# pixhawkcontroller
> Lightweight Python utilities to connect and control **Pixhawk / ArduPilot** flight controllers using [pymavlink](https://github.com/ArduPilot/pymavlink).
> Supports Serial/UDP/TCP, quick telemetry, mission helpers, servo/relay/motor tests, tones, and common MAV_CMD wrappers.
---
## ✨ Features
* 🔌 **Auto-detect Pixhawk/Cube over USB** by VID/PID (configurable defaults).
* 🌐 **Serial / UDP / TCP** connection strings (`COMx`, `/dev/ttyUSB*`, `udp:127.0.0.1:14550`, `tcp:…`).
* 🛰 **INFO decode** from `AUTOPILOT_VERSION` + boot banners (vendor/product, FW/OS git hashes, capabilities).
* 🧭 **Mode control** with family auto-selection (Copter/Plane/Rover).
* 🛠 **Servo + RC override** helpers with safe reset.
* 🔁 **Relay repeat** & **motor test** wrappers.
* 🗺 **Mission helpers**: start, pause/continue, guided reposition, guided limits, condition delay.
* 🛫/🛬 **NAV takeoff / land / RTL** shortcuts.
* 🛑 **Flight termination** (emergency stop — dangerous).
* 🎶 **Buzzer tones** with QBasic-style strings & optional auto tones.
---
## 📦 Installation
```bash
# (Optional) virtual environment
python3 -m venv venv
source venv/bin/activate # Windows: venv\Scripts\activate
# From source (editable)
git clone https://github.com/Shahriar88/pixhawkcontroller.git
cd pixhawkcontroller
pip install -e .
````
Core dependencies:
```bash
pymavlink >= 2.4.41
pyserial >= 3.5
```
Build/packaging dependencies:
```bash
build == 1.3.0
setuptools == 80.9.0
wheel == 0.45.1
twine == 6.2.0
packaging == 25.0
```
---
## 🧩 Project layout
* `pixhawkcontroller/main.py` — main implementation (class, helpers, demos).
* `pixhawkcontroller/__init__.py` — public API (exports classes and `find_usb_vid_pid`).
* `README.md` — this documentation.
---
## 🚀 Quick Start
### 1) List available USB serial devices
Before connecting, you can quickly list all detected USB serial devices with VID/PID information:
```python
from pixhawkcontroller import find_usb_vid_pid
find_usb_vid_pid()
```
Example output:
```
USB Serial Devices:
{'port': 'COM5', 'vid': '2dae', 'pid': '1058', 'location': '1-1', 'description': 'CubeOrange+'}
{'port': 'COM6', 'vid': '0483', 'pid': '5740', 'location': '2-3', 'description': 'Pixhawk 2.4.8'}
```
Use this to identify your Pixhawk/Cube device’s correct VID/PID or port before connecting.
---
### 2) Import & connect
```python
from pixhawkcontroller import FlightControllerInterface, TonesQb
# Auto-detect (USB VID/PID)
fc = FlightControllerInterface()
fc.connect()
# Or explicit serial:
# fc = FlightControllerInterface(device='COM3', baudrate=115200) # Windows
# fc = FlightControllerInterface(device='/dev/ttyUSB0', baudrate=115200) # Linux
# fc = FlightControllerInterface(device='/dev/tty.usbmodem14101', baudrate=115200) # macOS
# Or SITL via UDP:
# fc = FlightControllerInterface(device='udp:127.0.0.1:14550')
# fc.connect()
# Or TCP:
# fc = FlightControllerInterface(device='tcp:192.168.1.100:5760')
# fc.connect()
```
The constructor defaults include a VID/PID pair (CubePilot Orange+ by default) and will auto-scan serial ports when `device` is not provided.
---
### 3) Print board info & telemetry
```python
fc.print_info() # vendor/product, FW/OS hashes, capabilities, IDs
fc.print_telemetry() # mode, family, armed, GPS fix, location, battery
```
These use `AUTOPILOT_VERSION` and recent messages (`HEARTBEAT`, `GPS_RAW_INT`, `GLOBAL_POSITION_INT`, `SYS_STATUS`).
---
## 🔌 VID/PID: explicit examples
```python
# ArduPilot Bootloader (USB-CDC) — same as Pixhawk 2.4.8
# Vendor: 0x1209 Product: 0x5741
fc = FlightControllerInterface(vid='1209', pid='5741') # bootloader mode
fc.connect()
# Pixhawk 2.4.8 (STMicroelectronics VCP, ChibiOS)
# Vendor: 0x0483 Product: 0x5740
fc = FlightControllerInterface(vid='0483', pid='5740')
fc.connect()
# Cube+ family (CubePilot)
# Vendor: 0x2DAE Product: 0x1101 (CubeBlack+) or 0x1058 (CubeOrange+)
fc = FlightControllerInterface(vid='2DAE', pid='1058') # CubeOrange+
# fc = FlightControllerInterface(vid='2DAE', pid='1101') # CubeBlack+
fc.connect()
```
These match the VID/PID map included in the code.
