I am running pythong 2.7.14 with arducopter 3.6.11 on a navio2 RPi 3B + combo
The quadcopter is supposed to run python scripts and the RC is disabled. I got the script to work, but due to obvious safety concerns I would like to have an interrupt that forces the drone to land or turn off. Right now I am running an excpetion that forces the drone into LAND mode but the drone does not land. To further try to bring the vehicle down I go into a loop to force the drone to disarm. I am completely new to dronekit and I think it is cool, but could somebody give me a pointer on my code as to why this is not disarming?
from dronekit import connect, VehicleMode, LocationGlobalRelative
import time
import socket
import exceptions
from modules import *
try:
# Connect to drone through telmetry
vehicle = connectDrone()
# System status display and arm decision
systemBoot(vehicle)
# Arm and Takeoff at altitude in meters
armAndTakeoff(vehicle, 1)
# Have drone hover for a few seconds
vehicle.mode = VehicleMode("LOITER")
print "Drone is hovering....."
time.sleep(25)except (KeyboardInterrupt):
# Force drone to land
while vehicle.mode != "LAND":
vehicle.mode = VehicleMode("LAND")
print "Drone is making an emergency landing...."
while vehicle.armed == True:
vehicle.disarm Make drone land
while vehicle.mode != "LAND":
vehicle.mode = VehicleMode("LAND")
print "Drone is landing...."
Put drone back into guided mode
vehicle.mode=VehicleMode("GUIDED")
print "End of mission..."
vehicle.close()
END OF PROGRAM
def nadir_point():
vehicle.flush()
msg = vehicle.message_factory.mount_configure_encode(
0, 1, # target system, target component
mavutil.mavlink.MAV_MOUNT_MODE_MAVLINK_TARGETING, #mount_mode
1, # stabilize roll
1, # stabilize pitch
1, # stabilize yaw
)vehicle.send_mavlink(msg)
vehicle.flush()
msg = vehicle.message_factory.mount_control_encode(
0, 1, # target system, target component
-90*100, # pitch is in centidegrees
0.0, # roll
0, # yaw is in centidegrees
0 # save position
)vehicle.send_mavlink(msg)
vehicle.flush()
I wanted to observe MISSION_ITEM_REACHED message using add_attribute_listener() but does not seem to work:
self.vehicle.add_attribute_listener('MISSION_ITEM_REACHED', self.wp_observer)
def wp_observer(self, vehicle_obj, attr_name, value):
print vehicle_obj, attr_name, valueAny ideas?
