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Merged
merged 15 commits into from
Sep 9, 2025
Merged

Ruff fixes #786

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5a05cc3
examples: async fixes
julianoes Sep 9, 2025
6dc989f
examples: fix RUF006
julianoes Sep 3, 2025
f1be084
CI: add ruff checks
julianoes Sep 3, 2025
5874239
Update .github/workflows/main.yml
julianoes Sep 4, 2025
bcbc92c
Use pipx
julianoes Sep 4, 2025
7c7ac36
Various improvements
julianoes Sep 4, 2025
b6f80ff
examples: fix unnecessary f-strings
julianoes Sep 4, 2025
8bb56d8
examples: more ruff fixes
julianoes Sep 4, 2025
fce9984
CI: enable all ruff checks
julianoes Sep 4, 2025
e84d87f
CI: add standard set for ruff, examples only
julianoes Sep 5, 2025
0259a11
CI: add codespell check
julianoes Sep 5, 2025
f71029c
CI: check directory, not all files
julianoes Sep 5, 2025
faa08d2
CI: switch from pycodestyle to ruff format
julianoes Sep 9, 2025
c428076
examples: ran ruff format
julianoes Sep 9, 2025
96e1c38
CI: fixup line length
julianoes Sep 9, 2025
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8 changes: 4 additions & 4 deletions .github/workflows/main.yml
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Expand Up @@ -22,13 +22,13 @@ jobs:
fetch-depth: 0

- name: Install pip
run: sudo apt-get install -y python3-pip
run: sudo apt-get install -y python3-pip pipx

- name: Check style
run: |
python3 -m pip install pycodestyle
export PATH=$PATH:$HOME/.local/bin
pycodestyle --max-line-length=100 examples/*
pipx run ruff format --check --line-length=100 examples
pipx run ruff check --select=ASYNC,RUF006,E,F --line-length=100 examples
pipx run codespell .

- name: Install prerequisites
run: |
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2 changes: 1 addition & 1 deletion examples/camera.py
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Expand Up @@ -17,7 +17,7 @@ async def run():
print("Waiting for drone to connect...")
async for state in drone.core.connection_state():
if state.is_connected:
print(f"-- Connected to drone!")
print("-- Connected to drone!")
break

print_mode_task = asyncio.ensure_future(print_mode(drone))
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36 changes: 17 additions & 19 deletions examples/camera_params.py
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Expand Up @@ -24,20 +24,22 @@ async def run():
drone = System()
await drone.connect(system_address="udpin://0.0.0.0:14540")

asyncio.ensure_future(observe_current_settings(drone))
asyncio.ensure_future(observe_camera_mode(drone))
asyncio.ensure_future(observe_possible_setting_options(drone))
_tasks = [
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@cclauss cclauss Sep 5, 2025 •
edited
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It is unusual to assemble these tasks but not await them. Are we certain that they will be run at some point?

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Well, so this code was working fine but ruff complained that the tasks were dangling: https://docs.astral.sh/ruff/rules/asyncio-dangling-task/.

So, the advice was to create a strong reference to the tasks. However, now ruff complains that tasks are assigned but never used. It feels like you can't win.

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@cclauss ?

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@cclauss you need to actually do a read&write conversation, not just write only please.

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@cclauss cclauss Sep 9, 2025 •
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I was wrong... This usage is correct.

>>> import asyncio
>>> async def print_char(char: str) -> None:
...     print(char)
...
>>> async def run(chars: str) -> None:
...     _tasks = [asyncio.create_task(print_char(char)) for char in chars]
...
>>> asyncio.run(run("abcdefg"))
a
b
c
d
e
f
g

asyncio.create_task(observe_current_settings(drone)),
asyncio.create_task(observe_camera_mode(drone)),
asyncio.create_task(observe_possible_setting_options(drone)),
]
Comment on lines +27 to +31
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This syntax would delete tasks as they are completed, as discussed in ruff rule RUF006.