---
## 🛰 Mode control (auto family)
```python
fc.set_mode("GUIDED")
fc.set_mode("AUTO")
fc.set_mode("RTL")
fc.set_mode("SMART_RTL")
# Plane example: fc.set_mode("MANUAL") / "FBWA" / "CRUISE"
```
Vehicle family (`copter`/`plane`/`rover`) is inferred from `HEARTBEAT.type`.
The method retries via `SET_MODE`, then falls back to `MAV_CMD_DO_SET_MODE` if needed.
---
## 🛠 Servo / RC override
```python
# Direct servo output (PWM µs)
fc.set_servo(9, 900); time.sleep(2)
fc.set_servo(9, 1500); time.sleep(2)
fc.set_servo(9, 1900)
# RC override (ch1..8). Example: throttle mid for 2 s, then clear.
if not fc.check_arm_status():
fc.arm() # use fc.arm(force=True) to override prechecks (dangerous)
fc.set_rc_pwm(3, 1500)
time.sleep(2)
fc.clear_rc_overrides()
fc.disarm()
```
Servo uses `MAV_CMD_DO_SET_SERVO`; RC override uses `RC_CHANNELS_OVERRIDE`;
`check_arm_status()` reads `MAV_MODE_FLAG_SAFETY_ARMED`.
---
## 🔁 Relay / Motor test
```python
# Toggle a relay repeatedly (index/count/period)
fc.repeat_relay(relay_number=0, count=10, period_s=2.0)
# Spin motor #1 at 20% for 3 seconds (type=0 → percent)
fc.motor_test(motor_index=1, throttle_type=0, throttle_value=20.0, duration_s=3.0)
```
Relay uses `MAV_CMD_DO_REPEAT_RELAY`; motor test uses `MAV_CMD_DO_MOTOR_TEST`.
---
## 🗺 Mission helpers
```python
# Start mission (requires AUTO)
fc.set_mode("AUTO")
fc.mission_start()
# Pause & resume mission
fc.pause_continue_mission(True) # pause
time.sleep(5)
fc.pause_continue_mission(False) # continue
# Reposition in GUIDED (lat, lon, alt), optional speed and auto-switch to GUIDED
lat, lon, alt = 23.911222, 90.254833, 46
fc.do_reposition(lat, lon, alt, speed_m_s=3.0, change_mode_to_guided=True)
# Apply guided limits (timeout and leash)
fc.do_guided_limits(timeout_s=60, horiz_max_m=50)
# Insert condition delay (useful inside a mission)
fc.condition_delay(5)
```
Covers `MAV_CMD_MISSION_START`, `MAV_CMD_DO_PAUSE_CONTINUE`,
`MAV_CMD_DO_REPOSITION`, `MAV_CMD_DO_GUIDED_LIMITS`, `MAV_CMD_CONDITION_DELAY`.
---
## 🛫 Takeoff / 🛬 Land / 🔁 RTL / 🛑 Termination
```python
# Takeoff (Copter/Plane; Rover usually ignores)
fc.nav_takeoff(target_alt_m=20.0, min_pitch_deg=0.0)
# Land now (current location by default)
fc.nav_land()
# Return to Launch
fc.return_to_launch()
# Emergency stop (dangerous!)
# fc.flight_termination(True)
```
Implements `MAV_CMD_NAV_TAKEOFF`, `MAV_CMD_NAV_LAND`,
`MAV_CMD_NAV_RETURN_TO_LAUNCH`, `MAV_CMD_DO_FLIGHTTERMINATION`.
**Use termination only in emergencies** — it cuts actuators immediately.
---
## 🔊 Tones & auto cues
```python
# Manual tones
from pixhawkcontroller import TonesQb
fc.play_tune(TonesQb.def_tone)
time.sleep(1)
fc.play_tune(TonesQb.twinkle_little_star)
# Optional audible cues on events:
fc.auto_play_tune = True # or False to disable sounds
# (connect/arm/close paths in the code play short cues if enabled)
```
Tone strings are QBasic-style and compatible with ArduPilot’s tone parser.
---
## 🧪 Demo blocks (safe by default)
`main.py` ships with demo sections gated by flags:
* `SAFE_DEMO = False` — full, commented walkthrough (flip to `True` to run).
* A second mini-demo (SITL-friendly) under another `if False:` block.
Both demonstrate connection, info/telemetry, modes, servo/RC, mission helpers, guided controls, and cleanup.
