hello-drone.py

from dronekit import connect, VehicleMode
import time
import argparse

# Parsing args
parser = argparse.ArgumentParser()
parser.add_argument("connection", help="The connection string to be used, i.e. the Pixhawk")
parser.add_argument("--airspeed", help="The default airspeed of the drone")
args = parser.parse_args()

# sample connection_string
# connection_string = 'tcp:127.0.0.1:5760'

# Connect to the Vehicle.
print("Connecting to vehicle on: %s" % (args.connection,))
vehicle = connect(args.connection, wait_ready=True)

# Set the default vehicle airspeed
if args.airspeed:
    vehicle.airspeed = int(args.airspeed)
else:
    vehicle.groundspeed = 3 ####TODO
print("Setting the default airspeed to %s" % vehicle.airspeed)

# Download missions from Pixhawk
print("Downloading missions")
cmds = vehicle.commands
cmds.download()
cmds.wait_ready()

# Save the vehicle commands to a list
missionlist=[]
for cmd in cmds:
    missionlist.append(cmd)

print("Mission List: %s" % missionlist)

print("")


# Get some vehicle attributes (state)
print "Autopilot Firmware version: %s" % vehicle.version
print "Autopilot capabilities (supports ftp): %s" % vehicle.capabilities.ftp
print ("Home Location: %s" % vehicle.home_location)
print "Global Location: %s" % vehicle.location.global_frame
print "Global Location (relative altitude): %s" % vehicle.location.global_relative_frame
print "Local Location: %s" % vehicle.location.local_frame    #NED
print "Attitude: %s" % vehicle.attitude
print "Velocity: %s" % vehicle.velocity
print "GPS: %s" % vehicle.gps_0
print "Groundspeed: %s" % vehicle.groundspeed
print "Airspeed: %s" % vehicle.airspeed
print "Gimbal status: %s" % vehicle.gimbal
print "Battery: %s" % vehicle.battery
print "EKF OK?: %s" % vehicle.ekf_ok
print "Last Heartbeat: %s" % vehicle.last_heartbeat
print "Rangefinder: %s" % vehicle.rangefinder
print "Rangefinder distance: %s" % vehicle.rangefinder.distance
print "Rangefinder voltage: %s" % vehicle.rangefinder.voltage
print "Heading: %s" % vehicle.heading
print "Is Armable?: %s" % vehicle.is_armable
print "System status: %s" % vehicle.system_status.state
print "Mode: %s" % vehicle.mode.name    # settable
print "Armed: %s" % vehicle.armed    # settable

print("")
raw_input("Press Enter to continue...")

# Arming the vehicle
# print("Arming the vehicle")
# print "Armed: %s" % vehicle.armed    
# vehicle.armed = True

def arm_and_takeoff(aTargetAltitude):
    """
    Arms vehicle and fly to aTargetAltitude.
    """

    print "Basic pre-arm checks"
    # Don't try to arm until autopilot is ready
    while not vehicle.is_armable:
        print " Waiting for vehicle to initialise..."
        time.sleep(1)

    print "Arming motors"
    # Copter should arm in GUIDED mode
    vehicle.mode    = VehicleMode("GUIDED")
    vehicle.armed   = True

    # Confirm vehicle armed before attempting to take off
    while not vehicle.armed:
        print " Waiting for arming..."
        time.sleep(1)

    print "Taking off!"
    vehicle.simple_takeoff(aTargetAltitude) # Take off to target altitude

    # Wait until the vehicle reaches a safe height before processing the goto (otherwise the command
    #  after Vehicle.simple_takeoff will execute immediately).
    while True:
        print " Altitude: ", vehicle.location.global_relative_frame.alt
        #Break and return from function just below target altitude.
        if vehicle.location.global_relative_frame.alt>=aTargetAltitude*0.95:
            print "Reached target altitude"
            break
        time.sleep(1)

arm_and_takeoff(20)

time.sleep(15)

print("Returning to land")
vehicle.mode = VehicleMode("RTL")

# # Disarming the vehicle
# print("Disarming the vehicle")
# print "Armed: %s" % vehicle.armed    # settable
# vehicle.armed = False

# Close vehicle object before exiting script
vehicle.close()