Suggested change
_tasks = [
asyncio.create_task(observe_current_settings(drone)),
asyncio.create_task(observe_camera_mode(drone)),
asyncio.create_task(observe_possible_setting_options(drone)),
]
tasks = {
asyncio.create_task(observe_current_settings(drone)),
asyncio.create_task(observe_camera_mode(drone)),
asyncio.create_task(observe_possible_setting_options(drone)),
}
for task in tasks:
task.add_done_callback(tasks.discard)


while True:
entered_input = await ainput(usage_str)

if entered_input == "p":
print(f"\n=== Current settings ===\n")
print("\n=== Current settings ===\n")
print_current_settings()
elif entered_input == "m":
print(f"\n=== Possible modes ===\n")
print(f"1. PHOTO")
print(f"2. VIDEO")
print("\n=== Possible modes ===\n")
print("1. PHOTO")
print("2. VIDEO")

try:
index_mode = await make_user_choose_camera_mode()
Expand All @@ -54,11 +56,11 @@ async def run():

try:
await drone.camera.set_mode(chosen_mode)
print(f" --> Succeeded")
print(" --> Succeeded")
except CameraError as error:
print(f" --> Failed with code: {error._result.result_str}")
elif entered_input == "s":
print(f"\n=== Possible settings ===\n")
print("\n=== Possible settings ===\n")
print_possible_settings(possible_setting_options)

try:
Expand All @@ -70,10 +72,10 @@ async def run():
selected_setting = possible_setting_options[index_setting - 1]
possible_options = selected_setting.options

print(f"\n=== Available options ===")
print("\n=== Available options ===")
print(f"Setting: {selected_setting.setting_id}")
if not selected_setting.is_range:
print(f"Options:")
print("Options:")
try:
print_possible_options(possible_options)
index_option = await make_user_choose_option(possible_options)
Expand All @@ -94,9 +96,7 @@ async def run():
continue
else:
try:
selected_value = await make_user_choose_option_range(
possible_options
)
selected_value = await make_user_choose_option_range(possible_options)

print(f"Setting {selected_setting.setting_id} to {selected_value}!")
setting = Setting(
Expand All @@ -111,7 +111,7 @@ async def run():

try:
await drone.camera.set_setting(setting)
print(f" --> Succeeded")
print(" --> Succeeded")
except CameraError as error:
print(f" --> Failed with code: {error._result.result_str}")
else:
Expand Down Expand Up @@ -148,7 +148,7 @@ def print_current_settings():


async def make_user_choose_camera_mode():
index_mode_str = await ainput(f"\nWhich mode do you want? [1..2] >>> ")
index_mode_str = await ainput("\nWhich mode do you want? [1..2] >>> ")
index_mode = int(index_mode_str)
if index_mode < 1 or index_mode > 2:
raise ValueError()
Expand Down Expand Up @@ -185,9 +185,7 @@ def print_possible_options(possible_options):

async def make_user_choose_option(possible_options):
n_options = len(possible_options)
index_option_str = await ainput(
f"\nWhich option do you want? [1..{n_options}] >>> "
)
index_option_str = await ainput(f"\nWhich option do you want? [1..{n_options}] >>> ")

index_option = int(index_option_str)
if index_option < 1 or index_option > n_options:
Expand Down
2 changes: 1 addition & 1 deletion examples/failure_injection.py
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Expand Up @@ -13,7 +13,7 @@ async def run():
print("Waiting for drone to connect...")
async for state in drone.core.connection_state():
if state.is_connected:
print(f"-- Connected to drone!")
print("-- Connected to drone!")
break

print("Waiting for drone to have a global position estimate...")
Expand Down
2 changes: 1 addition & 1 deletion examples/firmware_version.py
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Expand Up @@ -15,7 +15,7 @@ async def run():
print("Waiting for drone to connect...")
async for state in drone.core.connection_state():
if state.is_connected:
print(f"-- Connected to drone!")
print("-- Connected to drone!")
break

info = await drone.info.get_version()
Expand Down
4 changes: 2 additions & 2 deletions examples/follow_me_example.py
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Expand Up @@ -4,7 +4,7 @@

import asyncio
from mavsdk import System
from mavsdk.follow_me import Config, FollowMeError, TargetLocation
from mavsdk.follow_me import Config, TargetLocation


follow_height = 8.0 # in meters
Expand Down Expand Up @@ -32,7 +32,7 @@ async def run():
print("Waiting for drone to connect...")
async for state in drone.core.connection_state():
if state.is_connected:
print(f"-- Connected to drone!")
print("-- Connected to drone!")
break

