Documentation Index
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MavlinkDrone
Inherits from: AerialDrone
No class docstring.
Inherited methods
- From
Robot: addSensor, getImage, cleanup
init
MavlinkDrone.__init__(config_file: Optional[str] = None, ground_control_station_ip: Optional[str] = None, mavlink_port: Optional[str] = None, vehicle_ip: Optional[str] = None, communication_protocol: Optional[str] = None, camera_streams: Optional[Dict[str, Dict[str, Any]]] = None, arm_enable: Optional[bool] = None, dry_run: Optional[bool] = None, offboard_control_mode_int: Optional[int] = None, velocity_limit: float = 1.0, messages_known: Optional[List[str]] = None, messages_required: Optional[List[str]] = None)
config_file (Optional[str])
Path to a JSON config file with parameter overrides.
ground_control_station_ip (Optional[str])
IP address of the ground control station. (default: “192.168.8.10”)
mavlink_port (Optional[str])
Port number for the MAVLink connection. (default: “14550”)
vehicle_ip (Optional[str])
IP address of the vehicle. (default: “192.168.8.1”)
communication_protocol (Optional[str])
Communication protocol, one of (“udp”|“tcp”). (default: “udp”)
camera_streams (Optional[Dict[str, Dict[str, Any]]])
Optional[Dict[str, Dict[str, Any]]]
Dictionary mapping camera stream names to configuration.
arm_enable (Optional[bool])
Whether to enable arming the drone. (default: False)
Whether to run in dry run mode bypassing arming exceptions. (default: False)
offboard_control_mode_int (Optional[int])
No description provided.
Maximum velocity limit for the drone in m/s. (default: 1.0)
messages_known (Optional[List[str]])
No description provided.
messages_required (Optional[List[str]])
No description provided.
getPosition
MavlinkDrone.getPosition() -> Position
Position type which internally contains X, Y, Z position in meters with respect to the world coordinate
getVelocity
MavlinkDrone.getVelocity() -> Velocity
Velocity type which internally contains VX, VY, VZ velocity in meters/s
getYaw
MavlinkDrone.getYaw() -> float
yaw of the drone in radians [-pi, +pi]
getOrientation
MavlinkDrone.getOrientation() -> Orientation
Current orientation of the drone in Orientation type
setYaw
MavlinkDrone.setYaw(yaw: float) -> None
the target yaw (radians) for the drone
setYawDelta
MavlinkDrone.setYawDelta(yaw_delta: float) -> None
the change in yaw (radians) for the drone
setYawRate
MavlinkDrone.setYawRate(yaw_rate: float) -> None
the target yaw_rate (radians/s) for the drone
moveToPosition
MavlinkDrone.moveToPosition(position: Position, no_sideslip: bool = False) -> None
no_sideslip is specified drone turns in direction of travel. Velocity is limited to be less than velocity limit value.
contains x, y, and z position in meters in NED frame
whether to turn in direction of travel (default: False)
moveToPositionDelta
MavlinkDrone.moveToPositionDelta(position_delta: Position, no_sideslip: bool = False) -> None
no_sideslip is specified drone turns in direction of
travel. Velocity is limited to be less than velocity limit value.
position_delta (Position)
contains x, y, and z position deltas in meters in NED frame
whether to turn in direction of travel (default: False)
moveToGPS
MavlinkDrone.moveToGPS(lat: float, lon: float, alt: float, alt_use_msl: bool = False) -> None
alt_use_msl.
Note that NO velocity limiting is applied beyond PX4 limitation; drone moves using internal position tracking.
target latitude in degrees
target longitude in degrees
target altitude in meters
flag to use altitude in absolute meters above sea level (MSL) (default: False)
moveByVelocity
MavlinkDrone.moveByVelocity(velocity: Velocity, duration: float = None, no_sideslip: bool = False) -> None
velocity in NED frame (right-handed, X north, Y east, Z down) in meters/s.
If an optional duration is given, the velocity command is held for the specified number of seconds during which the function is blocking.
After the duration is complete the final position is held.
If no duration is specified (default), the command is held until another position or velocity command is given.
If no_sideslip is specified drone turns in direction of travel.
Velocity is limited to be less than velocity limit value.
contains x velocity (x_vel), y velocity (y_vel), z velocity (z_vel)
number of seconds that the drone should move before stopping, holds final position
whether to turn in direction of travel (default: False)
takeoff
MavlinkDrone.takeoff() -> None
land
MavlinkDrone.land() -> None
getState
Get the current state of the drone, including position, velocity, and orientation.
stop
MavlinkDrone.stop() -> None
