Missions¶

Mission¶

An ardupilot mission.

class MAVez.mission.Mission(controller, type=0)¶

Bases: object

Represents a mission for ardupilot.

Parameters:

controller (Controller) – The controller instance to send the mission through.
type (int) – The type of the mission, default is 0 (waypoint mission).

Returns:

An instance of the Mission class.

Return type:

Mission

MISSION_SEND_TIMEOUT = 20¶

TIMEOUT_ERROR = 101¶

add_mission_item(mission_item)¶

Add a mission item to the mission.

Parameters:: mission_item (MissionItem) – The mission item to add.
Returns:: 0 if the mission item was added successfully.
Return type:: int

async clear_mission()¶

Clear the mission from the vehicle.

Returns:: 0 if the mission was cleared successfully, or an error code if there was an error.
Return type:: int

decode_error(error_code)¶

Decode an error code into a human-readable string.

Parameters:: error_code (int) – The error code to decode.
Returns:: A human-readable string describing the error.
Return type:: str

classmethod from_file(controller, filepath, type=0)¶

Create a Mission object directly from a QGC WPL 110 file.

Returns:: The created mission object or None if file loading failed
Return type:: Optional[Mission]

load_mission_from_file(filename, start=0, end=-1, first_seq=-1, overwrite=True)¶

Load a QGC WPL 110 mission from a file. For details on the file format, see: https://mavlink.io/en/file_formats/

Parameters:

filename (Path) – The path to the file containing the mission.
start (int) – The line number to start loading from, default is 0.
end (int) – The line number to stop loading at, default is -1 (load to the end).
first_seq (int) – The sequence number to start from, default is -1 (use the sequence number from the file).
overwrite (bool) – Whether to overwrite the existing mission items, default is True.

Returns:

0 if the mission was loaded successfully, or an error code if there was an error.

Return type:

int

save_mission_to_file(filename)¶

Save the mission to a file in QGC WPL 110 format. For details on the file format, see: https://mavlink.io/en/file_formats/

Parameters:: filename (str) – The path to the file to save the mission to.
Returns:: 0 if the mission was saved successfully.
Return type:: int

async send_mission(reset=True)¶

Send the mission to ardupilot.

Parameters:: reset (bool) – Whether to reset the mission index to 0 after sending the mission, default is True.
Returns:: 0 if the mission was sent successfully, or an error code if there was an error.
Return type:: int

MAVez.mission.get_mission_length(filepath, logger=None)¶

Utility function to get the number of mission items in a mission file.

Parameters:

filepath (str) – Path to mission file
logger (Logger | None) – logging. Defaults to None

Returns:

Number of items in the mission, or -1 if file was not found

Return type:

int

async MAVez.mission.is_mission_completed(msg, mission_length, logger=None)¶

Wait for the mission to complete by monitoring the current mission index.

Parameters:

msg (Message) – The UAS Messenger message containing the mission item reached
mission_length (int) – Total number of mission items.
logger (Logger | None) – logging. Defaults to None

Returns:

True if mission is completed, false otherwise

Return type:

bool

Mission Item¶

An ardupilot mission item.

class MAVez.mission_item.MissionItem(seq, frame, command, current, auto_continue, coordinate, type=0, param1=0, param2=0, param3=0, param4=0)¶

Bases: object

Represents a mission item for ardupilot.

Parameters:

seq (int) – Sequence number of the mission item.
frame (int) – Frame of reference for the mission item.
command (int) – Command to be executed.
current (int) – Whether this is the current mission item.
auto_continue (int) – Whether to automatically continue to the next item.
coordinate (Coordinate) – The coordinate for the mission item.
type (int) – Type of the mission item, default is 0.
param1 (float) – Parameter 1 for the command, default is 0.
param2 (float) – Parameter 2 for the command, default is 0.
param3 (float) – Parameter 3 for the command, default is 0.
param4 (float) – Parameter 4 for the command, default is 0.

Returns:

An instance of the Mission_Item class.

Return type:

Mission_Item

property message¶

The MAVLink message for the mission item.

Returns:: The MAVLink message for the mission item.
Return type:: mavutil.mavlink.MAVLink_mission_item_int_message