fix mavlink on pi

misko · Mar 4, 2024 · ebb6b98 · ebb6b98
1 parent adf5d28
commit ebb6b98
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Showing 2 changed files with 12 additions and 2 deletions.
diff --git a/data_collection_model_and_results/rover/rover_v3.1/mavlink_controller.service b/data_collection_model_and_results/rover/rover_v3.1/mavlink_controller.service
@@ -1,11 +1,13 @@
 [Unit]
-Type=simple
 Description=Run mavlink controller
 After=multi-user.target
 
 [Service]
+WorkingDirectory=/home/pi/
+User=pi
+Group=pi
 Environment=PYTHONPATH=/home/pi/spf/
-ExecStart=/home/pi/spf-virtualenv/bin/python3 /home/pi/spf/spf/mavlink/mavlink_controller.py --serial /dev/ttyACM2
+ExecStart=/home/pi/spf-virtualenv/bin/python3 /home/pi/spf/spf/mavlink/mavlink_controller.py --serial /dev/serial/by-id/usb-ArduPilot*
 
 [Install]
 WantedBy=multi-user.target
diff --git a/spf/mavlink/mavlink_controller.py b/spf/mavlink/mavlink_controller.py
@@ -1,5 +1,6 @@
 # Import mavutil
 import argparse
+import glob
 import logging
 import math
 import signal
@@ -578,6 +579,13 @@ def set_mode(self, mode):
     print("WTF")
     # Create the connection
     # Need to provide the serial port and baudrate
+    if args.serial == "" and args.ip == "":
+        available_pilots = glob.glob("/dev/serial/by-id/usb-ArduPilot*")
+        if len(available_pilots) != 1:
+            logging.error(f"Strange number of autopilots found {len(available_pilots)}")
+            sys.exit(1)
+        args.serial = available_pilots[0]
+
     logging.info("Connecting...")
     if args.serial != "":
         connection = mavutil.mavlink_connection(args.serial, baud=115200)