Mission¶

class mavsdk.mission.Mission(async_plugin_manager)¶

Bases: 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 download_mission_with_progress()¶

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

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

Yields:: progress_data (ProgressDataOrMission) – The progress data, or the mission plan (when the download is finished)
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.

async 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.

async upload_mission_with_progress(mission_plan)¶

Upload a list of mission items to the system and report upload progress.

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
Yields:: progress_data (ProgressData) – The progress data
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, acceptance_radius_m, yaw_deg, camera_photo_distance_m, vehicle_action)¶

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)
acceptance_radius_m (float) – Radius for completing a mission item (in metres)
yaw_deg (float) – Absolute yaw angle (in degrees)
camera_photo_distance_m (float) – Camera photo distance to use after this mission item (in meters)
vehicle_action (VehicleAction) – Vehicle action to trigger at this mission item.

class CameraAction(value)¶

Bases: Enum

Possible camera actions at a mission item.

Values¶

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
START_PHOTO_DISTANCE: Start capturing photos at regular distance
STOP_PHOTO_DISTANCE: Stop capturing photos at regular distance

NONE = 0¶

START_PHOTO_DISTANCE = 6¶

START_PHOTO_INTERVAL = 2¶

START_VIDEO = 4¶

STOP_PHOTO_DISTANCE = 7¶

STOP_PHOTO_INTERVAL = 3¶

STOP_VIDEO = 5¶

TAKE_PHOTO = 1¶

class VehicleAction(value)¶

Bases: Enum

Possible vehicle actions at a mission item

Values¶

NONE: No action
TAKEOFF: Vehicle will takeoff and go to defined waypoint
LAND: When a waypoint is reached vehicle will land at current position
TRANSITION_TO_FW: When a waypoint is reached vehicle will transition to fixed-wing mode
TRANSITION_TO_MC: When a waypoint is reached vehicle will transition to multi-copter mode

LAND = 2¶

NONE = 0¶

TAKEOFF = 1¶

TRANSITION_TO_FW = 3¶

TRANSITION_TO_MC = 4¶

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), if equal to total, the mission is finished
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

Possible results returned for action requests.

Values¶

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
NO_SYSTEM: No system connected
NEXT: Intermediate message showing progress
DENIED: Request denied
PROTOCOL_ERROR: There was a protocol error
INT_MESSAGES_NOT_SUPPORTED: The system does not support the MISSION_INT protocol

BUSY = 4¶

DENIED = 13¶

ERROR = 2¶

INT_MESSAGES_NOT_SUPPORTED = 15¶

INVALID_ARGUMENT = 6¶

NEXT = 12¶

NO_MISSION_AVAILABLE = 8¶

NO_SYSTEM = 11¶

PROTOCOL_ERROR = 14¶

SUCCESS = 1¶

TIMEOUT = 5¶

TOO_MANY_MISSION_ITEMS = 3¶

TRANSFER_CANCELLED = 10¶

UNKNOWN = 0¶

UNSUPPORTED = 7¶

UNSUPPORTED_MISSION_CMD = 9¶

class mavsdk.mission.ProgressData(progress)¶

Bases: object

Progress data coming from mission upload.

Parameters:: progress (float) – Progress (0..1.0)

class mavsdk.mission.ProgressDataOrMission(has_progress, progress, has_mission, mission_plan)¶

Bases: object

Progress data coming from mission download, or the mission itself (if the transfer succeeds).

Parameters:

has_progress (bool) – Whether this ProgressData contains a ‘progress’ status or not
progress (float) – Progress (0..1.0)
has_mission (bool) – Whether this ProgressData contains a ‘mission_plan’ or not
mission_plan (MissionPlan) – Mission plan

Mission¶

Values¶

Values¶

Values¶

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