MAVSDK Box Mission Test

gistfile1.txt

# On Raspberry Pi to Windows PC running MAVSDK server
sudo mavproxy.py --master=/dev/serial0 --baudrate 57600 --out 192.168.86.29:14550

# On RPi4 with telemetry cable
 mavproxy.py --master=/dev/ttyAMA0 --baudrate 57600 --out 192.168.11.116:14550

# On Windows PC
 .\mavsdk_server_win32.exe udp://:14550
 
# Modified from MAVSDK script
# https://github.com/mavlink/MAVSDK-Python/blob/main/examples/offboard_position_ned.py
 
 #!/usr/bin/env python3

"""
Caveat when attempting to run the examples in non-gps environments:

`drone.offboard.stop()` will return a `COMMAND_DENIED` result because it
requires a mode switch to HOLD, something that is currently not supported in a
non-gps environment.
"""

import asyncio

from mavsdk import System
from mavsdk.offboard import (OffboardError, PositionNedYaw)

async def run():
    """ Does Offboard control using position NED coordinates. """

    drone = System(mavsdk_server_address="127.0.0.1")
    await drone.connect(system_address="udp://:14550")

    print("-- Arming")
    await drone.action.arm()

    print("-- Setting initial setpoint")
    await drone.offboard.set_position_ned(PositionNedYaw(0.0, 0.0, 0.0, 0.0))

    print("-- Starting offboard")
    try:
        await drone.offboard.start()
    except OffboardError as error:
        print(f"Starting offboard mode failed with error code: {error._result.result}")
        print("-- Disarming")
        await drone.action.disarm()
        return

    print("takeoff")
    await drone.offboard.set_position_ned(PositionNedYaw(0.0, 0.0, -1.5, 0.0)) # takeoff
    await asyncio.sleep(10)

    print("forward")
    await drone.offboard.set_position_ned(PositionNedYaw(1.0, 0.0, -1.5, 0.0)) # fly forward
    await asyncio.sleep(10)

    print("right")
    await drone.offboard.set_position_ned(PositionNedYaw(1.0, 1.0, -1.5, 0.0)) # fly front right corner
    await asyncio.sleep(10)

    print("back")
    await drone.offboard.set_position_ned(PositionNedYaw(0.0, 1.0, -1.5, 0.0)) # fly rear right corner
    await asyncio.sleep(10)

    print("left")
    await drone.offboard.set_position_ned(PositionNedYaw(0.0, 0.0, -1.5, 0.0)) # fly left right corner
    await asyncio.sleep(10)

    print("landing")
    await drone.action.land()
    await asyncio.sleep(10)

    print("-- Stopping offboard")
    try:
        await drone.offboard.stop()
    except OffboardError as error:
        print(f"Stopping offboard mode failed with error code: {error._result.result}")


if __name__ == "__main__":
    loop = asyncio.get_event_loop()
    loop.run_until_complete(run())