takeoff_and_land_keyboard_control.py

Author: woosal1337

examples/takeoff_and_land_keyboard_control.py

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+"""
+Author: @woosal1337
+"""
+
+import asyncio
+import pygame
+
+from mavsdk import System
+
+drone = System()
+
+pygame.init()
+window = pygame.display.set_mode((300, 300))
+
+
+async def setup():
+    """
+    General configurations, setups, and connections are done here.
+    :return:
+    """
+
+    await drone.connect(system_address="udp://:14540")
+
+    print("Waiting for drone to connect...")
+    async for state in drone.core.connection_state():
+        if state.is_connected:
+            print(f"Drone discovered!")
+            break
+
+    print("Waiting for drone to have a global position estimate...")
+    async for health in drone.telemetry.health():
+        if health.is_global_position_ok:
+            print("Global position estimate ok")
+            break
+
+
+async def main():
+    """
+    Launching a specific pygame window retrieves and works according to the received commands.
+    :return:
+    """
+
+    running = True
+
+    while running:
+
+        for event in pygame.event.get():
+            if event.type == pygame.QUIT:
+                running = False
+
+        keys = pygame.key.get_pressed()
+
+        # While being in air and landing mode the drone is not likely to takeoff again, so
+        # a condition check is required here to avoid such a condition.
+
+        if keys[pygame.K_UP] and (await print_in_air(drone) != True):
+            await takeoff()
+
+        elif keys[pygame.K_DOWN]:
+            await land()
+
+        elif keys[pygame.K_RIGHT]:
+            await print_in_air(drone)
+
+        elif keys[pygame.K_i]:
+            await info(drone)
+
+
+async def takeoff():
+    """
+    Default takeoff command seperated and taken from takeoff_and_land.py
+    :return:
+    """
+
+    print("-- Arming")
+    await drone.action.arm()
+
+    print("-- Taking off")
+    await drone.action.takeoff()
+
+
+async def land():
+    """
+    Default land command seperated and taken from takeoff_and_land.py
+    :return:
+    """
+
+    await drone.action.land()
+
+
+async def print_in_air(drone=drone):
+    async for in_air in drone.telemetry.in_air():
+        print(f"In air: {in_air}")
+        return in_air
+
+
+async def info(drone=drone):
+    """
+    This is the combination of the print_battery, print_in_air, print_gps_info, and print_position functions aimed
+    to display all of the counted data/information at the same exact time.
+    :param drone:
+    :return:
+    """
+
+    await print_battery(drone)
+    await print_in_air(drone)
+    await print_gps_info(drone)
+    await print_position(drone)
+
+    return True
+
+
+async def print_battery(drone=drone):
+    """
+    Default print_battery command seperated and taken from telemetry.py
+    :param drone:
+    :return:
+    """
+
+    async for battery in drone.telemetry.battery():
+        print(f"Battery: {battery.remaining_percent}")
+        return battery.remaining_percent
+
+
+async def print_gps_info(drone=drone):
+    """
+    Default print_gps_info command seperated and taken from telemetry.py
+    :param drone:
+    :return:
+    """
+
+    async for gps_info in drone.telemetry.gps_info():
+        print(f"GPS info: {gps_info}")
+        return gps_info
+
+
+async def print_position(drone=drone):
+    """
+    Default print_position command seperated and taken from telemetry.py
+    :param drone:
+    :return:
+    """
+
+    async for position in drone.telemetry.position():
+        print(position)
+        return position
+
+
+if __name__ == "__main__":
+
+    loop = asyncio.get_event_loop()
+    loop.run_until_complete(setup())
+    loop.run_until_complete(main())
+    loop.run_until_complete(print_in_air(drone))
+    loop.run_until_complete(info(drone))
+    loop.run_until_complete(print_battery())
+    loop.run_until_complete(print_gps_info())
+    loop.run_until_complete(print_position())