MultirotorClient - GRID Documentation

No description provided!

Takeoff vehicle to 3m above ground. Vehicle should not be moving when this API is used. It also clears any prior collision information by calling simGetCollisionInfo()

int, optional

Timeout for the vehicle to reach desired altitude

str, optional

Name of the vehicle to send this command to

msgpackrpc.future.Future

future. call .join() to wait for method to finish.

Land the vehicle

int, optional

Timeout for the vehicle to land

str, optional

Name of the vehicle to send this command to

msgpackrpc.future.Future

future. call .join() to wait for method to finish.

Return vehicle to Home i.e. Launch location

int, optional

Timeout for the vehicle to reach desired altitude

str, optional

Name of the vehicle to send this command to

msgpackrpc.future.Future

future. call .join() to wait for method to finish.

Cancel previous Async task

str, optional

Name of the vehicle

No description provided!

float

desired velocity in the X axis of the vehicle’s local NED frame.

float

desired velocity in the Y axis of the vehicle’s local NED frame.

float

desired velocity in the Z axis of the vehicle’s local NED frame.

float

Desired amount of time (seconds), to send this command for

DrivetrainType, optional

drivetrain

YawMode, optional

yaw_mode

str, optional

Name of the multirotor to send this command to

msgpackrpc.future.Future

future. call .join() to wait for method to finish.

No description provided!

float

desired velocity in the X axis of the vehicle’s local NED frame

float

desired velocity in the Y axis of the vehicle’s local NED frame

float

desired Z value (in local NED frame of the vehicle)

float

Desired amount of time (seconds), to send this command for

DrivetrainType, optional

drivetrain

YawMode, optional

yaw_mode

str, optional

Name of the multirotor to send this command to

msgpackrpc.future.Future

future. call .join() to wait for method to finish.

No description provided!

float

desired velocity in world (NED) X axis

float

desired velocity in world (NED) Y axis

float

desired velocity in world (NED) Z axis

float

Desired amount of time (seconds), to send this command for

DrivetrainType, optional

drivetrain

YawMode, optional

yaw_mode

str, optional

Name of the multirotor to send this command to

msgpackrpc.future.Future

future. call .join() to wait for method to finish.

#todo: add description

_type_

description

_type_

description

_type_

description

_type_

description

_type_, optional

description. Defaults to DrivetrainType.MaxDegreeOfFreedom.

_type_, optional

description. Defaults to YawMode().

str, optional

description. Defaults to "".

_type_

description

Give a list of 3D points, and the drone will move along that path at the specified velocity

_type_

description

_type_

description

_type_, optional

description. Defaults to 3e38.

_type_, optional

description. Defaults to DrivetrainType.MaxDegreeOfFreedom.

_type_, optional

description. Defaults to YawMode().

int, optional

description. Defaults to -1.

int, optional

description. Defaults to 1.

str, optional

description. Defaults to "".

_type_

description

Give a list of LLA geopoints, and the drone will move along that path at the specified velocity

_type_

description

_type_

description

_type_, optional

description. Defaults to 3e38.

_type_, optional

description. Defaults to DrivetrainType.MaxDegreeOfFreedom.

_type_, optional

description. Defaults to YawMode().

int, optional

description. Defaults to -1.

int, optional

description. Defaults to 1.

str, optional

description. Defaults to "".

_type_

description

move the drone directly towards to a desired position in the world if possible

_type_

description

_type_

description

_type_

description

_type_

description

_type_, optional

description. Defaults to 3e38.

_type_, optional

description. Defaults to DrivetrainType.MaxDegreeOfFreedom.

_type_, optional

description. Defaults to YawMode().

int, optional

description. Defaults to -1.

int, optional

description. Defaults to 1.

str, optional

description. Defaults to "".

_type_

description

No description provided!

Read current RC state and use it to control the vehicles. Parameters sets up the constraints on velocity and minimum altitude while flying. If RC state is detected to violate these constraints then that RC state would be ignored.

float

max velocity allowed in x direction

float

max velocity allowed in y direction

float

max velocity allowed in z direction

float

min z allowed for vehicle position

float

after this duration vehicle would switch back to non-manual mode

DrivetrainType

(DrivetrainType): when ForwardOnly, vehicle rotates itself so that its front is always facing the direction of travel. If MaxDegreeOfFreedom then it doesn’t do that (crab-like movement)

YawMode

(YawMode): Specifies if vehicle should face at given angle (is_rate=False) or should be rotating around its axis at given rate (is_rate=True)

str, optional

Name of the multirotor to send this command to

msgpackrpc.future.Future

future. call .join() to wait for method to finish.

