Merge pull request #568 from mavlink/pr-example-cleanup

Examples cleanup

Author: julianoes

.github/workflows/main.yml

@@ -28,6 +28,12 @@ jobs:
       - name: Install pip
         run: sudo apt-get install -y python3-pip
 
+      - name: Check style
+        run: |
+          python3 -m pip install pycodestyle
+          export PATH=$PATH:$HOME/.local/bin
+          pycodestyle examples/*
+
       - name: Install prerequisites
         run: |
           python3 -m pip install -r requirements.txt -r requirements-dev.txt -r requirements-docs.txt

examples/all_params.py

@@ -3,6 +3,7 @@
 import asyncio
 from mavsdk import System
 
+
 async def run():
     # Connect to the drone
     drone = System()

examples/camera_params.py

@@ -19,6 +19,7 @@
 current_settings = []
 possible_setting_options = []
 
+
 async def run():
     drone = System()
     await drone.connect(system_address="udp://:14540")
@@ -27,7 +28,7 @@ async def run():
     asyncio.ensure_future(observe_camera_mode(drone))
     asyncio.ensure_future(observe_possible_setting_options(drone))
 
-    while(True):
+    while True:
         entered_input = await ainput(usage_str)
 
         if (entered_input == "p"):
@@ -61,7 +62,8 @@ async def run():
             print_possible_settings(possible_setting_options)
 
             try:
-                index_setting = await make_user_choose_setting(possible_setting_options)
+                index_setting = await \
+                        make_user_choose_setting(possible_setting_options)
             except ValueError:
                 print("Invalid index")
                 continue
@@ -75,20 +77,32 @@ async def run():
                 print(f"Options:")
                 try:
                     print_possible_options(possible_options)
-                    index_option = await make_user_choose_option(possible_options)
+                    index_option = await \
+                        make_user_choose_option(possible_options)
                     selected_option = possible_options[index_option - 1]
 
-                    print(f"Setting {selected_setting.setting_id} to {selected_option.option_description}!")
-                    setting = Setting(selected_setting.setting_id, "", selected_option, selected_setting.is_range)
+                    print(f"Setting {selected_setting.setting_id} "
+                          f"to {selected_option.option_description}!")
+                    setting = Setting(
+                            selected_setting.setting_id,
+                            "",
+                            selected_option,
+                            selected_setting.is_range)
                 except ValueError:
                     print("Invalid index")
                     continue
             else:
                 try:
-                    selected_value = await make_user_choose_option_range(possible_options)
-
-                    print(f"Setting {selected_setting.setting_id} to {selected_value}!")
-                    setting = Setting(selected_setting.setting_id, "", Option(selected_value, ""), selected_setting.is_range)
+                    selected_value = await \
+                            make_user_choose_option_range(possible_options)
+
+                    print(f"Setting {selected_setting.setting_id}"
+                          f" to {selected_value}!")
+                    setting = Setting(
+                            selected_setting.setting_id,
+                            "",
+                            Option(selected_value, ""),
+                            selected_setting.is_range)
                 except ValueError:
                     print("Invalid value")
                     continue
@@ -102,21 +116,25 @@ async def run():
             print("Invalid input!")
             continue
 
+
 async def observe_camera_mode(drone):
     global camera_mode
     async for mode in drone.camera.mode():
         camera_mode = mode
 
+
 async def observe_current_settings(drone):
     global current_settings
     async for settings in drone.camera.current_settings():
         current_settings = settings
 
+
 async def observe_possible_setting_options(drone):
     global possible_setting_options
     async for settings in drone.camera.possible_setting_options():
         possible_setting_options = settings
 
+
 def print_current_settings():
     print(f"* CAM_MODE: {camera_mode}")
     for setting in current_settings:
@@ -126,6 +144,7 @@ def print_current_settings():
         else:
             print(f"    -> {setting.option.option_description}")
 
+
 async def make_user_choose_camera_mode():
     index_mode_str = await ainput(f"\nWhich mode do you want? [1..2] >>> ")
     index_mode = int(index_mode_str)
@@ -134,38 +153,46 @@ async def make_user_choose_camera_mode():
 
     return index_mode
 
+
 def print_possible_settings(possible_settings):
     i = 1
     for setting in possible_settings:
         print(f"{i}. {setting.setting_id}: {setting.setting_description}")
         i += 1
 
