MultirotorClient

__init__

MultirotorClient.__init__(ip="", port=41451, timeout_value=3600)

No description provided!

takeoffAsync

MultirotorClient.takeoffAsync(timeout_sec=20, vehicle_name="")

Takeoff vehicle to 3m above ground. Vehicle should not be moving when this API is used. It also clears any prior collision information by calling simGetCollisionInfo()

Arguments

timeout_sec · int, optional

Timeout for the vehicle to reach desired altitude

vehicle_name · str, optional

Name of the vehicle to send this command to

Returns

msgpackrpc.future.Future · msgpackrpc.future.Future

future. call .join() to wait for method to finish.

landAsync

MultirotorClient.landAsync(timeout_sec=60, vehicle_name="")

Land the vehicle

Arguments

timeout_sec · int, optional

Timeout for the vehicle to land

vehicle_name · str, optional

Name of the vehicle to send this command to

Returns

msgpackrpc.future.Future · msgpackrpc.future.Future

future. call .join() to wait for method to finish.

goHomeAsync

MultirotorClient.goHomeAsync(timeout_sec=3e38, vehicle_name="")

Return vehicle to Home i.e. Launch location

Arguments

timeout_sec · int, optional

Timeout for the vehicle to reach desired altitude

vehicle_name · str, optional

Name of the vehicle to send this command to

Returns

msgpackrpc.future.Future · msgpackrpc.future.Future

future. call .join() to wait for method to finish.

cancelLastTask

MultirotorClient.cancelLastTask(vehicle_name="")

Cancel previous Async task

Arguments

vehicle_name · str, optional

Name of the vehicle

moveByVelocityBodyFrameAsync

MultirotorClient.moveByVelocityBodyFrameAsync( vx, vy, vz, duration, drivetrain=DrivetrainType.MaxDegreeOfFreedom, yaw_mode=YawMode(), vehicle_name="", )

No description provided!

Arguments

vx · float

desired velocity in the X axis of the vehicle’s local NED frame.

vy · float

desired velocity in the Y axis of the vehicle’s local NED frame.

vz · float

desired velocity in the Z axis of the vehicle’s local NED frame.

duration · float

Desired amount of time (seconds), to send this command for

drivetrain · DrivetrainType, optional

drivetrain

yaw_mode · YawMode, optional

yaw_mode

vehicle_name · str, optional

Name of the multirotor to send this command to

Returns

msgpackrpc.future.Future · msgpackrpc.future.Future

future. call .join() to wait for method to finish.

moveByVelocityZBodyFrameAsync

MultirotorClient.moveByVelocityZBodyFrameAsync( vx, vy, z, duration, drivetrain=DrivetrainType.MaxDegreeOfFreedom, yaw_mode=YawMode(), vehicle_name="", )

No description provided!

Arguments

vx · float

desired velocity in the X axis of the vehicle’s local NED frame

vy · float

desired velocity in the Y axis of the vehicle’s local NED frame

z · float

desired Z value (in local NED frame of the vehicle)

duration · float

Desired amount of time (seconds), to send this command for

drivetrain · DrivetrainType, optional

drivetrain

yaw_mode · YawMode, optional

yaw_mode

vehicle_name · str, optional

Name of the multirotor to send this command to

Returns

msgpackrpc.future.Future · msgpackrpc.future.Future

future. call .join() to wait for method to finish.

moveByAngleZAsync

MultirotorClient.moveByAngleZAsync(pitch, roll, z, yaw, duration, vehicle_name="")

No description provided!

moveByAngleThrottleAsync

MultirotorClient.moveByAngleThrottleAsync( pitch, roll, throttle, yaw_rate, duration, vehicle_name="" )

No description provided!

moveByVelocityAsync

MultirotorClient.moveByVelocityAsync( vx, vy, vz, duration, drivetrain=DrivetrainType.MaxDegreeOfFreedom, yaw_mode=YawMode(), vehicle_name="", )

No description provided!

