How to python script a time-based flight plan

Based on what I've discovered so far in my search for an answer (most pertinently here & here), it appears the only commands that can be scripted in python for Mission Planner to execute are:

Script.ChangeParam(name, value)
Script.GetParam(name)
Script.ChangeMode(name) # i.e., mode = RTL
Script.WaitFor(string, timeout) # unsure what this command does
Script.RC(channel, PWM, sendnow) # automates emulated RC transmissions?

However, MAVProxy is written & executed in python and can accomplish a whole lot more... Also, if I understand correctly, during execution of an established flight plan, Mission Planner automates sending the next command to the UAV based on the telemetry received... (i.e., Mission Planner sends the next command in the established flight plan after the telemetry received indicates the UAV has completed the current command, e.g., it doesn't tell the UAV to go to waypoint 2 until it has reached waypoint 1).

So, my question is:

Is there a way to script a flight plan in Python that executes commands based on TIME instead of telemetry???

[i.e., What are the python scripting commands/functions to command the UAV "go to waypoint 1, sleep(30), go to waypoint 2, sleep(30), LOITER, sleep(30), go to waypoint 4, toggle servo 8, RTL" without caring if the UAV actually ever made it to the waypoint before following the next command]

(based on the comment from Mission Planner's creator here, I would think this is possible, but I need a list of all possible commands to send with the corresponding Python syntax.)

Nevermind... thanks to JakobSt, I developed a working time-based script.

Here's the script that worked for me in using ArduPlane (which should work for ArduCopter too):

import sys
import clr
import time
import MissionPlanner #import *
clr.AddReference("MissionPlanner.Utilities") # includes the Utilities class
time.sleep(10) # wait 10 seconds before starting
print 'Starting Mission'
Script.ChangeMode("Guided") # changes mode to "Guided"
print 'Guided Mode'
item = MissionPlanner.Utilities.Locationwp() # creating waypoint
lat = 39.343674 # Latitude value
lng = -86.029741 # Longitude value
alt = 45.720000 # altitude value
MissionPlanner.Utilities.Locationwp.lat.SetValue(item,lat) # sets latitude
MissionPlanner.Utilities.Locationwp.lng.SetValue(item,lng) # sets longitude
MissionPlanner.Utilities.Locationwp.alt.SetValue(item,alt) # sets altitude
print 'WP 1 set'
MAV.setGuidedModeWP(item) # tells UAV "go to" the set lat/long @ alt
print 'Going to WP 1'
time.sleep(10) # wait 10 seconds
print 'Ready for next WP'
lat = 39.345358
lng = -86.029054
alt = 76.199999
MissionPlanner.Utilities.Locationwp.lat.SetValue(item,lat)
MissionPlanner.Utilities.Locationwp.lng.SetValue(item,lng)
MissionPlanner.Utilities.Locationwp.alt.SetValue(item,alt)
print 'WP 2 set'
MAV.setGuidedModeWP(item)
print 'Going to WP 2'
time.sleep(10)
print 'Ready for next WP'
lat = 39.342106
lng = -86.031371
alt = 53.340000
MissionPlanner.Utilities.Locationwp.lat.SetValue(item,lat)
MissionPlanner.Utilities.Locationwp.lng.SetValue(item,lng)
MissionPlanner.Utilities.Locationwp.alt.SetValue(item,alt)
print 'WP 3 set'
MAV.setGuidedModeWP(item)
print 'Going to WP 3'
time.sleep(10)
print 'Ready for next WP'
lat = 39.343540
lng = -86.028732
alt = 53.199999
MissionPlanner.Utilities.Locationwp.lat.SetValue(item,lat)
MissionPlanner.Utilities.Locationwp.lng.SetValue(item,lng)
MissionPlanner.Utilities.Locationwp.alt.SetValue(item,alt)
print 'WP 4 set'
MAV.setGuidedModeWP(item)
print 'Going to WP 4'
time.sleep(10)
print 'Mission Complete'
#MAV.setMode(RETURN_TO_LAUNCH)
Script.ChangeMode("RTL") # Return to Launch point
print 'Returning to Launch'
time.sleep(10)
Script.ChangeMode("LOITER") # switch to "LOITER" mode
print 'LOITERING'

Note: this is a TIME-based script... it will guide the UAV to the next waypoint after waiting a specified amount of time. One would have to replace the "time.sleep(10)" lines with "Script.WaitFor('ARMING MOTORS',30000)" [and replace 'ARMING MOTORS' with whatever notification Mission Planner usually provides upon arriving to a waypoint] to replicate the mission plan creation (i.e., go to next waypoint after arriving at previous waypoint).