---
## 🧰 Utility: list USB serials (again)
```python
from pixhawkcontroller import find_usb_vid_pid
find_usb_vid_pid() # prints all USB serial devices with VID/PID/port/description
```
Use this to identify what VID/PID your board exposes on your OS.
---
## 🛡 Safety
* **Test in SITL first** (no props):
`sim_vehicle.py -v Rover --console --map` (or Copter/Plane).
* Commands like `.arm()`, `.set_servo()`, `.set_rc_pwm()` can move actuators.
* **Flight termination** immediately stops actuators — only for emergencies.
---
## 📘 Examples
### List USB serials (before connecting)
```python
from pixhawkcontroller import find_usb_vid_pid
find_usb_vid_pid()
# → prints dicts with port, vid/pid, location, description
```
### Connect (auto-detect or explicit)
```python
from pixhawkcontroller import FlightControllerInterface
# Auto-detect over USB (uses default VID/PID scanning)
fc = FlightControllerInterface()
fc.connect()
# Or explicit serial:
# fc = FlightControllerInterface(device="COM3", baudrate=115200) # Windows
# fc = FlightControllerInterface(device="/dev/ttyUSB0", baudrate=115200) # Linux
# fc = FlightControllerInterface(device="/dev/tty.usbmodem14101", baudrate=115200) # macOS
# fc.connect()
# Or SITL:
# fc = FlightControllerInterface(device="udp:127.0.0.1:14550"); fc.connect()
```
### Board info & quick telemetry
```python
fc.print_info() # Vendor/Product, FW/OS git hashes, capabilities, IDs
fc.print_telemetry() # Mode/Family, Armed, GPS fix, Location, Battery
```
### Explicit VID/PID examples
```python
# Bootloader (USB-CDC) — same vendor/product seen on many Pixhawk bootloaders
fc = FlightControllerInterface(vid="1209", pid="5741"); fc.connect()
# Pixhawk 2.4.8 (ST VCP / ChibiOS)
fc = FlightControllerInterface(vid="0483", pid="5740"); fc.connect()
# Cube+ family (CubePilot)
fc = FlightControllerInterface(vid="2DAE", pid="1058"); fc.connect() # CubeOrange+
# fc = FlightControllerInterface(vid="2DAE", pid="1101"); fc.connect() # CubeBlack+
```
### Change modes (auto family: copter/plane/rover)
```python
fc.set_mode("GUIDED")
fc.set_mode("AUTO")
fc.set_mode("RTL")
fc.set_mode("SMART_RTL")
```
### Arm / RC override (use with caution)
```python
# Arm only if not already armed
if not fc.check_arm_status():
fc.arm() # use fc.arm(force=True) to override prechecks (dangerous)
# Override throttle (ch3) to 1500 µs for 2 seconds, then clear
fc.set_rc_pwm(3, 1500)
import time; time.sleep(2)
fc.clear_rc_overrides()
# Disarm when done
fc.disarm()
```
### Servo control (PWM µs)
```python
import time
fc.set_servo(9, 900); time.sleep(1.5)
fc.set_servo(9, 1500); time.sleep(1.5)
fc.set_servo(9, 1900)
```
### Relay & Motor test
```python
# Toggle relay #0 → 10 cycles, 2.0 s period
fc.repeat_relay(relay_number=0, count=10, period_s=2.0)
# Run motor #1 at 20% for 3s (type=0 → percent)
fc.motor_test(motor_index=1, throttle_type=0, throttle_value=20.0, duration_s=3.0)
```
### Mission helpers
```python
# Start current mission (set AUTO first)
fc.set_mode("AUTO")
fc.mission_start()
# Pause / continue (in AUTO)
fc.pause_continue_mission(True)
time.sleep(5)
fc.pause_continue_mission(False)
```
### Guided reposition & yaw
```python
# Move in GUIDED to a lat/lon/alt at 3 m/s and auto-switch to GUIDED
lat, lon, alt = 23.911222, 90.254833, 46
fc.do_reposition(lat, lon, alt, speed_m_s=3.0, change_mode_to_guided=True)
# Yaw to heading 90° at 30°/s (absolute)
fc.set_yaw_speed(90.0, 30.0, absolute=True)
```
### Guided limits & condition delay
```python
# Limit GUIDED motion (timeout=60s, horizontal leash=50m)
fc.do_guided_limits(timeout_s=60, horiz_max_m=50)
# Insert a 5s delay (useful inside AUTO missions)
fc.condition_delay(5)
```
### Takeoff / Land / RTL / (Emergency) Termination
```python
# Takeoff to 20m (Copter/Plane; Rover usually ignores)
fc.nav_takeoff(target_alt_m=20.0, min_pitch_deg=0.0)
# Land at current location
fc.nav_land()
# Return To Launch
fc.return_to_launch()
# Emergency stop (cuts actuators immediately) — DANGEROUS
# fc.flight_termination(True)
```
### Rover-specific: reverse direction
```python
# Reverse on, wait, then off (Rover only)
fc.set_reverse(True)
time.sleep(1.0)
fc.set_reverse(False)
```
### Tones (QBasic-style) & optional auto cues
```python
from pixhawkcontroller import TonesQb
# Manual tunes
fc.play_tune(TonesQb.def_tone)
time.sleep(1)
fc.play_tune(TonesQb.twinkle_little_star)
# Optional audible cues for events in your methods
fc.auto_play_tune = True # set False to silence
```
### Clean shutdown
```python
# Final snapshot then close
fc.print_telemetry()
if fc.check_arm_status():
fc.disarm()
fc.close()
```
---
## ❓ Troubleshooting
* **No device found / auto-detect fails**: run `find_usb_vid_pid()` and use explicit VID/PID.
