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takeoff_and_land.py
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takeoff_and_land.py
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#https://gist.github.com/dbaldwin/9185b702091148580fa836c1911f8735
#
from dronekit import connect, VehicleMode, LocationGlobalRelative
from pymavlink import mavutil
import time
import argparse
parser = argparse.ArgumentParser()
parser.add_argument('--connect', default='/dev/ttyS0')
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()