Tidy documentation for addition of Battery class #137

Author: hamishwillee

docs/examples/vehicle_state.rst

@@ -38,9 +38,10 @@ On the *MAVProxy* console you should see (something like):
      Location:  Attitude: Attitude:pitch=-0.00405988190323,yaw=-0.0973932668567,roll=-0.00393210304901
      Velocity: [0.06, -0.07, 0.0]
      GPS: GPSInfo:fix=3,num_sat=10
-     groundspeed: 0.0
-     airspeed: 0.0
-     mount_status: [None, None, None]
+     Groundspeed: 0.0
+     Airspeed: 0.0
+     Mount status: [None, None, None]
+     Battery: Battery voltage: 12590, current: 0, level: 99
      Mode: STABILIZE
      Armed: False
     Set Vehicle.mode=GUIDED (currently: STABILIZE)

droneapi/lib/__init__.py

@@ -171,7 +171,7 @@ def __str__(self):
 
 class Battery(object):
     """
-    Battery info available
+    System battery information.
 
     :param voltage: Battery voltage in millivolts.
     :param current: Battery current, in 10 * milliamperes. ``None`` if the autopilot does not support current measurement.
@@ -194,7 +194,7 @@ def __str__(self):
 
 class VehicleMode(object):
     """
-    This object is used to get and set the current "flight mode".
+    This object is used to get and set the current "flight mode". 
 
     The flight mode determines the behaviour of the vehicle and what commands it can obey.
     The recommended flight modes for *DroneKit-Python* apps depend on the vehicle type:
@@ -322,7 +322,6 @@ def location_callback(location):
                 print "Location: ", vehicle.location
 
 
-
         .. note::
             Attribute changes will only be published for changes due to some other entity.
             They will not be published for changes made by the local API client
@@ -331,7 +330,7 @@ def location_callback(location):
         :param attr_name: The attribute to watch.
         :param observer: The callback to invoke when a change in the attribute is detected.
 
-        .. todo:: Check that the defect for endless repetition after thread closes is fixed: https://github.com/diydrones/dronekit-python/issues/74
+        .. todo:: Check that the defect for endless repetition after thread closes is fixed: https://github.com/diydrones/dronekit-python/issues/74		
         """
         l = self.__observers.get(attr_name)
         if l is None:
@@ -457,17 +456,22 @@ class Vehicle(HasObservers):
 
     .. py:attribute:: mount_status
 
-        Current status of the camera mount (gimbal) as a three element list: ``[ pitch, yaw, roll ]``.
+        Current status of the camera mount (gimbal) as a three element list: ``[ pitch, yaw, roll ]``. 
 
         The values in the list are set to ``None`` if no mount is configured.
 
 
+    .. py:attribute:: battery
+
+        Current system :py:class:`Battery` status.
+
+  
     .. py:attribute:: channel_override
 
         .. warning::
 
-            RC override may be useful for simulating user input and when implementing certain types of joystick control.
-            It should not be used for direct control of vehicle channels unless there is no other choice!
+            RC override may be useful for simulating user input and when implementing certain types of joystick control. 
+            It should not be used for direct control of vehicle channels unless there is no other choice! 
 
             Instead use the appropriate MAVLink commands like DO_SET_SERVO/DO_SET_RELAY, or more generally
             set the desired position or direction/speed.
@@ -477,15 +481,15 @@ class Vehicle(HasObservers):
 
         To cancel an override call ``channel_override`` again, setting zero for the overridden channels.
 
-        The values of the first four channels map to the main flight controls: 1=Roll, 2=Pitch, 3=Throttle, 4=Yaw (the mapping is defined in ``RCMAP_`` parameters:
-        `Plane <http://plane.ardupilot.com/wiki/arduplane-parameters/#rcmap__parameters>`_,
-        `Copter <http://copter.ardupilot.com/wiki/configuration/arducopter-parameters/#rcmap__parameters>`_ ,
+        The values of the first four channels map to the main flight controls: 1=Roll, 2=Pitch, 3=Throttle, 4=Yaw (the mapping is defined in ``RCMAP_`` parameters: 
+        `Plane <http://plane.ardupilot.com/wiki/arduplane-parameters/#rcmap__parameters>`_, 
+        `Copter <http://copter.ardupilot.com/wiki/configuration/arducopter-parameters/#rcmap__parameters>`_ , 
         `Rover <http://rover.ardupilot.com/wiki/apmrover2-parameters/#rcmap__parameters>`_).
 
