dagger package

Submodules

dagger.acc_calibration module

Calibrates the accelerometer

class dagger.acc_calibration.AccCalibration(connection)[source]

Bases: object

Calibrates the accelerometer.

Parameters: connection (PlutoConnection) – Pluto connection object for communicating with Pluto.

Examples

>>> t = dagger.PlutoConnection()
>>> t.connect(('Pluto_IP', Pluto_port))
>>> acc_cal = dagger.AccCalibration(t)

acc_calibartion()[source]

Sends the request to calibrate the accelerometer.

Examples

>>> acc_cal.acc_calibration()

Note

Place the drone on a flat surface before starting.

dagger.altitude module

Get the Altitude data from Pluto.

class dagger.altitude.Altitude(connection)[source]

Bases: object

Get the Altitude data from Pluto.

Parameters: connection (PlutoConnection) – Pluto connection object for communicating with Pluto.

Examples

>>> t = dagger.PlutoConnection()
>>> t.connect(('Pluto_IP', Pluto_port))
>>> altitude = dagger.Altitude(t)

get_altitude_data()[source]

Get the Altitude OUT package from pluto.

Returns: The altitude, vatio and timestamp values.
Return type: AltitudeData

Examples

>>> data = altitude.get_altitude_data()
>>> data.altitude

class dagger.altitude.AltitudeData(altitude, vatio)[source]

Bases: object

Formats the altitude and vatio values.

altitude

Altitude values of Pluto in the Centimetre Units.

Type: int

vatio

vatio values of pluto in the Centimetre per Second Units.

Type: int

timstamp

timestamp values of pluto in the seconds Units.

Type: float

Example

>>> AltitudeData.altitude

dagger.analog module

Get the Analog data from Pluto.

class dagger.analog.Analog(connection)[source]

Bases: object

Get the Analog data from Pluto.

Parameters: connection (PlutoConnection) – Pluto connection object for communicating with Pluto.

Examples

>>> t = dagger.PlutoConnection()
>>> t.connect(('Pluto_IP', Pluto_port))
>>> analog = dagger.Analog(t)

get_analog_data()[source]

Get the Analog OUT package from pluto.

Returns: The vbat, int_power_meter_sum, rssi, amperage and timestamp values.
Return type: AnalogData

Examples

>>> data = analog.get_analog_data()
>>> data.vbat

class dagger.analog.AnalogData(vbat, int_power_meter_sum, rssi, amperage)[source]

Bases: object

Formats the Battery Voltage, Power Meter, RSSI and Amperage values.

vbat

Battery Voltage values of pluto in the 1/10 Volts Units.

Type: int

int_power_meter_sum

Power Meter values of pluto.

Type: int

rssi

RSSI values of pluto.

Type: int

amperage

Amperage values of pluto.

Type: int

timstamp

timestamp values of pluto in the seconds Units.

Type: float

Example

>>> AnalogData.vbat

dagger.attitude module

Get the Attitude data from Pluto.

class dagger.attitude.Attitude(connection)[source]

Bases: object

Get the Attitude data from Pluto.

Parameters: connection (PlutoConnection) – Pluto connection object for communicating with Pluto.

Examples

>>> t = dagger.PlutoConnection()
>>> t.connect(('Pluto_IP', Pluto_port))
>>> attitude = dagger.Attitude(t)

get_attitude_data()[source]

Get the Attitude OUT package from pluto.

Returns: The roll, pitch, yaw and timestamp values.
Return type: AttitudeData

Examples

>>> data = attitude.get_attitude_data()
>>> data.roll

class dagger.attitude.AttitudeData(roll, pitch, yaw)[source]

Bases: object

Formats the roll, pitch and yaw values.

roll

Roll values of pluto in the Decidegree Units.

Type: int

pitch

pitch values of pluto in the Decidegree Units.

Type: int

yaw

yaw values of pluto in the Degree Units.

