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 |