print("Waiting for drone to have a global position estimate...")
Expand Down
2 changes: 1 addition & 1 deletion examples/ftp_download_file.py
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Expand Up @@ -11,7 +11,7 @@ async def run():
print("Waiting for drone to connect...")
async for state in drone.core.connection_state():
if state.is_connected:
print(f"-- Connected to drone!")
print("-- Connected to drone!")
break

async for update in drone.ftp.download(
Expand Down
2 changes: 1 addition & 1 deletion examples/ftp_list_dir.py
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Expand Up @@ -11,7 +11,7 @@ async def run():
print("Waiting for drone to connect...")
async for state in drone.core.connection_state():
if state.is_connected:
print(f"-- Connected to drone!")
print("-- Connected to drone!")
break

print("directory list", await drone.ftp.list_directory("/"))
Expand Down
2 changes: 1 addition & 1 deletion examples/geofence.py
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Expand Up @@ -26,7 +26,7 @@ async def run():
print("Waiting for drone to connect...")
async for state in drone.core.connection_state():
if state.is_connected:
print(f"-- Connected to drone!")
print("-- Connected to drone!")
break

# Fetch the home location coordinates, in order to set a boundary around
Expand Down
4 changes: 1 addition & 3 deletions examples/gimbal.py
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Expand Up @@ -107,9 +107,7 @@ async def run():
# Set the gimbal to track a region of interest (lat, lon, altitude)
# Units are degrees and meters MSL respectively
print("Look at a ROI (region of interest) with gimbal ID", gimbal.gimbal_id)
await drone.gimbal.set_roi_location(
gimbal.gimbal_id, 47.39743832, 8.5463316, 488
)
await drone.gimbal.set_roi_location(gimbal.gimbal_id, 47.39743832, 8.5463316, 488)
await asyncio.sleep(4)

print("Back to forward again with gimbal ID", gimbal.gimbal_id)
Expand Down
2 changes: 1 addition & 1 deletion examples/goto.py
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Expand Up @@ -15,7 +15,7 @@ async def run():
print("Waiting for drone to connect...")
async for state in drone.core.connection_state():
if state.is_connected:
print(f"-- Connected to drone!")
print("-- Connected to drone!")
break

print("Waiting for drone to have a global position estimate...")
Expand Down
6 changes: 3 additions & 3 deletions examples/gripper.py
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Expand Up @@ -11,15 +11,15 @@ async def run():
print("Waiting for drone to connect...")
async for state in drone.core.connection_state():
if state.is_connected:
print(f"-- Connected to drone!")
print("-- Connected to drone!")
break

print(f"-- Gripper Grab")
print("-- Gripper Grab")
await drone.gripper.grab(instance=1)

await asyncio.sleep(1)

print(f"-- Gripper Release")
print("-- Gripper Release")
await drone.gripper.release(instance=1)

while True:
Expand Down
2 changes: 1 addition & 1 deletion examples/highres_imu.py
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Expand Up @@ -23,7 +23,7 @@ async def get_imu_data():
print("Fetching IMU data...")
async for imu in telemetry.imu():
# Print data in HIGHRES_IMU format
print(f"HIGHRES_IMU (105)")
print("HIGHRES_IMU (105)")
print(f"Time (us): {imu.timestamp_us}")
print(f"X Acceleration (m/s^2): {imu.acceleration_frd.forward_m_s2}")
print(f"Y Acceleration (m/s^2): {imu.acceleration_frd.right_m_s2}")
Expand Down
2 changes: 1 addition & 1 deletion examples/logfile_download.py
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Expand Up @@ -12,7 +12,7 @@ async def run():
print("Waiting for drone to connect...")
async for state in drone.core.connection_state():
if state.is_connected:
print(f"-- Connected to drone!")
print("-- Connected to drone!")
break

entries = await get_entries(drone)
Expand Down
10 changes: 3 additions & 7 deletions examples/manual_control.py
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Expand Up @@ -40,7 +40,7 @@ async def manual_controls():
print("Waiting for drone to connect...")
async for state in drone.core.connection_state():
if state.is_connected:
print(f"-- Connected to drone!")
print("-- Connected to drone!")
break

# Checking if Global Position Estimate is ok
Expand All @@ -50,9 +50,7 @@ async def manual_controls():
break

# set the manual control input after arming
await drone.manual_control.set_manual_control_input(
float(0), float(0), float(0.5), float(0)
)
await drone.manual_control.set_manual_control_input(float(0), float(0), float(0.5), float(0))

