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driver: Allow pydronecan to set AutoPilot Parameter #93

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driver: Allow pydronecan to set AutoPilot Parameter #93

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4f8cf76
driver: cleanup of the Common and MAVCAN Drivers
joshanne Dec 10, 2025
25e824b
driver: Allow mavcan driver to set an AutoPilot Parameter
joshanne Dec 10, 2025
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20 changes: 9 additions & 11 deletions dronecan/driver/common.py
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Original file line number Diff line number Diff line change
Expand Up @@ -53,6 +53,7 @@ def __str__(self):
return "%12.6f %12.6f %s %s '%s'" % \
(self.ts_monotonic, self.ts_real, id_str, hex_data, ascii_data)

@staticmethod
def dlc_to_datalength(dlc):
# Data Length Code 9 10 11 12 13 14 15
# Number of data bytes 12 16 20 24 32 48 64
Expand All @@ -72,6 +73,7 @@ def dlc_to_datalength(dlc):
return 48
return 64

@staticmethod
def datalength_to_dlc(data_length):
if (data_length <= 8):
return data_length
Expand Down Expand Up @@ -134,10 +136,10 @@ def set_filter_list(self, ids):
'''set list of message IDs to accept, sent to the remote capture node with mavcan'''
pass

def get_filter_list(self, ids):
'''get list of message IDs to accept, None means accept all'''
def get_filter_list(self):
'''get the current filter list'''
return None

def set_bus(self, busnum):
'''set the remote bus number to attach to'''
pass
Expand All @@ -146,18 +148,14 @@ def get_bus(self):
'''get the remote bus number we are attached to'''
return None

def get_filter_list(self):
'''get the current filter list'''
return None

def set_bus(self, busnum):
'''set the remote bus number to attach to'''
pass

def set_signing_passphrase(self, passphrase):
'''set MAVLink2 signing passphrase'''
pass

def set_parameter(self, name, value):
'''set parameter on the remote device'''
pass

def stream_progress(self):
'''stream progress of the current stream'''
pass
Expand Down
16 changes: 11 additions & 5 deletions dronecan/driver/mavcan.py
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Original file line number Diff line number Diff line change
Expand Up @@ -119,6 +119,8 @@ def handle_control_message(m):
nonlocal signing_key
signing_key = m.data
conn.setup_signing(signing_key, sign_outgoing=True)
elif m.command == "SetParam":
conn.param_set_send(m.data[0], m.data[1])

connect()
enable_can_forward()
Expand Down Expand Up @@ -248,6 +250,7 @@ def send_frame(self, frame):
self._tx_hook(frame)
self.tx_queue.put_nowait(frame)

@staticmethod
def is_mavlink_port(device_name, baudrate):
'''check if a device is sending mavlink'''
os.environ['MAVLINK20'] = '1'
Expand All @@ -263,8 +266,8 @@ def set_filter_list(self, ids):
self.filter_list = ids
self.tx_queue.put_nowait(ControlMessage('FilterList', self.filter_list))

def get_filter_list(self, ids):
'''set list of message IDs to accept, sent to the remote capture node with mavcan'''
def get_filter_list(self):
'''get list of message IDs to accept'''
return self.filter_list

def set_bus(self, busnum):
Expand All @@ -278,9 +281,12 @@ def get_bus(self):
'''get the remote bus number we are attached to'''
return self.bus+1

def get_filter_list(self):
'''get the current filter list'''
return self.filter_list
def set_parameter(self, name, value):
'''set parameter in the remote air vehicle'''
if len(name) > 16:
raise DriverError('Parameter name %s too long' % name)

self.tx_queue.put_nowait(ControlMessage('SetParam', (name, value)))

def passphrase_to_key(self, passphrase):
'''convert a passphrase to a 32 byte key'''
Expand Down