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#

# This is a small example of the python drone API

# Usage:

# * mavproxy.py

# * module load api

# * api start small-demo.py

#

from droneapi.lib import VehicleMode

from pymavlink import mavutil

def mavrx_debug_handler(message):

"""A demo of receiving raw mavlink messages"""

print "Received", message

# First get an instance of the API endpoint

api = local_connect()

# get our vehicle - when running with mavproxy it only knows about one vehicle (for now)

v = api.get_vehicles()[0]

# Print out some interesting stats about the vehicle

print "Mode: %s" % v.mode

print "Location: %s" % v.location

print "Attitude: %s" % v.attitude

print "Velocity: %s" % v.velocity

print "GPS: %s" % v.gps_0

print "Armed: %s" % v.armed

print "groundspeed: %s" % v.groundspeed

print "airspeed: %s" % v.airspeed

# Use of the following method is not recommended (it is better to add observer callbacks to attributes) but if you need it

# it is available...

# v.set_mavlink_callback(mavrx_debug_handler)

# You can read and write parameters

#print "Param: %s" % v.parameters['THR_MAX']

# Now download the vehicle waypoints

cmds = v.commands

cmds.download()

cmds.wait_valid()

print "Home WP: %s" % cmds[0]

print "Current dest: %s" % cmds.next

# Test custom commands

# Note: For mavlink messages that include a target_system & target_component, those values

# can just be filled with zero. The API will take care of using the correct values

# For instance, from the xml for command_long:

# Send a command with up to seven parameters to the MAV

#

# target_system : System which should execute the command (uint8_t)

# target_component : Component which should execute the command, 0 for all components (uint8_t)

# command : Command ID, as defined by MAV_CMD enum. (uint16_t)

# confirmation : 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) (uint8_t)

# param1 : Parameter 1, as defined by MAV_CMD enum. (float)

# param2 : Parameter 2, as defined by MAV_CMD enum. (float)

# param3 : Parameter 3, as defined by MAV_CMD enum. (float)

# param4 : Parameter 4, as defined by MAV_CMD enum. (float)

# param5 : Parameter 5, as defined by MAV_CMD enum. (float)

# param6 : Parameter 6, as defined by MAV_CMD enum. (float)

# param7 : Parameter 7, as defined by MAV_CMD enum. (float)

#msg = v.message_factory.command_long_encode(0, 0,

# mavutil.mavlink.MAV_CMD_CONDITION_YAW, 0,

# 0, 0, 0, 0, 1, 0, 0)

#print "Created msg: %s" % msg

#v.send_mavlink(msg)

print "Disarming..."

v.armed = False

v.flush()

print "Arming..."

v.armed = True

v.flush()

print "Overriding a RC channel"

v.channel_override = { "1" : 900, "4" : 1000 }

v.flush()

print "Current overrides are:", v.channel_override

print "RC readback:", v.channel_readback

# To Cancel override send 0 to the channels

print "Cancelling override"

v.channel_override = { "1" : 0, "4" : 0 }

v.flush()

# Now change the vehicle into auto mode

v.mode = VehicleMode("AUTO")

# Always call flush to guarantee that previous writes to the vehicle have taken place

v.flush()