autocommit

src/server/workers.py

@@ -25,7 +25,7 @@ import asyncio
 import os
 
 async def maintain_connection_to_tello(state):
-    logger.debug("starting maintain connection to tello")
+    logger.debug("starting conn")
     state["connection"] = "NOK"
     await asyncio.to_thread(nmcli.connection.reload)
     while True:
@@ -66,9 +66,10 @@ async def collect_flight_stats(state):
                 bat = await asyncio.to_thread(tello.get_battery)
                 temp = await asyncio.to_thread(tello.get_temperature)
                 baro = await asyncio.to_thread(tello.get_barometer)
+                calib_baro = await get_calibrated_altitude(offset=20, measure=baro)
                 # wsnr = await tello.query_wifi_signal_noise_ratio()
-                state["stats"] = {"bat": bat, "temp": temp, "baro": baro}
-                logger.debug(f"Battery: {bat} - Temperature: {temp} - Barometer: {baro}")
+                state["stats"] = {"bat": bat, "temp": temp, "baro": calib_baro}
+                logger.debug(f"Battery: {bat} - Temperature: {temp} - Barometer: {calib_baro}")
             except TelloException as te:
                 logger.error(te)
         # search for any response if disconnected
@@ -115,6 +116,20 @@ async def forward_video_stream(state):
     except Exception as e:
         print(f"Unexpected error: {e}")
 
+async def get_calibrated_altitude(offset, measure):
+    """
+    Calculate the calibrated altitude using the barometer reading and an offset.
+    Args: offset (float): The calibration offset in meters.
+    Returns: float: The calibrated altitude in meters.
+    """
+    MAX_REASONABLE_ALTITUDE = 10000  # Maximum reasonable altitude in meters
+    baro_altitude_cm = measure
+    baro_altitude_m = baro_altitude_cm / 100  # Convert centimeters to meters
+    if abs(baro_altitude_m) > MAX_REASONABLE_ALTITUDE:
+        raise ValueError("Barometer reading is out of reasonable altitude range.")
+    calibrated_altitude = baro_altitude_m + offset
+    return calibrated_altitude
+
 """
 def land_on_low_battery():
     bat_level = tello.get_battery()