goto_mavsdk.py

#!/usr/bin/env python3

import asyncio
from mavsdk import System


async def run():
    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

    print("Fetching amsl altitude at home location....")
    async for terrain_info in drone.telemetry.home():
        absolute_altitude = terrain_info.absolute_altitude_m
        break

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

    print("-- Taking off")
    await drone.action.takeoff()

    await asyncio.sleep(1)
    # To fly drone 20m above the ground plane
    flying_alt = absolute_altitude + 20.0
    # goto_location() takes Absolute MSL altitude
    await drone.action.goto_location(47.397606, 8.543060, flying_alt, 0)

    while True:
        print("Staying connected, press Ctrl-C to exit")
        await asyncio.sleep(1)


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