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takeoff_check.py
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takeoff_check.py
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from dronekit import connect, VehicleMode, LocationGlobalRelative
from pymavlink import mavutil
import time
import argparse
parser = argparse.ArgumentParser()
parser.add_argument('--connect', default='127.0.0.1:14550')
args = parser.parse_args()
# Connect to the Vehicle
print('Connecting to vehicle on: %s')
vehicle = connect('/dev/serial/by-id/usb-ArduPilot_Pixhawk1_3F002C000C51383333353437-if00', 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
time.sleep(20)
# 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(30)
print("Now let's land")
vehicle.mode = VehicleMode("LAND")
# Close vehicle object
vehicle.close()