On Linux, add your user to `dialout` and re-log.
* **Mode won’t change**: ensure TX mode switch isn’t overriding; check pre-arm checks and link quality (`STATUSTEXT`).
* **No `AUTOPILOT_VERSION`**: ensure `SERIAL0_PROTOCOL=2` and you’re connected to the MAVLink port.
---
## 📚 References
* [ArduPilot MAVLink Commands & Mission Items](https://ardupilot.org/dev/docs/mavlink-mission-command-messages.html)
* [MAVLink Message Definitions](https://mavlink.io/en/messages/common.html)
* [ArduPilot ToneTester](https://ardupilot.org/dev/docs/code-overview-ardupilot.html#tonetester) (for previewing tunes)
---
## 📜 License
MIT License © 2025 Md Shahriar Forhad
See the [LICENSE](./LICENSE) file for full terms.
---
## ⚠️ Disclaimer
> This software is provided *as-is* for educational and experimental use only.
> Use it at your own risk. The author assumes no liability for any damage, injury, or loss resulting from its use.
```
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"description": "# pixhawkcontroller\r\n\r\n> Lightweight Python utilities to connect and control **Pixhawk / ArduPilot** flight controllers using [pymavlink](https://github.com/ArduPilot/pymavlink). \r\n> Supports Serial/UDP/TCP, quick telemetry, mission helpers, servo/relay/motor tests, tones, and common MAV_CMD wrappers.\r\n\r\n---\r\n\r\n## \u2728 Features\r\n\r\n* \ud83d\udd0c **Auto-detect Pixhawk/Cube over USB** by VID/PID (configurable defaults). \r\n* \ud83c\udf10 **Serial / UDP / TCP** connection strings (`COMx`, `/dev/ttyUSB*`, `udp:127.0.0.1:14550`, `tcp:\u2026`). \r\n* \ud83d\udef0 **INFO decode** from `AUTOPILOT_VERSION` + boot banners (vendor/product, FW/OS git hashes, capabilities). \r\n* \ud83e\udded **Mode control** with family auto-selection (Copter/Plane/Rover). \r\n* \ud83d\udee0 **Servo + RC override** helpers with safe reset. \r\n* \ud83d\udd01 **Relay repeat** & **motor test** wrappers. \r\n* \ud83d\uddfa **Mission helpers**: start, pause/continue, guided reposition, guided limits, condition delay. \r\n* \ud83d\udeeb/\ud83d\udeec **NAV takeoff / land / RTL** shortcuts. \r\n* \ud83d\uded1 **Flight termination** (emergency stop \u2014 dangerous). \r\n* \ud83c\udfb6 **Buzzer tones** with QBasic-style strings & optional auto tones. \r\n\r\n---\r\n\r\n## \ud83d\udce6 Installation\r\n\r\n```bash\r\n# (Optional) virtual environment\r\npython3 -m venv venv\r\nsource venv/bin/activate # Windows: venv\\Scripts\\activate\r\n\r\n# From source (editable)\r\ngit clone https://github.com/Shahriar88/pixhawkcontroller.git\r\ncd pixhawkcontroller\r\npip install -e .\r\n````\r\n\r\nCore dependencies:\r\n\r\n```bash\r\npymavlink >= 2.4.41\r\npyserial >= 3.5\r\n```\r\n\r\nBuild/packaging dependencies:\r\n\r\n```bash\r\nbuild == 1.3.0\r\nsetuptools == 80.9.0\r\nwheel == 0.45.1\r\ntwine == 6.2.0\r\npackaging == 25.0\r\n```\r\n\r\n---\r\n\r\n## \ud83e\udde9 Project layout\r\n\r\n* `pixhawkcontroller/main.py` \u2014 main implementation (class, helpers, demos).\r\n* `pixhawkcontroller/__init__.py` \u2014 public API (exports classes and `find_usb_vid_pid`).\r\n* `README.md` \u2014 this documentation.