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Contributing

If you want to add a feature, make a new Mavlink message available, or integrate a new sensor package, this guide will show you how to do that.

General Information

If you are unfamiliar with git and GitHub, check out this guide.

If you are unfamiliar with contributing to open source projects, check out this guide.

Bug Reports

To file a bug report, create a new Issue with the following information:

  1. Steps to replicate the bug
  2. All relevant logs

General guidelines

  • Always perform logging using from mavlinkinterface.logger import getLogger. Logging levels are:
    • trace: for progress messages not useful to the user
    • debug: for information useful in debugging, but not important to user
    • rdata: When a function returns data, log the data with this before returning
    • info: for progress data useful to the user. This, and levels below this, are printed to the console when using the 'main' logger.
    • warn: For issues that are easily corrected without causing the program to stop.
    • error: for errors
  • If a new function is made, use type-hinting for both parameters and return values.
  • Always include a docstring at the beginning of functions
  • Functions that cause the drone to take physical action must support all 4 execution modes
  • All new functions must have a markdown file in the documentation folder, which must be linked in the appropriate section of functions.md
    • A short description of the function
    • All parameters of the function
    • The return value of the function
    • at least one example
    • If JSON is returned, an example output

Adding a New Mavlink Message

Not all mavlink messages are read by default due to the computation cost (and therefore power cost).
If a message is needed, but not read, add it to the list as follows:

In mavlinkInterface class __init__ function in main.py, go to the 'Set Messages to be Read' section, add the full message name to the self.readMessages definition

Adding a new sensor

Because most attached sensors behave in different ways, most of this will be unique to your sensor, but there are several things that make it easier.

  • If the sensor has its own python interface, consider creating a class for it (like how Sonar is implemented).
  • All returned sensor data must be converted to the SI unit that makes the most sense
    • Exception: degrees are used for all angles, rather than the SI Unit of Radians