Function arm_and_takeoff

examples/mission_basic/mission_basic.py:140–171

Arms vehicle and fly to aTargetAltitude.

(aTargetAltitude)

def arm_and_takeoff(aTargetAltitude):
    """
    Arms vehicle and fly to aTargetAltitude.
    """

    print "Basic pre-arm checks"
    # Don't let the user 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("GUIDED")
    vehicle.armed = True

    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      
        if vehicle.location.global_relative_frame.alt>=aTargetAltitude*0.95: #Trigger just below target alt.
            print "Reached target altitude"
            break
        time.sleep(1)

        
print 'Create a new mission (for current location)'