Indoor copter flight

I am working with dronekit python and using RPi 1 and Pixhawk with copter v3.3.3, in a gps denied environment.

Last few weeks I am trying to make the drone takeoff through python script but unable to do so as i dont know in a gps denied environment, what mode should i use to make the drone takeoff.

----------------next part i want to do-------------- And also I want to control the drone through an android mobile app having joystics on screen to send the exact values as of my transmitter and for that I am trying with RC Override but Im not able to takeoff or increase the throttle with rc override as it says cannot ARM:Throttle too high. ----------------next part i want to do--------------

But first of all, I want to takeoff the drone in GPS Denied environment, hover for few seconds and Land but I am not sure what mode to use instead of guided, with which simple_takeoff() will work.

NOTE: In STABILIZE the motors are disarming after some time instead of increase in their speed:

I am using the following code:

#/usr/bin/env python
# -*- coding: utf-8 -*-
from dronekit import connect,VehicleMode,LocationGlobalRelative
from pymavlink import mavutil
import time
# Receiving from command line
# import argparse
# parser = argparse.ArgumentParser()
# parser.add_argument('--connect',help="PORT_NO")
# args = parser.parse_args()

# Connecting to the vehicle
#connection_string = args.connect
connection_string = "/dev/ttyAMA0,57600"
print("Connecting to...% s" % connection_string)
vehicle = connect(connection_string, wait_ready=True)

#Function to arm and takeoff to a specified altitude
print(vehicle.mode)

# vehicle.mode = VehicleMode("LAND")
# time.sleep(5)
def arm_and_takeoff(aTargetAlt):
	print("Basic Prearm checks..dont touch!!")

 	# while not vehicle.is_armable:
		# print("Waiting for vehicle to initialize")
		# time.sleep(2)

	print("Arming Motors..")
	# Copter should arm in Guided-mode
	vehicle.mode = VehicleMode("GUIDED")
	time.sleep(3)
	vehicle.armed = True
	
	while not vehicle.armed:
		print("Waiting for arming..:% s"% vehicle.mode)
		vehicle.armed = True
		time.sleep(2)
		
	print("Taking Off..")
	vehicle.simple_takeoff(aTargetAlt)
	time.sleep(5)

	while True:
		print("Altitude: ",vehicle.location.global_relative_frame.alt)
		#Break and return from function just below target altitude.
		if vehicle.location.global_relative_frame.alt>=aTargetAlt*0.95: 
			print("Reached Target Altitude..")
			modeLand()
			# print("Landing....")
			# vehicle.mode = VehicleMode("LAND");
			# print("Vehicle mode:%s"% vehicle.mode)
			break


def modeLand():
	print("Landing now")
	vehicle.mode = VehicleMode("LAND")
	time.sleep(5)
	print("-------------Vehicle is in:-------%s"% vehicle.mode)

arm_and_takeoff(2)
print(vehicle.mode)
print("Vehicle object closed")
vehicle.close()

And I have Optical flow Camera and a Lidar which i can use. Please help I’m stuck with this.

Regards Biswajit

[ncoop23]

Try this: Need a recent version of ArduPilot.

import sched, time, math
from dronekit import connect, VehicleMode, LocationGlobal, LocationGlobalRelative
from pymavlink import mavutil # Needed for command message definitions

	flightalt = 20 #This is how high you want it to fly to
	vehicle = connect('0.0.0.0:14550')
	time.sleep(10)
	vehicle.channels.overrides = {}
	
	def arm_and_takeoffNoGPS(Target):

	#Arm the vehicle
        vehicle.mode    = VehicleMode("Guided_NoGPS")
	while not vehicle.is_armable: #Wait for the vehicle to be armable
		time.sleep(.5)

	vehicle.armed = True
	while not vehicle.armed:
		time.sleep(1)#Waiting for armed
	#Take Off
	thrust = 0.7
	while True:
		current_altitude = vehicle.location.global_relative_frame.alt
		if current_altitude >= Target*0.95:
			break
		elif current_altitude >= Target*0.6:
			thrust = 0.6
		set_attitude(thrust = thrust)
		time.sleep(0.2)

	def set_attitude(roll_angle = 0.0, pitch_angle = 0.0, yaw_rate = 0.0, thrust = 0.5, duration = 0):

	#Duration is seconds to do this for

	msg = vehicle.message_factory.set_attitude_target_encode(
		0,
		0,                                         #target system
		0,                                         #target component
		0b00000000,                                #type mask: bit 1 is LSB
		to_quaternion(roll_angle, pitch_angle),    #q
		0,                                         #body roll rate in radian
		0,                                         #body pitch rate in radian
		math.radians(yaw_rate),                    #body yaw rate in radian
		thrust)                                    #thrust

	vehicle.send_mavlink(msg)

	if duration != 0:
        	# Divide the duration into the frational and integer parts
        	modf = math.modf(duration)
        	
        	# Sleep for the fractional part
        	time.sleep(modf[0])
        	
        	# Send command to vehicle on 1 Hz cycle
        	for x in range(0,int(modf[1])):
        	    time.sleep(1)
        	    vehicle.send_mavlink(msg)

	def to_quaternion(roll = 0.0, pitch = 0.0, yaw = 0.0):
		"""
		Convert degrees to quaternions
		"""
		t0 = math.cos(math.radians(yaw * 0.5))
		t1 = math.sin(math.radians(yaw * 0.5))
		t2 = math.cos(math.radians(roll * 0.5))
		t3 = math.sin(math.radians(roll * 0.5))
		t4 = math.cos(math.radians(pitch * 0.5))
		t5 = math.sin(math.radians(pitch * 0.5))
    
		w = t0 * t2 * t4 + t1 * t3 * t5
		x = t0 * t3 * t4 - t1 * t2 * t5
		y = t0 * t2 * t5 + t1 * t3 * t4
		z = t1 * t2 * t4 - t0 * t3 * t5
    
		return [w, x, y, z]


	arm_and_takeoffNoGPS(flightalt)

[Biswajit1995]

Thanks @studroid ,

I will look into it. And sorry for late response.

Regards Biswajit