-        The remaining channel values are configurable, and their purpose can be determined using the
-        `RCn_FUNCTION parameters <http://plane.ardupilot.com/wiki/flight-features/channel-output-functions/>`_.
-        In general a value of 0 set for a specific ``RCn_FUNCTION`` indicates that the channel can be
-        `mission controlled <http://plane.ardupilot.com/wiki/flight-features/channel-output-functions/#disabled>`_ (i.e. it will not directly be
+        The remaining channel values are configurable, and their purpose can be determined using the 
+        `RCn_FUNCTION parameters <http://plane.ardupilot.com/wiki/flight-features/channel-output-functions/>`_. 
+        In general a value of 0 set for a specific ``RCn_FUNCTION`` indicates that the channel can be 
+        `mission controlled <http://plane.ardupilot.com/wiki/flight-features/channel-output-functions/#disabled>`_ (i.e. it will not directly be 
         controlled by normal autopilot code).
 
         An example of setting and clearing the override is given below:
@@ -510,8 +514,8 @@ class Vehicle(HasObservers):
 
             https://github.com/diydrones/dronekit-python/issues/72
 
-        .. todo::
-
+        .. todo:: 
+    
             channel_override/channel_readback documentation
 
             In a future update strings will be defined per vehicle type ('pitch', 'yaw', 'roll' etc...)
@@ -544,8 +548,6 @@ class Vehicle(HasObservers):
 
     .. todo:: In V2, there may be ardupilot specific attributes & types (as in the introduction). If so, text below might be useful.
 
-        (see `client_sketch.py#L76 <https://github.com/diydrones/dronekit-python/blob/master/examples/sketch/client_sketch.py#L76>`_)
-
         **Autopilot specific attributes & types:**
 
         .. py:attribute:: ap_pin5_mode
@@ -556,7 +558,6 @@ class Vehicle(HasObservers):
 
             ? double (0, 1, 2.3 etc...)
 
-    .. todo:: Add battery and charge information if this is closed: https://github.com/diydrones/dronekit-python/issues/102
 
     .. todo:: Add waypoint_home attribute IF this is added: https://github.com/diydrones/dronekit-python/issues/105
 
@@ -571,9 +572,9 @@ def commands(self):
         """
         Gets the editable waypoints for this vehicle (the current "mission").
 
-        This can be used to get, create, and modify a mission. It can also be used for direct control of vehicle position
-        (outside missions) using the :py:func:`goto <droneapi.lib.CommandSequence.goto>` method.
-
+        This can be used to get, create, and modify a mission. It can also be used for direct control of vehicle position 
+        (outside missions) using the :py:func:`goto <droneapi.lib.CommandSequence.goto>` method. 
+        
         :returns: A :py:class:`CommandSequence` containing the waypoints for this vehicle.
         """
         None
@@ -602,10 +603,9 @@ def get_mission(self, query_params):
 
         Returns an object providing access to historical missions.
 
-        .. warning::
+        .. warning:: 
 
-            Mission objects are only accessible from the REST API in release 1 (most use-cases requiring missions prefer a
-            REST interface). The :class:`Mission` class has an empty implementation in DroneKit-Python release 1.
+            Mission objects are only accessible from the REST API in release 1 (most use-cases requiring missions prefer a 
 
         :param query_params: Some set of arguments that can be used to find a past mission
         :return: Mission - the mission object.
@@ -639,7 +639,7 @@ def message_factory(self):
             msg = vehicle.message_factory.image_trigger_control_encode(True)
             vehicle.send_mavlink(msg)
 
-        There is no need to specify the system id, component id or sequence number of messages (if defined in the message type) as the
+        There is no need to specify the system id, component id or sequence number of messages (if defined in the message type) as the 
         API will set these appropriately when the message is sent.
 
         .. todo:: When I have a custom message guide topic. Link from here to it.
@@ -655,7 +655,7 @@ def send_mavlink(self, message):
         The function can send arbitrary messages/commands to a vehicle at any time and in any vehicle mode. It is particularly useful for
         controlling vehicles outside of missions (for example, in GUIDED mode).
 