Type: int

timstamp

timestamp values of pluto in the seconds Units.

Type: float

Example

>>> AttitudeData.roll

dagger.connect module

Defines API Connection

class dagger.connect.PlutoConnection[source]

Bases: socket

Handles connection with drone.

dagger.control module

Controls for the Pluto Drone.

class dagger.control.PlutoControl(connection)[source]

Bases: object

Controls for the Pluto Drone.

Parameters: connection (PlutoConnection) – Pluto connection object for communicating with Pluto.

Examples

>>> t = dagger.PlutoConnection()
>>> t.connect(('Pluto_IP', Pluto_port))
>>> control = dagger.PlutoControl(t)

land()[source]

Landing command for Pluto.

Examples

>>> control.land()

left_yaw()[source]

Left Yaw command for Pluto.

Examples

>>> control.left_yaw()

pitch_backward()[source]

Backward Pitch command for Pluto.

Examples

>>> control.pitch_backward()

pitch_forward()[source]

Forward Pitch command for Pluto.

Examples

>>> control.pitch_forward()

right_yaw()[source]

Right Yaw command for Pluto.

Examples

>>> control.right_yaw()

roll_left()[source]

Left Roll command for Pluto.

Examples

>>> control.roll_left()

roll_right()[source]

Right Roll command for Pluto.

Examples

>>> control.roll_right()

take_off()[source]

Take off command for Pluto.

Examples

>>> control.take_off()

dagger.mag_calibration module

Calibrates the magnetometer

class dagger.mag_calibration.MagCalibration(connection)[source]

Bases: object

Calibrates the magnetometer..

Parameters: connection (PlutoConnection) – Pluto connection object for communicating with Pluto.

Examples

>>> t = dagger.PlutoConnection()
>>> t.connect(('Pluto_IP', Pluto_port))
>>> mag_cal = dagger.MagCalibration(t)

mag_calibartion()[source]

Sends the request to calibrate the magnetometer.

Examples

>>> mag_cal.mag_calibration()

Note

Rotate the drone across all its axis until the process.

dagger.raw_imu module

Get the RawIMU data from Pluto.

class dagger.raw_imu.RawIMU(connection)[source]

Bases: object

Get the RawIMU data from Pluto.

Parameters: connection (PlutoConnection) – Pluto connection object for communicating with Pluto.

Examples

>>> t = dagger.PlutoConnection()
>>> t.connect(('Pluto_IP', Pluto_port))
>>> rawimu = dagger.RawIMU(t)

get_raw_imu()[source]

Get the RawIMU OUT package from pluto.

Returns: The x,y,z values of accelerometer,gyroscope and magnetometer and the timestamp value.
Return type: RawIMUData

Examples

>>> data = rawimu.get_raw_imu()
>>> data.acc_x

class dagger.raw_imu.RawIMUData[source]

Bases: object

Formats the RawIMU values.

acc_x

x-values of Pluto accelerometer.

Type: int

acc_y

y-values of Pluto accelerometer.

Type: int

acc_z

z-values of Pluto accelerometer.

Type: int

gyro_x

x-values of Pluto gyroscope.

Type: int

gyro_y

y-values of Pluto gyroscope.

Type: int

gyro_z

z-values of Pluto gyroscope.

Type: int

mag_x

x-values of Pluto magnetometer.

Type: int

mag_y

y-values of Pluto magnetometer.

Type: int

mag_z

z-values of Pluto magnetometer.

Type: int

timstamp

timestamp values of pluto in the seconds Units.

Type: float

Example

>>> RawIMUdata.acc_x

dagger.sensor module

class dagger.sensor.PlutoSensor(connection)[source]: Bases: Altitude, AccCalibration, MagCalibration, RawIMU, Analog, Attitude

dagger.set_command module

Sets the command in Pluto

class dagger.set_command.CmdType(value)[source]

Bases: Enum

Maps the Command types to their corresponding int values

BACK_FLIP = 3

FRONT_FLIP = 4

LAND = 2

LEFT_FLIP = 6

RIGHT_FLIP = 5

TAKE_OFF = 1

class dagger.set_command.SetCommand(connection)[source]

Bases: object

Sets the command in Pluto.

