Olympe Mavlink working example

[iou]

Hello there.
Can anyone provide a working example of olympe working with mavlink or at least some resources to begin with?

[priols]

Hi there,

I created a file “test.mavlink” that contains a take off, 2 waypoints and a landing:

QGC WPL 120
0   1       3       22      15.000000       0.000000        0.000000        nan     48.878601       2.366549        15.000000       1
1   0       3       16      0.000000        0.000000        0.000000        0.000000        48.879000       2.366549        20.000000       1
2   0       3       16      0.000000        0.000000        0.000000        0.000000        48.879139       2.367296        10.000000        1
3   0       3       21      0.000000        0.000000        0.000000        nan     48.879139       2.367296        0.000000        1

Considering that you have already launched Sphinx and an anafi firmware, you can start a flightplan as follows:

import olympe
from olympe.messages.common.Mavlink import Start
from olympe.messages.common.MavlinkState import (
    MavlinkFilePlayingStateChanged,
    MissionItemExecuted,
)

import requests
import os


drone_ip = "10.202.0.1"

headers = {
    "Accept": "application/json, text/javascript, text/plain */*; q=0.01",
    "X-Requested-With": "XMLHttpRequest",
    "Content-type": "application/json; charset=UTF-8; application/gzip",
}

drone = olympe.Drone(drone_ip)
drone.connect()

# Upload mavlink file
with open("test.mavlink", "rb") as data:
    resp = requests.put(
        url=os.path.join("http://", drone_ip, "api/v1/upload", "flightplan"),
        headers=headers,
        data=data,
    )

# Start flightplan
expectation = drone(
    Start(resp.json(), type="flightPlan")
    >> MissionItemExecuted(idx=0.0)
    >> MissionItemExecuted(idx=1.0)
    >> MissionItemExecuted(idx=2.0)
    >> MissionItemExecuted(idx=3.0)
    >> MavlinkFilePlayingStateChanged(state="stopped")
).wait(_timeout=200)

assert expectation

FlightPlan documentation is available here: GroundSdk FlightPlan Documentation — MAVLink-flightplan 1.2.1 documentation

Olympe/ARSDK messages documentation is available here: Home - Olympe 1.8.0 documentation

Best regards

[iou]

Dear priols
Thank you very much for your example, it gives a very good insight/starting point for the mavlink usage.
Although, I don’t if this is irrelevant can you also use mavlink to get the telemetry data of the drone?

Thanks a lot

[priols]

Hi @iou,

If you are using Sphinx, there are several tools for telemetry recording/visualization. You can take a look here: How to watch flight information — Parrot-Sphinx 1.2.1 documentation

Also some ARSDK messages are telemetry oriented: AltitudeChanged, SpeedChanged…

Example below:

import olympe
from olympe.messages.ardrone3.Piloting import (
    TakeOff,
    Landing)
from olympe.messages.ardrone3.PilotingState import (
    FlyingStateChanged, AltitudeChanged)


drone_ip = "10.202.0.1"


drone = olympe.Drone(drone_ip)
drone.connect()

# Start flightplan
expectation = drone(
    TakeOff()
    >> FlyingStateChanged(state="hovering")
    >> AltitudeChanged(altitude=1.0, _float_tol=(1e-7, 0.2))
    >> Landing()
    >> FlyingStateChanged(state="landed")
).wait(_timeout=20)

assert expectation

[iou]

Dear @priols,

Thank you again for your immideate and very usefull response.
You have been very helpfull
Actually, I was also looking for a real-drone implementation

Best regards