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Dec 27, 2021
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docs: fix formatting #425

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9 changes: 7 additions & 2 deletions mavsdk/source/index.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -37,11 +37,10 @@ To install simply run:

The package contains ``mavsdk_server`` already (previously called "backend"), which is started automatically when connecting (e.g. ``await drone.connect()``). Have a look at the examples to see it used in practice. It will be something like:

.. code:: python
python
from mavsdk import System

...

drone = System()
await drone.connect(system_address="udp://:14540")

Expand All @@ -53,6 +52,7 @@ Run the examples

Once the package has been installed, the examples can be run:

.. code:: bash
examples/takeoff_and_land.py

The examples assume that the embedded ``mavsdk_server`` binary can be run. In some cases (e.g. on Raspberry Pi), it may be necessary to run ``mavsdk_server`` manually, and therefore to set ``mavsdk_server_address='localhost'`` as described above.
Expand All @@ -64,6 +64,7 @@ In order to get more debugging information, it is possible to run the mavsdk_ser

For this case, let's assume the example was like this:

.. code:: python
drone = System()
await drone.connect(system_address="udp://:14540")

Expand All @@ -72,15 +73,18 @@ The mavsdk_server binary is installed using ``pip3``. If installed with ``pip3 -

It can then be run in a separate console with the ``system_address`` as an argument:

.. code:: bash
~/.local/lib/python3.9/site-packages/mavsdk/bin/mavsdk_server udp://:14540

Without an autopilot connecting, the output will look something like:

.. code:: bash
[02:36:31|Info ] MAVSDK version: v0.50.0 (mavsdk_impl.cpp:28)
[02:36:31|Info ] Waiting to discover system on udp://:14540... (connection_initiator.h:20)

Once an autopilot is discovered, something like this should be printed:

.. code:: bash
[02:38:12|Info ] MAVSDK version: v0.50.0 (mavsdk_impl.cpp:28)
[02:38:12|Info ] Waiting to discover system on udp://:14540... (connection_initiator.h:20)
[02:39:01|Info ] New system on: 127.0.0.1:14580 (with sysid: 1) (udp_connection.cpp:194)
Expand All @@ -93,6 +97,7 @@ Once an autopilot is discovered, something like this should be printed:

This would look promising, and the example can now be run against this server, however, without ``system_address``:

.. code:: python
drone = System()
await drone.connect()

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