scm_example

import dronekit
import time
import math

def sliding_control_mode():
    # Connect to the drone
    vehicle = dronekit.connect("/dev/serial0", baud=57600, wait_ready=True)

    # Arm the drone
    vehicle.armed = True

    # Takeoff to a target altitude
    target_altitude = 10 # meters
    vehicle.simple_takeoff(target_altitude)

    # Wait until the drone has reached the target altitude
    while vehicle.location.global_relative_frame.alt < target_altitude:
        time.sleep(0.1)

    # Define the sliding surface and control gains
    sliding_surface = [0, 0, 1, 0, 0, 0]
    kp = [1, 1, 1, 1, 1, 1]
    kd = [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]

    # Start the control loop
    while True:
        # Get the current state of the drone
        position = vehicle.location.global_relative_frame
        velocity = vehicle.velocity
        attitude = vehicle.attitude

        # Calculate the error between the current state and the desired state
        error = [position.x - target_position.x,
                 position.y - target_position.y,
                 position.z - target_altitude,
                 attitude.roll,
                 attitude.pitch,
                 attitude.yaw]

        # Calculate the control inputs using the sliding control algorithm
        u = -kp * error - kd * velocity
        u = [math.clip(val, -1, 1) for val in u]

        # Send the control inputs to the drone
        vehicle.send_mavlink(u)

        # Sleep for a short time to control the loop frequency
        time.sleep(0.01)

    # Land the drone
    vehicle.mode = dronekit.VehicleMode("LAND")

    # Close the connection to the drone
    vehicle.close()

# Call the function to implement the sliding control mode
sliding_control_mode()