Update messaging

Author: tedtasman

docs/source/conf.py

@@ -11,7 +11,7 @@
 project = "MAVez"
 copyright = "2025, The Pennsylvania State University Unmanned Aerial Systems Club"
 author = "The Pennsylvania State University Unmanned Aerial Systems Club"
-version = "3.8.0"
+version = "3.9.0"
 
 # -- General configuration ---------------------------------------------------
 # https://www.sphinx-doc.org/en/master/usage/configuration.html#general-configuration

docs/source/enums.rst

@@ -3,6 +3,7 @@ Enums
 
 MAV Result
 -----------
+Note, not all MAV Results are supported by ardupilot. Read the `ardupilot documentation <https://ardupilot.org/copter/docs/ArduCopter_MAVLink_Messages.html>`_
 
 .. automodule:: MAVez.enums.mav_result
    :members:

pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name='MAVez'
-version='3.8.3'
+version='3.9.0'
 description='An intuitive MAVLink library for ArduPilot via pymavlink'
 authors=[
     {name='The Pennsylvania State University Unmanned Aerial Systems Club', email='psuuasofficial@gmail.com'}

src/MAVez/controller.py

@@ -1,8 +1,8 @@
 # coordinate.py
-# version: 1.2.1
+# version: 1.3.0
 # Authors: Theodore Tasman
 # Creation Date: 2025-01-30
-# Last Modified: 2025-11-14
+# Last Modified: 2026-03-26
 # Organization: PSU UAS
 
 """
@@ -66,13 +66,13 @@ def __str__(self):
 
     __repr__ = __str__
 
-    def offset_coordinate(self, offset: float | int, heading: float | int) -> "Coordinate":
+    def offset_coordinate(self, offset: float | int, bearing: float | int) -> "Coordinate":
         """
         Offset the coordinate by a given distance and heading.
 
         Args:
             offset (float): The distance to offset in meters.
-            heading (float): The heading in degrees.
+            bearing (float): The bearing in degrees.
 
         Returns:
             Coordinate: A new Coordinate object with the offset applied.
@@ -81,11 +81,11 @@ def offset_coordinate(self, offset: float | int, heading: float | int) -> "Coord
         lat, lon = self.normalize()
 
         # convert heading to radians
-        heading = math.radians(heading)
+        bearing = math.radians(bearing)
 
         # calculate the offset in latitude and longitude
-        lat_offset = offset * math.cos(heading)
-        lon_offset = offset * math.sin(heading)
+        lat_offset = offset * math.cos(bearing)
+        lon_offset = offset * math.sin(bearing)
 