-        The :py:func:`message_factory <droneapi.lib.Vehicle.message_factory>` is used to create messages in the appropriate format.
+        The :py:func:`message_factory <droneapi.lib.Vehicle.message_factory>` is used to create messages in the appropriate format. 
         Callers do not need to populate sysId/componentId/crc in the packet as the method will take care of that before sending.
 
         :param: message: A ``MAVLink_message`` instance, created using :py:func:`message_factory <droneapi.lib.Vehicle.message_factory>`.
@@ -677,7 +677,7 @@ def set_mavlink_callback(self, callback):
 
         The code snippet below shows how to set a "demo" callback function as the callback handler:
 
-        .. code:: python
+        .. code:: python		
 
             # Demo callback handler for raw MAVLink messages
             def mavrx_debug_handler(message):
@@ -754,12 +754,12 @@ class Parameters(HasObservers):
         vehicle.parameters['THR_MIN']=100
         vehicle.flush()
 
-    .. note::
+    .. note:: 
 
         At time of writing ``Parameters`` does not implement the observer methods, and change notification for parameters
         is not supported.
 
-    .. todo::
+    .. todo:: 
 
         Check to see if observers have been implemented and if so, update the information here, in about, and in Vehicle class:
         https://github.com/diydrones/dronekit-python/issues/107
@@ -780,9 +780,9 @@ class Command(mavutil.mavlink.MAVLink_mission_item_message):
             mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, 0, 0, 0, 0, 0,-34.364114, 149.166022, 30)
 
 
-    :param target_system: The id number of the message's target system (drone, GSC) within the MAVLink network.
-        Set this to zero (broadcast) when communicating with a companion computer.
-    :param target_component: The id of a component the message should be routed to within the target system
+    :param target_system: The id number of the message's target system (drone, GSC) within the MAVLink network. 
+        Set this to zero (broadcast) when communicating with a companion computer. 
+    :param target_component: The id of a component the message should be routed to within the target system 
         (for example, the camera). Set to zero (broadcast) in most cases.
     :param seq: The sequence number within the mission (the autopilot will reject messages sent out of sequence).
         This should be set to zero as the API will automatically set the correct value when uploading a mission.
@@ -845,8 +845,7 @@ class CommandSequence(object):
             0, 0, 0, 0, 0, 0,
             lat, lon, altitude)
         cmds.add(cmd)
-        vehicle.flush()
-
+        vehicle.flush()	
 
     .. py:function:: takeoff(altitude)
 
@@ -871,18 +870,18 @@ class CommandSequence(object):
 
     def download(self):
         '''
-		Download all waypoints from the vehicle.
+        Download all waypoints from the vehicle.
 
-		The download is asynchronous. Use :py:func:`wait_valid()` to block your thread until the download is complete.
-		'''
+        The download is asynchronous. Use :py:func:`wait_valid()` to block your thread until the download is complete.
+        '''
         pass
 
     def wait_valid(self):
         '''
-		Block the calling thread until waypoints have been downloaded.
+        Block the calling thread until waypoints have been downloaded.
 
-		This can be called after :py:func:`download()` to block the thread until the asynchronous download is complete.
-		'''
+        This can be called after :py:func:`download()` to block the thread until the asynchronous download is complete.
+        '''
         pass
 
 
@@ -921,10 +920,10 @@ def add(self, cmd):
     @property
     def count(self):
         '''
-		Return number of waypoints.
+        Return number of waypoints.
 
-		:return: The number of waypoints in the sequence.
-		'''
+        :return: The number of waypoints in the sequence.
+        '''
         return 0
 
     @property

examples/vehicle_state/vehicle_state.py

@@ -22,9 +22,10 @@
 print " Attitude: %s" % v.attitude
 print " Velocity: %s" % v.velocity
 print " GPS: %s" % v.gps_0
-print " groundspeed: %s" % v.groundspeed
-print " airspeed: %s" % v.airspeed
-print " mount_status: %s" % v.mount_status
+print " Groundspeed: %s" % v.groundspeed
+print " Airspeed: %s" % v.airspeed
+print " Mount status: %s" % v.mount_status
+print " Battery: %s" % v.battery
 print " Mode: %s" % v.mode.name    # settable
 print " Armed: %s" % v.armed    # settable