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Second Project: Go to Waypoint

Through this project you will learn about more commonly used MAVSDK functions.


Objectives:


Process

1.) Create a new file and name it go_to_waypoint.py (Don’t forget the .py)

2.) At the top of the file, type import asyncio and below it from mavsdk import System

3.) Make an asynchronous function called “run()”

4.) To connect to the simulator drone, paste this code in the run() function you just created

    drone = System()                                    ## Creates a new system object named drone that can be used later when  
                                                        ## calling any type of system methods
    await drone.connect(system_address="udp://:14540")  ## The connect function is used to connect the physical drone and the simulated drone. 
                                                        ## The system address parameter can be changed to connect to either the real drone, or the simulator drone.

    status_text_task = asyncio.ensure_future(print_status_text(drone))

    print("Waiting for drone to connect...")
    async for state in drone.core.connection_state():   ## Loops over the connection state function to check if drone is properly connected to the given system address
        if state.is_connected:                          ## Prints the following statement if properly connected
            print(f"-- Connected to drone!")
            break

5.) Arm the drone with the command drone.action.arm() (Be sure to do it asynchronously!)

6.) Set the takeoff altitude for the drone with the following line await drone.param.set_param_float("MIS_TAKEOFF_ALT", 25) (The number you use for the altitude is arbitrary for now.)

7.) Call the takeoff function

8.) Use a tool like Google Earth / Google Maps to find a GPS coordinate in the Missouri S&T golf course

    Example Coordinates 
    (37.94852048112047, -91.78427643078165)
    (37.94852048108085, -91.78427643078165)
    (37.94852048104123, -91.78427643078165)

9.) Use the MAVSDK commands to travel to the desired waypoint go_to_location

10.) Return to home using the built-in return_to_launch() function


QGroundControl and JMAVSIM