### Install Python and Dependencies Source: https://github.com/ardupilot/mavproxy/blob/master/ANDROID.md Installs the Python interpreter and required development libraries for MAVProxy. ```bash pkg install python ``` ```bash pkg install libxml2* ``` ```bash pkg install libxslt* ``` ```bash pkg install python-* ``` -------------------------------- ### Install MAVProxy via Pip Source: https://github.com/ardupilot/mavproxy/blob/master/ANDROID.md Configures the Python environment and installs MAVProxy and its dependencies. ```bash pip install --upgrade pip ``` ```bash pip install wheel pip install pymavlink ``` ```bash MATHLIB="m" pip3 install numpy ``` ```bash pip install mavproxy ``` -------------------------------- ### Locate and Run MAVProxy Source: https://github.com/ardupilot/mavproxy/blob/master/ANDROID.md Commands to find the installation path and execute MAVProxy with optional UDP parameters. ```bash pkg install mlocate updatedb ``` ```bash locate mavproxy.py ``` ```bash mavproxy.py mavproxy.py --master=udp:1.2.3.4:14550 ``` -------------------------------- ### Initialize Map and State Updates Source: https://github.com/ardupilot/mavproxy/blob/master/MAVProxy/modules/mavproxy_mmap/mmap_app/index.html Setup function for the map provider and periodic telemetry data fetching. ```javascript var map; var map_layer; var marker_clip; var trail_plotter; var last_state_update_time; var state = {}; state.lat = 20.0; state.lon = 0.0; state.heading = 0.0; function initMap() { // name of a div element: var parent = 'map'; // defaults to Google-style Mercator projection, so works // out of the box with OpenStreetMap and friends: // var template = 'http://tile.openstreetmap.org/{Z}/{X}/{Y}.png'; // var provider = new MM.TemplatedMapProvider(template); // -------------------- // Blue Marble // var provider = new MM.BlueMarbleProvider(); // -------------------- // Microsoft Bing // please use your own API key! This is jjwiseman's! var key = "Anmc0b2q6140lnPvAj5xANM1rvF1A4CvVtr6H2VJvQcdnDvc8NL-I2C49owIe9xC"; var style = 'AerialWithLabels'; var provider = new MM.BingProvider(key, style); map_layer = new MM.Layer(provider); // without a size, it will expand to fit the parent: map = new MM.Map(parent, map_layer); marker_clip = new MarkerClip(map); //var marker = marker_clip.createDefaultMarker(20); //var location = new MM.Location(0, 0); //marker.title = "lovedrone"; //marker_clip.addMarker(marker, location); map.setCenterZoom(new MM.Location(20.0, 0), 20); setInterval(updateState, 500); $('#layerpicker').change(updateLayer); trail_plotter = new TrailPlotter(marker_clip); } function updateState() { $.getJSON("data", function(data){ state = data; updateMap(); update ``` -------------------------------- ### Upgrade Termux Packages Source: https://github.com/ardupilot/mavproxy/blob/master/ANDROID.md Updates the package repository and installed packages to the latest versions. ```bash pkg upgrade ``` -------------------------------- ### Implement Trail Plotter Logic Source: https://github.com/ardupilot/mavproxy/blob/master/MAVProxy/modules/mavproxy_mmap/mmap_app/index.html JavaScript class to periodically add trail markers to the map based on the current drone state. ```javascript function TrailPlotter(marker_clip) { this.marker_clip = marker_clip var last_trail_time = 0; this.update = function() { var now = new Date().getTime(); if (last_trail_time == 0 || now - last_trail_time > 10000) { var trail_marker = this.marker_clip.createDefaultMarker(2); this.marker_clip.addMarker(trail_marker, new MM.Location(state.lat, state.lon)); last_trail_time = now; } } } ``` -------------------------------- ### Identify Joystick Controls with findjoy Source: https://github.com/ardupilot/mavproxy/blob/master/docs/JOYSTICKS.md Use the `findjoy` script to identify controls on your joystick. Run this script from the command line and follow the on-screen prompts to map your joystick inputs. ```python python -m MAVProxy.modules.mavproxy_joystick.findjoy ``` -------------------------------- ### Define Map and Telemetry Styles Source: https://github.com/ardupilot/mavproxy/blob/master/MAVProxy/modules/mavproxy_mmap/mmap_app/index.html CSS rules for map container dimensions, drone icon positioning, and telemetry status indicators. ```css body { width: 100%; margin: 0px 0px 0px 0px; } html { width: 100%; } #map { height: 100%; width: 100%; } #drone { background-image: url('drone-sm.png'); background-repeat: none; position: absolute; top: 45%; left: 