\r\n\r\n---\r\n\r\n## \ud83d\ude80 Quick Start\r\n\r\n### 1) List available USB serial devices\r\n\r\nBefore connecting, you can quickly list all detected USB serial devices with VID/PID information:\r\n\r\n```python\r\nfrom pixhawkcontroller import find_usb_vid_pid\r\n\r\nfind_usb_vid_pid()\r\n```\r\n\r\nExample output:\r\n\r\n```\r\nUSB Serial Devices:\r\n\r\n{'port': 'COM5', 'vid': '2dae', 'pid': '1058', 'location': '1-1', 'description': 'CubeOrange+'}\r\n{'port': 'COM6', 'vid': '0483', 'pid': '5740', 'location': '2-3', 'description': 'Pixhawk 2.4.8'}\r\n```\r\n\r\nUse this to identify your Pixhawk/Cube device\u2019s correct VID/PID or port before connecting.\r\n\r\n---\r\n\r\n### 2) Import & connect\r\n\r\n```python\r\nfrom pixhawkcontroller import FlightControllerInterface, TonesQb\r\n\r\n# Auto-detect (USB VID/PID)\r\nfc = FlightControllerInterface()\r\nfc.connect()\r\n\r\n# Or explicit serial:\r\n# fc = FlightControllerInterface(device='COM3', baudrate=115200) # Windows\r\n# fc = FlightControllerInterface(device='/dev/ttyUSB0', baudrate=115200) # Linux\r\n# fc = FlightControllerInterface(device='/dev/tty.usbmodem14101', baudrate=115200) # macOS\r\n\r\n# Or SITL via UDP:\r\n# fc = FlightControllerInterface(device='udp:127.0.0.1:14550')\r\n# fc.connect()\r\n\r\n# Or TCP:\r\n# fc = FlightControllerInterface(device='tcp:192.168.1.100:5760')\r\n# fc.connect()\r\n```\r\n\r\nThe constructor defaults include a VID/PID pair (CubePilot Orange+ by default) and will auto-scan serial ports when `device` is not provided.\r\n\r\n---\r\n\r\n### 3) Print board info & telemetry\r\n\r\n```python\r\nfc.print_info() # vendor/product, FW/OS hashes, capabilities, IDs\r\nfc.print_telemetry() # mode, family, armed, GPS fix, location, battery\r\n```\r\n\r\nThese use `AUTOPILOT_VERSION` and recent messages (`HEARTBEAT`, `GPS_RAW_INT`, `GLOBAL_POSITION_INT`, `SYS_STATUS`).\r\n\r\n---\r\n\r\n## \ud83d\udd0c VID/PID: explicit examples\r\n\r\n```python\r\n# ArduPilot Bootloader (USB-CDC) \u2014 same as Pixhawk 2.4.8\r\n# Vendor: 0x1209 Product: 0x5741\r\nfc = FlightControllerInterface(vid='1209', pid='5741') # bootloader mode\r\nfc.connect()\r\n\r\n# Pixhawk 2.4.8 (STMicroelectronics VCP, ChibiOS)\r\n# Vendor: 0x0483 Product: 0x5740\r\nfc = FlightControllerInterface(vid='0483', pid='5740')\r\nfc.connect()\r\n\r\n# Cube+ family (CubePilot)\r\n# Vendor: 0x2DAE Product: 0x1101 (CubeBlack+) or 0x1058 (CubeOrange+)\r\nfc = FlightControllerInterface(vid='2DAE', pid='1058') # CubeOrange+\r\n# fc = FlightControllerInterface(vid='2DAE', pid='1101') # CubeBlack+\r\nfc.connect()\r\n```\r\n\r\nThese match the VID/PID map included in the code.\r\n\r\n---\r\n\r\n## \ud83d\udef0 Mode control (auto family)\r\n\r\n```python\r\nfc.set_mode(\"GUIDED\")\r\nfc.set_mode(\"AUTO\")\r\nfc.set_mode(\"RTL\")\r\nfc.set_mode(\"SMART_RTL\")\r\n# Plane example: fc.set_mode(\"MANUAL\") / \"FBWA\" / \"CRUISE\"\r\n```\r\n\r\nVehicle family (`copter`/`plane`/`rover`) is inferred from `HEARTBEAT.type`.\r\nThe method retries via `SET_MODE`, then falls back to `MAV_CMD_DO_SET_MODE` if needed.\r\n\r\n---\r\n\r\n## \ud83d\udee0 Servo / RC override\r\n\r\n```python\r\n# Direct servo output (PWM \u00b5s)\r\nfc.set_servo(9, 900); time.sleep(2)\r\nfc.set_servo(9, 1500); time.sleep(2)\r\nfc.set_servo(9, 1900)\r\n\r\n# RC override (ch1..8). Example: throttle mid for 2 s, then clear.