Merge pull request mavlink#252 from GriffinMack/master

Added manual_control Example

Author: JonasVautherin

examples/manual_control.py

@@ -0,0 +1,95 @@
+#! /usr/bin/env python3
+
+"""
+This example shows how to use the manual controls plugin.
+
+Note: Manual inputs are taken from a test set in this example to decrease complexity. Manual inputs
+can be received from devices such as a joystick using third-party python extensions
+
+Note: Taking off the drone is not necessary before enabling manual inputs. It is acceptable to send
+positive throttle input to leave the ground. Takeoff is used in this example to decrease complexity
+"""
+
+import asyncio
+import random
+from mavsdk import System
+
+# Test set of manual inputs. Format: [roll, pitch, throttle, yaw]
+manual_inputs = [
+    [0, 0, 0.5, 0],  # no movement
+    [-1, 0, 0.5, 0],  # minimum roll
+    [1, 0, 0.5, 0],  # maximum roll
+    [0, -1, 0.5, 0],  # minimum pitch
+    [0, 1, 0.5, 0],  # maximum pitch
+    [0, 0, 0.5, -1],  # minimum yaw
+    [0, 0, 0.5, 1],  # maximum yaw
+    [0, 0, 1, 0],  # max throttle
+    [0, 0, 0, 0],  # minimum throttle
+]
+
+
+async def manual_controls():
+    """Main function to connect to the drone and input manual controls"""
+    # Connect to the Simulation
+    drone = System()
+    await drone.connect(system_address="udp://:14540")
+
+    # This waits till a mavlink based drone is connected
+    async for state in drone.core.connection_state():
+        if state.is_connected:
+            print(f"-- Connected to drone with UUID: {state.uuid}")
+            break
+
+    # Checking if Global Position Estimate is ok
+    async for global_lock in drone.telemetry.health():
+        if global_lock.is_global_position_ok:
+            print("-- Global position state is ok")
+            break
+
+    # set the manual control input after arming
+    await drone.manual_control.set_manual_control_input(
+        float(0), float(0), float(0.5), float(0)
+    )
+
+    # Arming the drone
+    print("-- Arming")
+    await drone.action.arm()
+
+    # Takeoff the vehicle
+    print("-- Taking off")
+    await drone.action.takeoff()
+    await asyncio.sleep(5)
+
+    # set the manual control input after arming
+    await drone.manual_control.set_manual_control_input(
+        float(0), float(0), float(0.5), float(0)
+    )
+
+    # start manual control
+    print("-- Starting manual control")
+    await drone.manual_control.start_position_control()
+
+    while True:
+        # grabs a random input from the test list
+        # WARNING - your simulation vehicle may crash if its unlucky enough
+        input_index = random.randint(0, len(manual_inputs) - 1)
+        input_list = manual_inputs[input_index]
+
+        # get current state of roll axis (between -1 and 1)
+        roll = float(input_list[0])
+        # get current state of pitch axis (between -1 and 1)
+        pitch = float(input_list[1])
+        # get current state of throttle axis (between -1 and 1, but between 0 and 1 is expected)
+        throttle = float(input_list[2])
+        # get current state of yaw axis (between -1 and 1)
+        yaw = float(input_list[3])
+
+        await drone.manual_control.set_manual_control_input(roll, pitch, throttle, yaw)
+
+        await asyncio.sleep(0.1)
+
+
+if __name__ == "__main__":
+
+    loop = asyncio.get_event_loop()
+    loop.run_until_complete(manual_controls())