45%; height: 100px; width: 150px; -moz-transition: all 2s ease; -webkit-transition: all 2s ease; -o-transition: all 2s ease; -ms-transition: all 2s ease; transition: all 2s ease; } .telemetry_header { position: absolute; top: 0px; left: 0px; z-index: 1; width: 100%; background-color: rgba(0, 0, 0, 0.5); color: white; padding-left: 10px; padding-right: 10px; padding-top: 1px; padding-bottom: 1px; font-family: 'Droid Sans Mono', Courier, Courier News, monospace; font-size: 24px; } .layerpicker { display: inline; } .link { padding-left: 3px; padding-right: 3px; } .ok { background-color: green; color: white; } .slow { background-color: yellow; color: black; } .error { background-color: red; color: black; } ``` -------------------------------- ### YAML Description Section Source: https://github.com/ardupilot/mavproxy/blob/master/docs/JOYSTICKS.md Defines a simple string description for the joystick. Can use YAML block scalars for multi-line text. ```yaml description: This is a description. ``` ```yaml description: > This is a much longer description. It may contain many lines and even multiple paragraphs, although if you're trying to put documentation into the description maybe you should find a better place for it. ``` -------------------------------- ### YAML Match Section Source: https://github.com/ardupilot/mavproxy/blob/master/docs/JOYSTICKS.md Specifies fnmatch patterns to identify compatible joystick devices. The first matching definition is used. ```yaml match: - ACME Joystick Co* - Widget Ltd* ``` -------------------------------- ### Button Control Mapping Source: https://github.com/ardupilot/mavproxy/blob/master/docs/JOYSTICKS.md Configures a joystick button as a momentary switch. Sets channel to outhigh when pressed and outlow when released. ```yaml - channel: 1 type: button id: 1 ``` -------------------------------- ### Manage Map Markers Source: https://github.com/ardupilot/mavproxy/blob/master/MAVProxy/modules/mavproxy_mmap/mmap_app/index.html JavaScript class for handling marker creation, positioning, and updates within a map container. ```javascript function MarkerClip(map) { this.map = map; var theClip = this; var markerDiv = document.createElement('div'); markerDiv.id = map.parent.id + '-markerClip-' + new Date().getTime(); markerDiv.style.margin = '0'; markerDiv.style.padding = '0'; markerDiv.style.position = 'absolute'; markerDiv.style.top = '0px'; markerDiv.style.left = '0px'; markerDiv.style.width = map.dimensions.x+'px'; markerDiv.style.height = map.dimensions.y+'px'; map.parent.appendChild(markerDiv); function onMapChange() { theClip.updateMarkers(); } map.addCallback('drawn', onMapChange); map.addCallback('resized', function() { markerDiv.style.width = map.dimensions.x+'px'; markerDiv.style.height = map.dimensions.y+'px'; theClip.updateMarkers(); }); this.updateMarkers = function() { for (var i = 0; i < this.markers.length; i++) { this.updateMarkerAt(i); } }; this.markers = []; this.markerLocations = []; this.markerOffsets = []; this.addMarker = function(element, location, offset) { element.style.position = 'absolute'; if (!offset) { offset = new MM.Point(element.offsetWidth/2, element.offsetHeight/2); } markerDiv.appendChild(element); this.markers.push(element); this.markerLocations.push(location); this.markerOffsets.push(offset); this.updateMarkerAt(this.markers.length-1); }; this.setMarkerLocation = function(index, location) { this.markerLocations[index] = location; } this.updateMarkerAt = function(index) { var point = map.locationPoint(this.markerLocations[index]), offset = this.markerOffsets[index], element = this.markers[index]; MM.moveElement(element, { x: point.x - offset.x, y: point.y - offset.y, scale: 1, width: 10, height: 10 }); }; var createdMarkerCount = 0; this.createDefaultMarker = function(size) { var marker = document.createElement('div'); marker.id = map.parent.id+'-marker-'+createdMarkerCount; createdMarkerCount++; px_size = size + 'px'; marker.style.width = px_size; marker.style.height = px_size; marker.style.margin = '0'; marker.style.padding = '0'; marker.style.backgroundColor = '#ffffff'; marker.style.borderWidth = '2px'; marker.style.borderColor = 'black'; marker.style.borderStyle = 'solid'; marker.style.MozBorderRadius = px_size; marker.style.borderRadius = px_size; marker.style.WebkitBorderRadius = px_size; return marker; }; } ``` -------------------------------- ### Minimal Joystick Definition Source: https://github.com/ardupilot/mavproxy/blob/master/docs/JOYSTICKS.md