aerosim-drone 0.1.10

WebSocket drone client for AeroSim

aerosim_drone

Simple WebSocket client for AeroSim Drone.

Installation

pip install aerosim_drone

Usage

from aerosim_drone import Drone

drone = Drone()
drone.connect()
drone.arm()

Drone Class Methods

• arm
• connect
• disconnect
• get_detections
• get_telemetry
• land
• navigate
• navigate_global
• set_altitude
• set_attitude
• set_position
• set_rates
• set_velocity
• set_yaw
• set_yaw_rate
• take_off

Models

• telemetry
• detections

Drone Class Methods

---

arm

Arms the drone
:return: None

Example

from aerosim_drone import Drone

drone = Drone()
drone.arm()

---

connect

No description provided.

Example

from aerosim_drone import Drone

drone = Drone()
drone.connect()

---

Disconnect

No description provided.

Example

from aerosim_drone import Drone

drone = Drone()
drone.disconnect()

---

get_detections

Get current detections

Detections
└── detections: List[GateDetection]
    ├── index: int
    ├── distance: float
    ├── gate: Gate
    │   ├── type: GateType
    │   │   ├── Square (0)
    │   │   ├── Cone (1)
    │   │   ├── EmptySquare (2)
    │   │   └── Arc (3)
    │   └── color: GateColor
    │       ├── Red (0)
    │       └── Green (1)
    └── position: Position
        ├── x: float
        ├── y: float
        └── z: float

Returns: Detections

Example

from aerosim_drone import Drone

drone = Drone()
drone.Connect()
drone.Arm()
detections = drone.get_detections()

---

get_telemetry

Get current telemetry

Telemetry
├── frame_id: str
├── connected: bool
├── armed: bool
├── mode: FlightMode
│   ├── StabilizedManual (0)
│   ├── Acro (1)
│   ├── Rattitude (2)
│   ├── Altctl (3)
│   ├── Posctl (4)
│   ├── Offboard (5)
│   ├── AutoMission (6)
│   ├── AutoRtl (7)
│   └── AutoLand (8)
├── x: float
├── y: float
├── z: float
├── lat: float
├── lon: float
├── alt: float
├── vx: float
├── vy: float
├── vz: float
├── roll: float
├── pitch: float
├── yaw: float
├── roll_rate: float
├── pitch_rate: float
├── yaw_rate: float
├── voltage: float
└── cell_voltage: float

Returns: Telemetry

Example

from aerosim_drone import Drone

drone = Drone()
drone.Connect()
drone.Arm()
telemetry = drone.get_telemetry()

---

land

Lands the drone
:return: None

Example

from aerosim_drone import Drone

drone = Drone()
drone.land()

---

navigate

Fly to the designated point in a straight line.

:param x: Coordinate x
:param y: Coordinate y
:param z:Coordinate z
:param speed: Flight speed (setpoint speed) (m/s)
:param frame_id: Coordinate system for values x, y, z and yaw. Example: map, body, aruco_map. Default value: map.
:param auto_arm: Switch the drone to OFFBOARD and arm automatically (the drone will take off)
:return: None

Parameters

Name	Type	Default
x	float	``
y	float	``
z	float	``
speed	float	``
frame_id	str	map
auto_arm	bool	False

Example

from aerosim_drone import Drone

drone = Drone()
drone.navigate(x, y, z, speed, frame_id, auto_arm)

---

set_yaw

Change the desired yaw angle (and its coordinate system), keeping the previous command in effect.

:param yaw: Yaw angle (radians)
:param frame_id: Coordinate system for computing the yaw. Default value: map.
:return: None

Parameters

Name	Type	Default
yaw	float	``
frame_id	str	map

Example

from aerosim_drone import Drone

drone = Drone()
drone.set_yaw(yaw, frame_id)

---

take_off

Take off drone
:param y: Coordinate y
:return: None

Parameters

Name	Type	Default
y	float	``

Example

from aerosim_drone import Drone

drone = Drone()
drone.take_off(y)

---

Models

---

Telemetry

Telemetry
├── frame_id: str
├── connected: bool
├── armed: bool
├── mode: FlightMode
│   ├── StabilizedManual (0)
│   ├── Acro (1)
│   ├── Rattitude (2)
│   ├── Altctl (3)
│   ├── Posctl (4)
│   ├── Offboard (5)
│   ├── AutoMission (6)
│   ├── AutoRtl (7)
│   └── AutoLand (8)
├── x: float
├── y: float
├── z: float
├── lat: float
├── lon: float
├── alt: float
├── vx: float
├── vy: float
├── vz: float
├── roll: float
├── pitch: float
├── yaw: float
├── roll_rate: float
├── pitch_rate: float
├── yaw_rate: float
├── voltage: float
└── cell_voltage: float

The Telemetry class is a data model designed to store and manage drone state information within the aerosim_drone library.

Data Attributes

System Info

• frame_id (str): Coordinate frame reference identifier.
• connected (bool): True if linked to the flight controller.
• armed (bool): True if motors are active/armed.
• mode (FlightMode): The current flight mode enum member.

Spatial Position & Velocity

• x, y, z (float): Local coordinates (m).
• lat, lon (float): Global WGS84 coordinates (deg).
• alt (float): Altitude (m).
• vx, vy, vz (float): Linear velocity (m/s).

Orientation & Dynamics

• roll, pitch, yaw (float): Orientation in Radians.
• roll_rate, pitch_rate, yaw_rate (float): Angular velocity in Rad/s.

Power Systems

• voltage (float): Main battery voltage (V).
• cell_voltage (float): Average per-cell voltage (V).

FlightMode (Enum)

Defines the operational modes of the flight controller:

Value	Name	Description
0	StabilizedManual	Manual control with self-leveling.
1	Acro	Rate control (no auto-level).
2	Rattitude	Combined rate/attitude control.
3	Altctl	Altitude hold mode.
4	Posctl	Position hold mode (GPS dependent).
5	Offboard	External API/Companion computer control.
6	AutoMission	Automatic waypoint navigation.
7	AutoRtl	Return to Launch.
8	AutoLand	Automated landing.

---

Detections

Detections
└── detections: List[GateDetection]
    ├── index: int
    ├── distance: float
    ├── gate: Gate
    │   ├── type: GateType
    │   │   ├── Square (0)
    │   │   ├── Cone (1)
    │   │   ├── EmptySquare (2)
    │   │   └── Arc (3)
    │   └── color: GateColor
    │       ├── Red (0)
    │       └── Green (1)
    └── position: Position
        ├── x: float
        ├── y: float
        └── z: float

This module defines the data structures for gate detection within the aerosim_drone simulation environment. It handles spatial data, gate classification, and collection of active detections.

Enumerations

GateType

Defines the physical shape of the detected gate.

• Square (0): Standard square racing gate.
• Cone (1): Obstacle or marker cone.
• EmptySquare (2): Hollow square frame.
• Arc (3): Curved/Arc-shaped gate.

GateColor

Defines the visual color of the gate.

• Red (0): Red colored gate.
• Green (1): Green colored gate.

---

Supporting Classes

Position

Represents a 3D coordinate in the world frame.

• Attributes: x, y, z (float, meters).

Gate

Describes the static physical properties of a gate.

• Attributes: type (GateType), color (GateColor).

GateDetection

Represents a specific detection instance in the current frame.

• Attributes:
  • gate (Gate): The physical description.
  • distance (float): Distance from the drone to the gate (m).
  • position (Position): 3D center coordinates.
  • index (int): Gate index relative to the track order.