\r\nif not fc.check_arm_status():\r\n fc.arm() # use fc.arm(force=True) to override prechecks (dangerous)\r\nfc.set_rc_pwm(3, 1500)\r\ntime.sleep(2)\r\nfc.clear_rc_overrides()\r\nfc.disarm()\r\n```\r\n\r\nServo uses `MAV_CMD_DO_SET_SERVO`; RC override uses `RC_CHANNELS_OVERRIDE`;\r\n`check_arm_status()` reads `MAV_MODE_FLAG_SAFETY_ARMED`.\r\n\r\n---\r\n\r\n## \ud83d\udd01 Relay / Motor test\r\n\r\n```python\r\n# Toggle a relay repeatedly (index/count/period)\r\nfc.repeat_relay(relay_number=0, count=10, period_s=2.0)\r\n\r\n# Spin motor #1 at 20% for 3 seconds (type=0 \u2192 percent)\r\nfc.motor_test(motor_index=1, throttle_type=0, throttle_value=20.0, duration_s=3.0)\r\n```\r\n\r\nRelay uses `MAV_CMD_DO_REPEAT_RELAY`; motor test uses `MAV_CMD_DO_MOTOR_TEST`.\r\n\r\n---\r\n\r\n## \ud83d\uddfa Mission helpers\r\n\r\n```python\r\n# Start mission (requires AUTO)\r\nfc.set_mode(\"AUTO\")\r\nfc.mission_start()\r\n\r\n# Pause & resume mission\r\nfc.pause_continue_mission(True) # pause\r\ntime.sleep(5)\r\nfc.pause_continue_mission(False) # continue\r\n\r\n# Reposition in GUIDED (lat, lon, alt), optional speed and auto-switch to GUIDED\r\nlat, lon, alt = 23.911222, 90.254833, 46\r\nfc.do_reposition(lat, lon, alt, speed_m_s=3.0, change_mode_to_guided=True)\r\n\r\n# Apply guided limits (timeout and leash)\r\nfc.do_guided_limits(timeout_s=60, horiz_max_m=50)\r\n\r\n# Insert condition delay (useful inside a mission)\r\nfc.condition_delay(5)\r\n```\r\n\r\nCovers `MAV_CMD_MISSION_START`, `MAV_CMD_DO_PAUSE_CONTINUE`,\r\n`MAV_CMD_DO_REPOSITION`, `MAV_CMD_DO_GUIDED_LIMITS`, `MAV_CMD_CONDITION_DELAY`.\r\n\r\n---\r\n\r\n## \ud83d\udeeb Takeoff / \ud83d\udeec Land / \ud83d\udd01 RTL / \ud83d\uded1 Termination\r\n\r\n```python\r\n# Takeoff (Copter/Plane; Rover usually ignores)\r\nfc.nav_takeoff(target_alt_m=20.0, min_pitch_deg=0.0)\r\n\r\n# Land now (current location by default)\r\nfc.nav_land()\r\n\r\n# Return to Launch\r\nfc.return_to_launch()\r\n\r\n# Emergency stop (dangerous!)\r\n# fc.flight_termination(True)\r\n```\r\n\r\nImplements `MAV_CMD_NAV_TAKEOFF`, `MAV_CMD_NAV_LAND`,\r\n`MAV_CMD_NAV_RETURN_TO_LAUNCH`, `MAV_CMD_DO_FLIGHTTERMINATION`.\r\n**Use termination only in emergencies** \u2014 it cuts actuators immediately.\r\n\r\n---\r\n\r\n## \ud83d\udd0a Tones & auto cues\r\n\r\n```python\r\n# Manual tones\r\nfrom pixhawkcontroller import TonesQb\r\nfc.play_tune(TonesQb.def_tone)\r\ntime.sleep(1)\r\nfc.play_tune(TonesQb.twinkle_little_star)\r\n\r\n# Optional audible cues on events:\r\nfc.auto_play_tune = True # or False to disable sounds\r\n# (connect/arm/close paths in the code play short cues if enabled)\r\n```\r\n\r\nTone strings are QBasic-style and compatible with ArduPilot\u2019s tone parser.\r\n\r\n---\r\n\r\n## \ud83e\uddea Demo blocks (safe by default)\r\n\r\n`main.py` ships with demo sections gated by flags:\r\n\r\n* `SAFE_DEMO = False` \u2014 full, commented walkthrough (flip to `True` to run).\r\n* A second mini-demo (SITL-friendly) under another `if False:` block.\r\n\r\nBoth demonstrate connection, info/telemetry, modes, servo/RC, mission helpers, guided controls, and cleanup.\r\n\r\n---\r\n\r\n## \ud83e\uddf0 Utility: list USB serials (again)\r\n\r\n```python\r\nfrom pixhawkcontroller import find_usb_vid_pid\r\nfind_usb_vid_pid() # prints all USB serial devices with VID/PID/port/description\r\n```\r\n\r\nUse this to identify what VID/PID your board exposes on your OS.