Arguments

vx · float

desired velocity in world (NED) X axis

vy · float

desired velocity in world (NED) Y axis

vz · float

desired velocity in world (NED) Z axis

duration · float

Desired amount of time (seconds), to send this command for

drivetrain · DrivetrainType, optional

drivetrain

yaw_mode · YawMode, optional

yaw_mode

vehicle_name · str, optional

Name of the multirotor to send this command to

Returns

msgpackrpc.future.Future · msgpackrpc.future.Future

future. call .join() to wait for method to finish.

moveByVelocityZAsync

MultirotorClient.moveByVelocityZAsync( vx, vy, z, duration, drivetrain=DrivetrainType.MaxDegreeOfFreedom, yaw_mode=YawMode(), vehicle_name="", )

#todo: add description

Arguments

vx · _type_

description

vy · _type_

description

z · _type_

description

duration · _type_

description

drivetrain · _type_, optional

description. Defaults to DrivetrainType.MaxDegreeOfFreedom.

yaw_mode · _type_, optional

description. Defaults to YawMode().

vehicle_name · str, optional

description. Defaults to "".

Returns

_type_ · _type_

description

moveOnPathAsync

MultirotorClient.moveOnPathAsync( path, velocity, timeout_sec=3e38, drivetrain=DrivetrainType.MaxDegreeOfFreedom, yaw_mode=YawMode(), lookahead=-1, adaptive_lookahead=1, orientations=[], vehicle_name="", )

Give a list of 3D points, and the drone will move along that path at the specified velocity

Arguments

path · _type_

description

velocity · _type_

description

timeout_sec · _type_, optional

description. Defaults to 3e38.

drivetrain · _type_, optional

description. Defaults to DrivetrainType.MaxDegreeOfFreedom.

yaw_mode · _type_, optional

description. Defaults to YawMode().

lookahead · int, optional

description. Defaults to -1.

adaptive_lookahead · int, optional

description. Defaults to 1.

vehicle_name · str, optional

description. Defaults to "".

Returns

_type_ · _type_

description

moveOnGPSPathAsync

MultirotorClient.moveOnGPSPathAsync( geopoints, orientations, velocity, timeout_sec=3e38, drivetrain=DrivetrainType.MaxDegreeOfFreedom, yaw_mode=YawMode(), lookahead=-1, adaptive_lookahead=1, vehicle_name="", )

Give a list of LLA geopoints, and the drone will move along that path at the specified velocity

Arguments

path · _type_

description

velocity · _type_

description

timeout_sec · _type_, optional

description. Defaults to 3e38.

drivetrain · _type_, optional

description. Defaults to DrivetrainType.MaxDegreeOfFreedom.

yaw_mode · _type_, optional

description. Defaults to YawMode().

lookahead · int, optional

description. Defaults to -1.

adaptive_lookahead · int, optional

description. Defaults to 1.

vehicle_name · str, optional

description. Defaults to "".

Returns

_type_ · _type_

description

moveToPositionAsync

MultirotorClient.moveToPositionAsync( x, y, z, velocity, timeout_sec=3e38, drivetrain=DrivetrainType.MaxDegreeOfFreedom, yaw_mode=YawMode(), lookahead=-1, adaptive_lookahead=1, vehicle_name="", )

move the drone directly towards to a desired position in the world if possible

Arguments

x · _type_

description

y · _type_

description

z · _type_

description

velocity · _type_

description

timeout_sec · _type_, optional

description. Defaults to 3e38.

drivetrain · _type_, optional

description. Defaults to DrivetrainType.MaxDegreeOfFreedom.

yaw_mode · _type_, optional

description. Defaults to YawMode().

lookahead · int, optional

description. Defaults to -1.

adaptive_lookahead · int, optional

description. Defaults to 1.

vehicle_name · str, optional

description. Defaults to "".