         # convert the offset to degrees
         lat_offset = lat_offset / METERS_PER_DEGREE

src/MAVez/coordinate.py

@@ -127,9 +127,57 @@ class MAVMessage(Enum):
     CONTROL_SYSTEM_STATE = 146
     BATTERY_STATUS = 147
     LANDING_TARGET = 149
+    SENSOR_OFFSETS = 150
+    SET_MAG_OFFSETS = 151
+    MEMINFO = 152
+    AP_ADC = 153
+    DIGICAM_CONFIGURE = 154
+    DIGICAM_CONTROL = 155
+    MOUNT_CONFIGURE = 156
+    MOUNT_CONTROL = 157
+    MOUNT_STATUS = 158
+    FENCE_POINT = 160
+    FENCE_FETCH_POINT = 161
     FENCE_STATUS = 162
+    AHRS = 163
+    SIMSTATE = 164
+    HWSTATUS = 165
+    RADIO = 166
+    LIMITS_STATUS = 167
+    WIND = 168
+    DATA16 = 169
+    DATA32 = 170
+    DATA64 = 171
+    DATA96 = 172
+    RANGEFINDER = 173
+    AIRSPEED_AUTOCAL = 174
+    RALLY_POINT = 175
+    RALLY_FETCH_POINT = 176
+    COMPASSMOT_STATUS = 177
+    AHRS2 = 178
+    CAMERA_STATUS = 179
+    CAMERA_FEEDBACK = 180
+    BATTERY2 = 181
+    AHRS3 = 182
+    AUTOPILOT_VERSION_REQUEST = 183
+    REMOTE_LOG_DATA_BLOCK = 184
+    REMOTE_LOG_BLOCK_STATUS = 185
+    LED_CONTROL = 186
+    MAG_CAL_PROGRESS = 191
     MAG_CAL_REPORT = 192
+    EKF_STATUS_REPORT = 193
+    PID_TUNING = 194
+    DEEPSTALL = 195
+    GIMBAL_REPORT = 200
+    GIMBAL_CONTROL = 201
+    GIMBAL_TORQUE_CMD_REPORT = 214
+    GOPRO_HEARTBEAT = 215
+    GOPRO_GET_REQUEST = 216
+    GOPRO_GET_RESPONSE = 217
+    GOPRO_SET_REQUEST = 218
+    GOPRO_SET_RESPONSE = 219
     EFI_STATUS = 225
+    RPM = 226
     ESTIMATOR_STATUS = 230
     WIND_COV = 231
     GPS_INPUT = 232
@@ -232,6 +280,39 @@ class MAVMessage(Enum):
     ILLUMINATOR_STATUS = 440
     WHEEL_DISTANCE = 9000
     WINCH_STATUS = 9005
+    UAVIONIX_ADSB_OUT_CFG = 10001
+    UAVIONIX_ADSB_OUT_DYNAMIC = 10002
+    UAVIONIX_ADSB_TRANSCEIVER_HEALTH_REPORT = 10003
+    UAVIONIX_ADSB_OUT_CFG_REGISTRATION = 10004
+    UAVIONIX_ADSB_OUT_CFG_FLIGHTID = 10005
+    UAVIONIX_ADSB_GET = 10006
+    UAVIONIX_ADSB_OUT_CONTROL = 10007
+    UAVIONIX_ADSB_OUT_STATUS = 10008
+    DEVICE_OP_READ = 11000
+    DEVICE_OP_READ_REPLY = 11001
+    DEVICE_OP_WRITE = 11002
+    DEVICE_OP_WRITE_REPLY = 11003
+    SECURE_COMMAND = 11004
+    SECURE_COMMAND_REPLY = 11005
+    ADAP_TUNING = 11010
+    VISION_POSITION_DELTA = 11011
+    AOA_SSA = 11020
+    ESC_TELEMETRY_1_TO_4 = 11030
+    ESC_TELEMETRY_5_TO_8 = 11031
+    ESC_TELEMETRY_9_TO_12 = 11032
+    OSD_PARAM_CONFIG = 11033
+    OSD_PARAM_CONFIG_REPLY = 11034
+    OSD_PARAM_SHOW_CONFIG = 11035
+    OSD_PARAM_SHOW_CONFIG_REPLY = 11036
+    OBSTACLE_DISTANCE_3D = 11037
+    WATER_DEPTH = 11038
+    MCU_STATUS = 11039
+    ESC_TELEMETRY_13_TO_16 = 11040
+    ESC_TELEMETRY_17_TO_20 = 11041
+    ESC_TELEMETRY_21_TO_24 = 11042
+    ESC_TELEMETRY_25_TO_28 = 11043
+    ESC_TELEMETRY_29_TO_32 = 11044
+    NAMED_VALUE_STRING = 11060
     OPEN_DRONE_ID_BASIC_ID = 12900
     OPEN_DRONE_ID_LOCATION = 12901
     OPEN_DRONE_ID_AUTHENTICATION = 12902

src/MAVez/enums/mav_message.py

@@ -1,8 +1,8 @@
 # flight_controller.py
-# version: 3.1.0
+# version: 3.1.1
 # Original Author: Theodore Tasman
 # Creation Date: 2025-01-30
-# Last Modified: 2025-11-14
+# Last Modified: 2026-03-26
 # Organization: PSU UAS
 
 """
@@ -254,7 +254,7 @@ async def wait_for_landing(self, timeout=60) -> int:
 
         # start receiving landing status
         response = await self.set_message_interval(
-            message_type=MAVMessage.EXTENDED_SYS_STATE, interval=100000 # 1 second
+            message_type=MAVMessage.EXTENDED_SYS_STATE, interval_us=100000 # 1 second
         )
         if response:
             self.logger.critical("[Flight] Failed waiting for landing.")
@@ -300,8 +300,8 @@ async def jump_to_next_mission_item(self) -> int:
         """
 
         self.logger.debug("[Flight] Waiting for current mission index")
-        # wait for the current mission target to be received (should be broadcast by default)
-        response = await self.receive_current_mission_index()
+        # get the latest mission index
+        response = await self.receive_current_mission_index(seq=self.__message_seq_by_type["MISSION_CURRENT"])
         if response == self.TIMEOUT_ERROR:
             return response
 

src/MAVez/flight_controller.py

@@ -1,5 +1,5 @@
 # mission.py
-# version: 3.1.0
+# version: 3.1.1
 # Author: Theodore Tasman
 # Creation Date: 2025-01-30
 # Last Modified: 2026-03-21
@@ -262,13 +262,16 @@ async def send_mission(self, reset: bool = True) -> int:
         """
 
