Add positon callback instead of passing in flightcontroller to HITL (#84)

* Add positon callback instead of passing in flightcontroller

* Fix typo in position_callback parameter name

* Change position set callback to dronekit

* Adds position and HITL enable options

Author: honzikschenk

modules/hitl/hitl_base.py

@@ -2,7 +2,7 @@
 Setup for HITL modules.
 """
 
-from modules.mavlink.flight_controller import FlightController
+from mavlink import dronekit
 
 from modules.hitl.position_emulator import PositionEmulator
 from modules.hitl.camera_emulator import CameraEmulator
@@ -19,42 +19,55 @@ class HITL:
 
     @classmethod
     def create(
-        cls, drone: FlightController, camera_module: bool, images_path: str | None = None
+        cls,
+        drone: dronekit.Vehicle,
+        hitl_enabled: bool,
+        position_module: bool,
+        camera_module: bool,
+        images_path: str | None = None,
     ) -> "tuple[True, HITL] | tuple[False, None]":
         """
         Factory method to create a HITL instance.
 
         Args:
-            drone: The FlightController instance for the drone.
+            drone: The dronekit instance to use for sending MAVLink messages.
+            hitl_enabled: Boolean indicating if HITL is enabled.
+            position_module: Boolean indicating if the position module is enabled.
             camera_module: Boolean indicating if the camera module is enabled.
             images_path: Optional path to the images directory for the camera emulator.
 
         Returns:
             Success, HITL instance | None.
         """
-        if not isinstance(drone, FlightController):
+        if not isinstance(drone, dronekit.Vehicle):
             return False, None
 
-        result, position_emulator = PositionEmulator.create(drone)
-        if not result:
-            return False, None
+        if not hitl_enabled:
+            return True, HITL(cls.__create_key, drone, None, None)
+
+        if position_module:
+            result, position_emulator = PositionEmulator.create(drone)
+            if not result:
+                return False, None
 
         if camera_module:
             result, camera_emulator = CameraEmulator.create(images_path)
             if not result:
                 return False, None
 
         hitl = HITL(
-            cls.__create_key, drone, position_emulator, camera_emulator if camera_module else None
+            cls.__create_key,
+            position_emulator if position_emulator else None,
+            camera_emulator if camera_module else None,
         )
 
         return True, hitl
 
     def __init__(
         self,
         class_private_create_key: object,
-        drone: FlightController,
-        position_emulator: "PositionEmulator",
+        drone: dronekit.Vehicle,
+        position_emulator: "PositionEmulator | None" = None,
         camera_emulator: "CameraEmulator | None" = None,
     ) -> None:
         """
@@ -63,6 +76,5 @@ def __init__(
         assert class_private_create_key is HITL.__create_key, "Use create() method"
 
         self.drone = drone
-
         self.position_emulator = position_emulator
         self.camera_emulator = camera_emulator

modules/hitl/position_emulator.py

@@ -2,7 +2,7 @@
 Emulates position and attitude to Pixhawk.
 """
 
-from modules.mavlink.flight_controller import FlightController
+from mavlink import dronekit
 
 
 class PositionEmulator:
@@ -14,7 +14,7 @@ class PositionEmulator:
 
     @classmethod
     def create(
-        cls, drone: FlightController
+        cls, drone: dronekit.Vehicle
     ) -> "tuple[True, PositionEmulator] | tuple[False, None]":
         """
         Setup position emulator.
@@ -23,15 +23,12 @@ def create(
             Success, PositionEmulator instance.
         """
 
-        if not isinstance(drone, FlightController):
-            return False, None
-
         return True, PositionEmulator(cls.__create_key, drone)
 
-    def __init__(self, class_private_create_key: object, drone: FlightController) -> None:
+    def __init__(self, class_private_create_key: object, drone: dronekit.Vehicle) -> None:
         """
         Private constructor, use create() method.
         """
         assert class_private_create_key is PositionEmulator.__create_key, "Use create() method"
 
-        self._drone = drone
+        self.drone = drone