pixhawkcontroller 0.0.1

Lightweight Pixhawk/ArduPilot controller utilities using pymavlink

pixhawkcontroller

Lightweight Python utilities to connect and control Pixhawk / ArduPilot flight controllers using pymavlink.

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✨ Features

• 🔌 Auto-detect Pixhawk on serial ports (Windows, Linux, macOS).
• 🌐 Supports Serial, UDP, and TCP connections:
  • COMx (Windows), /dev/ttyUSBx (Linux), /dev/tty.usbmodem* (macOS)
  • udp:127.0.0.1:14550 for SITL
  • tcp:192.168.1.100:5760 for network connections
• 🛠 Servo control: Set or repeat PWM outputs.
• 🎛 RC channel override with safety reset.
• 🎶 Play tones via the flight controller buzzer (e.g., Twinkle Twinkle, Mario tune).
• 📡 Telemetry snapshot (mode, GPS fix, battery, armed flag, location).
• 🛡 Vehicle info decoding (autopilot type, version, board, vendor/product IDs).
• 🚁 Flight mode switching (ArduCopter, ArduPlane, Rover supported).

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📦 Installation

# Recommended: create a fresh virtual environment
python3 -m venv venv
source venv/bin/activate  # or venv\Scripts\activate on Windows

# Install from PyPI (when released)
pip install pixhawkcontroller

# OR install from source
git clone https://github.com/Shahriar88/pixhawkcontroller.git
cd pixhawkcontroller
pip install -e .

Dependencies:

• pymavlink >=2.4.41
• pyserial

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🚀 Quick Start

1. Import and connect

from pixhawkcontroller import FlightControllerInterface, TonesQb

# Auto-detect Pixhawk (USB VID/PID known)
fc = FlightControllerInterface()
fc.connect()

# Or explicitly:
# fc = FlightControllerInterface(device='udp:127.0.0.1:14550')  # Connect to SITL (simulator)
# fc = FlightControllerInterface(device='COM3', baudrate=115200)  # Windows COM port
# fc = FlightControllerInterface(device='/dev/ttyUSB0', baudrate=115200)  # Linux USB port

2. Print flight controller info

fc.print_info()

This prints firmware, board ID, MAVLink system ID, and more.

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3. Control examples

# Direct servo control:
# - First argument: servo output number (1–16 depending on config)
# - Second argument: PWM microseconds (typical RC range ~1000–2000 µs)
fc.set_servo(9, 1500)

# Repeat servo pulses:
# Toggle a servo output several times with a delay between movements
fc.repeat_servo(7, 1900, repeat_count=3, cycle_time=0.5)

# RC override (use carefully!):
# Temporarily override pilot’s RC input, e.g., throttle at mid-stick
fc.arm()
fc.set_rc_pwm(3, 1500)   # Channel 3 = throttle on many setups
fc.clear_rc_overrides()
fc.disarm()

# Play a tune on the buzzer
fc.play_tune(TonesQb.twinkle_little_star)

# Print a telemetry snapshot (mode, GPS, battery, location, armed state)
fc.print_telemetry()

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4. Close connection

fc.close()

Always close the MAVLink connection before exiting.

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🎶 Tunes

This project uses QBasic PLAY-style tone strings (not RTTTL).
They are directly compatible with the ArduPilot buzzer and can be tested using the official ToneTester tool.

Preloaded tunes in TonesQb:

class TonesQb:
    twinkle_little_star = "T200 L4CCGGAAG2FFEEDDC2"
    def_tone = "MFT240L8 O4aO5060708dc O4aO5dc O4aO5dc L16dcdcdcdc"

👉 Explanation:

• T200 → Tempo (200 quarter notes per minute)
• L4 → Default note length (quarter notes)
• CCGGAAG2 → Sequence of notes (with octaves and lengths)
• MFT240 → Music format / tempo modifier
• O4, O5 → Set octave (O4 = 4th octave, O5 = 5th)
• Letters (a, c, d) represent notes; numbers modify duration

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Adding Your Own Tunes

You can extend TonesQb or make your own class:

class MyTunes:
    super_mario = (
        "T120 L8 O5 "
        "E6E6P32E6 L4C6E6G6 P G C6 P E A B L16A# A G."
    )

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Testing Tunes

Copy any string into the ToneTester and press play to preview it on your PC before sending it to your Pixhawk.

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🛡 Safety Notes

⚠️ Important: Test first in SITL or with propellers removed.

• Commands like .arm(), .set_servo(), and .set_rc_pwm() can move motors/servos.

• Always confirm your vehicle type and wiring before sending commands.

• To run ArduPilot in simulation:

  sim_vehicle.py -v ArduCopter -w --console --map
  

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🧩 Project Structure

pixhawkcontroller/
├── __init__.py        # Exports FlightControllerInterface, TonesQb
├── main.py            # Core implementation
├── __version__.py    
setup.py
README.md
LICENSE
pyproject.toml

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📂 Extended Example

Here’s a full demo script that shows multiple features in one go:

import time
from pixhawkcontroller import FlightControllerInterface, TonesQb

fc = FlightControllerInterface()
fc.connect()

# Print board info
fc.print_info()

# Switch between flight modes (varies by vehicle type)
for mode in ["MANUAL","GUIDED", "AUTO", "RTL"]:
    fc.set_mode(mode)
	time.sleep(1)
    fc.print_telemetry()

# Servo control (PWM ranges)
fc.set_servo(9, 900)   # low end
time.sleep(2)
fc.set_servo(9, 1500)  # neutral
time.sleep(2)
fc.set_servo(9, 1900)  # high end

# RC override (channel 3 = throttle mid)
fc.arm()
fc.set_rc_pwm(3, 1500)
time.sleep(2)
fc.clear_rc_overrides()
fc.disarm()

# Play buzzer tunes
fc.play_tune(TonesQb.def_tone)
time.sleep(1)
fc.play_tune(TonesQb.twinkle_little_star)

# Telemetry snapshot
fc.print_telemetry()

# Clean up
fc.close()

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✅ Requirements

• Python 3.8+ (tested on 3.9–3.12)
• ArduPilot firmware (Copter/Plane/Rover/Sub) speaking MAVLink
• Windows, Linux, or macOS with access to the Pixhawk serial device
• ✅ Verified working on Pixhawk 2.4.8 hardware

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🧪 Supported / Not Supported

• ✅ ArduPilot-based controllers (Pixhawk family) over Serial/UDP/TCP via pymavlink
• ❌ PX4 APIs (not targeted; may work for generic MAVLink pieces but not guaranteed)

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🛠 Troubleshooting

No device found / auto-detect fails

• On Linux, ensure your user is in the dialout (or equivalent) group, then re-login:

  sudo usermod -aG dialout $USER
  

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📚 References

• ArduPilot MAVLink Commands
• MAVLink Message Definitions
• ToneTester Tool

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🤝 Contributing

PRs and issues welcome!
Open an issue if you spot a bug or want a feature.

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📜 License

GPL-3.0-or-later © 2025 Md Shahriar Forhad
See LICENSE for details.