def do_takeoff(args):
try:
ret = command.takeoff(min_pitch=args.min_pitch,
yaw=args.yaw,
latitude=args.latitude,
longitude=args.longitude,
altitude=args.altitude)
except rospy.ServiceException as ex:
fault(ex)
_check_ret(args, ret)
def takeoff(altitude=0.1):
print 'Taking off'
try:
ret = command.takeoff(
min_pitch=0,
yaw=0,
latitude=0,
longitude=0,
altitude=altitude)
except rospy.ServiceException as ex:
fault(ex)
if not ret.success:
fault('Request failed. Check mavros logs')
def command_takeoff_cur(self, alt):
"""
Takeoff at the current GPS position
"""
if self.global_position is not None:
ret = command.takeoff(min_pitch=0,
yaw=0,
latitude=self.global_position.latitude,
longitude=self.global_position.longitude,
altitude=alt)
return ret.success
else:
rospy.logerr("Cannot do takeoff, no GPS data.")
return False
def startFlight(self):
self.setMode(mode='GUIDED')
self.arm()
command.takeoff(min_pitch=0,
yaw=1,
latitude=self.lat,
longitude=self.lng,
altitude=10)
rospy.sleep(TRAVEL_TIME)
pub_thread = threading.Thread(target=self.publishPos)
pub_thread.start()
for point in self.flight_path:
self.setPosition(point[0], point[1], point[2])
rospy.sleep(TRAVEL_TIME)
self._is_done = True
pub_thread.join()
command.land(min_pitch=0.0,
yaw=0,
latitude=self.lat,
longitude=self.lng,
altitude=0.0)
def takeoff(self):
if self.takeoff:
print("Vehicle has already Taken Off")
else:
try:
alt = param.param_get("MIS_TAKEOFF_ALT")
print("Taking off at Current Latitude = %3f Longitude = %3f" % (self.latitude, self.longitude))
ret = command.takeoff(min_pitch=0, yaw=0, latitude=self.latitude, longitude=self.longitude,
altitude=alt)
while self.altitude <= (alt - 0.1):
continue
self.takeoff = True
if not ret.success:
utils.fault("Request failed. Check mavros logs")
except rospy.ServiceException as ex:
utils.fault(ex)
print("Takeoff Command result: %s" % (self.takeoff == True))
#!/usr/bin/env python import mavros from mavros import command mavros.set_namespace() # arming command.arming(True) # takeoff command.takeoff(altitude=5, latitude=0, longitude=0, min_pitch=0, yaw=0) # disarming command.arming(False)