Got channels changing on the m2 radios over ssh with testing script. Adjusted some speed things for compass and arm.

software/ros_packages/ground_station/src/Framework/ArmSystems/ArmIndication.py

@@ -10,9 +10,9 @@ from time import time
 #####################################
 # Global Variables
 #####################################
-THREAD_HERTZ = 10
+THREAD_HERTZ = 2
 
-ROTATION_SPEED_MODIFIER = 0.015
+ROTATION_SPEED_MODIFIER = 0.15
 
 
 #####################################

software/ros_packages/ground_station/src/Framework/NavigationSystems/SpeedAndHeadingIndication.py

@@ -15,7 +15,7 @@ from random import random
 #####################################
 THREAD_HERTZ = 20
 
-ROTATION_SPEED_MODIFIER = 1
+ROTATION_SPEED_MODIFIER = 2.5
 
 
 #####################################
@@ -56,8 +56,9 @@ class SpeedAndHeadingIndication(QtCore.QThread):
         self.current_heading = 0
         self.current_heading_changed = True
 
-        self.shown_heading = (self.current_heading + 1) % 360
+        self.shown_heading = (self.current_heading + (1.5 * ROTATION_SPEED_MODIFIER)) % 360
         self.current_heading_shown_rotation_angle = 0
+        self.last_current_heading_shown = 0
         self.rotation_direction = 1
 
     def run(self):
@@ -77,13 +78,23 @@ class SpeedAndHeadingIndication(QtCore.QThread):
             self.msleep(max(int(self.wait_time - time_diff), 0))
 
     def rotate_compass_if_needed(self):
-        if int(self.shown_heading) != self.current_heading:
+        heading_difference = abs(int(self.shown_heading) - self.current_heading)
+        should_update = False
+
+        if heading_difference > ROTATION_SPEED_MODIFIER:
             self.shown_heading += self.rotation_direction * ROTATION_SPEED_MODIFIER
             self.shown_heading %= 360
+            should_update = True
+        elif heading_difference != 0:
+            self.shown_heading = self.current_heading
+            should_update = True
 
+        if should_update:
             self.current_heading_shown_rotation_angle = int(self.shown_heading)
 
+            if self.current_heading_shown_rotation_angle != self.last_current_heading_shown:
                 new_compass_image = self.main_compass_image.rotate(self.current_heading_shown_rotation_angle, resample=PIL.Image.BICUBIC)
+                self.last_current_heading_shown = self.current_heading_shown_rotation_angle
 
                 self.compass_pixmap = QtGui.QPixmap.fromImage(ImageQt(new_compass_image))
                 self.show_compass_image__signal.emit()

software/ros_packages/rover_main/launch/rover/topic_transport_senders.launch

@@ -106,7 +106,7 @@
                 {name: "/rover_status/camera_status", compress: true, rate: 1.0},
                 {name: "/rover_status/frsky_status", compress: true, rate: 1.0},
                 {name: "/rover_status/gps_status", compress: true, rate: 1.0},
-                {name: "/rover_status/jetson_status", compress: true, rate: 0.2},
+                {name: "/rover_status/jetson_status", compress: true, rate: 1.0},
                 {name: "/rover_status/misc_status", compress: true, rate: 1.0}]
             </rosparam>
         </node>

software/testing/ubiradio_testing.py

@@ -0,0 +1,54 @@
+import paramiko
+import json
+from pprint import pprint
+
+# ath0      21 channels in total; available frequencies :
+#           Channel 01 : 2.412 GHz
+#           Channel 31 : 2.414 GHz
+#           Channel 02 : 2.417 GHz
+#           Channel 32 : 2.419 GHz
+#           Channel 03 : 2.422 GHz
+#           Channel 33 : 2.424 GHz
+#           Channel 04 : 2.427 GHz
+#           Channel 34 : 2.429 GHz
+#           Channel 05 : 2.432 GHz
+#           Channel 35 : 2.434 GHz
+#           Channel 06 : 2.437 GHz
+#           Channel 36 : 2.439 GHz
+#           Channel 07 : 2.442 GHz
+#           Channel 37 : 2.444 GHz
+#           Channel 08 : 2.447 GHz
+#           Channel 38 : 2.449 GHz
+#           Channel 09 : 2.452 GHz
+#           Channel 39 : 2.454 GHz
+#           Channel 10 : 2.457 GHz
+#           Channel 40 : 2.459 GHz
+#           Channel 11 : 2.462 GHz
+#           Current Frequency:2.417 GHz (Channel 2)
+
+# Sets: iwconfig ath0 channel 01
+# Gets: iwlist ath0 channel
+# NOTE
+# Only the access point has to get changed the station (client) will automatically choose the new freq
+
+channel = 3
+
+get_general_info = "wstalist"
+get_wireless_info = "iwlist ath0 channel"
+set_wireless_frequency = "iwconfig ath0 channel " + "%02d" % channel  # iwconfig ath0 freq 2.456G
+
+ssh = paramiko.SSHClient()
+ssh.set_missing_host_key_policy(paramiko.AutoAddPolicy)
+
+# Before anyone complains, I'm not worried about this password being online.
+# We only set one because the web interfaces HAVE to have one
+ssh.connect("192.168.1.20", username="ubnt", password="rover4lyfe^", compress=True)
+ssh_stdin, ssh_stdout, ssh_stderr = ssh.exec_command(get_general_info)
+
+pprint( json.loads(ssh_stdout.read()) )
+
+ssh_stdin, ssh_stdout, ssh_stderr = ssh.exec_command(set_wireless_frequency)
+ssh_stdin, ssh_stdout, ssh_stderr = ssh.exec_command(get_wireless_info)
+
+
+print ssh_stdout.read()