dronekit-http-api-demo.py

from __future__ import print_function
from flask import Flask, request
from dronekit import connect, LocationGlobal, VehicleMode
import sys, time

class Drone(object):
    def __init__(self):
        self.vehicle = connect('tcp:127.0.0.1:5760', wait_ready=True)
        self.vehicle.add_attribute_listener('armed', self._armed_callback)

        while not self.vehicle.is_armable:
            self._log("<<< Waiting for vehicle to initialise...")
            time.sleep(1)

        self._log("<<< arming")
        self.vehicle.armed = True # Lets arm the copter!
        self.vehicle.mode = VehicleMode("GUIDED")

    def goto(self, point):
        self._log("<<< sent to point: ", point)
        self.vehicle.simple_goto(point)

    def _armed_callback(self, vehicle, name, message):
        self._log("<<< we are armed lets go!")
        if self.vehicle.location.global_relative_frame.alt < 100:
            self.vehicle.simple_takeoff(100) # takeoff at 100 meters

    def _log(self, *args):
        print(*args, file=sys.stderr)
        sys.stderr.flush()

app = Flask(__name__)

d = Drone()

@app.route("/")
def hello():
    return str(d.vehicle.mode.name)

@app.route("/track")
def track():
    return str(d.vehicle.location.global_frame)

@app.route("/goto", methods=['POST'])
def goto():
    lat = float(request.form['lat'])
    lon = float(request.form['lon'])
    alt = float(request.form['alt'])
    point = LocationGlobal(lat, lon, alt)
    d.goto(point)
    return str(point)

app.run()