aerosim-drone 0.1.9

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)

---

navigate_global

Flying in a straight line to a point in the global coordinate system (latitude/longitude).

:param lat: Latitude
:param lon: Longitude
:param z: Altitude (m)
:param yaw: Yaw angle (radians)
: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
lat	float	``
lon	float	``
z	float	``
yaw	float	``
speed	float	``
frame_id	str	map
auto_arm	bool	False

Example

from aerosim_drone import Drone

drone = Drone()
drone.navigate_global(lat, lon, z, yaw, speed, frame_id, auto_arm)

---

set_altitude

Change the desired flight altitude. The service is used to set the altitude and its coordinate system independently, after calling navigate or set_position.

:param z: Altitude
:param frame_id: Coordinate system for values x, y, z and yaw. Example: map, body, aruco_map. Default value: map.
:return: None

Parameters

Name	Type	Default
z	float	``
frame_id	str	map

Example

from aerosim_drone import Drone

drone = Drone()
drone.set_altitude(z, frame_id)

---

set_attitude

Set roll, pitch, yaw and throttle level (similar to the STABILIZED mode). This service may be used for lower level control of the drone behavior, or controlling the drone when no reliable data on its position is available.

:param roll: Requested roll (radians)
:param pitch: Requested pitch (radians)
:param yaw: Requested yaw (radians)
:param thrust: Throttle level, ranges from 0 (no throttle, propellers are stopped) to 1 (full throttle).
: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
roll	float	``
pitch	float	``
yaw	float	``
thrust	float	``
frame_id	str	map
auto_arm	bool	False

Example

from aerosim_drone import Drone

drone = Drone()
drone.set_attitude(roll, pitch, yaw, thrust, frame_id, auto_arm)

---

set_position

Set the setpoint for position and yaw. This service may be used to specify the continuous flow of target points, for example, for flying along complex trajectories (circular, arcuate, etc.).

:param x: Point coordinate x
:param y: Point coordinate y
:param z: Point coordinate z
:param yaw: Yaw angle (radians)
: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	``
yaw	float	``
frame_id	str	map
auto_arm	bool	False

Example

from aerosim_drone import Drone

drone = Drone()
drone.set_position(x, y, z, yaw, frame_id, auto_arm)

---

set_rates

Set roll, pitch, yaw and throttle level (similar to the STABILIZED mode). This service may be used for lower level control of the drone behavior, or controlling the drone when no reliable data on its position is available.

:param roll_rate: Roll rate (rad/s)
:param pitch_rate: Pitch rate (rad/s)
:param yaw_rate: Yaw rate (rad/s)
:param thrust: Throttle level, ranges from 0 (no throttle, propellers are stopped) to 1 (full throttle).
:param auto_arm: Switch the drone to OFFBOARD and arm automatically (the drone will take off)
:return: None

Parameters

Name	Type	Default
roll_rate	float	``
pitch_rate	float	``
yaw_rate	float	``
thrust	float	``
auto_arm	bool	False

Example

from aerosim_drone import Drone

drone = Drone()
drone.set_rates(roll_rate, pitch_rate, yaw_rate, thrust, auto_arm)

---

set_velocity

Set the setpoint for position and yaw. This service may be used to specify the continuous flow of target points, for example, for flying along complex trajectories (circular, arcuate, etc.).

:param vx: Flight speed (m/s) x
:param vy: Flight speed (m/s) y
:param vz: Flight speed (m/s) z
:param yaw: Yaw angle (radians)
: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
vx	float	``
vy	float	``
vz	float	``
yaw	float	``
frame_id	str	map
auto_arm	bool	False

Example

from aerosim_drone import Drone

drone = Drone()
drone.set_velocity(vx, vy, vz, yaw, 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)

---

set_yaw_rate

The the desired angular yaw velocity, keeping the previous command in effect.

:param yaw_rate: Angular yaw velocity (rad/s);
:return: None

Parameters

Name	Type	Default
yaw_rate	float	``
frame_id	str	map

Example

from aerosim_drone import Drone

drone = Drone()
drone.set_yaw_rate(yaw_rate, 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.