Control motor outputs with logitech controller

A simple pipe from the logitech controller to the pixhawk apm.

from fish_hawk import ManualControlNode, PixhawkNode, pause
from serial import SerialException
from time import time

update_period = 0.05

cntr = ManualControlNode()

# Mac OSX address of pixhawk
device = '/dev/tty.usbmodem1'
pn = PixhawkNode(device)

try:
    print("starting up communication with logitech controller")
    cntr.isactive(True)
    print("starting up communication with pixhawk")
    pn.isactive(True)
    while True:
        loop_start = time()
        cntr.check_readings()
        pn.check_readings()

        pn.send_rc(vel_forward=cntr.vel_forward,
                vel_side=cntr.vel_side,
                vel_dive=cntr.vel_dive,
                vel_turn=cntr.vel_turn)

        print("servo out: {:d}  {:d}  {:d}  {:d}  {:d}  {:d}".format(
            *pn.rc_out[:6].astype(np.int_)))

        # sleep to maintain constant rate
        pause(loop_start, update_period)
except SerialException:
    print('Pixhawk is not connected to %s'%device)
finally:
    print("Shutting down communication with logitech controller")
    cntr.isactive(False)
    print('Shutting down communication with Pixhawk')
    pn.isactive(False)