+
 async def make_user_choose_setting(possible_settings):
     n_settings = len(possible_settings)
-    index_setting_str = await ainput(f"\nWhich setting do you want to change? [1..{n_settings}] >>> ")
+    index_setting_str = await \
+        ainput(f"\nWhich setting do you want to change?"
+               f" [1..{n_settings}] >>> ")
 
     index_setting = int(index_setting_str)
     if (index_setting < 1 or index_setting > n_settings):
         raise ValueError()
 
     return index_setting
 
+
 def print_possible_options(possible_options):
     i = 1
     for possible_option in possible_options:
         print(f"{i}. {possible_option.option_description}")
         i += 1
 
+
 async def make_user_choose_option(possible_options):
     n_options = len(possible_options)
-    index_option_str = await ainput(f"\nWhich option do you want? [1..{n_options}] >>> ")
+    index_option_str = await \
+        ainput(f"\nWhich option do you want? [1..{n_options}] >>> ")
 
     index_option = int(index_option_str)
     if (index_option < 1 or index_option > n_options):
         raise ValueError()
 
     return index_option
 
+
 async def make_user_choose_option_range(possible_options):
     min_value = float(possible_options[0].option_id)
     max_value = float(possible_options[1].option_id)
@@ -175,7 +202,9 @@ async def make_user_choose_option_range(possible_options):
         interval_value = float(possible_options[2].option_id)
         interval_text = f"interval: {interval_value}"
 
-    value_str = await ainput(f"\nWhat value do you want? [{min_value}, {max_value}] {interval_text} >>> ")
+    value_str = await \
+        ainput(f"\nWhat value do you want?"
+               f" [{min_value}, {max_value}] {interval_text} >>> ")
 
     value = float(value_str)
     if (value < min_value or value > max_value):

examples/failure_injection.py

@@ -5,6 +5,7 @@
 from mavsdk import System
 from mavsdk.failure import FailureType, FailureUnit
 
+
 async def run():
     drone = System()
     await drone.connect(system_address="udp://:14540")
@@ -44,13 +45,14 @@ async def run():
             break
 
     print("-- Flying up")
-    flying_alt = goto_alt + 20.0 # To fly drone 20m above the ground plane
+    flying_alt = goto_alt + 20.0  # To fly drone 20m above the ground plane
     await drone.action.goto_location(goto_lat, goto_lon, flying_alt, 0)
 
     await asyncio.sleep(5)
 
     print("-- Injecting GPS failure")
-    await drone.failure.inject(FailureUnit.SENSOR_GPS, FailureType.OFF, instance=0)
+    await drone.failure.inject(
+        FailureUnit.SENSOR_GPS, FailureType.OFF, instance=0)
 
     print("-- Waiting 20s before exiting script...")
     await asyncio.sleep(20)

examples/follow_me_example.py

@@ -1,20 +1,27 @@
 #!/usr/bin/env python3
 
-#This example shows how to use the follow me plugin
+# This example shows how to use the follow me plugin
 
 import asyncio
 from mavsdk import System
 from mavsdk.follow_me import (Config, FollowMeError, TargetLocation)
 
-default_height = 8.0 #in Meters
-follow_distance = 2.0 #in Meters, this is the distance that the drone will remain away from Target while following it
-#Direction relative to the Target
-#Options are NONE, FRONT, FRONT_LEFT, FRONT_RIGHT, BEHIND
+
+default_height = 8.0  # in meters
+# distance between drone and target
+follow_distance = 2.0  # in meters
+
+# Direction relative to the Target
+# Options are NONE, FRONT, FRONT_LEFT, FRONT_RIGHT, BEHIND
 direction = Config.FollowDirection.BEHIND
-responsiveness =  0.02
+responsiveness = 0.02
+
+# This list contains fake location coordinates
+# (These coordinates are obtained from mission.py example)
+fake_location = [[47.398039859999997, 8.5455725400000002],
+                 [47.398036222362471, 8.5450146439425509],
+                 [47.397825620791885, 8.5450092830163271]]
 
-#This list contains fake location coordinates (These coordinates are obtained from mission.py example)
-fake_location = [[47.398039859999997,8.5455725400000002],[47.398036222362471,8.5450146439425509],[47.397825620791885,8.5450092830163271]]
 
 async def fly_drone():
     drone = System()
@@ -32,35 +39,37 @@ async def fly_drone():
             print("-- Global position estimate OK")
             break
 
-    #Arming the drone
-    print ("-- Arming")
+    # Arming the drone
+    print("-- Arming")
     await drone.action.arm()
 
-    #Follow me Mode requires some configuration to be done before starting the mode
+    # Follow me Mode requires some configuration to be done before starting
+    # the mode
     conf = Config(default_height, follow_distance, direction, responsiveness)
     await drone.follow_me.set_config(conf)
 
