Multiple UAVs Data Fetching in SITL

MIRZA_ANAS1 · August 22, 2024, 10:36pm

I have set up the PX4 SITL environment and am trying to retrieve critical flight data from each UAV. For UAV1, I am using [#!/usr/bin/env python3

import asyncio
from mavsdk import System

async def run():
drone = System()
await drone.connect(system_address=“udp://:14540”)

print("Waiting for drone to connect...")
async for state in drone.core.connection_state():
    if state.is_connected:
        print("Drone discovered")
        break

# Start the telemetry tasks
asyncio.ensure_future(print_battery(drone))
asyncio.ensure_future(print_gps_info(drone))
asyncio.ensure_future(print_flight_mode(drone))
asyncio.ensure_future(print_position(drone))
asyncio.ensure_future(print_ground_speed(drone))
asyncio.ensure_future(print_attitude(drone))
asyncio.ensure_future(print_imu_data(drone))
asyncio.ensure_future(print_barometer_data(drone))
asyncio.ensure_future(print_fixedwing_metrics(drone))

while True:
    await asyncio.sleep(2)

async def print_battery(drone):
async for battery in drone.telemetry.battery():
print(f"Battery: {battery.remaining_percent * 100}%")
await asyncio.sleep(2)

async def print_gps_info(drone):
async for gps_info in drone.telemetry.gps_info():
print(f"GPS info: Number of Satellites: {gps_info.num_satellites}, GPS Fix Type: {gps_info.fix_type}")
await asyncio.sleep(2)

async def print_flight_mode(drone):
async for flight_mode in drone.telemetry.flight_mode():
print(f"Flight Mode: {flight_mode}")
await asyncio.sleep(2)

async def print_position(drone):
async for position in drone.telemetry.position():
print(f"Latitude: {position.latitude_deg}, Longitude: {position.longitude_deg}, Altitude: {position.relative_altitude_m}")
await asyncio.sleep(2)

async def print_ground_speed(drone):
async for velocity_ned in drone.telemetry.velocity_ned():
horizontal_speed = (velocity_ned.north_m_s2 + velocity_ned.east_m_s2) ** 0.5
print(f"Ground Speed: {horizontal_speed} m/s, Vertical Speed: {velocity_ned.down_m_s} m/s")
await asyncio.sleep(2)

async def print_attitude(drone):
async for attitude in drone.telemetry.attitude_euler():
print(f"Roll: {attitude.roll_deg}, Pitch: {attitude.pitch_deg}, Yaw: {attitude.yaw_deg}")
await asyncio.sleep(2)

async def print_imu_data(drone):
async for imu in drone.telemetry.imu():
print(f"Acceleration: x={imu.acceleration_frd.forward_m_s2}, y={imu.acceleration_frd.right_m_s2}, z={imu.acceleration_frd.down_m_s2}“)
print(f"Magnetometer: x={imu.magnetic_field_frd.forward_gauss}, y={imu.magnetic_field_frd.right_gauss}, z={imu.magnetic_field_frd.down_gauss}”)
await asyncio.sleep(2)

async def print_barometer_data(drone):
async for pressure in drone.telemetry.scaled_pressure():
print(f"Barometric Pressure: {pressure.absolute_pressure_hpa} hPa")
await asyncio.sleep(2)

async def print_fixedwing_metrics(drone):
async for metrics in drone.telemetry.fixedwing_metrics():
airspeed = metrics.airspeed_m_s
throttle_percentage = metrics.throttle_percentage
climb_rate = metrics.climb_rate_m_s
print(f"Airspeed: {airspeed} m/s, Throttle: {throttle_percentage}%, Climb Rate: {climb_rate} m/s")
await asyncio.sleep(2)

if name == “main”:
asyncio.run(run())], and for UAV2, I am using [#!/usr/bin/env python3

import asyncio
from mavsdk import System

async def run():
drone = System()
await drone.connect(system_address=“udp://:14541”)

print("Waiting for drone to connect...")
async for state in drone.core.connection_state():
    if state.is_connected:
        print("Drone discovered")
        break

# Start the telemetry tasks
asyncio.ensure_future(print_battery(drone))
asyncio.ensure_future(print_gps_info(drone))
asyncio.ensure_future(print_flight_mode(drone))
asyncio.ensure_future(print_position(drone))
asyncio.ensure_future(print_ground_speed(drone))
asyncio.ensure_future(print_attitude(drone))
asyncio.ensure_future(print_imu_data(drone))
asyncio.ensure_future(print_barometer_data(drone))
asyncio.ensure_future(print_fixedwing_metrics(drone))

while True:
    await asyncio.sleep(2)