Skip to main content

​
__init__

​
Instantiates a Mavlink client to handle message passing and command sending to/from a mavlink drone. Additionally sets up video stream manager for handling RTSP streams from the drone.
​
​
str
IP address of the ground control station (default: ‘192.168.8.10’)
​
str
port number for mavlink connection (default: ‘14550’)
​
str
IP address of the vehicle (default: ‘192.168.8.1’)
​
str
communication protocol to use, one of (‘udp’|‘tcp’) (default: ‘udp’)
​
Optional[Dict[str, Dict[str, Any]]]
Dictionary of dictionaries containing the
​
bool
whether to enable arming the drone (default: False)
​
bool
whether to run in dry run mode which bypasses arming exceptions (default: False)
​
str
logging level to be displayed to the user, one of (‘DEBUG’|‘INFO’|‘WARNING’|‘ERROR’),
​
List[str]
list of expected message types to handle without warning (default: None)

​
get_msg

​
Thread-safe method to get a message from msg_dict.
​
​
str
name of the message type to be retrieved.
​
​
msg
returns message if found, else None

​
update_setpoint

​
Update the current setpoint of the drone as well as the currently active set of controls.
​
​
List[str]
controls

​
attempt_command

​
Attempt to perform a given command with name and id. Includes retry logic with delays.
​
​
str
arbitrary command name for logging/display
​
int
Mavlink ID of the command to be attempted
​
int
whether this is first transmission of command (0, default), or a confirmation (1-255)
​
int
maximum number of attempts to send the command (default=3)
​
float
delay in seconds between attempts (default=1.0)
​
​
bool
whether command was successfully completed

​
set_custom_msg_rates

​
Set custom message publishing rates for a given message ID.
​
​
int
mavlink message ID to set custom rate for
​
int
interval in microseconds to publish message

​
request_msg

​
Request a specific message from the drone.
​
​
int
mavlink message ID to request
​
​
bool
whether command was successful

​
reset_ned_origin

​
Saves current position as the arming waypoint and resets mavlink origin.
​
​
bool
whether mavlink origin reset was successful

​
check_props_spinning

​
Check if props are spinning by requesting and monitoring servo outputs. NOTE: this is the commanded PWM value, not the actual RPM.
​
​
float
minimum PWM threshold for prop spinning
​
​
bool
whether all props are spinning above threshold

​
arm

​
Arm the drone if enabled.
​
​
bool
whether drone was successfully armed

​
disarm

​
Disarm the drone.
​
​
bool
whether drone was successfully disarmed

​
set_offboard_control

​
Sets drone control mode to OFFBOARD. This enables us to send position, velocity, or acceleration setpoints to the drone. NOTE: Drone may reject offboard mode if certain conditions are not met (recent setpoint message received, armed, etc.)
​
​
bool
whether offboard control mode was successfully set

​
start

​
Start the drone by resetting NED origin, arming the drone, and setting offboard control mode.

​
terminate

​
Terminate the drone client and shut down all threads.

​
get_single_frame

​
Get a single frame from the named video stream.
​
​
str
name of the camera stream to capture frame from
​
​
np.ndarray
frame as numpy array if successful, else None