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RIJUN RK July 11, 2017 at 9:59pm

Sir, can you share the scripts for throttle raise, stabilizing, roll, pitch, yaw, land and disarm?

you can contact me on my email id

rijunk1995@gmail.com

i'm doing my project on pixhawk and i need help to land my arduplane automatically.

VENKAT RAVI KISHORE said:

Today I tested it and got the positive result. I mounted APM2.5 on a quad-copter and I connected it with Mission Planner via telemetry link. Before flying I developed codes for Arming motors, throttle raise, stabilizing, roll, pitch, yaw, land and disarm. I successfully run all those developed scripts of python and I completed preliminary tests. My next target is to test it for RTL, loiter, Guided modes.

Thanks for your great support.
Joe Sanford February 18, 2016 at 8:25pm

I have made progress on my project learning from your script. Thanks.

My challenge now is to over fly the waypoint without going into loiter or to begin loiter on the far side of the loiter radius allowing at least an initial overflight of the waypoint.

Any ideas.
Joe M January 12, 2014 at 8:38pm

Nevermind... thanks to JakobSt, I developed a working time-based script.

Here's the script that worked for me in using ArduPlane (which should work for ArduCopter too):

import sys
import clr
import time
import MissionPlanner #import *
clr.AddReference("MissionPlanner.Utilities") # includes the Utilities class
time.sleep(10) # wait 10 seconds before starting
print 'Starting Mission'
Script.ChangeMode("Guided") # changes mode to "Guided"
print 'Guided Mode'
item = MissionPlanner.Utilities.Locationwp() # creating waypoint
lat = 39.343674 # Latitude value
lng = -86.029741 # Longitude value
alt = 45.720000 # altitude value
MissionPlanner.Utilities.Locationwp.lat.SetValue(item,lat) # sets latitude
MissionPlanner.Utilities.Locationwp.lng.SetValue(item,lng) # sets longitude
MissionPlanner.Utilities.Locationwp.alt.SetValue(item,alt) # sets altitude
print 'WP 1 set'
MAV.setGuidedModeWP(item) # tells UAV "go to" the set lat/long @ alt
print 'Going to WP 1'
time.sleep(10) # wait 10 seconds
print 'Ready for next WP'
lat = 39.345358
lng = -86.029054
alt = 76.199999
MissionPlanner.Utilities.Locationwp.lat.SetValue(item,lat)
MissionPlanner.Utilities.Locationwp.lng.SetValue(item,lng)
MissionPlanner.Utilities.Locationwp.alt.SetValue(item,alt)
print 'WP 2 set'
MAV.setGuidedModeWP(item)
print 'Going to WP 2'
time.sleep(10)
print 'Ready for next WP'
lat = 39.342106
lng = -86.031371
alt = 53.340000
MissionPlanner.Utilities.Locationwp.lat.SetValue(item,lat)
MissionPlanner.Utilities.Locationwp.lng.SetValue(item,lng)
MissionPlanner.Utilities.Locationwp.alt.SetValue(item,alt)
print 'WP 3 set'
MAV.setGuidedModeWP(item)
print 'Going to WP 3'
time.sleep(10)
print 'Ready for next WP'
lat = 39.343540
lng = -86.028732
alt = 53.199999
MissionPlanner.Utilities.Locationwp.lat.SetValue(item,lat)
MissionPlanner.Utilities.Locationwp.lng.SetValue(item,lng)
MissionPlanner.Utilities.Locationwp.alt.SetValue(item,alt)
print 'WP 4 set'
MAV.setGuidedModeWP(item)
print 'Going to WP 4'
time.sleep(10)
print 'Mission Complete'
#MAV.setMode(RETURN_TO_LAUNCH)
Script.ChangeMode("RTL") # Return to Launch point
print 'Returning to Launch'
time.sleep(10)
Script.ChangeMode("LOITER") # switch to "LOITER" mode
print 'LOITERING'

Note: this is a TIME-based script... it will guide the UAV to the next waypoint after waiting a specified amount of time. One would have to replace the "time.sleep(10)" lines with "Script.WaitFor('ARMING MOTORS',30000)" [and replace 'ARMING MOTORS' with whatever notification Mission Planner usually provides upon arriving to a waypoint] to replicate the mission plan creation (i.e., go to next waypoint after arriving at previous waypoint).

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