.BOTTOM, 10) + boxCommon.Add(wx.StaticText(PanelCommon, wx.ID_ANY, 'Wind Direction:', wx.DefaultPosition, wx.DefaultSize,style=wx.ALIGN_RIGHT)) + + self.Wind_Dir_Slider = wx.Slider(PanelCommon, wx.ID_ANY, 0, 0, 359, wx.DefaultPosition, (250, -1), + wx.SL_AUTOTICKS | wx.SL_HORIZONTAL | wx.SL_LABELS) + boxCommon.Add(self.Wind_Dir_Slider) + + boxCommon.Add(wx.StaticText(PanelCommon, wx.ID_ANY, 'Wind Velocity (m/s):', wx.DefaultPosition, wx.DefaultSize,style=wx.ALIGN_RIGHT)) + self.Wind_Vel_Slider = wx.Slider(PanelCommon, wx.ID_ANY, 0, 0, 50, wx.DefaultPosition, (250, -1), + wx.SL_AUTOTICKS | wx.SL_HORIZONTAL | wx.SL_LABELS) + boxCommon.Add(self.Wind_Vel_Slider) + + boxCommon.Add(wx.StaticText(PanelCommon, wx.ID_ANY, 'Turbulence:', wx.DefaultPosition, wx.DefaultSize, + style=wx.ALIGN_RIGHT)) + self.Wind_Turb_Slider = wx.Slider(PanelCommon, wx.ID_ANY, 0, 0, 10, wx.DefaultPosition, (250, -1), + wx.SL_AUTOTICKS | wx.SL_HORIZONTAL | wx.SL_LABELS) + boxCommon.Add(self.Wind_Turb_Slider) + + + 'Plane specific failures' + + self.Pitot_Fail_Low_Checkbox = wx.CheckBox(PanelPlane, wx.ID_ANY, "Pitot stuck at no speed") + boxPlane.Add(self.Pitot_Fail_Low_Checkbox) + + self.Pitot_Fail_High_Checkbox = wx.CheckBox(PanelPlane, wx.ID_ANY, "Pitot stuck at high speed") + boxPlane.Add(self.Pitot_Fail_High_Checkbox) + + self.Arspd_Offset_Slider = wx.Slider(PanelPlane, wx.ID_ANY, 2013, 1500, 2500, wx.DefaultPosition, (250, -1), + wx.SL_AUTOTICKS | wx.SL_HORIZONTAL | wx.SL_LABELS) + boxPlane.Add(self.Arspd_Offset_Slider) + + boxPlane.Add(wx.StaticLine(PanelPlane, -1), 0, wx.EXPAND | wx.TOP | wx.BOTTOM, 10) + + boxPlane.Add(wx.StaticText(PanelPlane, wx.ID_ANY, 'Thrust reduction:', wx.DefaultPosition, wx.DefaultSize, + style=wx.ALIGN_RIGHT)) + self.Plane_Thrust_Slider = wx.Slider(PanelPlane, wx.ID_ANY, 0, 0, 1000, wx.DefaultPosition, (250, -1), + wx.SL_AUTOTICKS | wx.SL_HORIZONTAL | wx.SL_LABELS) + boxPlane.Add(self.Plane_Thrust_Slider) + + boxPlane.Add(wx.StaticText(PanelPlane, wx.ID_ANY, 'Thrust reduction + current increase:', wx.DefaultPosition, wx.DefaultSize, + style=wx.ALIGN_RIGHT)) + + self.Plane_Thrust_Curr_Slider = wx.Slider(PanelPlane, wx.ID_ANY, 0, 0, 1000, wx.DefaultPosition, (250, -1), + wx.SL_AUTOTICKS | wx.SL_HORIZONTAL | wx.SL_LABELS) + boxPlane.Add(self.Plane_Thrust_Curr_Slider) + + 'Copter specific failures' + + boxCopter.Add(wx.StaticText(PanelCopter, wx.ID_ANY, 'Thrust reduction:', wx.DefaultPosition, wx.DefaultSize, style=wx.ALIGN_RIGHT)) + + self.Copter_Thrust_Slider = wx.Slider(PanelCopter, wx.ID_ANY, 0, 0, 400, wx.DefaultPosition, (250, -1), + wx.SL_AUTOTICKS | wx.SL_HORIZONTAL | wx.SL_LABELS) + boxCopter.Add(self.Copter_Thrust_Slider) + + boxCopter.Add(wx.StaticLine(PanelCopter, -1), 0, wx.EXPAND | wx.TOP | wx.BOTTOM, 10) + + self.CopterResetButton = wx.Button(PanelCopter, wx.ID_ANY, "Reset Parameters") + boxCopter.Add(self.CopterResetButton) + + # and add in the tabs + self.nb.AddPage(PanelCommon, "Common (Copter/Plane) Failures") + self.nb.AddPage(PanelPlane, "Plane specific Failures") + self.nb.AddPage(PanelCopter, "Copter specific Failures") + + + + + # Create the actions for the buttons + def createActions(self): + # Common tab: + self.Bind(wx.EVT_CHECKBOX, self.dis_gnss, self.Dis_GNSS_Fix_Checkbox) + #self.Bind(wx.EVT_CHECKBOX, self.sendevent("Voltage", 20), self.Voltage_Drop_Checkbox) # WHY trigged once? + self.Bind(wx.EVT_CHECKBOX, self.volt_drop, self.Voltage_Drop_Checkbox) + self.Bind(wx.EVT_CHECKBOX, self.gcs_comm_loss, self.GCS_Comm_Loss_Checkbox) + self.Bind(wx.EVT_SCROLL_CHANGED, self.volt_drop_rate, self.VoltageSlider) + self.Bind(wx.EVT_BUTTON, self.setmode, self.FailsafeButton) + self.Bind(wx.EVT_SCROLL_CHANGED, self.wind_dir, self.Wind_Dir_Slider) + self.Bind(wx.EVT_SCROLL_CHANGED, self.wind_vel, self.Wind_Vel_Slider) + self.Bind(wx.EVT_SCROLL_CHANGED, self.wind_turbulence, self.Wind_Turb_Slider) + # Plane tab: + self.Bind(wx.EVT_CHECKBOX, self.pitot_fail_low, self.Pitot_Fail_Low_Checkbox) + self.Bind(wx.EVT_CHECKBOX, self.pitot_fail_high, self.Pitot_Fail_High_Checkbox) + self.Bind(wx.EVT_SCROLL_CHANGED, self.arspd_offset, self.Arspd_Offset_Slider) + self.Bind(wx.EVT_SCROLL_CHANGED, self.plane_thrust_loss, self.Plane_Thrust_Slider) + self.Bind(wx.EVT_SCROLL_CHANGED, self.plane_thrust_loss_curr, self.Plane_Thrust_Curr_Slider) + # Copter tab: + self.Bind(wx.EVT_SCROLL_CHANGED, self.copter_thrust_loss, self.Copter_Thrust_Slider) + self.Bind(wx.EVT_BUTTON, self.copter_reset, self.CopterResetButton) + + # Common actions + def dis_gnss(self, event): + self.gui_pipe.send(["dis_gnss", self.Dis_GNSS_Fix_Checkbox.Value]) + + def volt_drop_rate(self, event): + self.gui_pipe.send(["volt_drop_rate", self.VoltageSlider.Value / 1000]) + + def volt_drop(self, event): + self.gui_pipe.send(["volt_drop", self.Voltage_Drop_Checkbox.Value]) + + def gcs_comm_loss(self, event): + self.gui_pipe.send(["gcs_comm_loss", self.GCS_Comm_Loss_Checkbox.Value]) + + def setmode(self, event): + self.gui_pipe.send(["setmode", 10]) + def on_gnss_Button_ok(self, event): + self.gui_pipe.send("ok") + + def wind_dir(self, event): + self.gui_pipe.send(["wind_dir", self.Wind_Dir_Slider.Value]) + + def wind_vel(self, event): + self.gui_pipe.send(["wind_vel", self.Wind_Vel_Slider.Value]) + + + def wind_turbulence(self, event): + self.gui_pipe.send(["wind_turbulence", self.Wind_Turb_Slider.Value]) + + # Plane actions + + def pitot_fail_low(self, event): + self.gui_pipe.send(["pitot_fail_low", self.Pitot_Fail_Low_Checkbox.Value]) + + def pitot_fail_high(self, event): + self.gui_pipe.send(["pitot_fail_high", self.Pitot_Fail_High_Checkbox.Value]) + + def arspd_offset(self, event): + self.gui_pipe.send(["arspd_offset", self.Arspd_Offset_Slider.Value]) + + def plane_thrust_loss(self, event): + self.gui_pipe.send(["plane_thrust_loss", self.Plane_Thrust_Slider.Value]) + + def