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pix-takeoff.py
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pix-takeoff.py
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#!/usr/bin/env python
""" Drone Pilot - Control of MRUAV """
""" pix-takeoff.py -> Script that makes a pixhawk take off in a secure way. DroneKit 2.0 related. """
__author__ = "Aldo Vargas"
__copyright__ = "Copyright 2016 Altax.net"
__license__ = "GPL"
__version__ = "2.0"
__maintainer__ = "Aldo Vargas"
__email__ = "alduxvm@gmail.com"
__status__ = "Development"
import time
from dronekit import connect, VehicleMode
#import modules.UDPserver as udp
from modules.utils import *
from modules.pixVehicle import *
# Connection to the vehicle
# SITL via TCP
#vehicle = connect('tcp:127.0.0.1:5760', wait_ready=True)
# SITL/vehicle via UDP (connection coming from mavproxy.py)
vehicle = connect('udp:127.0.0.1:14549', wait_ready=True)
# Direct UART communication to Pixhawk
#vehicle = connect('/dev/ttyAMA0', wait_ready=True)
""" Mission starts here """
print "\n\nAttempting to start take off!!\n\n"
arm_and_takeoff(vehicle, 10)
print "Wait 5 seconds before going landing"
print "Current altitude: ", vehicle.location.global_relative_frame.alt
time.sleep(5)
print "\n\nLanding!\n\n"
#vehicle.mode = VehicleMode("RTL")
vehicle.mode = VehicleMode("LAND")
while vehicle.armed:
print "Current altitude: ", vehicle.location.global_relative_frame.alt
time.sleep(0.5)
print "\n\nMission complete\n\n"
vehicle.close()