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offboard_velocity_body.py
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offboard_velocity_body.py
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#!/usr/bin/env python3
import asyncio
from mavsdk import System
from mavsdk.offboard import (OffboardError, VelocityBodyYawspeed)
async def run():
""" Does Offboard control using velocity body coordinates. """
drone = System()
await drone.connect(system_address="udp://:14540")
print("Waiting for drone to connect...")
async for state in drone.core.connection_state():
if state.is_connected:
print(f"Drone discovered!")
break
print("-- Arming")
await drone.action.arm()
print("-- Setting initial setpoint")
await drone.offboard.set_velocity_body(
VelocityBodyYawspeed(0.0, 0.0, 0.0, 0.0))
print("-- Starting offboard")
try:
await drone.offboard.start()
except OffboardError as error:
print(f"Starting offboard mode failed with error code: \
{error._result.result}")
print("-- Disarming")
await drone.action.disarm()
return
print("-- Turn clock-wise and climb")
await drone.offboard.set_velocity_body(
VelocityBodyYawspeed(0.0, 0.0, -1.0, 60.0))
await asyncio.sleep(5)
print("-- Turn back anti-clockwise")
await drone.offboard.set_velocity_body(
VelocityBodyYawspeed(0.0, 0.0, 0.0, -60.0))
await asyncio.sleep(5)
print("-- Wait for a bit")
await drone.offboard.set_velocity_body(
VelocityBodyYawspeed(0.0, 0.0, 0.0, 0.0))
await asyncio.sleep(2)
print("-- Fly a circle")
await drone.offboard.set_velocity_body(
VelocityBodyYawspeed(5.0, 0.0, 0.0, 30.0))
await asyncio.sleep(15)
print("-- Wait for a bit")
await drone.offboard.set_velocity_body(
VelocityBodyYawspeed(0.0, 0.0, 0.0, 0.0))
await asyncio.sleep(5)
print("-- Fly a circle sideways")
await drone.offboard.set_velocity_body(
VelocityBodyYawspeed(0.0, -5.0, 0.0, 30.0))
await asyncio.sleep(15)
print("-- Wait for a bit")
await drone.offboard.set_velocity_body(
VelocityBodyYawspeed(0.0, 0.0, 0.0, 0.0))
await asyncio.sleep(8)
print("-- Stopping offboard")
try:
await drone.offboard.stop()
except OffboardError as error:
print(f"Stopping offboard mode failed with error code: \
{error._result.result}")
if __name__ == "__main__":
loop = asyncio.get_event_loop()
loop.run_until_complete(run())