AImotion-Flight/py_gcs

MAVLink Ground Control Station

MAVLink Ground Control Station

Prerequisites

Pymavlink

Follow the steps of the MAVLink documentation.

py_gcs

Connect to PX4 SITL:

python py_gcs.py udpin:127.0.0.1:14540

Connect to PX4 over serial:

python py_gcs.py /path/to/serial

Commands

Enter the command commands to show all available commands:

- MAVLink version: 2.0
- system: 1
- component: 0
- waiting for initial position and attitude
- got initial position and attitude
> commands
- exit # exit this application
- info (<frame>) # show MAV state
- kill # force disarming of the UAV
- get <param> # get value of Parameter
- arm # arm the UAV
- takeoff # switch into 'Takeoff' mode
- land # switch into 'Land' mode
- hold # switch into 'Hold' mode
- hold # switch into 'Manual' mode
- offboard # switch into 'Offboard' mode
- sp <x> <y> (<z> (<yaw>)) # set a setpoint
- waypoints # move to waypoints
- plan # trajectory with ITG
- traj # print waypoints of trajectory
- map # show map with trajectory
> 

Real UAV

1. Power on the UAV.
2. Start py_gcs. Setpoint gets initialized:

   py_gcs/mavlink_handler.py

   Line 49 in 5a2bddf

   self.set_setpoint(np.array((self.origin.x, self.origin.y, self.origin.z)), self.rot.yaw)

3. Use Remote Control to Takeoff
4. Set a setpoint with sp <x> <y> (<z> (<yaw>))
5. Switch to offboard mode with offboard
6. Plan a trajectory with plan
7. Check the waypoints of the planned trajectory with traj
8. Execute planned trajectory with waypoints