dronekit_arm_test

arm_test.py

from dronekit import connect, VehicleMode, LocationGlobalRelative
import time

import argparse
parser = argparse.ArgumentParser(description='commands')
parser.add_argument('--connect')
args = parser.parse_args()

connection_string = args.connect

print("Connection to drone on %s" %connection_string)
vehicle = connect(connection_string, wait_ready=True)

def arm_and_take_off(tgt_altitude):
	print("arming motors")

#	while not vehicle.is_armable:
#		print("trying to arm...")
#		time.sleep(1)

	vehicle.mode = VehicleMode("STABILIZE")
	vehicle.armed = True

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

	'''
	while vehicle.gps_0.fix_type < 2:
	    print "Waiting for GPS...:", vehicle.gps_0.fix_type
	    time.sleep(1)
	'''

	# Get Vehicle Home location - will be `None` until first set by autopilot
	'''while not vehicle.home_location:
	    cmds = vehicle.commands
	    cmds.download()
	    cmds.wait_ready()
	    if not vehicle.home_location:
	        print " Waiting for home location ..."
	# We have a home location, so print it!        
	print "\n Home location: %s" % vehicle.home_location


	# Set vehicle home_location, mode, and armed attributes (the only settable attributes)

	print "\nSet new home location"
	# Home location must be within 50km of EKF home location (or setting will fail silently)
	# In this case, just set value to current location with an easily recognisable altitude (222)
	my_location_alt = vehicle.location.global_frame
	my_location_alt.alt = 222.0
	vehicle.home_location = my_location_alt
	print " New Home Location (from attribute - altitude should be 222): %s" % vehicle.home_location
	'''
	
	print("Takeoff")
	vehicle.simple_takeoff(tgt_altitude)
	time.sleep(10)

	'''
	while not vehicle.mode.name=='GUIDED' and not vehicle.armed and not api.exit:
	    print " Getting ready to take off ..."
	    time.sleep(1)

	'''

	while True:
		altitude = vehicle.location.global_relative_frame.alt
		print altitude
		if altitude >= tgt_altitude - 1:
			print("alt reached")
			break
		time.sleep(1)


arm_and_take_off(20)

'''
vehicle.airspeed = 15

print("go to WPL")

wpl = LocationGlobalRelative(56.413436, 40.981330, 20)
vehicle.simple_goto(wpl)

time.sleep(10)

wpl = LocationGlobalRelative(56.410008, 40.988211, 20)
vehicle.simple_goto(wpl)

time.sleep(50)

wpl = LocationGlobalRelative(56.408690, 40.981062, 20)
vehicle.simple_goto(wpl)

time.sleep(50)
print("coming back")

vehicle.mode = VehicleMode("RTL")

time.sleep(60)
'''

# mavproxy --master tcp:127.0.0.1:5760 --out udp:127.0.0.1:14551 --out udp:100.126.45.198:14550
# python.exe C:\Users\user\Documents\drone_test.py --connect udp:127.0.0.1:14551
# dronekit-sitl copter --home=56.413436,40.981330,30,30