Help Needed / Drone does not take off using dronekit-python

Dronecode
1

Drone : X500 V2
Flight controller: Pixhawk6c
Firmware: PX4
Python library: dronekit-python
We would like to use dronekit-python to execute takeoff.py shown below. However, the motor starts to rotate, but after that the motor rotation speed does not increase making the drone unable to take off. Do you have any suggestion?
I have one more question. Is any way to make an emergency landing.
Thank you very much.
takeoff.py

#!usr/bin/env python
# -*- coding: utf-8 -*-
print( "dronekitスタート" )   # 開始メッセージ
 
from signal import signal, SIGINT  # Ctrl+C(SIGINT)の送出のために必要
from dronekit import connect       # connectを使いたいのでインポート
from dronekit import VehicleMode   # VehicleModeも使いたいのでインポート
from dronekit import LocationGlobal, LocationGlobalRelative  # ウェイポイント移動に使いたいのでインポート
import time                        # ウェイト関数time.sleepを使うために必要
 
#connection_stringの生成
connection_string = "/dev/ttyACM0,115200"
 
# フライトコントローラ(FC)へ接続
print( "FCへ接続: %s" % (connection_string) )   # 接続設定文字列を表示
vehicle = connect(connection_string, wait_ready=True)   # 接続
 
def arm_and_takeoff(aTargetAltitude):
   """
   Arms vehicle and fly to aTargetAltitude.
   """
 
   #   print("Basic pre-arm checks")
   # Don't try to arm until autopilot is ready
   #   while not vehicle.is_armable:
   #       print(" Waiting for vehicle to initialise...")
   #       time.sleep(1)
 
   print("Arming motors")
   # Copter should arm in GUIDED mode
   vehicle.mode = VehicleMode("POSITION")
   vehicle.armed = True
 
   # Confirm vehicle armed before attempting to take off
   while not vehicle.armed:
       print(" Waiting for arming...")
       time.sleep(1)
 
   print("Taking off!")
   vehicle.simple_takeoff(aTargetAltitude) # Take off to target altitude
 
   # Wait until the vehicle reaches a safe height before processing the goto (otherwise the command
   # after Vehicle.simple_takeoff will execute immediately).
   while True:
       print(" Altitude: ", vehicle.location.global_relative_frame.alt)
       #Break and return from function just below target altitude.
       if vehicle.location.global_relative_frame.alt>=aTargetAltitude*0.95:
           print("Reached target altitude")
           break
       time.sleep(1)
 
#高さ~mまで離陸
arm_and_takeoff(1)
 
#hovering5秒間
time.sleep(5)
 
print("Landing !")
vehicle.mode = VehicleMode("LAND")
 
#FCと接続を閉じる
vehicle.close()
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2

Hey @gtoyac we don’t support DroneKit in PX4, have you looked into MAVSDK-Python?

https://mavsdk.mavlink.io/main/en/python/quickstart.html

1 Like