AeroStack2 python interface.
| Method | Input | Output | Description |
|---|---|---|---|
str = get_drone_id() |
- | drone namespace | - |
{ bool, bool, bool, STATE, YAW_MODE, CONTROL_MODE, REFERENCE_FRAME } = get_info() |
- | drone info {connected, armed, offboard, state, yaw_mode, control_mode, reference_frame} | - |
[ float, float, float ] = get_position() |
- | [ x, y, z ] | - |
[ float, float, float ] = get orientation() |
- | [ roll, pitch, yaw ] | - |
[ float, float, float ] = get_gps_pose() |
- | [ lat, lon ,alt ] | |
takeoff(float, float) |
heigth, speed | - | - |
follow_path([ [ float, float, float ], ... ], float) |
[ [ x, y, z ], ... ], speed | - | - |
follow_gps_path([ [ float, float, float ], ... ], float) |
[ [ lat, lon, alt ], ... ], speed | - | - |
land() |
- | - | - |
| Value | Field Name | Description |
|---|---|---|
EMERGENCY |
-1 | - |
DISARMED |
0 | - |
LANDED |
1 | - |
TAKING_OFF |
2 | - |
FLYING |
3 | - |
LANDING |
4 | - |
| Value | Field Name | Description |
|---|---|---|
YAW_ANGLE |
0 | - |
YAW_SPEED |
1 | - |
| Value | Field Name | Description |
|---|---|---|
UNSET |
-1 | mode when the vehicle is not set |
POSITION_MODE |
0 | x, y, z refs |
SPEED_MODE |
1 | vx, vy, vz refs |
SPEED_IN_A_PLANE |
2 | vx, vy, z refs |
ACCEL_MODE |
3 | ax, ay, az refs |
ATTITUDE_MODE |
4 | quaternions + Thrust |
ACRO_MODE |
5 | p, q, r speed + Thrust |
| Value | Field Name | Description |
|---|---|---|
LOCAL_ENU_FRAME |
0 | Local coordinates |
BODY_FLU_FRAME |
1 | Body coordinates |
GLOBAL_ENU_FRAME |
2 | GPS coordinates |