Sending auto mode wp in python script.

I am looking for documentation for exposed classes and functions for use in Mission Planner when running python scripts. I have found http://copter.ardupilot.com/wiki/common-other-mission-planner-features/common-using-python-scripts-in-mission-planner/, but it seems it does not include everything I need.

What I am looking for is a way to plan a mission fully by sending all the necessary information (takeoff, wp, loiter, rtl, land) then setting the pixhawk to auto mode.

I found http://diydrones.com/forum/topics/how-to-python-script-a-time-based-flight-plan?commentId=705844%3AComment%3A1527329. Which uses Guided mode. While this is very similar to what I need to do, my understanding is Guided mode requires a constant telemetry link. One of the constraints of the project I am working on requires a travel distance which could be out of the range of the telemetry link.

Thanks for any info.

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James Tate March 14, 2015 at 12:05am

Does anyone have any input on this?
- IO > James Tate June 27, 2015 at 1:56pm
  
  What you wrote will not work. Do you still need any help with this?
  - James Tate > IO June 27, 2015 at 6:22pm
    
    I decided to go a different direction. However, I would like to hear any input you might have.
James Tate March 11, 2015 at 5:32pm

So I think something like this might work, any feedback? I have a script written and it seems to accept the commands, but when I try to download them it does not look like it stored them.

MAV.doCommand(MAVLink.MAV_CMD.TAKEOFF, 0, 0, 0, 0, 0, 0, alt)
MAV.doCommand(MAVLink.MAV_CMD.WAYPOINT, 0, 0, 0, 0, lat, long, alt)

print 'preparing to start mission'

Script.ChangeMode("Auto")
MAV.doARM(True);

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Sending auto mode wp in python script.

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