AutoMavCmd Interface Documentation¶

Introduction¶

Overview: This file provides MAVLink command encapsulation and control capabilities required for PX4 hardware-in-the-loop simulation mission planning, enabling delay waiting and custom timing management of drone mission commands.

In autonomous drone mission simulation, various MAVLink control commands must be sent to the flight controller in a specific sequence. This module is specifically designed for mission planning scenarios, encapsulating commonly used mission execution control logic and command-sending functionality into directly callable classes. It is suitable for users writing custom autonomous mission scripts, helping them conveniently orchestrate mission workflows, control command transmission timing, and achieve stable MAVLink command interaction with the PX4 flight controller.

Quick Start¶

Minimal runnable example; copy and modify minimal configuration to run.

from RflySimVision import VisionClient  # Import vision client to obtain drone's mav object
from RflySimSDK.phm.AutoMavCmd import Command  # Import main command class from this module

# 1. Connect to PX4 drone's mav object (connect to drone in RflySim simulation environment using default configuration)
vision = VisionClient()
mav = vision.get_vehicle()  # Obtain the mav object of the first drone in the simulation

# 2. Initialize command control object
cmd = Command(mav=mav)

# 3. Arm the drone
cmd.Arm()
print("Drone armed")

# 4. Control quadcopter to fly to target position (x=0m, y=0m, z=2m)
target_position = [0, 0, 2]
cmd.QuadPos(pos=target_position)
print(f"Position command sent to target position {target_position}")

# Wait 10 seconds, then descend and disarm
import time
time.sleep(10)
# Optionally send position to ground and disarm
cmd.QuadPos([0, 0, 0])
time.sleep(5)
cmd.DisArm()
print("Drone disarmed; mission completed")

Environment and Dependencies¶

Python Environment: >= 3.8.10
Dependencies: UE4CtrlAPI, math, numpy, time
Prerequisites: Before calling this interface, RflySimSDK must be initialized and the simulation environment and flight controller must be properly connected.

Core Interface Description¶

The module AutoMavCmd.py includes configuration variables, helper functions, and core business classes.

Global Constants and Enumerations¶

This section lists all globally accessible constants and enumerations defined in the module.

Standalone Constants¶

None

Global/Standalone Functions¶

None

`Sleep` Class¶

Used to add waiting-type tasks in drone mission path planning, supporting both general time-based waiting and fixed-wing reset waiting, and used in conjunction with MAVLink command task execution workflows.

`init(mav)`¶

Function Description: Initializes a Sleep class instance and binds the MAV connection object.
Parameters (Args):

Parameter Name	Type	Required	Default	Description
`mav`	`MavlinkInterface`	Yes	-	MAVLink communication interface object used for command interaction with the drone flight controller

Return Value (Returns):

Sleep instance object

Exceptions (Raises): - None

`Wait(times)`¶

Function Description: Adds a task command to wait for a specified duration, pausing execution for the set time before proceeding to subsequent tasks.
Parameters (Args):

Parameter Name	Type	Required	Default	Description
`times`	`float`	Yes	-	Duration to wait, in seconds

Return Value (Returns):

None

Exceptions (Raises): - None

Example:

from RflySimSDK.phm.AutoMavCmd import Sleep
from RflySimSDK.communication import MavlinkInterface

# Initialize MAV connection
mav = MavlinkInterface()
# Create Sleep instance and add a 10-second wait task
sleep_task = Sleep(mav)
sleep_task.Wait(10)

`WaitResetForFixwing(targetPos)`¶

Function Description: Adds a task command to wait for position reset for fixed-wing drones, resetting the fixed-wing drone to a specified target position before proceeding to subsequent tasks.
Parameters (Args):

Parameter Name	Type	Required	Default	Description
`targetPos`	`list[float]`	Yes	-	Target reset position, formatted as [N, E, D] in meters, corresponding to the North-East-Down (NED) coordinate system

Return Value (Returns):

None

Exceptions (Raises): - None

Example:

from RflySimSDK.phm.AutoMavCmd import Sleep
from RflySimSDK.communication import MavlinkInterface

# Initialize MAV connection
mav = MavlinkInterface()
# Create Sleep instance and add a fixed-wing position reset wait task, resetting to 100m above origin
sleep_task = Sleep(mav)
target_pos = [0, 0, -100]
sleep_task.WaitResetForFixwing(target_pos)

`Command` Class¶

This class provides MAVLink command encapsulation for different vehicles (multi-rotor drones, fixed-wing drones, unmanned surface vehicles, etc.) in the RflySim simulation environment, supporting common flight and navigation control operations such as arming, disarming, position control, and velocity control.

`init(self, mav)`¶

Function Description: Initializes a Command class instance and binds it to the MAVLink connection object.
Parameters (Args):

Parameter Name	Type	Required	Default	Description
`mav`	`mavutil.mavlink_connection`	Yes	-	MAVLink connection object for the PX4 drone

Return Value (Returns):

Command instance object

Exceptions (Raises): - None

`Arm()`¶

Function Description: Sends the vehicle arming command to enable the power system.
Parameters (Args): - None
Return Value (Returns): - None
Exceptions (Raises): - None

`DisArm()`¶

Function Description: Sends the vehicle disarming command to disable the power system.
Parameters (Args): - None
Return Value (Returns): - None
Exceptions (Raises): - None

`QuadPos(pos)`¶

Function Description: Sends a position control command for multi-rotor drones to fly to a specified target position.
Parameters (Args):

Parameter Name	Type	Required	Default	Description
`pos`	`list[float]`	Yes	-	Target position array in format [N, E, D], unit: meters