Dronekit

python script to automate arm & throttle (autonomy)

Still Debugging

Installation Instructions [x]

Open the terminal with Ctrl + Alt + T

cd ~
git clone https://github.com/dronekit/dronekit-python
cd dronekit-python

sudo python setup.py install

Dronekit Simple_goto example

cd examples/simple_goto

gedit modified_goto.py

## copy and paste the whole file

#!/usr/bin/env python
# -*- coding: utf-8 -*-

"""
© Copyright 2015-2016, 3D Robotics.
simple_goto.py: GUIDED mode "simple goto" example (Copter Only)

Demonstrates how to arm and takeoff in Copter and how to navigate to points using Vehicle.simple_goto.

Full documentation is provided at http://python.dronekit.io/examples/simple_goto.html
"""

from __future__ import print_function
import time
from dronekit import connect, VehicleMode, LocationGlobalRelative


# Set up option parsing to get connection string
#import argparse
#parser = argparse.ArgumentParser(description='Commands vehicle using vehicle.simple_goto.')
#parser.add_argument('--connect',
#                    help="Vehicle connection target string. If not specified, SITL #automatically started and used.")
#args = parser.parse_args()

#connection_string = args.connect
#sitl = None


import dronekit_sitl
sitl = dronekit_sitl.start_default()
connection_string = sitl.connection_string()

print('Connecting to vehicle on 127.0.0.1:14450')
vehicle = connect("127.0.0.1:14550", wait_ready=False)
print('connected')


def arm_and_takeoff(aTargetAltitude):
    """
    Arms vehicle and fly to aTargetAltitude.
    """

    print("Basic pre-arm checks")
    # Don't 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

    # Confirm vehicle armed before attempting to take off
    while not vehicle.armed:
        print(" Waiting for arming...")
        time.sleep(1)

    print("Taking off!")
    vehicle.simple_takeoff(aTargetAltitude)  # Take off to target altitude

    # Wait until the vehicle reaches a safe height before processing the goto
    #  (otherwise the command after Vehicle.simple_takeoff will execute
    #   immediately).
    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)


arm_and_takeoff(10)

print("Set default/target airspeed to 3")
vehicle.airspeed = 3

print("Going towards first point for 30 seconds ...")
point1 = LocationGlobalRelative(35.063570, -118.156204, 20)
vehicle.simple_goto(point1)

# sleep so we can see the change in map
time.sleep(30)

print("Going towards second point for 30 seconds (groundspeed set to 10 m/s) ...")
point2 = LocationGlobalRelative(35.059257, -118.157724, 20)
vehicle.simple_goto(point2, groundspeed=10)

# sleep so we can see the change in map
time.sleep(30)

print("Returning to Launch")
vehicle.mode = VehicleMode("RTL")

# Close vehicle object before exiting script
print("Close vehicle object")
vehicle.close()

# Shut down simulator if it was started.
if sitl:
    sitl.stop()

python modified_goto.py

Example Python Script

*edit the python file*

# comment out .argparse lines
# add the following lines:

print('Connecting to vehicle on 127.0.0.1:14450')
vehicle = connnect("127.0.0.1:14550", wait_ready=False)
print('connected')

cd Downloads/
python aruco_land.py

Location Changes

Mojave=35.059217, -118.150861,0.0,0
Mojave_1=35.063570, -118.156204,0.0,0
Mojave_2=35.059257, -118.157724,0.0,0

## open new terminal
cd ardupilot/Tools/autotest
nano locations.txt

## add the followig: 
Mojave=35.059217, -118.150861,0.0,0

Sources

[1] qGroundControl