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connect_get_set.py
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connect_get_set.py
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'''
Author: Cahit Yusuf Tas / cyusuftas@gmail.com
'''
from dronekit import connect, VehicleMode
from math import pi
import time
connection_string = '/dev/serial0'
print 'Connecting to vehicle on: %s' % connection_string
#connect to vehicle
vehicle = connect(connection_string, wait_ready=True, baud=921600)
'''
#Set some attribute values
vehicle.mode = VehicleMode('QSTABILIZE')
vehicle.airspeed = 10
time.sleep(0.01)
#Get some vehicle attribute values
print 'Airspeed: %s' % vehicle.airspeed
print 'Mode: %s' % vehicle.mode.name
print 'System Status: %s' % vehicle.system_status.state
print 'GPS: %s' % vehicle.gps_0
print 'Last Heartbeat: %s' % vehicle.last_heartbeat
'''
#Vehicle Capabilities
print vehicle.capabilities.set_attitude_target
print vehicle.capabilities.set_attitude_target_local_ned
print vehicle.capabilities.set_altitude_target_global_int
'''
while True:
####Getting and setting attribute and parameter values
#print 'Pitch: %s, Yaw: %s, Roll: %s' % (vehicle.attitude.pitch*180/pi, vehicle.attitude.yaw*180/pi, vehicle.attitude.roll*180/pi)
#print 'Heading: %s, Yaw: %s' % (vehicle.heading, vehicle.attitude.yaw*180/pi)
#Check-Enable Quadplane
if vehicle.parameters['Q_ENABLE'] == 0:
print 'Quadplane is not activated.'
print 'Activating Quadplane'
vehicle.parameters['Q_ENABLE'] = 1
else:
print 'Quadplane is already activated.'
break
time.sleep(0.1)
'''
#close vehicle object before exiting script
vehicle.close()