Merge branch 'master' into master

Author: fnoop

Vagrantfile

@@ -3,6 +3,7 @@
 
 Vagrant.configure(2) do |config|
     config.vm.box = "ubuntu/trusty64"
+    config.vm.network "private_network", type: "dhcp"
 
     config.vm.provision "shell", inline: <<-SHELL
         apt-get -y update
@@ -13,6 +14,12 @@ Vagrant.configure(2) do |config|
         echo "[DroneKit]: Installing pip ..."
         apt-get -y install python-pip
         easy_install -U pip
+        echo "[DroneKit]: Installing python-cherrypy3 ..."
+        apt-get -y install python-cherrypy3
+        echo "[DroneKit]: Installing python-matplotlib ..."
+        apt-get -y install python-matplotlib
+        echo "[DroneKit]: Installing python-gps ..."
+        apt-get -y install python-gps
         echo "[DroneKit]: Installing Sphinx ... "
         pip install sphinx
         cd /vagrant

docs/develop/companion-computers.rst

@@ -15,21 +15,21 @@ The following computing platforms are known to work with DroneKit, and are suppo
 RaspberryPi
 -----------
 
-* `Communicating with Raspberry Pi via MAVLink <http://dev.ardupilot.com/wiki/companion-computers/raspberry-pi-via-mavlink/>`_
-* `Making a Mavlink WiFi bridge using the Raspberry Pi <http://dev.ardupilot.com/wiki/companion-computers/raspberry-pi-via-mavlink/making-a-mavlink-wifi-bridge-using-the-raspberry-pi/>`_
+* `Communicating with Raspberry Pi via MAVLink <http://ardupilot.org/dev/docs/raspberry-pi-via-mavlink.html>`_
+* `Making a Mavlink WiFi bridge using the Raspberry Pi <http://ardupilot.org/dev/docs/making-a-mavlink-wifi-bridge-using-the-raspberry-pi.html>`_
 
 Intel Edison
 ------------
 
-* `Edison for drones <http://dev.ardupilot.com/wiki/companion-computers/edison-for-drones/>`_
+* `Edison for drones <http://ardupilot.org/dev/docs/edison-for-drones.html>`_
 
 BeagleBoneBlack
 ---------------
 
-* `BeaglePilot <http://dev.ardupilot.com/wiki/companion-computers/beaglepilot/>`_
+* `BeaglePilot <http://ardupilot.org/dev/docs/beaglepilot.html>`_
 
 Odroid
 ------
-* `Communicating with ODroid via MAVLink <http://dev.ardupilot.com/wiki/companion-computers/odroid-via-mavlink/>`_
-* `ODroid Wifi Access Point for sharing files via Samba <http://dev.ardupilot.com/wiki/companion-computers/odroid-via-mavlink/odroid-wifi-access-point-for-sharing-files-via-samba/>`_
+* `Communicating with ODroid via MAVLink <http://ardupilot.org/dev/docs/odroid-via-mavlink.html>`_
+* `ODroid Wifi Access Point for sharing files via Samba <http://ardupilot.org/dev/docs/odroid-wifi-access-point-for-sharing-files-via-samba.html>`_
 

docs/guide/quick_start.rst

@@ -13,21 +13,23 @@ Installation
 ============
 
 DroneKit-Python and the *dronekit-sitl simulator* are installed 
-from **pip** on all platforms:
+from **pip** on all platforms.
 