No description provided!

Directly control the motors using PWM values

float

PWM value for the front right motor (between 0.0 to 1.0)

float

PWM value for the rear left motor (between 0.0 to 1.0)

float

PWM value for the front left motor (between 0.0 to 1.0)

float

PWM value for the rear right motor (between 0.0 to 1.0)

float

Desired amount of time (seconds), to send this command for

str, optional

Name of the multirotor to send this command to

msgpackrpc.future.Future

future. call .join() to wait for method to finish.

z is given in local NED frame of the vehicle.
- Roll angle, pitch angle, and yaw angle set points are given in radians, in the body frame.
- The body frame follows the Front Left Up (FLU) convention, and right-handedness.
- Frame Convention:
  - X axis is along the Front direction of the quadrotor.
  | Clockwise rotation about this axis defines a positive roll angle. | Hence, rolling with a positive angle is equivalent to translating in the right direction, w.r.t. our FLU body frame.
  - Y axis is along the Left direction of the quadrotor.
  | Clockwise rotation about this axis defines a positive pitch angle. | Hence, pitching with a positive angle is equivalent to translating in the front direction, w.r.t. our FLU body frame.
  - Z axis is along the Up direction.
  | Clockwise rotation about this axis defines a positive yaw angle. | Hence, yawing with a positive angle is equivalent to rotated towards the left direction wrt our FLU body frame. Or in an anticlockwise fashion in the body XY / FL plane.

float

Desired roll angle, in radians.

float

Desired pitch angle, in radians.

float

Desired yaw angle, in radians.

float

Desired Z value (in local NED frame of the vehicle)

float

Desired amount of time (seconds), to send this command for

str, optional

Name of the multirotor to send this command to

msgpackrpc.future.Future

future. call .join() to wait for method to finish.

Desired throttle is between 0.0 to 1.0
- Roll angle, pitch angle, and yaw angle are given in degrees when using PX4 and in radians when using SimpleFlight, in the body frame.
- The body frame follows the Front Left Up (FLU) convention, and right-handedness.
- Frame Convention:
  - X axis is along the Front direction of the quadrotor.
  | Clockwise rotation about this axis defines a positive roll angle. | Hence, rolling with a positive angle is equivalent to translating in the right direction, w.r.t. our FLU body frame.
  - Y axis is along the Left direction of the quadrotor.
  | Clockwise rotation about this axis defines a positive pitch angle. | Hence, pitching with a positive angle is equivalent to translating in the front direction, w.r.t. our FLU body frame.
  - Z axis is along the Up direction.
  | Clockwise rotation about this axis defines a positive yaw angle. | Hence, yawing with a positive angle is equivalent to rotated towards the left direction wrt our FLU body frame. Or in an anticlockwise fashion in the body XY / FL plane.

float

Desired roll angle.

float

Desired pitch angle.

float

Desired yaw angle.

float

Desired throttle (between 0.0 to 1.0)

float

Desired amount of time (seconds), to send this command for

str, optional

Name of the multirotor to send this command to

msgpackrpc.future.Future

future. call .join() to wait for method to finish.

Desired throttle is between 0.0 to 1.0
- Roll angle, pitch angle, and yaw rate set points are given in radians, in the body frame.
- The body frame follows the Front Left Up (FLU) convention, and right-handedness.
- Frame Convention:
  - X axis is along the Front direction of the quadrotor.
  | Clockwise rotation about this axis defines a positive roll angle. | Hence, rolling with a positive angle is equivalent to translating in the right direction, w.r.t. our FLU body frame.
  - Y axis is along the Left direction of the quadrotor.
  | Clockwise rotation about this axis defines a positive pitch angle. | Hence, pitching with a positive angle is equivalent to translating in the front direction, w.r.t. our FLU body frame.
  - Z axis is along the Up direction.
  | Clockwise rotation about this axis defines a positive yaw angle. | Hence, yawing with a positive angle is equivalent to rotated towards the left direction wrt our FLU body frame. Or in an anticlockwise fashion in the body XY / FL plane.

