Mission

class mavsdk.mission.Mission(async_plugin_manager)

Bases: mavsdk._base.AsyncBase

Enable waypoint missions.

Generated by dcsdkgen - MAVSDK Mission API

async cancel_mission_download()

Cancel an ongoing mission download.

Raises

MissionError – If the request fails. The error contains the reason for the failure.

async cancel_mission_upload()

Cancel an ongoing mission upload.

Raises

MissionError – If the request fails. The error contains the reason for the failure.

async clear_mission()

Clear the mission saved on the vehicle.

Raises

MissionError – If the request fails. The error contains the reason for the failure.

async download_mission()

Download a list of mission items from the system (asynchronous).

Will fail if any of the downloaded mission items are not supported by the MAVSDK API.

Returns

mission_plan – The mission plan

Return type

MissionPlan

Raises

MissionError – If the request fails. The error contains the reason for the failure.

async get_return_to_launch_after_mission()

Get whether to trigger Return-to-Launch (RTL) after mission is complete.

Before getting this option, it needs to be set, or a mission needs to be downloaded.

Returns

enable – If true, trigger an RTL at the end of the mission

Return type

bool

Raises

MissionError – If the request fails. The error contains the reason for the failure.

async is_mission_finished()

Check if the mission has been finished.

Returns

is_finished – True if the mission is finished and the last mission item has been reached

Return type

bool

Raises

MissionError – If the request fails. The error contains the reason for the failure.

mission_progress()

Subscribe to mission progress updates.

Yields

mission_progress (MissionProgress) – Mission progress

name = 'Mission'
async pause_mission()

Pause the mission.

Pausing the mission puts the vehicle into [HOLD mode](https://docs.px4.io/en/flight_modes/hold.html). A multicopter should just hover at the spot while a fixedwing vehicle should loiter around the location where it paused.

Raises

MissionError – If the request fails. The error contains the reason for the failure.

async set_current_mission_item(index)

Sets the mission item index to go to.

By setting the current index to 0, the mission is restarted from the beginning. If it is set to a specific index of a mission item, the mission will be set to this item.

Note that this is not necessarily true for general missions using MAVLink if loop counters are used.

Parameters

index (int32_t) – Index of the mission item to be set as the next one (0-based)

Raises

MissionError – If the request fails. The error contains the reason for the failure.

async set_return_to_launch_after_mission(enable)

Set whether to trigger Return-to-Launch (RTL) after the mission is complete.

This will only take effect for the next mission upload, meaning that the mission may have to be uploaded again.

Parameters

enable (bool) – If true, trigger an RTL at the end of the mission

Raises

MissionError – If the request fails. The error contains the reason for the failure.

async start_mission()

Start the mission.

A mission must be uploaded to the vehicle before this can be called.

Raises

MissionError – If the request fails. The error contains the reason for the failure.

async upload_mission(mission_plan)

Upload a list of mission items to the system.

The mission items are uploaded to a drone. Once uploaded the mission can be started and executed even if the connection is lost.

Parameters

mission_plan (MissionPlan) – The mission plan

Raises

MissionError – If the request fails. The error contains the reason for the failure.

exception mavsdk.mission.MissionError(result, origin, *params)

Bases: Exception

Raised when a MissionResult is a fail code

class mavsdk.mission.MissionItem(latitude_deg, longitude_deg, relative_altitude_m, speed_m_s, is_fly_through, gimbal_pitch_deg, gimbal_yaw_deg, camera_action, loiter_time_s, camera_photo_interval_s)

Bases: object

Type representing a mission item.

A MissionItem can contain a position and/or actions. Mission items are building blocks to assemble a mission, which can be sent to (or received from) a system. They cannot be used independently.

Parameters

  • latitude_deg (double) – Latitude in degrees (range: -90 to +90)

  • longitude_deg (double) – Longitude in degrees (range: -180 to +180)

  • relative_altitude_m (float) – Altitude relative to takeoff altitude in metres

  • speed_m_s (float) – Speed to use after this mission item (in metres/second)

  • is_fly_through (bool) – True will make the drone fly through without stopping, while false will make the drone stop on the waypoint

  • gimbal_pitch_deg (float) – Gimbal pitch (in degrees)

  • gimbal_yaw_deg (float) – Gimbal yaw (in degrees)

  • camera_action (CameraAction) – Camera action to trigger at this mission item

  • loiter_time_s (float) – Loiter time (in seconds)

  • camera_photo_interval_s (double) – Camera photo interval to use after this mission item (in seconds)

class CameraAction(value)

Bases: enum.Enum

Possible camera actions at a mission item.

NONE

No action

TAKE_PHOTO

Take a single photo

START_PHOTO_INTERVAL

Start capturing photos at regular intervals

STOP_PHOTO_INTERVAL

Stop capturing photos at regular intervals

START_VIDEO

Start capturing video

STOP_VIDEO

Stop capturing video

NONE = 0
START_PHOTO_INTERVAL = 2
START_VIDEO = 4
STOP_PHOTO_INTERVAL = 3
STOP_VIDEO = 5
TAKE_PHOTO = 1
class mavsdk.mission.MissionPlan(mission_items)

Bases: object

Mission plan type

Parameters

mission_items ([MissionItem]) – The mission items

class mavsdk.mission.MissionProgress(current, total)

Bases: object

Mission progress type.

Parameters

  • current (int32_t) – Current mission item index (0-based)

  • total (int32_t) – Total number of mission items

class mavsdk.mission.MissionResult(result, result_str)

Bases: object

Result type.

Parameters

  • result (Result) – Result enum value

  • result_str (std::string) – Human-readable English string describing the result

class Result(value)

Bases: enum.Enum

Possible results returned for action requests.

UNKNOWN

Unknown result

SUCCESS

Request succeeded

ERROR

Error

TOO_MANY_MISSION_ITEMS

Too many mission items in the mission

BUSY

Vehicle is busy

TIMEOUT

Request timed out

INVALID_ARGUMENT

Invalid argument

UNSUPPORTED

Mission downloaded from the system is not supported

NO_MISSION_AVAILABLE

No mission available on the system

UNSUPPORTED_MISSION_CMD

Unsupported mission command

TRANSFER_CANCELLED

Mission transfer (upload or download) has been cancelled

BUSY = 4
ERROR = 2
INVALID_ARGUMENT = 6
NO_MISSION_AVAILABLE = 8
SUCCESS = 1
TIMEOUT = 5
TOO_MANY_MISSION_ITEMS = 3
TRANSFER_CANCELLED = 10
UNKNOWN = 0
UNSUPPORTED = 7
UNSUPPORTED_MISSION_CMD = 9