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dronekit / dronekit-python

DroneKit-Python library for communicating with Drones via MAVLink.
https://readthedocs.org/projects/dronekit-python/
Apache License 2.0
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Dronekit Servo Control #1189

Closed umerkh78 closed 1 year ago

umerkh78 commented 1 year ago

Hello everyone. I'm new to dronekit and I'm trying to connect my LEDs to servo outpus of Pixhawk 2.4.1. Does dronekit provide any support for the servo outputs or not?

morzack commented 1 year ago

Hi, as far as I understand, there is not first-class support for servos in dronekit (helper functions, etc). However, you can definitely control servo channels by sending a MAV_CMD_DO_SET_SERVO command.

Something like the snippet below could help:

import dronekit
from pymavlink import mavutil

vehicle: dronekit.Vehicle

msg = vehicle.message_factory.command_long_encode(
        0, 0, # target system, component
        mavutil.mavlink.MAV_CMD_DO_SET_SERVO, 0,
        servo_channel, pwm,
        0, 0, 0, 0, 0)
vehicle.send_mavlink(msg)
hamishwillee commented 1 year ago

Thanks @morzack. Just to be pedantic, support for any particular message depends on the flight stack and version too (a first-class solution in DroneKit might abstract that).

For example, in PX4 you would send https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_ACTUATOR and you might also have to configure the actuator outputs used.

hamishwillee commented 1 year ago

Closing this as answered. Thanks @morzack