Update README.md

README.md

@@ -20,3 +20,60 @@ individual timings so that the performance of the whole
 process can be analysed.
 - Brownie points: Solving the problem involving the
 constraint of limited battery time of the drone.
+
+rom dronekit import connect, VehicleMode, LocationGlobalRelative
+from pymavlink import mavutil
+import time
+import argparse  
+parser = argparse.ArgumentParser()
+parser.add_argument('--connect', default='127.0.0.1:14550')
+args = parser.parse_args()
+
+# Connect to the Vehicle
+print 'Connecting to vehicle on: %s' % args.connect
+vehicle = connect(args.connect, baud=921600, wait_ready=True)
+#921600 is the baudrate that you have set in the mission plannar or qgc
+
+# Function to arm and then takeoff to a user specified altitude
+def arm_and_takeoff(aTargetAltitude):
+
+  print "Basic pre-arm checks"
+  # Don't let the user try to arm until autopilot is ready
+  while not vehicle.is_armable:
+    print " Waiting for vehicle to initialise..."
+    time.sleep(1)
+
+  print "Arming motors"
+  # Copter should arm in GUIDED mode
+  vehicle.mode    = VehicleMode("GUIDED")
+  vehicle.armed   = True
+
+  while not vehicle.armed:
+    print " Waiting for arming..."
+    time.sleep(1)
+
+  print "Taking off!"
+  vehicle.simple_takeoff(aTargetAltitude) # Take off to target altitude
+
+  # Check that vehicle has reached takeoff altitude
+  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>=aTargetAltitude*0.95: 
+      print "Reached target altitude"
+      break
+    time.sleep(1)
+
+# Initialize the takeoff sequence to 15m
+arm_and_takeoff(15)
+
+print("Take off complete")
+
+# Hover for 10 seconds
+time.sleep(15)
+
+print("Now let's land")
+vehicle.mode = VehicleMode("LAND")
+
+# Close vehicle object
+vehicle.close()