hola ninos, we're beginners so be nice :)
here's a simple beginner guide to control your drone through a python script.
We're experimenting first with a simulation in our terminal tabs,
then we'll try to control a real drone (leashed (fr) and with an RC to take over).
trève de blablas, let's go !
PS : we're working on Ubuntu 18.4.5 LTS
sudo pip install dronekit
sudo pip install mavproxy
sudo pip install pymavlink
sudo pip install dronekit-sitl
For QGroundControl, I've installed this one : https://github.com/mavlink/qgroundcontrol/releases/tag/v4.1.5
And don't forget to follow the official instructions before the installation:
https://docs.qgroundcontrol.com/master/en/getting_started/download_and_install.html
In your terminal run :
sudo usermod -a -G dialout $USER
sudo apt-get remove modemmanager -y
sudo apt install gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl -y
sudo apt install libqt5gui5 -y
sudo apt install libfuse2 -y
Then logout and login again.
In a terminal tab run :
dronekit-sitl [the model you want]
you can find out your options with :
dronekit-sitl --list
for this example we're going to use the copter model, so we'll run :
dronekit-sitl copter
if your program executes normally, you'll have
"waiting for connection" at the bottom of your console
In a new terminal tab, enter the following lines :
mavproxy.py --master tcp:127.0.0.1:5760 --out 127.0.0.1:14550
What it does is that Mavproxy creates a TCP server on the 5670 port then forward all the packets on the port 14550. That's where you need to connect on your script.
Then you'll open your ground station, here it's QgroundControl.
There is a known bug between Python scripts and mavlink that disallow any script to control and change the VehicleMode.
It's supposed to be fixed by going back to pymavlink version 2.4.8 but I didn't test it yet because I found a work-around.
It's messy but hey, it works.
You basically have to manually change the VehicleMode on your QGroundStation :
See the "Stabilize" on the top ? Click on it and select "Guided".
Now that it has been done, you can go ahead and launch your script using
python (your_script.py)
When your script is launched, the "Ready to Fly" will change into a "Communication Lost". Don't worry, communication is lost because your script is now controlling the drone. Now you have to wait until your script finishes and you'll see that your drone moves according to your script.
NB: Sometimes, when you launch your script, it loads "Waiting for arming" for infinity. I have no idea why, so I just Ctrl-C and launch the python command again.
Now, profit !!
