MultirotorClient
__init__
No description provided!
takeoffAsync
Takeoff vehicle to 3m above ground. Vehicle should not be moving when this API is used. It also clears any prior collision information by calling simGetCollisionInfo()
landAsync
goHomeAsync
Return vehicle to Home i.e. Launch location
cancelLastTask
moveByVelocityBodyFrameAsync
No description provided!
desired velocity in the X axis of the vehicle’s local NED frame.
desired velocity in the Y axis of the vehicle’s local NED frame.
desired velocity in the Z axis of the vehicle’s local NED frame.
Desired amount of time (seconds), to send this command for
drivetrain
yaw_mode
Name of the multirotor to send this command to
moveByVelocityZBodyFrameAsync
No description provided!
desired velocity in the X axis of the vehicle’s local NED frame
desired velocity in the Y axis of the vehicle’s local NED frame
desired Z value (in local NED frame of the vehicle)
Desired amount of time (seconds), to send this command for
drivetrain
yaw_mode
Name of the multirotor to send this command to
moveByAngleZAsync
No description provided!
moveByAngleThrottleAsync
No description provided!
moveByVelocityAsync
No description provided!
desired velocity in world (NED) X axis
desired velocity in world (NED) Y axis
desired velocity in world (NED) Z axis
Desired amount of time (seconds), to send this command for
drivetrain
yaw_mode
Name of the multirotor to send this command to
moveByVelocityZAsync
#todo: add description
moveOnPathAsync
Give a list of 3D points, and the drone will move along that path at the specified velocity
description
description
description. Defaults to 3e38.
description. Defaults to DrivetrainType.MaxDegreeOfFreedom.
description. Defaults to YawMode().
description. Defaults to -1.
description. Defaults to 1.
description. Defaults to "".
moveOnGPSPathAsync
Give a list of LLA geopoints, and the drone will move along that path at the specified velocity
description
description
description. Defaults to 3e38.
description. Defaults to DrivetrainType.MaxDegreeOfFreedom.
description. Defaults to YawMode().
description. Defaults to -1.
description. Defaults to 1.
description. Defaults to "".
moveToPositionAsync
move the drone directly towards to a desired position in the world if possible
description
description
description
description
description. Defaults to 3e38.
description. Defaults to DrivetrainType.MaxDegreeOfFreedom.
description. Defaults to YawMode().
description. Defaults to -1.
description. Defaults to 1.
description. Defaults to "".
moveToGPSAsync
No description provided!
moveToZAsync
No description provided!
moveByManualAsync
-
Read current RC state and use it to control the vehicles.
Parameters sets up the constraints on velocity and minimum altitude while flying. If RC state is detected to violate these constraints then that RC state would be ignored.
max velocity allowed in x direction
max velocity allowed in y direction
max velocity allowed in z direction
min z allowed for vehicle position
after this duration vehicle would switch back to non-manual mode
(DrivetrainType): when ForwardOnly, vehicle rotates itself so that its front is always facing the direction of travel. If MaxDegreeOfFreedom then it doesn’t do that (crab-like movement)
(YawMode): Specifies if vehicle should face at given angle (is_rate=False) or should be rotating around its axis at given rate (is_rate=True)
Name of the multirotor to send this command to
rotateToYawAsync
No description provided!
rotateByYawRateAsync
No description provided!
hoverAsync
No description provided!
moveByRC
No description provided!
moveByMotorPWMsAsync
- Directly control the motors using PWM values
PWM value for the front right motor (between 0.0 to 1.0)
PWM value for the rear left motor (between 0.0 to 1.0)
PWM value for the front left motor (between 0.0 to 1.0)
PWM value for the rear right motor (between 0.0 to 1.0)
Desired amount of time (seconds), to send this command for
Name of the multirotor to send this command to
moveByRollPitchYawZAsync
- z is given in local NED frame of the vehicle.
-
Roll angle, pitch angle, and yaw angle set points are given in radians, in the body frame.
-
The body frame follows the Front Left Up (FLU) convention, and right-handedness.
-
Frame Convention:
- X axis is along the Front direction of the quadrotor.
| Clockwise rotation about this axis defines a positive roll angle. | Hence, rolling with a positive angle is equivalent to translating in the right direction, w.r.t. our FLU body frame.
