nicoboy/wireclaw
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Fix position_gps : GPS info en cache, plus de blocage async

Browse Source 
- gps_fix et gps_sats ajoutés à telemetry_cache
- monitor_telemetry surveille aussi gps_info() en continu
- position_gps lit depuis le cache (comme battery/mode)
  et ne risque plus de bloquer sur async for ... break

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
This commit is contained in:
nicoboy
2026-06-01 15:00:30 +02:00
parent 1d095cd233
commit 0d2f485c57
1 changed files with 9 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files

17
wireclaw_core.py
View File

@ -34,7 +34,7 @@ Nord = lat+, Sud = lat-, Est = lon+, Ouest = lon-
drone_armed = False drone_armed = False
current_pos = {"lat": BASE_LAT, "lon": BASE_LON, "alt": 0, "abs_alt": 584} current_pos = {"lat": BASE_LAT, "lon": BASE_LON, "alt": 0, "abs_alt": 584}
telemetry_cache = {"battery": -1.0, "mode": "UNKNOWN"} telemetry_cache = {"battery": -1.0, "mode": "UNKNOWN", "gps_fix": "UNKNOWN", "gps_sats": 0}
mav = None mav = None
drone = None drone = None
@ -75,7 +75,12 @@ async def monitor_telemetry(drone):
async for fm in drone.telemetry.flight_mode(): async for fm in drone.telemetry.flight_mode():
telemetry_cache["mode"] = str(fm) telemetry_cache["mode"] = str(fm)
await asyncio.gather(watch_battery(), watch_mode()) async def watch_gps():
async for gps in drone.telemetry.gps_info():
telemetry_cache["gps_fix"] = str(gps.fix_type)
telemetry_cache["gps_sats"] = gps.num_satellites
await asyncio.gather(watch_battery(), watch_mode(), watch_gps())
async def interpret_command(text): async def interpret_command(text):
response = client.models.generate_content( response = client.models.generate_content(
@ -217,17 +222,13 @@ async def execute_command(drone, cmd):
import datetime import datetime
await refresh_position(drone) await refresh_position(drone)
ts = datetime.datetime.now().strftime("%H:%M:%S") ts = datetime.datetime.now().strftime("%H:%M:%S")
async for gps in drone.telemetry.gps_info():
fix = gps.fix_type
sats = gps.num_satellites
break
return (f"\nHorodatage : {ts}\n" return (f"\nHorodatage : {ts}\n"
f"Latitude : {current_pos['lat']:.7f}\n" f"Latitude : {current_pos['lat']:.7f}\n"
f"Longitude : {current_pos['lon']:.7f}\n" f"Longitude : {current_pos['lon']:.7f}\n"
f"Alt AGL : {current_pos['alt']:.2f} m\n" f"Alt AGL : {current_pos['alt']:.2f} m\n"
f"Alt MSL : {current_pos['abs_alt']:.2f} m\n" f"Alt MSL : {current_pos['abs_alt']:.2f} m\n"
f"Fix GPS : {fix}\n" f"Fix GPS : {telemetry_cache['gps_fix']}\n"
f"Satellites : {sats}") f"Satellites : {telemetry_cache['gps_sats']}")
elif action == "hover": elif action == "hover":
await drone.action.hold() await drone.action.hold()