MAVSDK-Python Documentation

MAVSDK-Python is organized into specialized plugins that provide access to different drone capabilities and MAVLink features. Instead of a single monolithic API, you interact with specific plugins for tasks such as mission management, telemetry, camera control, and offboard mode.

Common plugin categories include:

• Core & System: core, info, param, telemetry
• Flight Control: action, offboard, manual_control, mission
• Hardware/Peripherals: camera, gimbal, gripper, winch
• Data & Logs: log_files, log_streaming, ftp
• Advanced/Specialized: mocap, rtk, transponder, mavlink_direct

Note that some plugins follow a client/server pattern (e.g., action vs action_server), where the _server variants are typically used when the MAVSDK-Python application is acting as the provider of a service rather than the consumer.

The mavsdk.action module provides an interface to control various high-level actions of a drone or vehicle. This includes commands for takeoff, landing, returning to launch, and managing flight modes.

Note: The available actions depend on the capabilities of the connected vehicle and the specific MAVSDK plugin implementation.

The offboard plugin in MAVSDK-Python allows you to control a vehicle in 'Offboard' mode. This mode is used for autonomous flight where the vehicle follows commands (such as setpoints for position, velocity, or attitude) sent from an external computer rather than following a pilot's manual inputs.

To use this plugin, you typically interact with the Offboard class provided by the mavsdk.offboard module. Note that for offboard mode to be successfully engaged, the vehicle must be receiving a continuous stream of setpoints.

The mavsdk.geofence module provides an interface to manage geofences on a drone. Geofences are virtual boundaries that define safe operating areas. This plugin allows you to interact with the geofence subsystem of the drone via MAVSDK.

Note: The internal methods translate_from_rpc and translate_to_rpc are used for communication with the MAVSDK server and are not part of the public API.

MAVSDK-Python is a gRPC client that communicates with a gRPC server written in C++ called mavsdk_server (the "backend").

• Embedded Mode (Default): When you call await drone.connect() without specifying a mavsdk_server_address, the Python wrapper automatically starts the embedded mavsdk_server binary.
• External Mode: If you set mavsdk_server_address to a specific address (e.g., 'localhost'), the wrapper assumes a server is already running and connects to it directly. This is recommended for resource-constrained devices like Raspberry Pi where you might need to manage the mavsdk_server process manually.

The mavsdk.gripper module provides an interface to control a robotic gripper on a drone. It allows you to command the gripper to open or close and monitor its current state. This plugin is part of the MAVSDK plugin system and requires a compatible flight controller and hardware setup.

from mavsdk import System
from mavsdk.gripper import Gripper

async def run():
    drone = System()
    await drone.connect()

    gripper = Gripper(drone)
    # Use gripper methods here

The mavsdk.mission module provides an interface for managing waypoints and missions on a drone. It allows you to upload mission waypoints, start a mission, and monitor the mission progress.

Note: The module contains internal translation methods (translate_from_rpc and translate_to_rpc) which are not intended for direct use by end-users.

The ManualControl plugin in MAVSDK-Python allows you to manually control the attitude (pitch, roll, and yaw) of a vehicle. This is typically used for manual flight modes where the user or an external system provides direct orientation commands.

Note: This plugin is part of the MAVSDK plugin system and requires a connection to a vehicle via a System instance.