hi i try to connect vl53l1xto rasbri pi zero and then with mavlink to gave the FC the data
can someone do this? - i stack with the configuration of the FC because i think me pymavlink code is fine
import time
from pymavlink import mavutil
import board
import digitalio
import adafruit_vl53l1x
class MAVLinkConnection:
def __init__(self, connection_string, baud):
self.master = mavutil.mavlink_connection(connection_string, baud=baud)
self.wait_conn()
self.configure_autopilot()
def wait_conn(self):
msg = None
while not msg:
self.master.mav.ping_send(
int(time.time() * 1e6), # Unix time in microseconds
0, # Ping number
0, # Request ping of all systems
0 # Request ping of all components
)
msg = self.master.recv_match()
time.sleep(0.5)
def configure_autopilot(self):
# Set rangefinder type to MAVLink (example setting)
self.master.mav.param_set_send(
1,
1,
b"RNGFND_TYPE",
10, # "MAVLink"
mavutil.mavlink.MAV_PARAM_TYPE_INT8
)
def send_distance_sensor(self, time_boot_ms, min_dist, max_dist, current_dist, sensor_id):
# Ensuring all parameters are integers
time_boot_ms = int(time_boot_ms)
min_dist = int(min_dist)
max_dist = int(max_dist)
current_dist = int(current_dist)
sensor_id = int(sensor_id)
# Ensure to provide defaults for optional parameters not used
orientation = mavutil.mavlink.MAV_SENSOR_ROTATION_PITCH_270
covariance = 0 # Covariance, a value of 0 means unknown
type = mavutil.mavlink.MAV_DISTANCE_SENSOR_UNKNOWN
# Attempt to send the MAVLink distance sensor message
try:
self.master.mav.distance_sensor_send(
time_boot_ms,
min_dist,
max_dist,
current_dist,
type,
sensor_id,
orientation,
covariance
)
except Exception as e:
print(f"Error sending MAVLink message: {e}")
class SensorManager:
def __init__(self):
self.i2c = board.I2C()
self.sensors = []
self.setup_sensors()
def setup_sensors(self):
xshut_pins = [board.D17, board.D27]
for pin_number, pin in enumerate(xshut_pins):
shutdown_pin = digitalio.DigitalInOut(pin)
shutdown_pin.switch_to_output(value=False)
shutdown_pin.value = True
sensor = adafruit_vl53l1x.VL53L1X(self.i2c)
self.sensors.append(sensor)
# Change the address of the sensor if it's not the last one
if pin_number < len(xshut_pins) - 1:
sensor.set_address(pin_number + 0x30)
for sensor in self.sensors:
sensor.start_ranging()
def read_sensors(self):
readings = []
for sensor_number, sensor in enumerate(self.sensors):
if sensor.data_ready:
distance = sensor.distance
sensor.clear_interrupt()
readings.append((sensor_number + 1, distance))
return readings
class Application:
def __init__(self):
# Specify the serial port and baud rate for the real drone connection
self.mavlink = MAVLinkConnection('/dev/ttyAMA0', 57600)
self.sensors = SensorManager()
def run(self):
tstart = time.time()
while True:
time.sleep(0.5)
readings = self.sensors.read_sensors()
for sensor_id, distance in readings:
time_boot_ms = int((time.time() - tstart) * 1000)
self.mavlink.send_distance_sensor(time_boot_ms, 10, 40, distance, sensor_id)
print(f"Distance sensor {sensor_id}: {distance}")
if __name__ == "__main__":
app = Application()
app.run()
i take part of this code from someone that do this before but he didnt explain how to config the FC
i do this operation due to the fact that this sensor didnt have static address a need the xsut pin to turn them off
thanks for the help