Returns

_type_ · _type_

description

moveToGPSAsync

MultirotorClient.moveToGPSAsync( lla, velocity, timeout_sec=3e38, drivetrain=DrivetrainType.MaxDegreeOfFreedom, yaw_mode=YawMode(), lookahead=-1, adaptive_lookahead=1, vehicle_name="", )

No description provided!

moveToZAsync

MultirotorClient.moveToZAsync( z, velocity, timeout_sec=3e38, yaw_mode=YawMode(), lookahead=-1, adaptive_lookahead=1, vehicle_name="", )

No description provided!

moveByManualAsync

MultirotorClient.moveByManualAsync( vx_max, vy_max, z_min, duration, drivetrain=DrivetrainType.MaxDegreeOfFreedom, yaw_mode=YawMode(), vehicle_name="", )

• Read current RC state and use it to control the vehicles.

  Parameters sets up the constraints on velocity and minimum altitude while flying. If RC state is detected to violate these constraints then that RC state would be ignored.

Arguments

vx_max · float

max velocity allowed in x direction

vy_max · float

max velocity allowed in y direction

vz_max · float

max velocity allowed in z direction

z_min · float

min z allowed for vehicle position

duration · float

after this duration vehicle would switch back to non-manual mode

drivetrain · DrivetrainType

(DrivetrainType): when ForwardOnly, vehicle rotates itself so that its front is always facing the direction of travel. If MaxDegreeOfFreedom then it doesn’t do that (crab-like movement)

yaw_mode · YawMode

(YawMode): Specifies if vehicle should face at given angle (is_rate=False) or should be rotating around its axis at given rate (is_rate=True)

vehicle_name · str, optional

Name of the multirotor to send this command to

Returns

msgpackrpc.future.Future · msgpackrpc.future.Future

future. call .join() to wait for method to finish.

rotateToYawAsync

MultirotorClient.rotateToYawAsync(yaw, timeout_sec=3e38, margin=5, vehicle_name="")

No description provided!

rotateByYawRateAsync

MultirotorClient.rotateByYawRateAsync(yaw_rate, duration, vehicle_name="")

No description provided!

hoverAsync

MultirotorClient.hoverAsync(vehicle_name="")

No description provided!

moveByRC

MultirotorClient.moveByRC(rcdata=RCData(), vehicle_name="")

No description provided!

moveByMotorPWMsAsync

MultirotorClient.moveByMotorPWMsAsync( front_right_pwm, rear_left_pwm, front_left_pwm, rear_right_pwm, duration, vehicle_name="", )

• Directly control the motors using PWM values

Arguments

front_right_pwm · float

PWM value for the front right motor (between 0.0 to 1.0)

rear_left_pwm · float

PWM value for the rear left motor (between 0.0 to 1.0)

front_left_pwm · float

PWM value for the front left motor (between 0.0 to 1.0)

rear_right_pwm · float

PWM value for the rear right motor (between 0.0 to 1.0)

duration · float

Desired amount of time (seconds), to send this command for

vehicle_name · str, optional

Name of the multirotor to send this command to

Returns

msgpackrpc.future.Future · msgpackrpc.future.Future

future. call .join() to wait for method to finish.

moveByRollPitchYawZAsync

MultirotorClient.moveByRollPitchYawZAsync(roll, pitch, yaw, z, duration, vehicle_name="")

• z is given in local NED frame of the vehicle.

  • Roll angle, pitch angle, and yaw angle set points are given in radians, in the body frame.

  • The body frame follows the Front Left Up (FLU) convention, and right-handedness.

  • Frame Convention:

    • X axis is along the Front direction of the quadrotor.

    | Clockwise rotation about this axis defines a positive roll angle. | Hence, rolling with a positive angle is equivalent to translating in the right direction, w.r.t. our FLU body frame.

    • Y axis is along the Left direction of the quadrotor.

    | Clockwise rotation about this axis defines a positive pitch angle. | Hence, pitching with a positive angle is equivalent to translating in the front direction, w.r.t. our FLU body frame.

    • Z axis is along the Up direction.

    | Clockwise rotation about this axis defines a positive yaw angle. | Hence, yawing with a positive angle is equivalent to rotated towards the left direction wrt our FLU body frame. Or in an anticlockwise fashion in the body XY / FL plane.

