Basic takeoff to 20m and land with DroneKit, Raspberry Pi and Pixhawk

takeoff_and_land.py

from dronekit import connect, VehicleMode, LocationGlobalRelative
from pymavlink import mavutil
import time

import argparse  
parser = argparse.ArgumentParser()
parser.add_argument('--connect', 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, baud=57600, wait_ready=True)

# Function to arm and then takeoff to a user specified altitude
def arm_and_takeoff(aTargetAltitude):

  print "Basic pre-arm checks"
  # Don't let the user 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

  while not vehicle.armed:
    print " Waiting for arming..."
    time.sleep(1)

  print "Taking off!"
  vehicle.simple_takeoff(aTargetAltitude) # Take off to target altitude

  # Check that vehicle has reached takeoff altitude
  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)

# Initialize the takeoff sequence to 20m
arm_and_takeoff(20)

print("Take off complete")

# Hover for 10 seconds
time.sleep(10)

print("Now let's land")
vehicle.mode = VehicleMode("LAND")

# Close vehicle object
vehicle.close()

Hello, I used this code but my quadcopter don`t enter in hover mode, only take off and after reached the altitude land
Can somone help me with this problem?

This script can arm my quadrotor, but cannot make it take off. Does anyone know why?
My pixhawk is 2.4.6. Firmware is ardu v4.0.4 .
Thanks~

possibility that code may have been edited and resulted in error. Try with code in my repo, it is fully tested.
What do you mean the code have been edited and resulted in error?

I mean to say that any change in code may also result in some error or may result in non-working.

I see. I delete vehicle.is_armable in my code. So this change may cause error. Thanks I will keep trying.

even if you delete that part of the code, i think you won't get through vehicle.armed=True because gps lock is still a requirement.

Hello, I used this code but my quadcopter don`t enter in hover mode, only take off and after reached the altitude land Can somone help me with this problem?

have u tried increasing the time.sleep part of the code after the take off is completed?