         # send mission count
+        next_mission_request_seq = self.controller.get_message_seq("MISSION_REQUEST") + 1
+        next_mission_ack_seq = self.controller.get_message_seq("MISSION_ACK") + 1
         self.controller.send_mission_count(len(self.mission_items), self.type)
 
         # continuous loop to await mission request, or timeout
-        start_time = time.time()
+        start_time = time.monotonic()
         while True:
             # await mission request
-            seq = await self.controller.receive_mission_request()
+            seq = await self.controller.receive_mission_request(next_mission_request_seq)
+            next_mission_request_seq += 1
 
             # verify seq is not an error
             if seq == self.controller.TIMEOUT_ERROR:
@@ -282,15 +285,15 @@ async def send_mission(self, reset: bool = True) -> int:
                 break
 
             # check for timeout
-            if time.time() - start_time > self.MISSION_SEND_TIMEOUT:
+            if time.monotonic() - start_time > self.MISSION_SEND_TIMEOUT:
                 if self.controller.logger:
                     self.controller.logger.error(
                         f"[Mission] Mission send timeout after {self.MISSION_SEND_TIMEOUT} seconds"
                     )
                 return self.TIMEOUT_ERROR
 
         # after sending all mission items, wait for mission acknowledgement
-        response = await self.controller.receive_mission_ack()  # returns 0 if successful
+        response = await self.controller.receive_mission_ack(next_mission_ack_seq)  # returns 0 if successful
         if response:
             return response  # propagate error code
 
@@ -310,10 +313,11 @@ async def clear_mission(self) -> int:
             int: 0 if the mission was cleared successfully, or an error code if there was an error.
         """
         # send mission clear all
+        next_mission_ack_seq = self.controller.get_message_seq("MISSION_ACK") + 1
         self.controller.send_clear_mission()
 
         # await mission ack confirming mission was cleared
-        response = await self.controller.receive_mission_ack()
+        response = await self.controller.receive_mission_ack(next_mission_ack_seq)
         if response:
             if self.controller.logger:
                 self.controller.logger.critical("[Mission] Could not clear mission.")

src/MAVez/mission.py

@@ -0,0 +1,16 @@
+from enum import Enum
+
+
+class MavMessageType(Enum):
+    """
+    Enum for MAVLink message types.
+    """
+
+    UAVIONIX_ADSB_OUT_CFG = 10001
+    UAVIONIX_ADSB_OUT_DYNAMIC = 10002
+    UAVIONIX_ADSB_TRANSCEIVER_HEALTH_REPORT = 10003
+    UAVIONIX_ADSB_OUT_CFG_REGISTRATION = 10004
+    UAVIONIX_ADSB_OUT_CFG_FLIGHTID = 10005
+    UAVIONIX_ADSB_GET = 10006
+    UAVIONIX_ADSB_OUT_CONTROL = 10007
+    UAVIONIX_ADSB_OUT_STATUS = 10008

test_enum.py

@@ -0,0 +1,29 @@
+from pathlib import Path
+
+from MAVez import Controller, safe_logger, Mission, MAVMessage
+import logging
+import asyncio
+
+async def main():
+    logger = safe_logger.configure_logging(logging.INFO)
+    con = Controller(
+        logger=logger,
+        timesync=True
+    )
+    await con.start()
+    test_mission = Mission.from_file(
+        controller=con,
+        filepath=Path("./examples/sample_missions/sample1.txt")
+    )
+    await con.arm()
+    await con.set_mode("AUTO")
+    await test_mission.send_mission() if test_mission else print("oops")
+    await asyncio.sleep(0.5)
+    await con.set_message_interval(MAVMessage.WIND, int(0.5*1e6))
+    while True:
+        data = await con.receive_wind(normalize_direction=True)
+        print(data)
+
+
+if __name__ == "__main__":
+    asyncio.run(main())