Arguments

roll · float

Desired roll angle, in radians.

pitch · float

Desired pitch angle, in radians.

yaw · float

Desired yaw angle, in radians.

z · float

Desired Z value (in local NED frame of the vehicle)

duration · float

Desired amount of time (seconds), to send this command for

vehicle_name · str, optional

Name of the multirotor to send this command to

Returns

msgpackrpc.future.Future · msgpackrpc.future.Future

future. call .join() to wait for method to finish.

moveByRollPitchYawThrottleAsync

MultirotorClient.moveByRollPitchYawThrottleAsync( roll, pitch, yaw, throttle, duration, vehicle_name="" )

• Desired throttle is between 0.0 to 1.0

  • Roll angle, pitch angle, and yaw angle are given in degrees when using PX4 and in radians when using SimpleFlight, in the body frame.

  • The body frame follows the Front Left Up (FLU) convention, and right-handedness.

  • Frame Convention:

    • X axis is along the Front direction of the quadrotor.

    | Clockwise rotation about this axis defines a positive roll angle. | Hence, rolling with a positive angle is equivalent to translating in the right direction, w.r.t. our FLU body frame.

    • Y axis is along the Left direction of the quadrotor.

    | Clockwise rotation about this axis defines a positive pitch angle. | Hence, pitching with a positive angle is equivalent to translating in the front direction, w.r.t. our FLU body frame.

    • Z axis is along the Up direction.

    | Clockwise rotation about this axis defines a positive yaw angle. | Hence, yawing with a positive angle is equivalent to rotated towards the left direction wrt our FLU body frame. Or in an anticlockwise fashion in the body XY / FL plane.

Arguments

roll · float

Desired roll angle.

pitch · float

Desired pitch angle.

yaw · float

Desired yaw angle.

throttle · float

Desired throttle (between 0.0 to 1.0)

duration · float

Desired amount of time (seconds), to send this command for

vehicle_name · str, optional

Name of the multirotor to send this command to

Returns

msgpackrpc.future.Future · msgpackrpc.future.Future

future. call .join() to wait for method to finish.

moveByRollPitchYawrateThrottleAsync

MultirotorClient.moveByRollPitchYawrateThrottleAsync( roll, pitch, yaw_rate, throttle, duration, vehicle_name="" )

• Desired throttle is between 0.0 to 1.0

  • Roll angle, pitch angle, and yaw rate set points are given in radians, in the body frame.

  • The body frame follows the Front Left Up (FLU) convention, and right-handedness.

  • Frame Convention:

    • X axis is along the Front direction of the quadrotor.

    | Clockwise rotation about this axis defines a positive roll angle. | Hence, rolling with a positive angle is equivalent to translating in the right direction, w.r.t. our FLU body frame.

    • Y axis is along the Left direction of the quadrotor.

    | Clockwise rotation about this axis defines a positive pitch angle. | Hence, pitching with a positive angle is equivalent to translating in the front direction, w.r.t. our FLU body frame.

    • Z axis is along the Up direction.

    | Clockwise rotation about this axis defines a positive yaw angle. | Hence, yawing with a positive angle is equivalent to rotated towards the left direction wrt our FLU body frame. Or in an anticlockwise fashion in the body XY / FL plane.

Arguments

roll · float

Desired roll angle, in radians.

pitch · float

Desired pitch angle, in radians.

yaw_rate · float

Desired yaw rate, in radian per second.

throttle · float

Desired throttle (between 0.0 to 1.0)

duration · float

Desired amount of time (seconds), to send this command for

vehicle_name · str, optional

Name of the multirotor to send this command to

Returns

msgpackrpc.future.Future · msgpackrpc.future.Future

future. call .join() to wait for method to finish.

moveByRollPitchYawrateZAsync

MultirotorClient.moveByRollPitchYawrateZAsync( roll, pitch, yaw_rate, z, duration, vehicle_name="" )

• z is given in local NED frame of the vehicle.

