blocks|key|4473432|text|这就是了：|type|unstyled|depth|inlineStyleRanges|entityRanges|data|4473433|def+gotoGPS(location):
++++currentLocation+=+vehicle.location
++++targetDistance+=+get_distance_metres(currentLocation,+location)
++++gotoFunction(location)
++++vehicle.flush()
++++while+not+api.exit+and+vehicle.mode.name=="GUIDED":+#Stop+action+if+we+are+no+longer+in+guided+mode.
++++++++remainingDistance=get_distance_metres(vehicle.location,+location)
++++++++if+remainingDistance<=targetDistance*0.01:+#Just+below+target,+in+case+of+undershoot.
++++++++++++print+"Reached+target"
++++++++++++break
++++++++time.sleep(2)+


+newLoc+=+Location(vehicle.location.lat,+vehicle.location.lon,+vehicle.location.alt%2B2)
+gotoGPS(newLoc)|code-block|syntax|javascript|4473434|编辑:你可以找到下面所有的代码：|4473435|from+droneapi.lib+import+VehicleMode,+Location
from+pymavlink+import+mavutil
import+time
import+math

api+=+local_connect()
vehicle=+api.get_vehicles()[0]

def+arm_and_takeoff(aTargetAltitude):
++++"""
++++Arm+vehicle+and+fly+to+aTargetAltitude.
++++"""
++++print+"Basic+pre-arm+checks"
++++#+Don't+let+the+user+try+to+fly+while+autopilot+is+booting
++++if+vehicle.mode.name+==+"INITIALISING":
++++++++print+"Waiting+for+vehicle+to+initialise"
++++++++time.sleep(1)
++++while+vehicle.gps_0.fix_type+<+2:
++++++++print+"Waiting+for+GPS...:",+vehicle.gps_0.fix_type
++++++++time.sleep(1)

++++print+"Arming+motors"
++++#+Copter+should+arm+in+GUIDED+mode
++++vehicle.mode++++=+VehicleMode("GUIDED")
++++vehicle.armed+++=+True
++++vehicle.flush()

++++while+not+vehicle.armed+and+not+api.exit:
++++++++print+"+Waiting+for+arming..."
++++++++time.sleep(1)

++++print+"Taking+off!"
++++vehicle.commands.takeoff(aTargetAltitude)+#+Take+off+to+target+altitude
++++vehicle.flush()

++++#+Wait+until+the+vehicle+reaches+a+safe+height+before+processing+the+goto+(otherwise+the+command+
++++#++after+Vehicle.commands.takeoff+will+execute+immediately).
++++while+not+api.exit:
++++++++print+"+Altitude:+",+vehicle.location.alt
++++++++if+vehicle.location.alt>=aTargetAltitude*0.95:+#Just+below+target,+in+case+of+undershoot.
++++++++++++print+"Reached+target+altitude"
++++++++++++break
++++++++time.sleep(1)

def+get_distance_metres(aLocation1,+aLocation2):
++++dlat++++++++=+aLocation2.lat+-+aLocation1.lat
++++dlong+++++++=+aLocation2.lon+-+aLocation1.lon
++++return+math.sqrt((dlat*dlat)+%2B+(dlong*dlong))+*+1.113195e5

def+goto_position_target_global_int(aLocation):
++++"""
++++Send+SET_POSITION_TARGET_GLOBAL_INT+command+to+request+the+vehicle+fly+to+a+specified+location.

++++For+more+information+see:+https://pixhawk.ethz.ch/mavlink/#SET_POSITION_TARGET_GLOBAL_INT

