Fixed Errors!

.github/workflows/python-publish.yml

@@ -0,0 +1,39 @@
+# This workflow will upload a Python Package using Twine when a release is created
+# For more information see: https://docs.github.com/en/actions/automating-builds-and-tests/building-and-testing-python#publishing-to-package-registries
+
+# This workflow uses actions that are not certified by GitHub.
+# They are provided by a third-party and are governed by
+# separate terms of service, privacy policy, and support
+# documentation.
+
+name: Upload Python Package
+
+on:
+  release:
+    types: [published]
+
+permissions:
+  contents: read
+
+jobs:
+  deploy:
+
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: actions/checkout@v3
+    - name: Set up Python
+      uses: actions/setup-python@v3
+      with:
+        python-version: '3.x'
+    - name: Install dependencies
+      run: |
+        python -m pip install --upgrade pip
+        pip install build
+    - name: Build package
+      run: python -m build
+    - name: Publish package
+      uses: pypa/gh-action-pypi-publish@27b31702a0e7fc50959f5ad993c78deac1bdfc29
+      with:
+        user: __token__
+        password: ${{ secrets.PYPI_API_TOKEN }}

dronekit/__init__.py

@@ -32,15 +32,7 @@
 ----
 """
 
-import sys
 import collections
-
-# Python3.10 removed MutableMapping from collections:
-if sys.version_info.major == 3 and sys.version_info.minor >= 10:
-    from collections.abc import MutableMapping
-else:
-    from collections import MutableMapping
-
 import copy
 import logging
 import math
@@ -228,25 +220,6 @@ def __str__(self):
         return "GPSInfo:fix=%s,num_sat=%s" % (self.fix_type, self.satellites_visible)
 
 
-class Wind(object):
-    """
-    Wind information
-
-    An object of this type is returned by :py:attr: `Vehicle.wind`.
-
-    :param wind_direction: Wind direction in degrees
-    :param wind_speed: Wind speed in m/s
-    :param wind_speed_z: vertical wind speed in m/s
-    """
-    def __init__(self, wind_direction, wind_speed, wind_speed_z):
-        self.wind_direction = wind_direction
-        self.wind_speed = wind_speed
-        self.wind_speed_z = wind_speed_z
-
-    def __str__(self):
-        return "Wind: wind direction: {}, wind speed: {}, wind speed z: {}".format(self.wind_direction, self.wind_speed, self.wind_speed_z)
-
-
 class Battery(object):
     """
     System battery information.
@@ -1084,19 +1057,6 @@ def listener(_, msg):
         self._vy = None
         self._vz = None
 
-
-        self._wind_direction = None
-        self._wind_speed = None
-        self._wind_speed_z = None
-
-        @self.on_message('WIND')
-        def listener(self,name, m):
-            """ WIND {direction : -180.0, speed : 0.0, speed_z : 0.0} """
-            self._wind_direction = m.direction
-            self._wind_speed = m.speed
-            self._wind_speed_z = m.speed_z
-
-
         @self.on_message('STATUSTEXT')
         def statustext_listener(self, name, m):
             # Log the STATUSTEXT on the autopilot logger, with the correct severity
@@ -1182,17 +1142,21 @@ def listener(vehicle, name, m):
         # All keys are strings.
         self._channels = Channels(self, 8)
 
-        @self.on_message(['RC_CHANNELS_RAW', 'RC_CHANNELS'])
+        @self.on_message('RC_CHANNELS_RAW')
         def listener(self, name, m):
             def set_rc(chnum, v):
                 '''Private utility for handling rc channel messages'''
                 # use port to allow ch nums greater than 8
-                port = 0 if name == "RC_CHANNELS" else m.port
-                self._channels._update_channel(str(port * 8 + chnum), v)
-
-            for i in range(1, (18 if name == "RC_CHANNELS" else 8)+1):
-                set_rc(i, getattr(m, "chan{}_raw".format(i)))
-
+                self._channels._update_channel(str(m.port * 8 + chnum), v)
+
+            set_rc(1, m.chan1_raw)
+            set_rc(2, m.chan2_raw)
+            set_rc(3, m.chan3_raw)
+            set_rc(4, m.chan4_raw)
+            set_rc(5, m.chan5_raw)
+            set_rc(6, m.chan6_raw)
+            set_rc(7, m.chan7_raw)
+            set_rc(8, m.chan8_raw)
             self.notify_attribute_listeners('channels', self.channels)
 
         self._voltage = None
@@ -1249,7 +1213,7 @@ def listener(self, name, m):
         @self.on_message('HEARTBEAT')
         def listener(self, name, m):
             # ignore groundstations
-            if m.type == mavutil.mavlink.MAV_TYPE_GCS or (not self._handler.master.probably_vehicle_heartbeat(m)):
+            if m.type == mavutil.mavlink.MAV_TYPE_GCS:
                 return
             self._armed = (m.base_mode & mavutil.mavlink.MAV_MODE_FLAG_SAFETY_ARMED) != 0
             self.notify_attribute_listeners('armed', self.armed, cache=True)
@@ -1279,14 +1243,19 @@ def listener(self, name, msg):
             if not self._wp_loaded:
                 self._wploader.clear()
                 self._wploader.expected_count = msg.count
-                self._master.waypoint_request_send(0)
+                # self._master.waypoint_request_send(0)
+                self._master.mav.mission_request_int_send(
+                    target_system=self._master.target_system,
+                    target_component=self._master.target_component,
+                    seq=0  # Sequence number of the mission item to request
+                )
 
