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 api_load_path_context

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# Python highlevel sketch

import DroneApi

## Getting an API instance

# You connect to a particular API implementation by using one of the factory methods...

# api = DroneApi.web_connect(username, password)

api = DApi.local_connect()

## Getting a vehicle instance

# You can get a list of controllable/monitorable vehicles by using one of the following methods

# Get all vehicles user has access to (may be capped in the web case)

# includeOffline is an optional param, if true non connected vehicles will be included (for historical purposes)

# if includeLive is true, currently connected vehicles will be included

vehicles = api.get_vehicles()

v = vehicles[0]

# Get all vehicles user has access to and within the specified rectangle

# vehicles = api.getVehicles(lat1, lon1, lat2, lon2, includeOffline = False)

# Not supported in release 0/1:

# v = api.createVehicle(vehicleId, vehicleType, notes)

## Working with vehicles

# Once you have a vehicle you can do a bunch of interesting things with it.

print v.location

print v.attitude

print v.airspeed

print v.groundspeed

# get battery level etc...

print v.battery_0_soc

print v.battery_0_volt

v.rc_overrides = [ 1000, 1000, 0, 1500 ]

v.flush()

print v.rc_channels

print v.mode

v.mode = "AUTO"

v.goto(location)

wpts = v.waypoints

## Getting missions (to see historical data or read/create live mavlink traffic)

# where logId is either a log id or ‘recent’ for most recent log, or ‘current’ for the current live log

# flight logs are streams of annotated mavlink messages. The flightlog object also includes metadata

# about that flight.

# m = v.get_mission(logId)

# Operations for uploading mavlink from GCSes/vehicles

# m = v.createMission(‘notes’)

# m.uploadMavlink(timestampedPackets)

# m.endMission()

# Delete the mission

# m.delete()

# The complete set of mavlink messages (mostly useful in case of historical logs)

# packets = m.getMavlink()

# Callback will be invoked asynchronously for each new mavlink message received

# v.set_mavlink_callback(callback)

location = v.location

v.add_attribute_observer("location", callback)

modes = m.getMode

# To send raw mavlink to a vehicle

v.send_mavlink(packet)

# Wait for all previously queued async (reactive) operations to acknowledge)

v.flush()

# For release 2 add GPIO/ADC operations (needs vehicle code)

v.ap_pin5_mode = "adc"

v.flush()

print v.ap_pin5_value

v.ap_pin6_mode = "dac"

v.ap_pin6_value = 2.4

v.flush()

v.ap_pin7_mode = "dout"

v.ap_pin7_value = 1

v.flush()