float

Desired roll angle, in radians.

float

Desired pitch angle, in radians.

float

Desired yaw rate, in radian per second.

float

Desired throttle (between 0.0 to 1.0)

float

Desired amount of time (seconds), to send this command for

str, optional

Name of the multirotor to send this command to

msgpackrpc.future.Future

future. call .join() to wait for method to finish.

z is given in local NED frame of the vehicle.
- Roll angle, pitch angle, and yaw rate set points are given in radians, in the body frame.
- The body frame follows the Front Left Up (FLU) convention, and right-handedness.
- Frame Convention:
  - X axis is along the Front direction of the quadrotor.
  | Clockwise rotation about this axis defines a positive roll angle. | Hence, rolling with a positive angle is equivalent to translating in the right direction, w.r.t. our FLU body frame.
  - Y axis is along the Left direction of the quadrotor.
  | Clockwise rotation about this axis defines a positive pitch angle. | Hence, pitching with a positive angle is equivalent to translating in the front direction, w.r.t. our FLU body frame.
  - Z axis is along the Up direction.
  | Clockwise rotation about this axis defines a positive yaw angle. | Hence, yawing with a positive angle is equivalent to rotated towards the left direction wrt our FLU body frame. Or in an anticlockwise fashion in the body XY / FL plane.

float

Desired roll angle, in radians.

float

Desired pitch angle, in radians.

float

Desired yaw rate, in radian per second.

float

Desired Z value (in local NED frame of the vehicle)

float

Desired amount of time (seconds), to send this command for

str, optional

Name of the multirotor to send this command to

msgpackrpc.future.Future

future. call .join() to wait for method to finish.

z is given in local NED frame of the vehicle.
- Roll rate, pitch rate, and yaw rate set points are given in radians, in the body frame.
- The body frame follows the Front Left Up (FLU) convention, and right-handedness.
- Frame Convention:
  - X axis is along the Front direction of the quadrotor.
  | Clockwise rotation about this axis defines a positive roll angle. | Hence, rolling with a positive angle is equivalent to translating in the right direction, w.r.t. our FLU body frame.
  - Y axis is along the Left direction of the quadrotor.
  | Clockwise rotation about this axis defines a positive pitch angle. | Hence, pitching with a positive angle is equivalent to translating in the front direction, w.r.t. our FLU body frame.
  - Z axis is along the Up direction.
  | Clockwise rotation about this axis defines a positive yaw angle. | Hence, yawing with a positive angle is equivalent to rotated towards the left direction wrt our FLU body frame. Or in an anticlockwise fashion in the body XY / FL plane.

float

Desired roll rate, in radians / second

float

Desired pitch rate, in radians / second

float

Desired yaw rate, in radians / second

float

Desired Z value (in local NED frame of the vehicle)

float

Desired amount of time (seconds), to send this command for

str, optional

Name of the multirotor to send this command to

msgpackrpc.future.Future

future. call .join() to wait for method to finish.

Desired throttle is between 0.0 to 1.0
- Roll rate, pitch rate, and yaw rate set points are given in radians, in the body frame.
- The body frame follows the Front Left Up (FLU) convention, and right-handedness.
- Frame Convention:
  - X axis is along the Front direction of the quadrotor.
  | Clockwise rotation about this axis defines a positive roll angle. | Hence, rolling with a positive angle is equivalent to translating in the right direction, w.r.t. our FLU body frame.
  - Y axis is along the Left direction of the quadrotor.
  | Clockwise rotation about this axis defines a positive pitch angle. | Hence, pitching with a positive angle is equivalent to translating in the front direction, w.r.t. our FLU body frame.
  - Z axis is along the Up direction.
  | Clockwise rotation about this axis defines a positive yaw angle. | Hence, yawing with a positive angle is equivalent to rotated towards the left direction wrt our FLU body frame. Or in an anticlockwise fashion in the body XY / FL plane.

float

Desired roll rate, in radians / second

float

Desired pitch rate, in radians / second

float

Desired yaw rate, in radians / second

float

Desired throttle (between 0.0 to 1.0)

float

Desired amount of time (seconds), to send this command for

str, optional

Name of the multirotor to send this command to

msgpackrpc.future.Future

future. call .join() to wait for method to finish.

