DroneKit-Python is an open-source Python library that allows developers to create powerful drone applications. It provides a high-level API for communication with vehicles over MAVLink, enabling the creation of apps that can control and monitor drones, both on-board companion computers and ground station apps.

Pros

• Easy to use and well-documented API for drone control and monitoring
• Supports both on-board companion computers and ground station applications
• Compatible with a wide range of vehicles using the MAVLink protocol
• Active community and ongoing development

Cons

• Limited to MAVLink-based vehicles, not compatible with all drone types
• Requires some knowledge of drone systems and protocols
• May have performance limitations for high-frequency control loops
• Dependent on the underlying MAVLink implementation

Code Examples

1. Connecting to a vehicle:

from dronekit import connect

# Connect to the Vehicle (in this case a simulator running on the same computer)
vehicle = connect('tcp:127.0.0.1:5760', wait_ready=True)

# Get some vehicle attributes (state)
print(f"GPS: {vehicle.gps_0}")
print(f"Battery: {vehicle.battery}")
print(f"Last Heartbeat: {vehicle.last_heartbeat}")
print(f"Is Armable?: {vehicle.is_armable}")
print(f"System status: {vehicle.system_status.state}")
print(f"Mode: {vehicle.mode.name}")

# Close vehicle object before exiting script
vehicle.close()

2. Arming and taking off:

from dronekit import connect, VehicleMode
import time

vehicle = connect('tcp:127.0.0.1:5760', wait_ready=True)

def arm_and_takeoff(aTargetAltitude):
    print("Basic pre-arm checks")
    while not vehicle.is_armable:
        print(" Waiting for vehicle to initialise...")
        time.sleep(1)
        
    print("Arming motors")
    vehicle.mode = VehicleMode("GUIDED")
    vehicle.armed = True

    while not vehicle.armed:
        print(" Waiting for arming...")
        time.sleep(1)

    print("Taking off!")
    vehicle.simple_takeoff(aTargetAltitude)

    while True:
        print(f" Altitude: {vehicle.location.global_relative_frame.alt}")
        if vehicle.location.global_relative_frame.alt >= aTargetAltitude * 0.95:
            print("Reached target altitude")
            break
        time.sleep(1)

arm_and_takeoff(10)

3. Setting a simple mission:

from dronekit import connect, Command, LocationGlobal
from pymavlink import mavutil

vehicle = connect('tcp:127.0.0.1:5760', wait_ready=True)

cmds = vehicle.commands
cmds.clear()

# Define waypoints
waypoint1 = LocationGlobal(-35.361354, 149.165218, 20)
waypoint2 = LocationGlobal(-35.363244, 149.168801, 20)

# Add takeoff command
cmds.add(Command(0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_TAKEOFF, 0, 0, 0, 0, 0, 0, 0, 0, 10))

# Add waypoint commands
cmds.add(Command(0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, 0, 0, 0, 0, 0, waypoint1.lat, waypoint1.lon, waypoint1.alt))
cmds.add(Command(0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_WAYPOINT,