Merge pull request #595 from arpitpara/main

Do_orbit Example

Author: julianoes

examples/do_orbit.py

@@ -0,0 +1,46 @@
+import asyncio
+from mavsdk import System
+from mavsdk.action import OrbitYawBehavior
+
+
+async def run():
+    drone = System()
+    await drone.connect(system_address="udp://:14540")
+
+    print("Waiting for drone to connect...")
+    async for state in drone.core.connection_state():
+        if state.is_connected:
+            print("Drone discovered!")
+            break
+
+    print("Waiting for drone to have a global position estimate...")
+    async for health in drone.telemetry.health():
+        if health.is_global_position_ok and health.is_home_position_ok:
+            print("-- Global position estimate OK")
+            break
+
+    position = await drone.telemetry.position().__aiter__().__anext__()
+    orbit_height = position.absolute_altitude_m+10
+    yaw_behavior = OrbitYawBehavior.HOLD_FRONT_TO_CIRCLE_CENTER
+
+    print("-- Arming")
+    await drone.action.arm()
+
+    print("--- Taking Off")
+    await drone.action.takeoff()
+    await asyncio.sleep(10)
+
+    print('Do orbit at 10m height from the ground')
+    await drone.action.do_orbit(radius_m=10,
+                                velocity_ms=2,
+                                yaw_behavior=yaw_behavior,
+                                latitude_deg=47.398036222362471,
+                                longitude_deg=8.5450146439425509,
+                                absolute_altitude_m=orbit_height)
+    await asyncio.sleep(60)
+
+    await drone.action.return_to_launch()
+    print("--- Landing")
+
+if __name__ == "__main__":
+    asyncio.run(run())