How to Create Waypoint Mission Using DroneKit Python

To create a waypoint mission using DroneKit Python, you connect to the drone, define waypoints as LocationGlobalRelative objects, add them to a CommandSequence, upload the mission, and then start the mission by changing the drone's mode to AUTO. This process lets the drone fly through the specified GPS points automatically.

Syntax

Here is the basic syntax to create and upload a waypoint mission using DroneKit Python:

• connect(): Connect to the drone.
• CommandSequence(): Create a list to hold mission commands.
• LocationGlobalRelative(lat, lon, alt): Define each waypoint with latitude, longitude, and altitude.
• add(): Add waypoint commands to the mission list.
• vehicle.commands.upload(): Upload the mission to the drone.
• vehicle.mode = VehicleMode('AUTO'): Start the mission.

python

from dronekit import connect, VehicleMode, LocationGlobalRelative, Command

# Connect to the vehicle
vehicle = connect('127.0.0.1:14550', wait_ready=True)

# Create a new mission command list
cmds = vehicle.commands
cmds.clear()

# Add waypoints
cmds.add(Command(0, 0, 0, 16, 0, 0, 0, 0, 47.397742, 8.545594, 10))  # Waypoint 1
cmds.add(Command(0, 0, 0, 16, 0, 0, 0, 0, 47.397825, 8.545600, 10))  # Waypoint 2

# Upload mission
cmds.upload()

# Set mode to AUTO to start mission
vehicle.mode = VehicleMode('AUTO')

Example

This example connects to a simulated drone, creates a simple two-waypoint mission, uploads it, and starts the mission in AUTO mode.

python

from dronekit import connect, VehicleMode, Command
import time

# Connect to the vehicle
vehicle = connect('127.0.0.1:14550', wait_ready=True)

# Clear existing mission
cmds = vehicle.commands
cmds.clear()

# Define waypoints (latitude, longitude, altitude)
waypoints = [
    (47.397742, 8.545594, 10),
    (47.397825, 8.545600, 10)
]

# Add waypoints to mission
for wp in waypoints:
    lat, lon, alt = wp
    cmds.add(Command(0, 0, 0, 16, 0, 0, 0, 0, lat, lon, alt))

# Upload mission
cmds.upload()
print("Mission uploaded")

# Set mode to AUTO to start mission
vehicle.mode = VehicleMode('AUTO')
print("Mission started in AUTO mode")

# Wait for mission to complete or timeout
time.sleep(30)

# Close vehicle connection
vehicle.close()
print("Mission finished and vehicle disconnected")

Output

Mission uploaded
Mission started in AUTO mode
Mission finished and vehicle disconnected

Common Pitfalls

Common mistakes when creating waypoint missions include:

• Not clearing existing missions before uploading new ones, causing conflicts.
• Forgetting to upload the mission after adding waypoints.
• Not setting the vehicle mode to AUTO to start the mission.
• Using incorrect coordinate formats or altitudes that the drone cannot reach.
• Not waiting for the vehicle to be ready before sending commands.

python

from dronekit import connect, VehicleMode, Command

# Wrong: Not clearing old mission
vehicle = connect('127.0.0.1:14550', wait_ready=True)
cmds = vehicle.commands
# cmds.clear()  # Missing clear causes old mission to remain
cmds.add(Command(0, 0, 0, 16, 0, 0, 0, 0, 47.397742, 8.545594, 10))
cmds.upload()
vehicle.mode = VehicleMode('AUTO')

# Right: Clear before adding
cmds.clear()
cmds.add(Command(0, 0, 0, 16, 0, 0, 0, 0, 47.397742, 8.545594, 10))
cmds.upload()
vehicle.mode = VehicleMode('AUTO')

Quick Reference

Summary tips for creating waypoint missions with DroneKit Python:

• Always connect and wait for the vehicle to be ready.
• Clear existing missions before adding new waypoints.
• Use Command objects with correct parameters for waypoints.
• Upload the mission before starting.
• Set vehicle mode to AUTO to begin the mission.

Key Takeaways

Connect to the drone and wait until it is ready before sending commands.

Clear existing missions before adding new waypoint commands to avoid conflicts.

Use Command objects with latitude, longitude, and altitude to define waypoints.

Upload the mission commands to the drone before starting the mission.

Set the drone's mode to AUTO to execute the waypoint mission.