Set the rotation of all the Nacelles

float

Pitch angle in degrees.

float

Speed at which the angles update.

bool, optional

Whether we sweep to the target rotation, and stopping short of the target if blocked by something.

str, optional

Vehicle to get the state of.

Modifying these gains will have an affect on ALL move*() APIs. This is because any velocity setpoint is converted to an angle level setpoint which is tracked with an angle level controllers. That angle level setpoint is itself tracked with and angle rate controller.
- This function should only be called if the default angle rate control PID gains need to be modified.

AngleRateControllerGains

(AngleRateControllerGains): angle_rate_gains

str, optional

Name of the multirotor to send this command to

Sets angle level controller gains (used by any API setting angle references - for ex: moveByRollPitchYawZAsync(), moveByRollPitchYawThrottleAsync(), etc)
- Modifying these gains will also affect the behaviour of moveByVelocityAsync() API. This is because the airgen flight controller will track velocity setpoints by converting them to angle set points.
- This function should only be called if the default angle level control PID gains need to be modified.
- Passing AngleLevelControllerGains() sets gains to default airgen values.

AngleLevelControllerGains

(AngleLevelControllerGains): angle_level_gains

str, optional

Name of the multirotor to send this command to

Sets velocity controller gains for moveByVelocityAsync().
- This function should only be called if the default velocity control PID gains need to be modified.
- Passing VelocityControllerGains() sets gains to default airgen values.

VelocityControllerGains

(VelocityControllerGains): velocity_gains

str, optional

Name of the multirotor to send this command to

Sets position controller gains for moveByPositionAsync. This function should only be called if the default position control PID gains need to be modified.

PositionControllerGains

(PositionControllerGains): position_gains

str, optional

Name of the multirotor to send this command to

The position inside the returned MultirotorState is in the frame of the vehicle’s starting point

str, optional

Vehicle to get the state of

MultirotorState

Used to obtain the current state of all a multirotor’s rotors. The state includes the speeds, thrusts and torques for all rotors.

str, optional

Vehicle to get the rotor state of

RotorStates

Containing a timestamp and the speed, thrust and torque of all rotors.

​__init__

​takeoffAsync

​landAsync

​goHomeAsync

​cancelLastTask

​moveByVelocityBodyFrameAsync

​moveByVelocityZBodyFrameAsync

​moveByAngleZAsync

​moveByAngleThrottleAsync

​moveByVelocityAsync

​moveByVelocityZAsync

​moveOnPathAsync

​moveOnGPSPathAsync

​moveToPositionAsync

​moveToGPSAsync

​moveToZAsync

​moveByManualAsync

​rotateToYawAsync

​rotateByYawRateAsync

​hoverAsync

​moveByRC

​moveByMotorPWMsAsync

​moveByRollPitchYawZAsync

​moveByRollPitchYawThrottleAsync

​moveByRollPitchYawrateThrottleAsync

​moveByRollPitchYawrateZAsync

​moveByAngleRatesZAsync

​moveByAngleRatesThrottleAsync

​setNacellesRotation

​setAngleRateControllerGains

​setAngleLevelControllerGains

​setVelocityControllerGains

​setPositionControllerGains

​getMultirotorState

​getRotorStates

init

takeoffAsync

landAsync

goHomeAsync

cancelLastTask

moveByVelocityBodyFrameAsync

moveByVelocityZBodyFrameAsync

moveByAngleZAsync

moveByAngleThrottleAsync

moveByVelocityAsync

moveByVelocityZAsync

moveOnPathAsync

moveOnGPSPathAsync

moveToPositionAsync

moveToGPSAsync

moveToZAsync

moveByManualAsync

rotateToYawAsync

rotateByYawRateAsync

hoverAsync

moveByRC

moveByMotorPWMsAsync

moveByRollPitchYawZAsync

moveByRollPitchYawThrottleAsync

moveByRollPitchYawrateThrottleAsync

moveByRollPitchYawrateZAsync

moveByAngleRatesZAsync

moveByAngleRatesThrottleAsync

setNacellesRotation

setAngleRateControllerGains

setAngleLevelControllerGains

setVelocityControllerGains

setPositionControllerGains

getMultirotorState

getRotorStates