test02.py

import time
from droneapi.lib import VehicleMode, Location
from pymavlink import mavutil

# First get an instance of the API endpoint
api = local_connect()
# Get the connected vehicle (currently only one vehicle can be returned).
vehicle = api.get_vehicles()[0]

def arm_and_takeoff(aTargetAltitude):
	print "Basic pre-arm checks"
	if vehicle.mode.name == "INITIALISING":
		print "Waiting for vehicle to initialise"
		time.sleep(1)
	while vehicle.gps_0.fix_type < 2:
		print "Waiting for GPS........", vehicle.gps_0.fix_type
		time.sleep(1)

	print "Arming motors"

	vehicle.mode = VehicleMode("GUIDED")
	vehicle.armed = True
	vehicle.flush()

	while not vehicle.armed and not api.exit:
		print "Waiting for arming..."
		time.sleep(1)

	print "Take off!"
	vehicle.commands.takeoff(aTargetAltitude)
	vehicle.flush()

	#Wait until the vehicle reaches a safe height
	while not api.exit:
		print "Altitude: ", vehicle.location.alt
		if vehicle.location.alt >= aTargetAltitude*0.95:
			print "Reached target altitude"
			break;
		time.sleep(1)

# controlling vehicle movement using velocity
def send_ned_velocity(velocity_x, velocity_y, velocity_z):
    """
    Move vehicle in direction based on specified velocity vectors.
    """
    msg = vehicle.message_factory.set_position_target_local_ned_encode(
        0,       # time_boot_ms (not used)
        0, 0,    # target system, target component
        mavutil.mavlink.MAV_FRAME_BODY_NED, # frame
        0b0000111111000111, # type_mask (only speeds enabled)
        0, 0, 0, # x, y, z positions (not used)
        velocity_x, velocity_y, velocity_z, # x, y, z velocity in m/s
        0, 0, 0, # x, y, z acceleration (not supported yet, ignored in GCS_Mavlink)
        0, 0)    # yaw, yaw_rate (not supported yet, ignored in GCS_Mavlink)
    # send command to vehicle
    vehicle.send_mavlink(msg)
    vehicle.flush()


arm_and_takeoff(3)
send_ned_velocity(1, 1, 0)
time.sleep(5)
send_ned_velocity(-1, -1, 0)
time.sleep(5)
send_ned_velocity(1.5, 0, 0)
time.sleep(5)
send_ned_velocity(-1.5, 0, 0)
time.sleep(5)

vehicle.mode = VehicleMode("LAND")