         @self.on_message(['HOME_POSITION'])
         def listener(self, name, msg):
             self._home_location = LocationGlobal(msg.latitude / 1.0e7, msg.longitude / 1.0e7, msg.altitude / 1000.0)
             self.notify_attribute_listeners('home_location', self.home_location, cache=True)
 
-        @self.on_message(['WAYPOINT', 'MISSION_ITEM'])
+        @self.on_message(['WAYPOINT', 'MISSION_ITEM', 'MISSION_ITEM_INT'])
         def listener(self, name, msg):
             if not self._wp_loaded:
                 if msg.seq == 0:
@@ -1303,13 +1272,18 @@ def listener(self, name, msg):
                     self._wploader.add(msg)
 
                     if msg.seq + 1 < self._wploader.expected_count:
-                        self._master.waypoint_request_send(msg.seq + 1)
+                        # self._master.waypoint_request_send(msg.seq + 1)
+                        self._master.mav.mission_request_int_send(
+                            target_system=self._master.target_system,
+                            target_component=self._master.target_component,
+                            seq=msg.seq + 1  # Sequence number of the mission item to request
+                        )
                     else:
                         self._wp_loaded = True
                         self.notify_attribute_listeners('commands', self.commands)
 
         # Waypoint send to master
-        @self.on_message(['WAYPOINT_REQUEST', 'MISSION_REQUEST'])
+        @self.on_message(['WAYPOINT_REQUEST', 'MISSION_REQUEST', 'MISSION_REQUEST_INT'])
         def listener(self, name, msg):
             if self._wp_uploaded is not None:
                 wp = self._wploader.wp(msg.seq)
@@ -1413,7 +1387,7 @@ def listener(_):
         @self.on_message(['HEARTBEAT'])
         def listener(self, name, msg):
             # ignore groundstations
-            if msg.type == mavutil.mavlink.MAV_TYPE_GCS or (not self._handler.master.probably_vehicle_heartbeat(msg)):
+            if msg.type == mavutil.mavlink.MAV_TYPE_GCS:
                 return
             self._heartbeat_system = msg.get_srcSystem()
             self._heartbeat_lastreceived = monotonic.monotonic()
@@ -1718,15 +1692,6 @@ def listener(self, attr_name, value):
         """
         return self._location
 
-    @property
-    def wind(self):
-        """
-        Current wind status (:pu:class: `Wind`)
-        """
-        if self._wind_direction is None or self._wind_speed is None or self._wind_speed_z is None:
-            return None
-        return Wind(self._wind_direction, self._wind_speed, self._wind_speed_z)
-
     @property
     def battery(self):
         """
@@ -2233,7 +2198,7 @@ def simple_goto(self, location, airspeed=None, groundspeed=None):
         else:
             raise ValueError('Expecting location to be LocationGlobal or LocationGlobalRelative.')
 
-        self._master.mav.mission_item_send(0, 0, 0, frame,
+        self._master.mav.mission_item_int_send(0, 0, 0, frame,
                                            mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 2, 0, 0,
                                            0, 0, 0, location.lat, location.lon,
                                            alt)
@@ -2589,7 +2554,7 @@ def listener(vehicle, name, m):
 
         @vehicle.on_message('MOUNT_ORIENTATION')
         def listener(vehicle, name, m):
-            self._pitch = m.pitch
+            self._pitch = m.pitch 
             self._roll = m.roll
             self._yaw = m.yaw
             vehicle.notify_attribute_listeners('gimbal', vehicle.gimbal)
@@ -2731,7 +2696,7 @@ def __str__(self):
         return "Gimbal: pitch={0}, roll={1}, yaw={2}".format(self.pitch, self.roll, self.yaw)
 
 
-class Parameters(MutableMapping, HasObservers):
+class Parameters(collections.abc.MutableMapping, HasObservers):
     """
     This object is used to get and set the values of named parameters for a vehicle. See the following links for information about
     the supported parameters for each platform: `Copter Parameters <http://copter.ardupilot.com/wiki/configuration/arducopter-parameters/>`_,
@@ -2917,7 +2882,7 @@ def decorated_thr_min_callback(self, attr_name, value):
         return super(Parameters, self).on_attribute(attr_name, *args, **kwargs)
 
 
-class Command(mavutil.mavlink.MAVLink_mission_item_message):
+class Command(mavutil.mavlink.MAVLink_mission_item_int_message):
     """
     A waypoint object.
 

dronekit/mavlink.py

@@ -72,7 +72,10 @@ def recv(self, n=None):
                 if e.errno in [errno.EAGAIN, errno.EWOULDBLOCK, errno.ECONNREFUSED]:
                     return ""
             if self.udp_server:
-                self.addresses.add(new_addr)
+                try:
+                    self.addresses.add(new_addr)
+                except:
+                    return ""
             elif self.broadcast:
                 self.addresses = {new_addr}
             return data
@@ -246,6 +249,7 @@ def mavlink_thread_in():
 
             except APIException as e:
                 self._logger.exception('Exception in MAVLink input loop')
+                self._logger.error('%s' % str(e))
                 self._alive = False
                 self.master.close()
                 self._death_error = e

setup.py

@@ -1,9 +1,9 @@
 import setuptools
 import os
 
-version = '2.9.2'
+version = '2.9.3.1'
 
-with open(os.path.join(os.path.dirname(__file__), 'README.md')) as f:
+with open(os.path.join(os.path.dirname(__file__), 'README.md'), encoding="utf-8") as f:
     LongDescription = f.read()
 
 setuptools.setup(