first_mission.py

#!/usr/bin/env python3

import asyncio
from mavsdk import System

async def run():
    
    print("Code Initialized---")
    
    drone = System()
    await drone.connect(system_address="udp://:14540")

    print("Waiting for drone to connect...")
    async for state in drone.core.connection_state():
        if state.is_connected:
            print("Drone discovered!")
            break

    print("Waiting for drone to have a global position estimate...")
    async for health in drone.telemetry.health():
        if health.is_global_position_ok:
            print("Global position estimate ok")
            break
            
    previous_altitude = None

    async for position in drone.telemetry.position():
        altitude = round(position.relative_altitude_m)
        latitude = round(position.latitude_deg)
        longitude = round(position.longitude_deg)
        if altitude != previous_altitude:
            previous_altitude = altitude
            break;
            
    print(latitude,longitude,altitude)
    new_altitude = altitude + 1.0

    print("-- Arming")
    await drone.action.arm()

    print("-- Taking off")
    await drone.action.goto_location(latitude,longitude,new_altitude,0)

    await asyncio.sleep(20)

    print("-- Landing")
    await drone.action.land()

if __name__ == "__main__":
    loop = asyncio.get_event_loop()
    loop.run_until_complete(run())