albatros-uav 0.16.0

The tool for managing unmanned aerial vehicles missions.

Albatros UAV

A python library that provides high-level functions for UAVs based on MAVLink. It allows to easily handle communication with the flight controller to create friendly mission management systems.

Supported functionalities

Plane:

• arming vehicle,
• setting flight mode,
• setting servos positions,
• flying in GUIDED mode,
• uploading mission and flying in AUTO mode,
• param protocol.

Copter:

• arming vehicle,
• setting flight mode,
• setting servos positions,
• flying in GUIDED mode,
• param protocol,
• precision landing,
• uploading mission and flying in AUTO mode.

Access to UAV telemetry via UAV.data

Supported MAVLink telemetry messages

• Attitude
• GlobalPositionInt
• GPSRawInt
• GPSStatus
• Heartbeat
• CommandACK
• MissionACK
• MissionRequestInt
• RadioStatus
• RcChannelsRaw
• ServoOutputRaw
• SysStatus
• MissionItemReached
• ParamValue
• PositionTargetLocalNED
• HomePosition
• LocalPositionNED
• NavControllerOutput

Examples

Creating connection

from albatros import Plane, ConnectionType
from albatros.telem import ComponentAddress

# SITL connection is default
plane = Plane()

# Direct connection to the flight controller
plane = Plane(device="/dev/tty/USB0/", baud_rate=57600)

# You can also specify the ID of the vehicle you want to connect to and the ID of your system
# read more about MAVLink Routing in ArduPilot: https://ardupilot.org/dev/docs/mavlink-routing-in-ardupilot.html
plane_addr = ComponentAddress(system_id=1, component_id=1)
gcs_addr = ComponentAddress(system_id=255, component_id=1)
plane = Plane(uav_addr=plane_addr, my_addr=gcs_addr)

Arming vehicle (SITL simulation)

$ python -m examples.arming_vehicle

from albatros import UAV

vehicle = UAV()

while not vehicle.arm():
    print("Waiting vehicle to arm")
print("Vehicle armed")

if not vehicle.disarm():
    print("Disarm vehicle failed")
print("Vehicle disarmed")