from __future__ import print_function

from dronekit import connect, Vehicle
from my_vehicle import MyVehicle
import time

# Connect to the Vehicle.
print("\nConnecting to vehicle")
vehicle = connect('/dev/ttyAMA0', wait_ready=True, baud = 57600)
vehicle.wait_ready('autopilot_version')

# Set up option parsing to get connection string
import argparse
parser = argparse.ArgumentParser(description='Creates a CherryPy based web application that displays a mapbox map to let you view the current vehicle position and send the vehicle commands to fly to a particular latitude and longitude. Will start and connect to SITL if no connection string specified.')
parser.add_argument('--connect',
                    help="vehicle connection target string. If not specified, SITL is automatically started and used.")
args = parser.parse_args()

connection_string = args.connect

# Add observer for the custom attribute

def scaled_imu2_callback(self, attr_name, value):
    # attr_name == 'scaled_imu2'
    # value == vehicle.scaled_imu2
    print(value)

vehicle.add_attribute_listener('scaled_imu2', scaled_imu2_callback)

time.sleep(5)