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simple_goto.py
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simple_goto.py
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"""
simple_goto.py: GUIDED mode "simple goto" example (Copter Only)
Demonstrates how to arm and takeoff in Copter and how to navigate to points using Vehicle.simple_goto.
Full documentation is provided at http://python.dronekit.io/examples/simple_goto.html
"""
from dronekit import connect, VehicleMode, LocationGlobalRelative
import time
#Set up option parsing to get connection string
import argparse
parser = argparse.ArgumentParser(description='Print out vehicle state information. Connects to SITL on local PC by default.')
parser.add_argument('--connect', default='127.0.0.1:14550',
help="vehicle connection target. Default '127.0.0.1:14550'")
args = parser.parse_args()
# Connect to the Vehicle
print 'Connecting to vehicle on: %s' % args.connect
vehicle = connect(args.connect, wait_ready=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(10)
print "Set default/target airspeed to 3"
vehicle.airspeed=3
print "Going towards first point for 30 seconds ..."
point1 = LocationGlobalRelative(-35.361354, 149.165218, 20)
vehicle.simple_goto(point1)
# sleep so we can see the change in map
time.sleep(30)
print "Going towards second point for 30 seconds (groundspeed set to 10 m/s) ..."
point2 = LocationGlobalRelative(-35.363244, 149.168801, 20)
vehicle.simple_goto(point2, groundspeed=10)
# sleep so we can see the change in map
time.sleep(30)
print "Returning to Launch"
vehicle.mode = VehicleMode("RTL")
#Close vehicle object before exiting script
print "Close vehicle object"
vehicle.close()