  • Roll angle, pitch angle, and yaw rate set points are given in radians, in the body frame.

  • The body frame follows the Front Left Up (FLU) convention, and right-handedness.

  • Frame Convention:

    • X axis is along the Front direction of the quadrotor.

    | Clockwise rotation about this axis defines a positive roll angle. | Hence, rolling with a positive angle is equivalent to translating in the right direction, w.r.t. our FLU body frame.

    • Y axis is along the Left direction of the quadrotor.

    | Clockwise rotation about this axis defines a positive pitch angle. | Hence, pitching with a positive angle is equivalent to translating in the front direction, w.r.t. our FLU body frame.

    • Z axis is along the Up direction.

    | Clockwise rotation about this axis defines a positive yaw angle. | Hence, yawing with a positive angle is equivalent to rotated towards the left direction wrt our FLU body frame. Or in an anticlockwise fashion in the body XY / FL plane.

Arguments

roll · float

Desired roll angle, in radians.

pitch · float

Desired pitch angle, in radians.

yaw_rate · float

Desired yaw rate, in radian per second.

z · float

Desired Z value (in local NED frame of the vehicle)

duration · float

Desired amount of time (seconds), to send this command for

vehicle_name · str, optional

Name of the multirotor to send this command to

Returns

msgpackrpc.future.Future · msgpackrpc.future.Future

future. call .join() to wait for method to finish.

moveByAngleRatesZAsync

MultirotorClient.moveByAngleRatesZAsync( roll_rate, pitch_rate, yaw_rate, z, duration, vehicle_name="" )

• z is given in local NED frame of the vehicle.

  • Roll rate, pitch rate, and yaw rate set points are given in radians, in the body frame.

  • The body frame follows the Front Left Up (FLU) convention, and right-handedness.

  • Frame Convention:

    • X axis is along the Front direction of the quadrotor.

    | Clockwise rotation about this axis defines a positive roll angle. | Hence, rolling with a positive angle is equivalent to translating in the right direction, w.r.t. our FLU body frame.

    • Y axis is along the Left direction of the quadrotor.

    | Clockwise rotation about this axis defines a positive pitch angle. | Hence, pitching with a positive angle is equivalent to translating in the front direction, w.r.t. our FLU body frame.

    • Z axis is along the Up direction.

    | Clockwise rotation about this axis defines a positive yaw angle. | Hence, yawing with a positive angle is equivalent to rotated towards the left direction wrt our FLU body frame. Or in an anticlockwise fashion in the body XY / FL plane.

Arguments

roll_rate · float

Desired roll rate, in radians / second

pitch_rate · float

Desired pitch rate, in radians / second

yaw_rate · float

Desired yaw rate, in radians / second

z · float

Desired Z value (in local NED frame of the vehicle)

duration · float

Desired amount of time (seconds), to send this command for

vehicle_name · str, optional

Name of the multirotor to send this command to

Returns

msgpackrpc.future.Future · msgpackrpc.future.Future

future. call .join() to wait for method to finish.

moveByAngleRatesThrottleAsync

MultirotorClient.moveByAngleRatesThrottleAsync( roll_rate, pitch_rate, yaw_rate, throttle, duration, vehicle_name="" )

• Desired throttle is between 0.0 to 1.0

  • Roll rate, pitch rate, and yaw rate set points are given in radians, in the body frame.

  • The body frame follows the Front Left Up (FLU) convention, and right-handedness.

  • Frame Convention:

    • X axis is along the Front direction of the quadrotor.

    | Clockwise rotation about this axis defines a positive roll angle. | Hence, rolling with a positive angle is equivalent to translating in the right direction, w.r.t. our FLU body frame.

    • Y axis is along the Left direction of the quadrotor.

    | Clockwise rotation about this axis defines a positive pitch angle. | Hence, pitching with a positive angle is equivalent to translating in the front direction, w.r.t. our FLU body frame.

    • Z axis is along the Up direction.

    | Clockwise rotation about this axis defines a positive yaw angle. | Hence, yawing with a positive angle is equivalent to rotated towards the left direction wrt our FLU body frame. Or in an anticlockwise fashion in the body XY / FL plane.