plane_thrust_loss_curr(self, event): + self.gui_pipe.send(["plane_thrust_loss_curr", self.Plane_Thrust_Curr_Slider.Value]) + + # Copter actions + + def copter_thrust_loss(self, event): + self.gui_pipe.send(["copter_thrust_loss", self.Copter_Thrust_Slider.Value]) + + def copter_reset (self, event): + self.gui_pipe.send(["copter_reset", 0]) + + def sendevent(self, event, text, value=0): + self.gui_pipe.send([text, value]) + + + + + #do a final check of the current panel and move to the next + def on_Button( self, event): + win = (event.GetEventObject()).GetParent() + for widget in win.GetChildren(): + if type(widget) is wx.CheckBox and widget.IsChecked() == 0: + dlg = wx.MessageDialog(win, "Not all items checked", "Error", wx.OK | wx.ICON_WARNING) + dlg.ShowModal() + dlg.Destroy() + return + # all checked, go to next panel. + win.GetParent().AdvanceSelection() + + + # Receive messages from MAVProxy module and process them + def on_timer(self, event, notebook): + state = self.state + win = notebook.GetPage(notebook.GetSelection()) + if state.close_event.wait(0.001): + self.timer.Stop() + self.Destroy() + return + while state.gui_pipe.poll(): + obj = state.gui_pipe.recv() + if isinstance(obj, CheckboxItemState): + # go through each item in the current tab and (un)check as needed + # print(obj.name + ", " + str(obj.state)) + for widget in win.GetChildren(): + if type(widget) is wx.CheckBox and widget.GetLabel() == obj.name: + widget.SetValue(obj.state) + + +if __name__ == "__main__": + # test the console + import time + + instructor = InstructorUI() + + # example auto-tick in second tab page + while instructor.is_alive(): + time.sleep(0.5) diff --git a/MAVProxy/modules/mavproxy_instructor.py b/MAVProxy/modules/mavproxy_instructor.py new file mode 100755 index 0000000000..50683c2bdf --- /dev/null +++ b/MAVProxy/modules/mavproxy_instructor.py @@ -0,0 +1,219 @@ +#!/usr/bin/env python +""" + MAVProxy instructor station module + André Kjellstrup @ NORCE +""" + +import math +from MAVProxy.modules.lib import mp_instructor +from MAVProxy.modules.lib import mp_module +from pymavlink import mavutil +#from MAVProxy.modules.lib import multiproc +import MAVProxy.modules.mavproxy_link + + + +class InstructorModule(mp_module.MPModule): + def __init__(self, mpstate): + #self.in_pipe, self.out_pipe = multiproc.Pipe() + + super(InstructorModule, self).__init__(mpstate, "instructor", "instructor module") + self.instructor = mp_instructor.InstructorUI() + + self.voltage_is_dropping = False + self.voltage_drop = 0.0 # accumulated voltage drop + self.voltage_start = 0 # voltage before drop + self.voltage_drop_rate = 0.1 # v/s drop rate + + def unload(self): + '''unload module''' + print('unloading') # self.mpstate.horizonIndicator.close() + + def mavlink_packet(self, msg): + """handle an incoming mavlink packet""" + if not isinstance(self.instructor, mp_instructor.InstructorUI): + return + if not self.instructor.is_alive(): + return + + type = msg.get_type() + master = self.master + + if type == 'HEARTBEAT': + 'beforeEngineList - APM booted' + if self.mpstate.status.heartbeat_error == True: + self.instructor.set_check("Pixhawk Booted", 0) + else: + self.instructor.set_check("Pixhawk Booted", 1) + + if self.voltage_is_dropping: + self.voltage_drop += self.voltage_drop_rate + self.param_set('SIM_BATT_VOLTAGE', (self.voltage_start - self.voltage_drop)) + + # if mp_instructor.InstructorFrame.out_pipe.poll(): + + if self.instructor.pipe_to_gui.poll(): + obj = self.instructor.pipe_to_gui.recv() + if obj[0] == "dis_gnss": + # print(str(obj[1])) + self.param_set('SIM_GPS_DISABLE', int(obj[1])) + + elif obj[0] == "setmode": + self.master.set_mode("RTL") + + elif obj[0] == "volt_drop_rate": + self.voltage_drop_rate = obj[1] + #print(self.voltage_drop_rate) + + elif obj[0] == "volt_drop": + if obj[1]: + self.voltage_is_dropping = True + self.voltage_start = self.get_mav_param('SIM_BATT_VOLTAGE') + print('voltage dropping') + else: + self.voltage_is_dropping = False + self.param_set('SIM_BATT_VOLTAGE', self.voltage_start) + print('voltage restored') + #print(self.voltage_start) + #print(self.voltage_is_dropping) + #print(self.voltage_drop_rate) + #print(self.voltage_drop) + + #print(self.get_mav_param('SIM_BATT_VOLTAGE')) + #self.mav_param('SIM_BATT_VOLTAGE', int(obj[1])) + + elif obj[0] == "gcs_comm_loss": + if obj[1]: + print('on') + #MAVProxy.modules.mavproxy_link.LinkModule.cmd_link_add("udp:127.0.0.1:9777") + else: + print('off') + #MAVProxy.modules.mavproxy_link.LinkModule.cmd_link_remove("127.0.0.1:14550") + elif obj[0] == "wind_dir": + self.param_set('SIM_WIND_DIR', obj[1]) + + elif obj[0] == "wind_vel": + self.param_set('SIM_WIND_SPD', obj[1]) + + elif obj[0] == "wind_turbulence": + self.param_set('SIM_WIND_TURB', obj[1]) + self.param_set('SIM_WIND_T', obj[1]) + + # self.instructor.set_check("Odroid Booted", 1) + #print(obj) + + # Plane Actions + elif obj[0] == "pitot_fail_low": + self.param_set('SIM_ARSPD_FAIL', obj[1]) + + elif obj[0] == "pitot_fail_high": + self.param_set('SIM_ARSPD_FAILP', obj[1]) + + elif obj[0] == "arspd_offset": + self.param_set('SIM_ARSPD_OFS', obj[1]) + + + elif obj[0] == "plane_thrust_loss": + self.param_set('SERVO3_MAX', 2000 - obj[1]) + + elif obj[0] == "plane_thrust_loss_curr": + self.param_set('SERVO3_MAX', 2000 - obj[1]) + # simulate increased current by 0...-2 offset + self.param_set('BATT_AMP_OFFSET', (-obj[1]/500)) + + + # Copter Actions + + elif obj[0] == "copter_thrust_loss": + self.param_set('MOT_PWM_MAX', 2000 - obj[1]) + # simulate increased current + self.param_set('BATT_AMP_PERVLT', 17 + (obj[1]/40)) + + elif obj[0] == "copter_reset": + print("MOT_PWM_MAX 2000") + self.param_set('MOT_PWM_MAX', 2000) + print("BATT_AMP_PERVLT 17") + self.param_set('BATT_AMP_PERVLT', 17) + print('Done') + + '''beforeEngineList - Flight mode MANUAL''' + if self.mpstate.status.flightmode == "MANUAL": + self.instructor.set_check("Flight mode MANUAL", 1) + else: + self.instructor.set_check("Flight mode MANUAL", 0) + + if type in [ 'GPS_RAW', 'GPS_RAW_INT' ]: + '''beforeEngineList - GPS lock''' + if ((msg.fix_type >= 3 and master.mavlink10()) or + (msg.fix_type == 2 and not master.mavlink10())): + self.instructor.set_check("GNSS FIX", 1) + else: + self.instructor.set_check("GNSS FIX", 0) + + '''beforeEngineList - Radio Links > 6db margin TODO: figure out how to read db levels''' + if type in ['RADIO', 'RADIO_STATUS']: + if msg.rssi < msg.noise+6 or msg.remrssi < msg.remnoise+6: + self.instructor.set_check("Radio links > 6db margin", 0) + else: + self.instructor.set_check("Radio Links > 6db margin", 0) + + if type == 'HWSTATUS': + '''beforeEngineList - Avionics Battery''' + if msg.Vcc >= 4600 and msg.Vcc <= 5300: + self.instructor.set_check("Avionics Power", 1) + else: + self.instructor.set_check("Avionics Power", 0) + + if type == 'POWER_STATUS': + '''beforeEngineList - Servo Power''' + if msg.Vservo >= 4900 and msg.Vservo <= 6500: + self.instructor.set_check("Servo Power", 1) + else: + self.instructor.set_check("Servo Power", 0) + + '''beforeEngineList - Waypoints Loaded''' + if type == 'HEARTBEAT': + if self.module('wp').wploader.count() == 0: + self.instructor.set_check("Waypoints Loaded", 0) + else: + self.instructor.set_check("Waypoints Loaded", 1) + + '''beforeTakeoffList - Compass active''' + if type == 'GPS_RAW': + if math.fabs(msg.hdg - master.field('VFR_HUD', 'heading', '-')) < 10 or math.fabs(msg.hdg - master.field('VFR_HUD', 'heading', '-')) > 355: + self.instructor.set_check("Compass active", 1) + else: + self.instructor.set_check("Compass active", 0) + + '''beforeCruiseList - Airspeed > 10 m/s , Altitude > 30 m''' + if type == 'VFR_HUD': + rel_alt = master.field('GLOBAL_POSITION_INT', 'relative_alt', 0) * 1.0e-3 + if rel_alt > 30: + self.instructor.set_check("Altitude > 30 m", 1) + else: + self.instructor.set_check("Altitude > 30 m", 0) + if msg.airspeed > 10 or msg.groundspeed > 10: + self.instructor.set_check("Airspeed > 10 m/s", 1) + else: + self.instructor.set_check("Airspeed > 10 m/s", 0) + + '''beforeEngineList - IMU''' + if type in ['SYS_STATUS']: + sensors = {'AS': mavutil.mavlink.MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE, + 'MAG': mavutil.mavlink.MAV_SYS_STATUS_SENSOR_3D_MAG, + 'INS': mavutil.mavlink.MAV_SYS_STATUS_SENSOR_3D_ACCEL | mavutil.mavlink.MAV_SYS_STATUS_SENSOR_3D_GYRO, + 'AHRS': mavutil.mavlink.MAV_SYS_STATUS_AHRS} + bits = sensors['INS'] + present = ((msg.onboard_control_sensors_enabled & bits) == bits) + healthy = ((msg.onboard_control_sensors_health & bits) == bits) + if not present or not healthy: + self.instructor.set_check("IMU Check", 1) + else: + self.instructor.set_check("IMU Check", 0) + def unload(self): + '''unload module''' + self.instructor.close() + +def init(mpstate): + """initialise module""" + return InstructorModule(mpstate)