A basic YAML configuration for a joystick, mapping axes to RC channels. ```yaml description: This is a sample joystick definition. match: - ACME Joystick Company* controls: # map axis id 2 to rc channel 1 - channel: 1 type: axis id: 2 # map axis id 3 to rc channel 2 - channel: 2 type: axis id: 3 # map axis id 1 to rc channel 3 - channel: 3 type: axis id: 1 invert: true # map axis id 0 to rc channel 4 - channel: 4 type: axis id: 0 ``` -------------------------------- ### Map Hat Switch to Channel Outputs Source: https://github.com/ardupilot/mavproxy/blob/master/docs/JOYSTICKS.md Configure a hat switch to control specific channels. When the axis moves negative, the channel is set to `outputlow`; when positive, it's set to `outputhigh`. No change occurs when the axis returns to zero. ```yaml - channel: 7 type: hat id: 0 axis: x - channel: 8 type: hat id: 0 axis: y ``` -------------------------------- ### Multibutton Control Mapping Source: https://github.com/ardupilot/mavproxy/blob/master/docs/JOYSTICKS.md Maps multiple buttons to the same channel, each setting a specific value when pressed. No change occurs on button release. ```yaml - channel: 5 type: multibutton buttons: - id: 0 value: 1200 - id: 1 value: 1300 - id: 2 value: 1400 - id: 3 value: 1500 ``` -------------------------------- ### Rover Mode Definitions Source: https://github.com/ardupilot/mavproxy/blob/master/MAVProxy/modules/mavproxy_chat/assistant_setup/rover_modes.txt Maps rover mode names to their integer identifiers. These modes dictate the vehicle's control and behavior. ```python MANUAL = 0, // Pilot directly controls the vehicle's steering and throttle ACRO = 1, // Pilot controls the turn rate and speed STEERING = 3, // Pilot controls the steering using lateral acceleration. throttle stick controls speed HOLD = 4, // motor and steering outputs are disabled. Rovers will stop, boats will drift in this mode LOITER = 5, // hold position at the current location FOLLOW = 6, // follow a GPS-enabled device SIMPLE = 7, // Pilot controls the vehicles by moving the combined steering and throttle stick in the direction they wish to move. The direction of movement is relative to the vehicle's heading when first powered on DOCK = 8, // Automatic docking mode CIRCLE = 9, // Circle around a location recorded when the vehicle entered this mode AUTO = 10, // Fully autonomous mode following pre-programmed waypoints RTL = 11, // Return to Launch point SMART_RTL = 12, // Creates a path back to the launch point based on the rover's traveled path GUIDED = 15, // Guided control via a ground station or companion computer INITIALISING = 16, // Initialization mode at startup ``` -------------------------------- ### Plane Flight Mode Enumeration Source: https://github.com/ardupilot/mavproxy/blob/master/MAVProxy/modules/mavproxy_chat/assistant_setup/plane_flightmodes.txt Mapping of flight mode names to integer constants. Modes prefixed with Q are specific to QuadPlane configurations. ```text MANUAL = 0, // pilot has direct control over servos without stabilization CIRCLE = 1, // Circle around a GPS waypoint STABILIZE = 2, // Level flight stabilization TRAINING = 3, // Limits the roll and pitch angles to keep the aircraft stable ACRO = 4, // Full manual aerobatic control with some stabilization FLY_BY_WIRE_A = 5, // Stabilized flight with manual throttle FLY_BY_WIRE_B = 6, // More stabilization than FLY_BY_WIRE_A CRUISE = 7, // Mixed manual and automatic throttle control AUTOTUNE = 8, // Automatically tune the PID controller for optimal performance AUTO = 10, // Fully autonomous flight, following a pre-programmed mission RTL = 11, // Return to Launch point LOITER = 12, // Circle around a point while maintaining altitude TAKEOFF = 13, // Automated takeoff sequence AVOID_ADSB = 14, // Avoidance maneuver triggered by ADS-B aircraft detection GUIDED = 15, // Remotely guided commands from GCS or companion computer INITIALISING = 16, // Initialization mode at startup QSTABILIZE = 17, // QuadPlane's stabilize mode. Similar to Copter's stabilize mode QHOVER = 18, // QuadPlane's hover mode. Similar to Copter's AltHold mode QLOITER = 19, // QuadPlane's loiter mode. Similar to Copter's Loiter mode QLAND = 20, // QuadPlane's land mode. Similar to Copter's Land mode QRTL = 21, // QuadPlane's Return to Launch mode. Similar to Copter's RTL mode QAUTOTUNE = 22, // QuadPlane's autotune mode. Similar to Copter's AutoTune mode QACRO = 23, // QuadPlane's acrobatic