Merge pull request #614 from dronekit/microgcs-fixes

microgcs: use sitl, update for new API

Author: mrpollo

examples/gcs/microgcs.py

@@ -12,14 +12,26 @@
 #Set up option parsing to get connection string
 import argparse  
 parser = argparse.ArgumentParser(description='Tracks GPS position of your computer (Linux only). Connects to SITL on local PC by default.')
-parser.add_argument('--connect', default='127.0.0.1:14550',
-                   help="vehicle connection target. Default '127.0.0.1:14550'")
+parser.add_argument('--connect',
+                   help="vehicle connection target.")
 args = parser.parse_args()
 
+connection_string = args.connect
+sitl = None
+
+#Start SITL if no connection string specified
+if not args.connect:
+    print "Starting copter simulator (SITL)"
+    from dronekit_sitl import SITL
+    sitl = SITL()
+    sitl.download('copter', '3.3', verbose=True)
+    sitl_args = ['-I0', '--model', 'quad', '--home=-35.363261,149.165230,584,353']
+    sitl.launch(sitl_args, await_ready=True, restart=True)
+    connection_string = 'tcp:127.0.0.1:5760'
 
 # Connect to the Vehicle
-print 'Connecting to vehicle on: %s' % args.connect
-vehicle = connect(args.connect, wait_ready=True)
+print 'Connecting to vehicle on: %s' % connection_string
+vehicle = connect(connection_string, wait_ready=True)
 
 def setMode(mode):
     # Now change the vehicle into auto mode
@@ -31,8 +43,7 @@ def updateGUI(label, value):
 
 def addObserverAndInit(name, cb):
     """We go ahead and call our observer once at startup to get an initial value"""
-    cb(name)
-    vehicle.add_attribute_observer(name, cb)
+    vehicle.add_attribute_listener(name, cb)
 
 root = Tk()
 root.wm_title("microGCS - the worlds crummiest GCS")
@@ -46,11 +57,15 @@ def addObserverAndInit(name, cb):
 modeLabel = Label(frame, text = "mode")
 modeLabel.pack()
 
-addObserverAndInit('attitude', lambda attr: updateGUI(attitudeLabel, vehicle.attitude))
-addObserverAndInit('location', lambda attr: updateGUI(locationLabel, vehicle.location))
-addObserverAndInit('mode', lambda attr: updateGUI(modeLabel, vehicle.mode))
+addObserverAndInit('attitude', lambda vehicle, name, attitude: updateGUI(attitudeLabel, vehicle.attitude))
+addObserverAndInit('location', lambda vehicle, name, location: updateGUI(locationLabel, str(location.global_frame)))
+addObserverAndInit('mode', lambda vehicle,name,mode: updateGUI(modeLabel, mode))
 
 Button(frame, text = "Auto", command = lambda : setMode("AUTO")).pack()
 Button(frame, text = "RTL", command = lambda : setMode("RTL")).pack()
 
-root.mainloop()
+root.mainloop()
+
+# Shut down simulator if it was started.
+if sitl is not None:
+    sitl.stop()