- Y axis is along the Left direction of the quadrotor.
| Clockwise rotation about this axis defines a positive pitch angle. | Hence, pitching with a positive angle is equivalent to translating in the front direction, w.r.t. our FLU body frame.
- Z axis is along the Up direction.
| Clockwise rotation about this axis defines a positive yaw angle. | Hence, yawing with a positive angle is equivalent to rotated towards the left direction wrt our FLU body frame. Or in an anticlockwise fashion in the body XY / FL plane.
-
Desired roll angle, in radians.
Desired pitch angle, in radians.
Desired yaw angle, in radians.
Desired Z value (in local NED frame of the vehicle)
Desired amount of time (seconds), to send this command for
Name of the multirotor to send this command to
moveByRollPitchYawThrottleAsync
- Desired throttle is between 0.0 to 1.0
-
Roll angle, pitch angle, and yaw angle are given in degrees when using PX4 and in radians when using SimpleFlight, in the body frame.
-
The body frame follows the Front Left Up (FLU) convention, and right-handedness.
-
Frame Convention:
- X axis is along the Front direction of the quadrotor.
| Clockwise rotation about this axis defines a positive roll angle. | Hence, rolling with a positive angle is equivalent to translating in the right direction, w.r.t. our FLU body frame.
- Y axis is along the Left direction of the quadrotor.
| Clockwise rotation about this axis defines a positive pitch angle. | Hence, pitching with a positive angle is equivalent to translating in the front direction, w.r.t. our FLU body frame.
- Z axis is along the Up direction.
| Clockwise rotation about this axis defines a positive yaw angle. | Hence, yawing with a positive angle is equivalent to rotated towards the left direction wrt our FLU body frame. Or in an anticlockwise fashion in the body XY / FL plane.
-
moveByRollPitchYawrateThrottleAsync
- Desired throttle is between 0.0 to 1.0
-
Roll angle, pitch angle, and yaw rate set points are given in radians, in the body frame.
-
The body frame follows the Front Left Up (FLU) convention, and right-handedness.
-
Frame Convention:
- X axis is along the Front direction of the quadrotor.
| Clockwise rotation about this axis defines a positive roll angle. | Hence, rolling with a positive angle is equivalent to translating in the right direction, w.r.t. our FLU body frame.
- Y axis is along the Left direction of the quadrotor.
| Clockwise rotation about this axis defines a positive pitch angle. | Hence, pitching with a positive angle is equivalent to translating in the front direction, w.r.t. our FLU body frame.
- Z axis is along the Up direction.
| Clockwise rotation about this axis defines a positive yaw angle. | Hence, yawing with a positive angle is equivalent to rotated towards the left direction wrt our FLU body frame. Or in an anticlockwise fashion in the body XY / FL plane.
-
Desired roll angle, in radians.
Desired pitch angle, in radians.
Desired yaw rate, in radian per second.
Desired throttle (between 0.0 to 1.0)
Desired amount of time (seconds), to send this command for
Name of the multirotor to send this command to
moveByRollPitchYawrateZAsync
- z is given in local NED frame of the vehicle.
-
Roll angle, pitch angle, and yaw rate set points are given in radians, in the body frame.
-
The body frame follows the Front Left Up (FLU) convention, and right-handedness.
-
Frame Convention:
- X axis is along the Front direction of the quadrotor.
| Clockwise rotation about this axis defines a positive roll angle. | Hence, rolling with a positive angle is equivalent to translating in the right direction, w.r.t. our FLU body frame.
- Y axis is along the Left direction of the quadrotor.
| Clockwise rotation about this axis defines a positive pitch angle. | Hence, pitching with a positive angle is equivalent to translating in the front direction, w.r.t. our FLU body frame.
- Z axis is along the Up direction.
| Clockwise rotation about this axis defines a positive yaw angle. | Hence, yawing with a positive angle is equivalent to rotated towards the left direction wrt our FLU body frame. Or in an anticlockwise fashion in the body XY / FL plane.
-
Desired roll angle, in radians.
Desired pitch angle, in radians.