mode. Similar to Copter's Acro mode THERMAL = 24, // Thermal detection and exploitation mode LOITER_ALT_QLAND = 25, // QuadPlane's loiter to alt then land mode ``` -------------------------------- ### Axis Control Mapping Source: https://github.com/ardupilot/mavproxy/blob/master/docs/JOYSTICKS.md Maps a joystick axis to an RC channel, allowing scaling with input and output ranges. ```yaml - channel: 1 type: axis id: 1 ``` -------------------------------- ### Toggle Button Control Mapping Source: https://github.com/ardupilot/mavproxy/blob/master/docs/JOYSTICKS.md Implements a toggle or rotary switch behavior for a button. Cycles through values with each press. ```yaml - channel: 1 type: toggle id: 2 values: - 1000 - 2000 ``` ```yaml - channel: 1 type: toggle id: 2 values: - 1000 - 1500 - 2000 ``` -------------------------------- ### Update Map Center Source: https://github.com/ardupilot/mavproxy/blob/master/MAVProxy/modules/mavproxy_mmap/mmap_app/index.html Sets the center of the map to the current aircraft location. ```javascript function updateMap() { var location = new MM.Location(state.lat, state.lon); map.setCenter(location); } ``` -------------------------------- ### Update Map Layer Source: https://github.com/ardupilot/mavproxy/blob/master/MAVProxy/modules/mavproxy_mmap/mmap_app/index.html Switches the map tile layer based on the selected layer number. Supports Microsoft Bing Maps with different styles (Aerial, Birdseye, Road) and Blue Marble. ```javascript function updateLayer() { var provider; var layerNum = $(this).attr('value'); console.log("Switching to layer " + layerNum); var bing_key = "Anmc0b2q6140lnPvAj5xANM1rvF1A4CvVtr6H2VJvQcdnDvc8NL-I2C49owIe9xC"; if (layerNum == '1') { var style = 'AerialWithLabels'; provider = new MM.BingProvider(bing_key, style, function(provider) { map_layer.setProvider(provider); }); } else if (layerNum == '2') { var style = 'BirdseyeWithLabels'; provider = new MM.BingProvider(bing_key, style, function(provider) { map_layer.setProvider(provider); }); } else if (layerNum == '3') { var style = 'Road'; provider = new MM.BingProvider(bing_key, style, function(provider) { map_layer.setProvider(provider); }); } else if (layerNum == '4') { provider = new MM.BlueMarbleProvider(); map_layer.setProvider(provider); } } ``` -------------------------------- ### Update Telemetry Display Source: https://github.com/ardupilot/mavproxy/blob/master/MAVProxy/modules/mavproxy_mmap/mmap_app/index.html Updates the HTML elements displaying telemetry data like latitude, longitude, altitude, ground speed, air speed, and heading. Also calculates and displays frames per second (FPS). ```javascript function updateTelemetryDisplay() { $("#t_lat").html(state.lat); $("#t_lon").html(state.lon); $("#t_alt").html(state.alt.toPrecision(4)); $("#t_gspd").html(state.groundspeed.toPrecision(3)); $("#t_aspd").html(state.airspeed.toPrecision(3)); $("#t_hdg").html(state.heading) now = new Date().getTime(); $("#t_fps").html((1000.0 / (now - last_state_update_time)).toPrecision(3)); rotate_drone(state.heading) trail_plotter.update(); marker_clip.setMarkerLocation(0, new MM.Location(state.lat, state.lon)); } ``` -------------------------------- ### Telemetry Link Status Update Source: https://github.com/ardupilot/mavproxy/blob/master/MAVProxy/modules/mavproxy_mmap/mmap_app/index.html Updates the HTML element for the telemetry link status based on the time since the last state update. Displays 'ERROR', 'SLOW', or 'OK'. ```javascript var now = (new Date()).getTime(); if (now - last_state_update_time > 5000) { $("#t_link").html('ERROR'); } else if (now - last_state_update_time > 1000) { $("#t_link").html('SLOW'); } else { $("#t_link").html('OK'); } ``` -------------------------------- ### Rotate Drone Icon Source: https://github.com/ardupilot/mavproxy/blob/master/MAVProxy/modules/mavproxy_mmap/mmap_app/index.html Rotates the drone icon on the map based on the provided heading in degrees. Applies the transform style for various browser prefixes. ```javascript function rotate_drone(deg){ var rotate = "rotate(" + (deg) + "deg);"; var tr = new Array( "transform:" + rotate, "-moz-transform:" + rotate, "-webkit-transform:" + rotate, "-ms-transform:" + rotate, "-o-transform:" + rotate ); var drone = document.getElementById("drone"); drone.setAttribute("style", tr.join(";")); } ``` === COMPLETE CONTENT === This response contains all available snippets from this library. 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