\r\n\r\n---\r\n\r\n## \ud83d\udee1 Safety\r\n\r\n* **Test in SITL first** (no props):\r\n `sim_vehicle.py -v Rover --console --map` (or Copter/Plane).\r\n* Commands like `.arm()`, `.set_servo()`, `.set_rc_pwm()` can move actuators.\r\n* **Flight termination** immediately stops actuators \u2014 only for emergencies.\r\n\r\n---\r\n\r\n## \ud83d\udcd8 Examples\r\n\r\n### List USB serials (before connecting)\r\n\r\n```python\r\nfrom pixhawkcontroller import find_usb_vid_pid\r\n\r\nfind_usb_vid_pid()\r\n# \u2192 prints dicts with port, vid/pid, location, description\r\n```\r\n\r\n### Connect (auto-detect or explicit)\r\n\r\n```python\r\nfrom pixhawkcontroller import FlightControllerInterface\r\n\r\n# Auto-detect over USB (uses default VID/PID scanning)\r\nfc = FlightControllerInterface()\r\nfc.connect()\r\n\r\n# Or explicit serial:\r\n# fc = FlightControllerInterface(device=\"COM3\", baudrate=115200) # Windows\r\n# fc = FlightControllerInterface(device=\"/dev/ttyUSB0\", baudrate=115200) # Linux\r\n# fc = FlightControllerInterface(device=\"/dev/tty.usbmodem14101\", baudrate=115200) # macOS\r\n# fc.connect()\r\n\r\n# Or SITL:\r\n# fc = FlightControllerInterface(device=\"udp:127.0.0.1:14550\"); fc.connect()\r\n```\r\n\r\n### Board info & quick telemetry\r\n\r\n```python\r\nfc.print_info() # Vendor/Product, FW/OS git hashes, capabilities, IDs\r\nfc.print_telemetry() # Mode/Family, Armed, GPS fix, Location, Battery\r\n```\r\n\r\n### Explicit VID/PID examples\r\n\r\n```python\r\n# Bootloader (USB-CDC) \u2014 same vendor/product seen on many Pixhawk bootloaders\r\nfc = FlightControllerInterface(vid=\"1209\", pid=\"5741\"); fc.connect()\r\n\r\n# Pixhawk 2.4.8 (ST VCP / ChibiOS)\r\nfc = FlightControllerInterface(vid=\"0483\", pid=\"5740\"); fc.connect()\r\n\r\n# Cube+ family (CubePilot)\r\nfc = FlightControllerInterface(vid=\"2DAE\", pid=\"1058\"); fc.connect() # CubeOrange+\r\n# fc = FlightControllerInterface(vid=\"2DAE\", pid=\"1101\"); fc.connect() # CubeBlack+\r\n```\r\n\r\n### Change modes (auto family: copter/plane/rover)\r\n\r\n```python\r\nfc.set_mode(\"GUIDED\")\r\nfc.set_mode(\"AUTO\")\r\nfc.set_mode(\"RTL\")\r\nfc.set_mode(\"SMART_RTL\")\r\n```\r\n\r\n### Arm / RC override (use with caution)\r\n\r\n```python\r\n# Arm only if not already armed\r\nif not fc.check_arm_status():\r\n fc.arm() # use fc.arm(force=True) to override prechecks (dangerous)\r\n\r\n# Override throttle (ch3) to 1500 \u00b5s for 2 seconds, then clear\r\nfc.set_rc_pwm(3, 1500)\r\nimport time; time.sleep(2)\r\nfc.clear_rc_overrides()\r\n\r\n# Disarm when done\r\nfc.disarm()\r\n```\r\n\r\n### Servo control (PWM \u00b5s)\r\n\r\n```python\r\nimport time\r\nfc.set_servo(9, 900); time.sleep(1.5)\r\nfc.set_servo(9, 1500); time.sleep(1.5)\r\nfc.set_servo(9, 1900)\r\n```\r\n\r\n### Relay & Motor test\r\n\r\n```python\r\n# Toggle relay #0 \u2192 10 cycles, 2.0 s period\r\nfc.repeat_relay(relay_number=0, count=10, period_s=2.0)\r\n\r\n# Run motor #1 at 20% for 3s (type=0 \u2192 percent)\r\nfc.motor_test(motor_index=1, throttle_type=0, throttle_value=20.0, duration_s=3.0)\r\n```\r\n\r\n### Mission helpers\r\n\r\n```python\r\n# Start