使用dronekit和PX4起飞

Question

我正在使用英特尔航空RTF无人机和PX4，我想测试这架无人机的简单起飞，但我遵循的脚本没有给我结果，它只是武装无人机和解除武装，但从来没有起飞这是脚本：

#! /usr/bin/python  
from dronekit import connect, VehicleMode, LocationGlobalRelative  
import time  

vehicle = connect('tcp:127.0.0.1:5760', wait_ready=False)  
def arm_and_takeoff(aTarget):  
         ### I commented this lines because the code doesn't pass from 
    this loop ###       
         #print 'Pre arm-checks'  
         #while not vehicle.is_armable:  
         #     print "Initializing...'  
         #     time.sleep(1)  
         print 'Arming motors'  
         vehicle.mode = VehicleMode("GUIDED")  
         vehicle.armed = True  
         while not vehicle.armed:  
              print "waiting for arming"  
              time.sleep(1)  
         print "Take Off!"  
         vehicle.simpe_takeoff(aTarget)  
         while True:  
              print "Altitude: ",vehicle.location.global_relative_frame.alt  
              if vehicle.location.global_relative_frame.alt >= aTarget * 0.95:  
                   print "Altitude target reached"  
                   break  
              time.sleep(1)  
    arm_and_takeoff(10)  
    print "Take off complete!"  
    time.sleep(10)  
    print "Landing"  
    vehicle.mode = VehicleMode("LAND") 

正如我所说的，它只是武装了几秒钟和解除武装，我做错了什么？？问候

Answer 1

Dronekit并不正式支持PX4飞行堆栈，你应该使用Dronecode SDK for PX4 (https://sdk.dronecode.org/en/)或者将你的飞行堆栈改为ArduPilot，但是对PX4的支持也是有限的，你可以在这里https://dev.px4.io/en/robotics/dronekit.html上了解到。