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

• DroneKit-Python

• ELC 2015 - DroneAPI: A Tutorial on Drone Control - Kevin Hester, 3DRobotics

  • Drone API structure by Kevin Hester

Architecture

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

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

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

user@workstation:~$ ./QGroundControl.AppImage

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

DroneKit-Python

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

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

user@workstation:~$ ./QGroundControl.AppImage

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

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

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

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

Port 14580

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

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

user@workstation:~$ ./QGroundControl.AppImage

QGroundControl Settings 14570

DroneKit-Python :: Ardupilot SITL

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