-    print ("-- Taking Off")
+    print("-- Taking Off")
     await drone.action.takeoff()
     await asyncio.sleep(8)
-    print ("-- Starting Follow Me Mode")
+    print("-- Starting Follow Me Mode")
     await drone.follow_me.start()
     await asyncio.sleep(8)
 
-    #This for loop provides fake coordinates from the fake_location list for the follow me mode to work
-    #In a simulator it won't make much sense though
-    for latitude,longitude in fake_location:
+    # This for loop provides fake coordinates from the fake_location list for
+    # the follow me mode to work.
+    # In a simulator it won't make much sense though
+    for latitude, longitude in fake_location:
         target = TargetLocation(latitude, longitude, 0, 0, 0, 0)
-        print ("-- Following Target")
+        print("-- Following Target")
         await drone.follow_me.set_target_location(target)
         await asyncio.sleep(2)
 
-    #Stopping the follow me mode
-    print ("-- Stopping Follow Me Mode")
+    # Stopping the follow me mode
+    print("-- Stopping Follow Me Mode")
     await drone.follow_me.stop()
     await asyncio.sleep(5)
 
-    print ("-- Landing")
+    print("-- Landing")
     await drone.action.land()
 
 if __name__ == "__main__":

examples/geofence.py

@@ -7,7 +7,8 @@
 """
 This example shows how to use the geofence plugin.
 
-Note: The behavior when your vehicle hits the geofence is NOT configured in this example.
+Note: The behavior when your vehicle hits the geofence is NOT configured
+in this example.
 
 """
 
@@ -25,7 +26,8 @@ async def run():
             print(f"-- Connected to drone!")
             break
 
-    # Fetch the home location coordinates, in order to set a boundary around the home location
+    # Fetch the home location coordinates, in order to set a boundary around
+    # the home location.
     print("Fetching home location coordinates...")
     async for terrain_info in drone.telemetry.home():
         latitude = terrain_info.latitude_deg

examples/gimbal.py

@@ -4,13 +4,15 @@
 from mavsdk import System
 from mavsdk.gimbal import GimbalMode, ControlMode
 
+
 async def run():
     # Init the drone
     drone = System()
     await drone.connect(system_address="udp://:14540")
 
     # Start printing gimbal position updates
-    print_gimbal_position_task = asyncio.ensure_future(print_gimbal_position(drone))
+    print_gimbal_position_task = \
+        asyncio.ensure_future(print_gimbal_position(drone))
 
     print("Taking control of gimbal")
     await drone.gimbal.take_control(ControlMode.PRIMARY)

examples/manual_control.py

@@ -3,11 +3,13 @@
 """
 This example shows how to use the manual controls plugin.
 
-Note: Manual inputs are taken from a test set in this example to decrease complexity. Manual inputs
-can be received from devices such as a joystick using third-party python extensions
+Note: Manual inputs are taken from a test set in this example to decrease
+complexity. Manual inputs can be received from devices such as a joystick
+using third-party python extensions.
 
-Note: Taking off the drone is not necessary before enabling manual inputs. It is acceptable to send
-positive throttle input to leave the ground. Takeoff is used in this example to decrease complexity
+Note: Taking off the drone is not necessary before enabling manual inputs.
+It is acceptable to send positive throttle input to leave the ground.
+Takeoff is used in this example to decrease complexity
 """
 
 import asyncio
@@ -80,12 +82,14 @@ async def manual_controls():
         roll = float(input_list[0])
         # get current state of pitch axis (between -1 and 1)
         pitch = float(input_list[1])
-        # get current state of throttle axis (between -1 and 1, but between 0 and 1 is expected)
+        # get current state of throttle axis
+        # (between -1 and 1, but between 0 and 1 is expected)
         throttle = float(input_list[2])
         # get current state of yaw axis (between -1 and 1)
         yaw = float(input_list[3])
 
-        await drone.manual_control.set_manual_control_input(roll, pitch, throttle, yaw)
+        await drone.manual_control.set_manual_control_input(
+            roll, pitch, throttle, yaw)
 
         await asyncio.sleep(0.1)
 

examples/mission_import.py

@@ -16,13 +16,14 @@ async def run():
             print(f"-- Connected to drone!")
             break
 
-    mission_import_data = await drone.mission_raw.import_qgroundcontrol_mission("example-mission.plan")
+    mission_import_data = await \
+        drone.mission_raw.import_qgroundcontrol_mission(
+            "example-mission.plan")
     print(f"{len(mission_import_data.mission_items)} mission items imported")
     await drone.mission_raw.upload_mission(mission_import_data.mission_items)
     print("Mission uploaded")
 
 
-
 if __name__ == "__main__":
     # Run the asyncio loop
     asyncio.run(run())