DroneOS Drone Control

Control drones via drone_control.py. All commands:

bash

cd /home/rodrigo/ws_droneOS && python3 -c "import drone_control; print(drone_control.FUNCTION())"

Prerequisites

Start PX4 SITL first (on srv01 with NVIDIA GPU):

bash

cd ~/PX4-Autopilot
DISPLAY=:0 __NV_PRIME_RENDER_OFFLOAD=1 __GLX_VENDOR_LIBRARY_NAME=nvidia \
__EGL_VENDOR_LIBRARY_FILENAMES=/usr/share/glvnd/egl_vendor.d/10_nvidia.json \
make px4_sitl gz_x500_mono_cam

Docker services (drone_core, rosbridge, etc.) should already be running.

Flight Sequence (Tested Working)

⚠️ CRITICAL: Offboard mode MUST be set BEFORE arming, or drone auto-disarms!

python

drone_control.set_offboard()      # 1. FIRST - enable offboard mode
drone_control.arm()               # 2. Arm motors  
drone_control.set_position(0, 0, -30, 0)  # 3. Fly to 30m (z=-30 = UP)
# ... do stuff ...
drone_control.land()              # 4. Land (auto-descent)

Note: takeoff() is a placeholder — use set_position() for altitude control.

Coordinate System (NED)

•X = North, Y = East, Z = Down
•Altitude is NEGATIVE Z: z=-10 = 10 meters UP

Commands

Function	Description
`get_state()`	Full telemetry (position, battery, mode, warnings)
`set_offboard()`	Enable offboard control mode
`arm()`	Arm motors
`disarm()`	Disarm motors
`takeoff()`	Auto takeoff (placeholder)
`land()`	Land at current position
`return_to_launch()`	RTL to home
`set_position(x, y, z, yaw)`	Go to local position (NED, yaw in radians)
`flight_termination()`	Emergency only — drone falls

Missions

python

# Build waypoints
waypoints = drone_control.build_local_waypoints([
    {"x": 10, "y": 0, "z": -15},
    {"x": 10, "y": 10, "z": -15},
])
drone_control.upload_mission(waypoints)
drone_control.mission_control('START')  # START, PAUSE, RESUME, STOP, CLEAR
drone_control.get_mission_status()

Multi-Drone

python

drone_control.set_drone_name('drone2')  # Switch target
drone_control.get_drone_name()          # Current target

Troubleshooting

•Auto-disarms: Set offboard mode before arming
•Position rejected: Must be in OFFBOARD mode and ARMED
•Connection refused: rosbridge not running (ros2 launch rosbridge_server rosbridge_websocket_launch.py)