How to Get Drone GPS Position Using DroneKit

Use vehicle.location.global_frame in DroneKit to get the drone's GPS position as latitude, longitude, and altitude. Access vehicle.location.global_frame.lat, .lon, and .alt to read the current GPS coordinates.

Syntax

The main syntax to get the drone's GPS position in DroneKit is:

• vehicle.location.global_frame: Returns the GPS location as a LocationGlobal object.
• vehicle.location.global_frame.lat: Latitude in degrees.
• vehicle.location.global_frame.lon: Longitude in degrees.
• vehicle.location.global_frame.alt: Altitude in meters above sea level.

python

gps_location = vehicle.location.global_frame
latitude = gps_location.lat
longitude = gps_location.lon
altitude = gps_location.alt

Example

This example connects to a drone using DroneKit, waits for the GPS fix, and prints the current GPS position (latitude, longitude, altitude).

python

from dronekit import connect
import time

# Connect to the vehicle (replace with your connection string)
vehicle = connect('127.0.0.1:14550', wait_ready=True)

# Wait until GPS fix is available
while not vehicle.gps_0.fix_type or vehicle.gps_0.fix_type < 2:
    print('Waiting for GPS fix...')
    time.sleep(1)

# Get GPS position
location = vehicle.location.global_frame
print(f'Latitude: {location.lat}')
print(f'Longitude: {location.lon}')
print(f'Altitude: {location.alt}')

# Close vehicle connection
vehicle.close()

Output

Waiting for GPS fix...
Latitude: 47.397742
Longitude: 8.545594
Altitude: 488.0

Common Pitfalls

Common mistakes when getting GPS position with DroneKit include:

• Trying to read GPS data before the drone has a valid GPS fix (fix_type < 2). This results in None or zero values.
• Not waiting for vehicle.gps_0.fix_type to confirm GPS lock.
• Confusing vehicle.location.global_frame (GPS coordinates) with vehicle.location.local_frame (local position).

Always check GPS fix before reading position.

python

## Wrong way (may give invalid data):
# location = vehicle.location.global_frame
# print(location.lat)  # Might be None or 0 if no GPS fix

## Right way:
# while not vehicle.gps_0.fix_type or vehicle.gps_0.fix_type < 2:
#     time.sleep(1)
# location = vehicle.location.global_frame
# print(location.lat)

Quick Reference

Summary tips for getting GPS position with DroneKit:

• Use vehicle.location.global_frame for GPS coordinates.
• Check vehicle.gps_0.fix_type ≥ 2 before reading GPS data.
• Access lat, lon, and alt attributes for latitude, longitude, and altitude.
• Close the vehicle connection with vehicle.close() when done.

Key Takeaways

Use vehicle.location.global_frame to get the drone's GPS position.

Always wait for a valid GPS fix (fix_type >= 2) before reading GPS data.

Access latitude, longitude, and altitude via .lat, .lon, and .alt attributes.

Close the vehicle connection properly after use.

Avoid reading GPS data too early to prevent invalid or None values.