A mission example using MAVSDK-Python

some_mission_example.py

#!/usr/bin/env python3

import asyncio

from mavsdk import start_mavlink
from mavsdk import connect as mavsdk_connect
from mavsdk import (MissionItem)

start_mavlink("udp://:14550")
drone = mavsdk_connect(host="127.0.0.1")


async def run():
    mission_items = []
    mission_items.append(MissionItem(47.398039859999997,
                                     8.5455725400000002,
                                     25,
                                     10,
                                     True,
                                     float('nan'),
                                     float('nan'),
                                     MissionItem.CameraAction.NONE,
                                     float('nan'),
                                     float('nan')))
    mission_items.append(MissionItem(47.398036222362471,
                                     8.5450146439425509,
                                     25,
                                     10,
                                     True,
                                     float('nan'),
                                     float('nan'),
                                     MissionItem.CameraAction.NONE,
                                     float('nan'),
                                     float('nan')))
    mission_items.append(MissionItem(47.397825620791885,
                                     8.5450092830163271,
                                     25,
                                     10,
                                     True,
                                     float('nan'),
                                     float('nan'),
                                     MissionItem.CameraAction.NONE,
                                     float('nan'),
                                     float('nan')))

    await drone.mission.set_return_to_launch_after_mission(True)

    print("-- Uploading mission")
    await drone.mission.upload_mission(mission_items)

    print("-- Arming")
    await drone.action.arm()

    print("-- Starting mission")
    await drone.mission.start_mission()


async def print_mission_progress():
    async for mission_progress in drone.mission.mission_progress():
        print(f"Mission progress: {mission_progress.current_item_index}/{mission_progress.mission_count}")


async def observe_is_in_air():
    """ Monitors whether the drone is flying or not and
    returns after landing """

    was_in_air = False

    async for is_in_air in drone.telemetry.in_air():
        if is_in_air:
            was_in_air = is_in_air

        if was_in_air and not is_in_air:
            await asyncio.get_event_loop().shutdown_asyncgens()
            return


async def print_position():
    async for position in drone.telemetry.position():
        print(position)


async def print_ground_speed_ned():
    async for ground_speed_ned in drone.telemetry.ground_speed_ned():
        print(ground_speed_ned)


async def print_gps_info():
    async for gps_info in drone.telemetry.gps_info():
        print(gps_info)


def setup_tasks():
    asyncio.ensure_future(run())
    asyncio.ensure_future(print_mission_progress())
    asyncio.ensure_future(print_position())
    asyncio.ensure_future(print_ground_speed_ned())
    asyncio.ensure_future(print_gps_info())


if __name__ == "__main__":
    setup_tasks()
    asyncio.get_event_loop().run_until_complete(observe_is_in_air())