Desired yaw rate, in radian per second.
Desired Z value (in local NED frame of the vehicle)
Desired amount of time (seconds), to send this command for
Name of the multirotor to send this command to
moveByAngleRatesZAsync
- z is given in local NED frame of the vehicle.
-
Roll rate, pitch rate, and yaw rate set points are given in radians, in the body frame.
-
The body frame follows the Front Left Up (FLU) convention, and right-handedness.
-
Frame Convention:
- X axis is along the Front direction of the quadrotor.
| Clockwise rotation about this axis defines a positive roll angle. | Hence, rolling with a positive angle is equivalent to translating in the right direction, w.r.t. our FLU body frame.
- Y axis is along the Left direction of the quadrotor.
| Clockwise rotation about this axis defines a positive pitch angle. | Hence, pitching with a positive angle is equivalent to translating in the front direction, w.r.t. our FLU body frame.
- Z axis is along the Up direction.
| Clockwise rotation about this axis defines a positive yaw angle. | Hence, yawing with a positive angle is equivalent to rotated towards the left direction wrt our FLU body frame. Or in an anticlockwise fashion in the body XY / FL plane.
-
Desired roll rate, in radians / second
Desired pitch rate, in radians / second
Desired yaw rate, in radians / second
Desired Z value (in local NED frame of the vehicle)
Desired amount of time (seconds), to send this command for
Name of the multirotor to send this command to
moveByAngleRatesThrottleAsync
- Desired throttle is between 0.0 to 1.0
-
Roll rate, pitch rate, and yaw rate set points are given in radians, in the body frame.
-
The body frame follows the Front Left Up (FLU) convention, and right-handedness.
-
Frame Convention:
- X axis is along the Front direction of the quadrotor.
| Clockwise rotation about this axis defines a positive roll angle. | Hence, rolling with a positive angle is equivalent to translating in the right direction, w.r.t. our FLU body frame.
- Y axis is along the Left direction of the quadrotor.
| Clockwise rotation about this axis defines a positive pitch angle. | Hence, pitching with a positive angle is equivalent to translating in the front direction, w.r.t. our FLU body frame.
- Z axis is along the Up direction.
| Clockwise rotation about this axis defines a positive yaw angle. | Hence, yawing with a positive angle is equivalent to rotated towards the left direction wrt our FLU body frame. Or in an anticlockwise fashion in the body XY / FL plane.
-
Desired roll rate, in radians / second
Desired pitch rate, in radians / second
Desired yaw rate, in radians / second
Desired throttle (between 0.0 to 1.0)
Desired amount of time (seconds), to send this command for
Name of the multirotor to send this command to
setNacellesRotation
setAngleRateControllerGains
- Modifying these gains will have an affect on ALL move*() APIs.
This is because any velocity setpoint is converted to an angle level setpoint which is tracked with an angle level controllers.
That angle level setpoint is itself tracked with and angle rate controller.
- This function should only be called if the default angle rate control PID gains need to be modified.
(AngleRateControllerGains): angle_rate_gains
Name of the multirotor to send this command to
setAngleLevelControllerGains
- Sets angle level controller gains (used by any API setting angle references - for ex: moveByRollPitchYawZAsync(), moveByRollPitchYawThrottleAsync(), etc)
- Modifying these gains will also affect the behaviour of moveByVelocityAsync() API. This is because the airgen flight controller will track velocity setpoints by converting them to angle set points.
- This function should only be called if the default angle level control PID gains need to be modified.
- Passing AngleLevelControllerGains() sets gains to default airgen values.
(AngleLevelControllerGains): angle_level_gains
Name of the multirotor to send this command to
setVelocityControllerGains
- Sets velocity controller gains for moveByVelocityAsync().
- This function should only be called if the default velocity control PID gains need to be modified.
- Passing VelocityControllerGains() sets gains to default airgen values.
(VelocityControllerGains): velocity_gains
Name of the multirotor to send this command to
setPositionControllerGains
Sets position controller gains for moveByPositionAsync. This function should only be called if the default position control PID gains need to be modified.
(PositionControllerGains): position_gains
Name of the multirotor to send this command to
getMultirotorState
getRotorStates
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