-.. code-block:: bash
-
-    pip install dronekit
-    pip install dronekit-sitl
-
-Mac and Linux require you prefix the command with ``sudo``. 
 On Linux you will first need to install **pip** and **python-dev**:
 
 .. code-block:: bash
 
     sudo apt-get install python-pip python-dev
 
     
+**pip** is then used to install *dronekit* and *dronekit-sitl*.
+Mac and Linux may require you to prefix these commands with ``sudo``:
+
+.. code-block:: bash
+
+    pip install dronekit
+    pip install dronekit-sitl
+
 See :doc:`../develop/installation` and `dronekit-sitl <https://github.com/dronekit/dronekit-sitl#dronekit-sitl>`_ 
 for more detailed installation instructions.
 

dronekit/test/sitl/test_channels.py

@@ -151,6 +151,7 @@ def channels_callback(vehicle, name, channels):
     i = 5
     while not result['success'] and i > 0:
         time.sleep(.1)
+        i -= 1
     assert result['success'], 'channels callback should be invoked.'
 
     vehicle.close()

examples/drone_delivery/drone_delivery.py

@@ -109,7 +109,10 @@ def _run_server(self):
             'log.screen': None
          })
 
-        print 'http://localhost:8080/'
+        print('''Server is bound on all addresses, port 8080
+You may connect to it using your web broser using a URL looking like this:
+http://localhost:8080/
+''')
         cherrypy.engine.start()
 
     def change_mode(self, mode):

examples/gcs/microgcs.py

@@ -12,14 +12,26 @@
 #Set up option parsing to get connection string
 import argparse  
 parser = argparse.ArgumentParser(description='Tracks GPS position of your computer (Linux only). Connects to SITL on local PC by default.')
-parser.add_argument('--connect', default='127.0.0.1:14550',
-                   help="vehicle connection target. Default '127.0.0.1:14550'")
+parser.add_argument('--connect',
+                   help="vehicle connection target.")
 args = parser.parse_args()
 
+connection_string = args.connect
+sitl = None
+
+#Start SITL if no connection string specified
+if not args.connect:
+    print "Starting copter simulator (SITL)"
+    from dronekit_sitl import SITL
+    sitl = SITL()
+    sitl.download('copter', '3.3', verbose=True)
+    sitl_args = ['-I0', '--model', 'quad', '--home=-35.363261,149.165230,584,353']
+    sitl.launch(sitl_args, await_ready=True, restart=True)
+    connection_string = 'tcp:127.0.0.1:5760'
 
 # Connect to the Vehicle
-print 'Connecting to vehicle on: %s' % args.connect
-vehicle = connect(args.connect, wait_ready=True)
+print 'Connecting to vehicle on: %s' % connection_string
+vehicle = connect(connection_string, wait_ready=True)
 
 def setMode(mode):
     # Now change the vehicle into auto mode
@@ -31,8 +43,7 @@ def updateGUI(label, value):
 
 def addObserverAndInit(name, cb):
     """We go ahead and call our observer once at startup to get an initial value"""
-    cb(name)
-    vehicle.add_attribute_observer(name, cb)
+    vehicle.add_attribute_listener(name, cb)
 
 root = Tk()
 root.wm_title("microGCS - the worlds crummiest GCS")
@@ -46,11 +57,15 @@ def addObserverAndInit(name, cb):
 modeLabel = Label(frame, text = "mode")
 modeLabel.pack()
 
-addObserverAndInit('attitude', lambda attr: updateGUI(attitudeLabel, vehicle.attitude))
-addObserverAndInit('location', lambda attr: updateGUI(locationLabel, vehicle.location))
-addObserverAndInit('mode', lambda attr: updateGUI(modeLabel, vehicle.mode))
+addObserverAndInit('attitude', lambda vehicle, name, attitude: updateGUI(attitudeLabel, vehicle.attitude))
+addObserverAndInit('location', lambda vehicle, name, location: updateGUI(locationLabel, str(location.global_frame)))
+addObserverAndInit('mode', lambda vehicle,name,mode: updateGUI(modeLabel, mode))
 
 Button(frame, text = "Auto", command = lambda : setMode("AUTO")).pack()
 Button(frame, text = "RTL", command = lambda : setMode("RTL")).pack()
 
-root.mainloop()
+root.mainloop()
+
+# Shut down simulator if it was started.
+if sitl is not None:
+    sitl.stop()