mavutil is imported from pymavlink and not dronekit

UWARG · Aug 22, 2024 · 5606c91 · 5606c91
1 parent 1c001ea
commit 5606c91
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Showing 3 changed files with 16 additions and 11 deletions.
diff --git a/mavlink/modules/flight_controller.py b/mavlink/modules/flight_controller.py
@@ -5,6 +5,7 @@
 import time
 
 from .. import dronekit
+from pymavlink import mavutil
 
 from . import drone_odometry
 
@@ -16,9 +17,9 @@ class FlightController:
 
     __create_key = object()
 
-    __MAVLINK_LANDING_FRAME = dronekit.mavutil.mavlink.MAV_FRAME_GLOBAL
-    __MAVLINK_LANDING_COMMAND = dronekit.mavutil.mavlink.MAV_CMD_NAV_LAND
-    __MAVLINK_WAYPOINT_COMMAND = dronekit.mavutil.mavlink.MAV_CMD_NAV_WAYPOINT
+    __MAVLINK_LANDING_FRAME = mavutil.mavlink.MAV_FRAME_GLOBAL
+    __MAVLINK_LANDING_COMMAND = mavutil.mavlink.MAV_CMD_NAV_LAND
+    __MAVLINK_WAYPOINT_COMMAND = mavutil.mavlink.MAV_CMD_NAV_WAYPOINT
 
     @classmethod
     def create(cls, address: str, baud: int = 57600) -> "tuple[bool, FlightController | None]":

diff --git a/mavlink/test_mission_ended.py b/mavlink/test_mission_ended.py
@@ -5,6 +5,7 @@
 import time
 
 from mavlink import dronekit
+from pymavlink import mavutil
 
 from mavlink.modules import flight_controller
 
@@ -13,10 +14,10 @@
 MISSION_PLANNER_ADDRESS = "tcp:127.0.0.1:14550"
 TIMEOUT = 1.0  # seconds
 
-MAVLINK_TAKEOFF_FRAME = dronekit.mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT
-MAVLINK_TAKEOFF_COMMAND = dronekit.mavutil.mavlink.MAV_CMD_NAV_TAKEOFF
-MAVLINK_FRAME = dronekit.mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT
-MAVLINK_COMMAND = dronekit.mavutil.mavlink.MAV_CMD_NAV_WAYPOINT
+MAVLINK_TAKEOFF_FRAME = mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT
+MAVLINK_TAKEOFF_COMMAND = mavutil.mavlink.MAV_CMD_NAV_TAKEOFF
+MAVLINK_FRAME = mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT
+MAVLINK_COMMAND = mavutil.mavlink.MAV_CMD_NAV_WAYPOINT
 
 ALTITUDE = 10  # metres
 ACCEPT_RADIUS = 10  # metres

diff --git a/requirements.txt b/requirements.txt
@@ -8,15 +8,18 @@ pytest
 opencv-python
 numpy
 
-# Module lte
+# Module image-encoding
 Pillow
 
-# Module qr
-pyzbar
-
 # Module kml
 simplekml
 
+# Module mavlink
+pymavlink
+
+# Module qr
+pyzbar
+
 # Linters and formatters are explicitly versioned
 black==24.2.0
 flake8-annotations==3.0.1