Arguments

roll_rate · float

Desired roll rate, in radians / second

pitch_rate · float

Desired pitch rate, in radians / second

yaw_rate · float

Desired yaw rate, in radians / second

throttle · float

Desired throttle (between 0.0 to 1.0)

duration · float

Desired amount of time (seconds), to send this command for

vehicle_name · str, optional

Name of the multirotor to send this command to

Returns

msgpackrpc.future.Future · msgpackrpc.future.Future

future. call .join() to wait for method to finish.

setNacellesRotation

MultirotorClient.setNacellesRotation(pitch, rate, sweep=False, vehicle_name="")

Set the rotation of all the Nacelles

Arguments

pitch · float

Pitch angle in degrees.

rate · float

Speed at which the angles update.

sweep · bool, optional

Whether we sweep to the target rotation, and stopping short of the target if blocked by something.

vehicle_name · str, optional

Vehicle to get the state of.

setAngleRateControllerGains

MultirotorClient.setAngleRateControllerGains( angle_rate_gains=AngleRateControllerGains(), vehicle_name="" )

• Modifying these gains will have an affect on ALL move*() APIs. This is because any velocity setpoint is converted to an angle level setpoint which is tracked with an angle level controllers. That angle level setpoint is itself tracked with and angle rate controller.
  • This function should only be called if the default angle rate control PID gains need to be modified.

Arguments

angle_rate_gains · AngleRateControllerGains

(AngleRateControllerGains): angle_rate_gains

vehicle_name · str, optional

Name of the multirotor to send this command to

setAngleLevelControllerGains

MultirotorClient.setAngleLevelControllerGains( angle_level_gains=AngleLevelControllerGains(), vehicle_name="" )

• Sets angle level controller gains (used by any API setting angle references - for ex: moveByRollPitchYawZAsync(), moveByRollPitchYawThrottleAsync(), etc)
  • Modifying these gains will also affect the behaviour of moveByVelocityAsync() API. This is because the airgen flight controller will track velocity setpoints by converting them to angle set points.
  • This function should only be called if the default angle level control PID gains need to be modified.
  • Passing AngleLevelControllerGains() sets gains to default airgen values.

Arguments

angle_level_gains · AngleLevelControllerGains

(AngleLevelControllerGains): angle_level_gains

vehicle_name · str, optional

Name of the multirotor to send this command to

setVelocityControllerGains

MultirotorClient.setVelocityControllerGains( velocity_gains=VelocityControllerGains(), vehicle_name="" )

• Sets velocity controller gains for moveByVelocityAsync().
  • This function should only be called if the default velocity control PID gains need to be modified.
  • Passing VelocityControllerGains() sets gains to default airgen values.

Arguments

velocity_gains · VelocityControllerGains

(VelocityControllerGains): velocity_gains

vehicle_name · str, optional

Name of the multirotor to send this command to

setPositionControllerGains

MultirotorClient.setPositionControllerGains( position_gains=PositionControllerGains(), vehicle_name="" )

Sets position controller gains for moveByPositionAsync. This function should only be called if the default position control PID gains need to be modified.

Arguments

position_gains · PositionControllerGains

(PositionControllerGains): position_gains

vehicle_name · str, optional

Name of the multirotor to send this command to

getMultirotorState

MultirotorClient.getMultirotorState(vehicle_name="")

The position inside the returned MultirotorState is in the frame of the vehicle’s starting point

Arguments

vehicle_name · str, optional

Vehicle to get the state of

Returns

MultirotorState · MultirotorState

MultirotorState

getRotorStates

MultirotorClient.getRotorStates(vehicle_name="")

Used to obtain the current state of all a multirotor’s rotors. The state includes the speeds, thrusts and torques for all rotors.

Arguments

vehicle_name · str, optional

Vehicle to get the rotor state of

Returns

RotorStates · RotorStates

Containing a timestamp and the speed, thrust and torque of all rotors.