• 참고 : http://dronekit.io/

1. 설치

sudo apt-get install python-pip python-dev  
sudo pip install dronekit  

2. 테스트 프로그램(test.py) 작성

# Import DroneKit-Python
from dronekit import connect, VehicleMode

# Connect to the Vehicle.
print"Connecting"
connection_string = '/dev/ttyAMA0'  # 전제조건 : 라즈베리파이와 픽스호크 간에 직렬 연결
vehicle = connect(connection_string, wait_ready=True, baud=921600)

# Get some vehicle attributes (state)
print "Get some vehicle attribute values:"
print " GPS: %s" % vehicle.gps_0
print " Battery: %s" % vehicle.battery
print " Last Heartbeat: %s" % vehicle.last_heartbeat
print " ARMED: %s" % vehicle.is_armable
print " Is Armable?: %s" % vehicle.is_armable
print " System status: %s" % vehicle.system_status.state
print " Mode: %s" % vehicle.mode.name    # settable

저장한 후에 $ python test.py를 실행하여 결과를 확인한다.

3. DroneKit-python 설치

• 참조 : https://dronekit-python.readthedocs.io/en/latest/develop/installation.html

cd $HOME
git clone https://github.com/dronekit/dronekit-python.git
cd ./dronekit-python
sudo python setup.py build
sudo python setup.py install

새로운 예제파일(test-dronekit-python.py)을 생성하고 DroneKit, pymavlink 및 기본 모듈을 가져온다.

Import DroneKit-Python 
from dronekit import connect, Command, LocationGlobal
from pymavlink import mavutil 
import time, sys, argparse, math

# Connect to the Vehicle 
print "Connecting" 
# connection_string = '127.0.0.1:14540'
connection_string = '/dev/ttyAMA0' 
vehicle = connect(connection_string, wait_ready=True, baud=921600)

# Display basic vehicle state 
print " Type: %s" % vehicle._vehicle_type 
print " Armed: %s" % vehicle.armed
print " System status: %s" % vehicle.system_status.state
print " GPS: %s" % vehicle.gps_0 
print " Alt: %s" % vehicle.location.global_relative_frame.alt 

파일을 저장한 후 $ python test-dronekit-python.py를 실행한다.

https://dev.px4.io/v1.9.0/en/robotics/dronekit.html의 내용을 통해 dronekit의 활용 예제를 숙독한다.