DroneKit appears to have some older dependencies that need updating.
dronekit 2.9.1 has requirement future==0.15.2, but you'll have future 0.17.1 which is incompatible.
dronekit 2.9.1 has requirement pymavlink==2.0.6, but you'll have pymavlink 2.2.21 which is incompatible.
Unfortunately other libraries we're using require newer versions.