# Arming the drone
print("-- Arming")
Expand All @@ -64,9 +62,7 @@ async def manual_controls():
await asyncio.sleep(5)

# set the manual control input after arming
await drone.manual_control.set_manual_control_input(
float(0), float(0), float(0.5), float(0)
)
await drone.manual_control.set_manual_control_input(float(0), float(0), float(0.5), float(0))

# start manual control
print("-- Starting manual control")
Expand Down
2 changes: 1 addition & 1 deletion examples/mission.py
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Expand Up @@ -17,7 +17,7 @@ async def run():
print("Waiting for drone to connect...")
async for state in drone.core.connection_state():
if state.is_connected:
print(f"-- Connected to drone!")
print("-- Connected to drone!")
break

print_mission_progress_task = asyncio.ensure_future(print_mission_progress(drone))
Expand Down
8 changes: 2 additions & 6 deletions examples/mission_import.py
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Expand Up @@ -3,7 +3,6 @@
import asyncio

from mavsdk import System
import mavsdk.mission_raw


async def run():
Expand All @@ -13,15 +12,12 @@ async def run():
print("Waiting for drone to connect...")
async for state in drone.core.connection_state():
if state.is_connected:
print(f"-- Connected to drone!")
print("-- Connected to drone!")
break

out = await drone.mission_raw.import_qgroundcontrol_mission("example-mission.plan")

print(
f"{len(out.mission_items)} mission items and"
f"{len(out.rally_items)} rally items imported."
)
print(f"{len(out.mission_items)} mission items and{len(out.rally_items)} rally items imported.")

await drone.mission_raw.upload_mission(out.mission_items)
await drone.mission_raw.upload_rally_points(out.rally_items)
Expand Down
2 changes: 1 addition & 1 deletion examples/offboard_attitude.py
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Expand Up @@ -20,7 +20,7 @@ async def run():
print("Waiting for drone to connect...")
async for state in drone.core.connection_state():
if state.is_connected:
print(f"-- Connected to drone!")
print("-- Connected to drone!")
break

print("Waiting for drone to have a global position estimate...")
Expand Down
49 changes: 23 additions & 26 deletions examples/offboard_from_csv/offboard_from_csv.py
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Expand Up @@ -78,9 +78,11 @@

import asyncio
import csv
import io
import anyio
from mavsdk import System
from mavsdk.offboard import PositionNedYaw, VelocityNedYaw
from mavsdk.offboard import AccelerationNed, OffboardError
from mavsdk.offboard import OffboardError
from mavsdk.telemetry import LandedState


Expand Down Expand Up @@ -143,27 +145,25 @@ async def run():
await drone.action.disarm()
return

waypoints = []

# Read data from the CSV file
with open("active.csv", newline="") as csvfile:
reader = csv.DictReader(csvfile)
for row in reader:
waypoints.append(
(
float(row["t"]),
float(row["px"]),
float(row["py"]),
float(row["pz"]),
float(row["vx"]),
float(row["vy"]),
float(row["vz"]),
float(row["ax"]),
float(row["ay"]),
float(row["az"]),
int(row["mode"]),
)
)
async with await anyio.open_file("active.csv", "r", newline="") as csvfile:
content = await csvfile.read()
waypoints = [
(
float(row["t"]),
float(row["px"]),
float(row["py"]),
float(row["pz"]),
float(row["vx"]),
float(row["vy"]),
float(row["vz"]),
float(row["ax"]),
float(row["ay"]),
float(row["az"]),
int(row["mode"]),
)
for row in csv.DictReader(io.StringIO(content))
]

print("-- Performing trajectory")
total_duration = waypoints[-1][0]
Expand All @@ -178,14 +178,11 @@ async def run():

position = current_waypoint[1:4]
velocity = current_waypoint[4:7]
acceleration = current_waypoint[7:10]
_acceleration = current_waypoint[7:10] # unused
mode_code = current_waypoint[-1]
if last_mode != mode_code:
# Print the mode number and its description
print(
" Mode number: " + f"{mode_code}, "
f"Description: {mode_descriptions[mode_code]}"
)
print(" Mode number: " + f"{mode_code}, Description: {mode_descriptions[mode_code]}")
last_mode = mode_code
# set_position_velocity_acceleration_ned is not yet available
# in the default build for MAVSDK-Python Installation with pip3
Expand Down
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