def setMode(self, request, context):
"""Sets the mode of the drone which is represented as a string in the request"""
self.vehicle.mode = VehicleMode(str(request.mode))
self.vehicle.wait_ready('mode')
return droneconnect_pb2.Null()
def getPosition(stub):
response = stub.getPosition(droneconnect_pb2.Null())
print("lat: " + str(response.lat))
print("long: " + str(response.lon))
print("GPS altitude: " + str(response.gpsAltitude))
print("Altitude relative to HOME: " + str(response.relativeAltitude))
return
def setPath(self, request, context):
"""Uploads a series of positions to the drone in order to create a mission."""
cmds = self.vehicle.commands
coordFrame, alt = None, None
# The idea behind stripping off the first position is to determine what reference frame to
# to use. Future proto changes will removed the coordinate frame boolean flag from the
# request making the code unnecessary. For now, this is the way it is.
firstPosition = nth(request, 0)
lat = firstPosition.lat
lon = firstPosition.lon
useRelativeAltitude = firstPosition.useRelativeAltitude
if useRelativeAltitude:
alt = firstPosition.relativeAltitude
coordFrame = mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT
else:
alt = firstPosition.gpsAltitude
coordFrame = mavutil.mavlink.MAV_FRAME_GLOBAL
print(('First position at ({0},{1}) -> {2}'.format(lat, lon, alt)))
# Make sure the drone is not in AUTO mode.
self.vehicle.mode = VehicleMode("LOITER")
self.clear_mission(cmds, coordFrame)
# Add first position
cmds.add(
Command(0, 0, 0, coordFrame, mavutil.mavlink.MAV_CMD_NAV_WAYPOINT,
0, 0, 0, 0, 0, 0, lat, lon, alt))
# Add the remaining positions
for position in request:
lat = position.lat
lon = position.lon
if useRelativeAltitude:
alt = position.relativeAltitude
else:
alt = position.gpsAltitude
print(('Point at ({0},{1}) -> {2}'.format(lat, lon, alt)))
cmds.add(
Command(0, 0, 0, coordFrame,
mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, 0, 0, 0, 0, 0,
lat, lon, alt))
print("Uploading new commands to drone")
cmds.upload()
print("Starting mission")
# Reset mission set to first (0) waypoint
self.vehicle.commands.next = 0
self.vehicle.mode = VehicleMode("AUTO")
self.print_mission()
return droneconnect_pb2.Null()
def getSafety(stub):
response = stub.getSafety(droneconnect_pb2.Null())
safety = response.safety
if safety:
print("Safety is on.")
elif safety == False:
print("Safety is off!")
return
def droneReboot(stub):
stub.reboot(droneconnect_pb2.Null())
return
def isArmed(stub):
response = stub.isArmed(droneconnect_pb2.Null())
print("Armed: " + str(response.arm))
return
def hasMode(stub):
response = stub.hasMode(droneconnect_pb2.Null())
print("Mode: " + response.mode)
return
def setSafety(self, request, context):
"""Sets the safety switch on the drone, TRUE indicates safety is on."""
self.vehicle.safety = request.safety
return droneconnect_pb2.Null()
def setArmed(self, request, context):
"""Sets the armed state of the drone, TRUE indicates armed."""
self.vehicle.armed = request.arm
return droneconnect_pb2.Null()