Fixes linting issues

Author: honzikschenk

modules/hitl/hitl_base.py

@@ -131,17 +131,25 @@ def __del__(self) -> None:
             pass
 
     def run_position(self) -> None:
+        """
+        Runs the position emulator periodic function in a loop.
+        """
         assert self._stop_event is not None
         while not self._stop_event.is_set():
             try:
                 self.position_emulator.periodic()
             except Exception as exc:  # pylint: disable=broad-except
                 print(f"HITL position thread error: {exc}")
+                time.sleep(0.1)
 
     def run_camera(self) -> None:
+        """
+        Runs the camera emulator periodic function in a loop.
+        """
         assert self._stop_event is not None
         while not self._stop_event.is_set():
             try:
                 self.camera_emulator.periodic()
             except Exception as exc:  # pylint: disable=broad-except
                 print(f"HITL camera thread error: {exc}")
+                time.sleep(0.1)

modules/hitl/position_emulator.py

@@ -55,16 +55,26 @@ def get_target_position(self) -> tuple[float, float, float]:
             Target position as (latitude, longitude, altitude).
         """
         # pylint: disable=protected-access
-        position_target = self.drone._master.recv_match(...)
+        position_target = None
+        try:
+            # Poll non-blocking for the latest global position target from the FCU
+            position_target = self.drone._master.recv_match(
+                type="POSITION_TARGET_GLOBAL_INT", blocking=False
+            )
+        except Exception as exc:  # pylint: disable=broad-except
+            print(f"HITL get_target_position recv_match error: {exc}")
+            position_target = None
         # pylint: enable=protected-access
+
         if position_target:
             latitude = position_target.lat_int / 1e7
             longitude = position_target.lon_int / 1e7
             altitude = position_target.alt
-        else:
-            print("No POSITION_TARGET_GLOBAL_INT message received.")
+            return (latitude, longitude, altitude)
+
+        print("No POSITION_TARGET_GLOBAL_INT message received.")
 
-        return (latitude, longitude, altitude) if position_target else self.target_position
+        return self.target_position
 
     def periodic(self) -> None:
         """
@@ -73,9 +83,9 @@ def periodic(self) -> None:
 
         self.target_position = self.get_target_position()
 
-        self.inject_position(self.target_position[0], self.target_position[1], self.target_position[2])
-
-        time.sleep(0.1) # 10 Hz
+        self.inject_position(
+            self.target_position[0], self.target_position[1], self.target_position[2]
+        )
 
     def inject_position(
         self,

tests/integration/hitl/test_threading.py

@@ -8,14 +8,15 @@
 import time
 from modules.mavlink import flight_controller
 
+
 def main() -> int:
     """
     Main function.
     """
     images_folder_path = os.path.join("tests", "integration", "camera_emulator", "images")
 
     result, controller = flight_controller.FlightController.create(
-        PIXHAWK_ADDRESS, 57600, True, True # True, images_folder_path
+        PIXHAWK_ADDRESS, 57600, True, True  # True, images_folder_path
     )
     if not result:
         print("Failed to create flight controller")