xfly – Factory default “Fly with CodeX” program

CodeAIR factory test and remote flight interface.

This program allows a CodeX to be paired with the CodeAIR for remote controlled flight and telemetry. Pairing is done via close-range infrared (IR), while remote flight is via radio link.

class codeair.xfly.FlightControl

Manage flying commands from remote paired CodeX

abort()

Stop immediately, plummet to the ground! Also, recover from ‘CRASHED’ state.

calc_target_height(z_vel)

Return the target height at given z_vel considering poll rate

land()

Descend gracefully to ground

stop()

Called after landing, or to catastrophically Abort flight

takeoff()

Ascend autonomously to self.TAKEOFF_CEILING

track_poll_rate()

Call each time we’re polled, maintains accurate poll rate

update_dat(front, up, down, heading, thrust, info, batt)

Called from radio controller poll loop. Should be called at 100ms rate.

update_setpoint(x_vel, z_vel, yaw)

Handle new OTA setpoint received from radio controller

codeair.xfly.cycle_blue()

Call periodically to cycle blue LEDs in KITT pattern

codeair.xfly.enter_ctrl_mode()

Control loop - receive and execute remote commands

codeair.xfly.get_saved_pairing()

Return (ch, nid) or None if no save file found.

codeair.xfly.radio_poll(timeout=0.1)

Wait up to timeout secs to receive a CodeAIR packet. Return (ch, id, op, args) or None

codeair.xfly.radio_send(op, args=())

Transmit a CodeAIR packet (ch, id, op, args) to paired CodeAIR

codeair.xfly.run()

Main program

codeair.xfly.save_pairing(ch, nid)

Save pairing info to local file.

codeair.xfly.seek_pairing()

Wait to receive IR pairing message over infrared. Return paired (ch, nid).

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