Parameters: connection (PlutoConnection) – Pluto connection object for communicating with Pluto.

Examples

>>> t = dagger.PlutoConnection()
>>> t.connect(('Pluto_IP', Pluto_port))
>>> com = dagger.SetCommand(t)

command(cmd)[source]

Sets the Command value in pluto

Parameters: cmd ((TAKE_OFF, LAND, FRONT_FLIP, BACK_FLIP, RIGHT_FLIP, LEFT_FLIP)) – Sets the command type to pluto

Examples

>>> com.command(dagger.CmdType.cmd)

dagger.set_raw_rc module

Controls the pluto using RC params

class dagger.set_raw_rc.SetRawRC(connection)[source]

Bases: object

Controls the pluto using RC params.

Parameters: connection (PlutoConnection) – Pluto connection object for communicating with Pluto.

Examples

>>> t = dagger.PlutoConnection()
>>> t.connect(('Pluto_IP', Pluto_port))
>>> rc = dagger.SetRawRC(t)

arm_drone()[source]

Arms the drone

Examples

>>> rc.arm_drone()

box_arm()[source]

Box-arms the drone

Examples

>>> rc.box_arm()

disarm_drone()[source]

Disarms the drone

Examples

>>> rc.disarm_drone()

set_alt_hold_mode()[source]

Enables the Alt Hold mode in pluto

Examples

>>> rc.set_alt_hold_mode()

set_developer_mode_off()[source]

Disables the Developer mode in pluto

Examples

>>> rc.set_developer_mode_off()

set_developer_mode_on()[source]

Enables the Developer mode in pluto

Examples

>>> rc.set_developer_mode_on()

set_headfree_mode()[source]

Sets the Headfree mode in pluto

Examples

>>> rc.set_headfree_mode()

set_maghold_mode()[source]

Sets the Mag Hold Mode in pluto

Examples

>>> rc.set_maghold_mode()

set_pitch(pitch)[source]

Sets the pitch values in pluto

Parameters: pitch (int [900,2100]) – Pitch values for Pluto, Pitch stick is 0 at 1500 value

Examples

>>> rc.set_pitch(pitch)

set_roll(roll)[source]

Sets the roll values in pluto

Parameters: roll (int [900,2100]) – Roll values for Pluto, Roll stick is 0 at 1500 value

Examples

>>> rc.set_roll(roll)

set_throttle(throttle)[source]

Sets the throttle values in pluto

Parameters: throttle (int [900,2100]) – Throttle values for Pluto, Throttle stick is 0 at 1500 value

Examples

>>> rc.set_throttle(throttle)

set_throttle_free_mode()[source]

Enables the Throttle free mode in pluto

Examples

>>> rc.set_throttle_free_mode()

set_yaw(yaw)[source]

Sets the yaw values in pluto

Parameters: yaw (int [900,2100]) – Yaw values for Pluto, Yaw stick is 0 at 1500 value

Examples

>>> rc.set(yaw)

dagger.utils module

Utils for the Dagger python wrapper for Pluto

dagger.utils.calculate_crc(byte_array)[source]: Calculates the checksum for an array of bytes

dagger.utils.get_direction_in_bytes()[source]: Converts the in direction arrow to bytes

dagger.utils.get_direction_out_bytes()[source]: Converts the out direction arrow to bytes

dagger.utils.get_header_bytes()[source]: Converts the header to bytes

dagger.utils.send_out(con, code)[source]: Request for OUT packages :param con: Pluto connection object for communicating with Pluto. :type con: PlutoConnection :param code: MSP packet code for the corresponding out packet. :type code: int

Module contents

API defining checkpoint