Using command_ack in dronekit

cmdack.py

#
# This example shows how to use DroneKit-Python to change the vehicles altitude
#

import time
from pymavlink import mavutil


def process_result(result):
	if result is None:
		print "command_ack timed out"
	if result == mavutil.mavlink.MAV_RESULT_ACCEPTED:
		print "accepted"
	elif result == mavutil.mavlink.MAV_RESULT_TEMPORARILY_REJECTED:
		print "temporarily rejected"
	elif result == mavutil.mavlink.MAV_RESULT_DENIED:
		print "denied"
	elif result == mavutil.mavlink.MAV_RESULT_UNSUPPORTED:
		print "unsupported"
	elif result == mavutil.mavlink.MAV_RESULT_FAILED:
		print "failed"

 
# First get an instance of the API endpoint
api = local_connect()
# Get the connected vehicle (currently only one vehicle can be returned).
veh = api.get_vehicles()[0]
 
veh.commands.takeoff(20)
#should succeed if we are armed, landed, and in GUIDED mode
result = veh.commands.command_ack() 
process_result(result)

#should timeout since we never sent a second command
result = veh.commands.command_ack(2) #example of a timeout longer than 0.5 seconds 
process_result(result)