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takeoff3.py
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print "Start simulator (SITL)"
import dronekit_sitl
sitl = dronekit_sitl.start_default()
connection_string = sitl.connection_string()
# Import DroneKit-Python
from dronekit import *
# Connect to the Vehicle.
vehicle = connect('127.0.0.1:14551', wait_ready=True)
def arm_and_takeoff(aTargetAltitude):
"""
Arms vehicle and fly to aTargetAltitude.
"""
print "Basic pre-arm checks"
# Don't try to arm until autopilot is ready
while not vehicle.is_armable:
print " Waiting for vehicle to initialise..."
time.sleep(1)
print "Arming motors"
# Copter should arm in GUIDED mode
vehicle.mode = VehicleMode("GUIDED")
vehicle.armed = True
# Confirm vehicle armed before attempting to take off
while not vehicle.armed:
print " Waiting for arming..."
time.sleep(1)
print "Taking off!"
vehicle.simple_takeoff(aTargetAltitude) # Take off to target altitude
# Wait until the vehicle reaches a safe height before processing the goto (otherwise the command
# after Vehicle.simple_takeoff will execute immediately).
while True:
print " Altitude: ", vehicle.location.global_relative_frame.alt
#Break and return from function just below target altitude.
if vehicle.location.global_relative_frame.alt>=aTargetAltitude*0.95:
print "Reached target altitude"
break
time.sleep(1)
arm_and_takeoff(20)
# Close vehicle object before exiting script
vehicle.close()