# DroneKit

## DroneKit

> *Developer tools for drones. DroneKit offers an SDK and web API to easily develop apps for your drones. DroneKit helps you build apps for the air, ground or cloud.* [Homepage](http://dronekit.io/)

* [DroneKit-Python](http://python.dronekit.io/about/index.html)
* [ELC 2015 - DroneAPI: A Tutorial on Drone Control - Kevin Hester, 3DRobotics](https://www.youtube.com/watch?v=C3kk4XMpFjs)
  * [Drone API structure by Kevin Hester](https://wiki.dronecode.org/_media/u10.droneapi_structure_and_usage_-_kevin_hester.pdf)

## Architecture

```bash
user@workstation:~$ git clone https://github.com/dronekit/dronekit-python.git
user@workstation:~$ cd dronekit-python
user@workstation:~/dronekit-python$ ls
appveyor.yml  CONTRIBUTING.md  dronekit.egg-info  requirements.txt  windows
build          dist           examples          scripts
CHANGELOG.md  docs           LICENSE          setup.py
circle.yml    dronekit           README.md      Vagrantfile
```

```bash
user@workstation:~/dronekit-python$ cd examples
user@workstation:~/dronekit-python/examples$
```

```bash
user@workstation:~/dronekit-python/examples$ mavproxy.py --master=udp:127.0.0.1:6000
Connect udp:127.0.0.1:6000 source_system=255
Log Directory: 
Telemetry log: mav.tlog
Waiting for heartbeat from 127.0.0.1:6000
 MAV>
```

## DroneKit-Python :: Sitl

Default Port 14550

```bash
user@workstation:~$ ./QGroundControl.AppImage
```

```bash
user@workstation:~$ cd Bitol/VirtualDroneSolution/DeveloperAPI/DroneKit/
user@workstation:~/Bitol/VirtualDroneSolution/DeveloperAPI/DroneKit$ python DroneKitPythonSitl.py
```

## DroneKit-Python

```bash
user@workstation:~$ dronekit-sitl copter --home=20.6207591,-103.3991668,30,0
```

```bash
user@workstation:~$ mavproxy.py --master=tcp:127.0.0.1:5760 --out=udpout:127.0.0.1:14550 --out=udpout:127.0.0.1:14560
```

Default Port 14550

```bash
user@workstation:~$ ./QGroundControl.AppImage
```

```bash
user@workstation:~$ cd Bitol/VirtualDroneSolution/DeveloperAPI/DroneKit/
user@workstation:~/Bitol/VirtualDroneSolution/DeveloperAPI/DroneKit$ 
user@workstation:~/Bitol/VirtualDroneSolution/DeveloperAPI/DroneKit$ python DroneKitPython.py 
Connecting to vehicle on: 127.0.0.1:14560
>>> APM:Copter V3.3 (d6053245)
>>> Frame: QUAD
Get some vehicle attribute values:
 Autopilot Firmware version: APM:Copter-3.3.0
 Autopilot capabilities (supports ftp): False
 Global Location: LocationGlobal:lat=20.6207591,lon=-103.3991667,alt=30.0
 Global Location (relative altitude): LocationGlobalRelative:lat=20.6207591,lon=-103.3991667,alt=0.01
 Local Location: LocationLocal:north=None,east=None,down=None
 Attitude: Attitude:pitch=0.00167117756791,yaw=-0.113207355142,roll=0.00144902965985
 Velocity: [-0.02, 0.03, 0.0]
 GPS: GPSInfo:fix=3,num_sat=10
 Groundspeed: 0.0
 Airspeed: 0.0
 Gimbal status: Gimbal: pitch=None, roll=None, yaw=None
 Battery: Battery:voltage=12.587,current=0.0,level=100
 EKF OK?: True
 Last Heartbeat: 0.665645725967
 Rangefinder: Rangefinder: distance=None, voltage=None
 Rangefinder distance: None
 Rangefinder voltage: None
 Heading: 353
 Armed: False
 Is Armable?: True
 System status: STANDBY
 Mode: STABILIZE
Completed
user@workstation:~/Bitol/VirtualDroneSolution/DeveloperAPI/DroneKit$
```

## DroneKit-Python :: JMAVSim

```bash
user@workstation:~$ cd src/Fimrware
user@workstation:~/src/Firmware$ make posix jmavsim
```

```bash
user@workstation:~$ mavproxy.py --master=udp:127.0.0.1:14550 --out=udpout:127.0.0.1:14560 --out=udpout:127.0.0.1:14570 --out=udpout:127.0.0.1:14580
```

```bash
user@workstation:~$ cd Bitol/VirtualDroneSolution/DeveloperAPI/DroneKit/
user@workstation:~/Bitol/VirtualDroneSolution/DeveloperAPI/DroneKit$
```

Port 14580

```bash
# Copter should arm in GUIDED mode
# vehicle.mode    = VehicleMode("GUIDED")
# vehicle.mode    = VehicleMode("POSCTL")
MAV_MODE_AUTO   = 4
```

```bash
user@workstation:~/Bitol/VirtualDroneSolution/DeveloperAPI/DroneKit$ python DroneKitPythonLocation.py 
Connecting
Waiting for home position...
 Type: 2
 Armed: False
 System status: STANDBY
 GPS: GPSInfo:fix=3,num_sat=10
 Alt: -0.004
>>> Executing mission.
>>> Takeoff to 10.0 meters above home.
>>> Mission finished, landed.
>>> Executing mission.
>>> Takeoff to 10.0 meters above home.
>>> ARMED by arm/disarm component command
>>> Takeoff detected
Moving to waypoint 2
Moving to waypoint 3
Moving to waypoint 4
Moving to waypoint 5
Moving to waypoint 6
>>> Mission finished, landed.
>>> Landing detected
>>> DISARMED by auto disarm on land
>>> Executing mission.
>>> Takeoff to 10.0 meters above home.
user@workstation:~/Bitol/VirtualDroneSolution/DeveloperAPI/DroneKit$
```

Manual Mode, Port 14570, Set Copter in GUIDED mode

```bash
user@workstation:~$ ./QGroundControl.AppImage
```

```bash
QGroundControl Settings 14570
```

## DroneKit-Python :: Ardupilot SITL

```bash
user@workstation:~$ cd Bitol/
user@workstation:~/Bitol$ source Main.sh 
user@workstation:~/Bitol$ DroneKit.sh start
```


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