current mission (set AUTO first)\r\nfc.set_mode(\"AUTO\")\r\nfc.mission_start()\r\n\r\n# Pause / continue (in AUTO)\r\nfc.pause_continue_mission(True)\r\ntime.sleep(5)\r\nfc.pause_continue_mission(False)\r\n```\r\n\r\n### Guided reposition & yaw\r\n\r\n```python\r\n# Move in GUIDED to a lat/lon/alt at 3 m/s and auto-switch to GUIDED\r\nlat, lon, alt = 23.911222, 90.254833, 46\r\nfc.do_reposition(lat, lon, alt, speed_m_s=3.0, change_mode_to_guided=True)\r\n\r\n# Yaw to heading 90\u00b0 at 30\u00b0/s (absolute)\r\nfc.set_yaw_speed(90.0, 30.0, absolute=True)\r\n```\r\n\r\n### Guided limits & condition delay\r\n\r\n```python\r\n# Limit GUIDED motion (timeout=60s, horizontal leash=50m)\r\nfc.do_guided_limits(timeout_s=60, horiz_max_m=50)\r\n\r\n# Insert a 5s delay (useful inside AUTO missions)\r\nfc.condition_delay(5)\r\n```\r\n\r\n### Takeoff / Land / RTL / (Emergency) Termination\r\n\r\n```python\r\n# Takeoff to 20m (Copter/Plane; Rover usually ignores)\r\nfc.nav_takeoff(target_alt_m=20.0, min_pitch_deg=0.0)\r\n\r\n# Land at current location\r\nfc.nav_land()\r\n\r\n# Return To Launch\r\nfc.return_to_launch()\r\n\r\n# Emergency stop (cuts actuators immediately) \u2014 DANGEROUS\r\n# fc.flight_termination(True)\r\n```\r\n\r\n### Rover-specific: reverse direction\r\n\r\n```python\r\n# Reverse on, wait, then off (Rover only)\r\nfc.set_reverse(True)\r\ntime.sleep(1.0)\r\nfc.set_reverse(False)\r\n```\r\n\r\n### Tones (QBasic-style) & optional auto cues\r\n\r\n```python\r\nfrom pixhawkcontroller import TonesQb\r\n\r\n# Manual tunes\r\nfc.play_tune(TonesQb.def_tone)\r\ntime.sleep(1)\r\nfc.play_tune(TonesQb.twinkle_little_star)\r\n\r\n# Optional audible cues for events in your methods\r\nfc.auto_play_tune = True # set False to silence\r\n```\r\n\r\n### Clean shutdown\r\n\r\n```python\r\n# Final snapshot then close\r\nfc.print_telemetry()\r\n\r\nif fc.check_arm_status():\r\n fc.disarm()\r\n\r\nfc.close()\r\n```\r\n\r\n---\r\n\r\n## \u2753 Troubleshooting\r\n\r\n* **No device found / auto-detect fails**: run `find_usb_vid_pid()` and use explicit VID/PID.\r\n On Linux, add your user to `dialout` and re-log.\r\n* **Mode won\u2019t change**: ensure TX mode switch isn\u2019t overriding; check pre-arm checks and link quality (`STATUSTEXT`).\r\n* **No `AUTOPILOT_VERSION`**: ensure `SERIAL0_PROTOCOL=2` and you\u2019re connected to the MAVLink port.\r\n\r\n---\r\n\r\n## \ud83d\udcda References\r\n\r\n* [ArduPilot MAVLink Commands & Mission Items](https://ardupilot.org/dev/docs/mavlink-mission-command-messages.html)\r\n* [MAVLink Message Definitions](https://mavlink.io/en/messages/common.html)\r\n* [ArduPilot ToneTester](https://ardupilot.org/dev/docs/code-overview-ardupilot.html#tonetester) (for previewing tunes)\r\n\r\n---\r\n\r\n## \ud83d\udcdc License\r\n\r\nMIT License \u00a9 2025 Md Shahriar Forhad\r\nSee the [LICENSE](./LICENSE) file for full terms.\r\n\r\n---\r\n\r\n## \u26a0\ufe0f Disclaimer\r\n\r\n> This software is provided *as-is* for educational and experimental use only.\r\n> Use it at your own risk. The author assumes no liability for any damage, injury, or loss resulting from its use.\r\n\r\n```\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n",
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