++++See+the+above+link+for+information+on+the+type_mask+(0=enable,+1=ignore).+
++++At+time+of+writing,+acceleration+and+yaw+bits+are+ignored.
++++"""
++++msg+=+vehicle.message_factory.set_position_target_global_int_encode(
++++++++0,+++++++#+time_boot_ms+(not+used)
++++++++0,+0,++++#+target+system,+target+component
++++++++mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT,+#+frame++++++
++++++++0b0000111111111000,+#+type_mask+(only+speeds+enabled)
++++++++aLocation.lat*1e7,+#+lat_int+-+X+Position+in+WGS84+frame+in+1e7+*+meters
++++++++aLocation.lon*1e7,+#+lon_int+-+Y+Position+in+WGS84+frame+in+1e7+*+meters
++++++++aLocation.alt,+#+alt+-+Altitude+in+meters+in+AMSL+altitude,+not+WGS84+if+absolute+or+relative,+above+terrain+if+GLOBAL_TERRAIN_ALT_INT
++++++++0,+#+X+velocity+in+NED+frame+in+m/s
++++++++0,+#+Y+velocity+in+NED+frame+in+m/s
++++++++0,+#+Z+velocity+in+NED+frame+in+m/s
++++++++0,+0,+0,+#+afx,+afy,+afz+acceleration+(not+supported+yet,+ignored+in+GCS_Mavlink)
++++++++0,+0)++++#+yaw,+yaw_rate+(not+supported+yet,+ignored+in+GCS_Mavlink)+
++++#+send+command+to+vehicle
++++vehicle.send_mavlink(msg)
++++vehicle.flush()



def+gotoGPS(location):
++++currentLocation+=+vehicle.location
++++targetDistance+=+get_distance_metres(currentLocation,+location)
++++goto_position_target_global_int(location)
++++vehicle.flush()
++++while+not+api.exit+and+vehicle.mode.name=="GUIDED":+#Stop+action+if+we+are+no+longer+in+guided+mode.
++++++++remainingDistance=get_distance_metres(vehicle.location,+location)
++++++++if+remainingDistance<=targetDistance*0.05:+#Just+below+target,+in+case+of+undershoot.
++++++++++++print+"Reached+target"
++++++++++++break
++++++++time.sleep(2)

arm_and_takeoff(10)
time.sleep(2)
newLoc+=+Location+(vehicle.location.lat,+vehicle.location.lon,+vehicle.location.alt%2B10)
gotoGPS(newLoc)
time.sleep(10)
vehicle.mode+=+VehicleMode("LAND")
vehicle.flush()|4473436|干杯!|4473437|尼古拉斯|4473438|entityMap^0|0|0|0|0|0|0^^$0|@$1|2|3|4|5|6|7|Q|8|@]|9|@]|A|$]]|$1|B|3|C|5|D|7|R|8|@]|9|@]|A|$E|F]]|$1|G|3|H|5|6|7|S|8|@]|9|@]|A|$]]|$1|I|3|J|5|D|7|T|8|@]|9|@]|A|$E|F]]|$1|K|3|L|5|6|7|U|8|@]|9|@]|A|$]]|$1|M|3|N|5|6|7|V|8|@]|9|@]|A|$]]|$1|O|3|-4|5|6|7|W|8|@]|9|@]|A|$]]]|P|$]]

Here you go:

<pre><code>def gotoGPS(location):
 currentLocation = vehicle.location
 targetDistance = get_distance_metres(currentLocation, location)
 gotoFunction(location)
 vehicle.flush()
 while not api.exit and vehicle.mode.name=="GUIDED": #Stop action if we are no longer in guided mode.
 remainingDistance=get_distance_metres(vehicle.location, location)
 if remainingDistance&lt;=targetDistance*0.01: #Just below target, in case of undershoot.
 print "Reached target"
 break
 time.sleep(2) 


 newLoc = Location(vehicle.location.lat, vehicle.location.lon, vehicle.location.alt+2)
 gotoGPS(newLoc)
</code></pre>

EDIT: You can Find all the code below:

<pre><code>from droneapi.lib import VehicleMode, Location
from pymavlink import mavutil
import time
import math

api = local_connect()
vehicle= api.get_vehicles()[0]

def arm_and_takeoff(aTargetAltitude):
 """
 Arm vehicle and fly to aTargetAltitude.
 """
 print "Basic pre-arm checks"
 # Don't let the user try to fly while autopilot is booting
 if vehicle.mode.name == "INITIALISING":
 print "Waiting for vehicle to initialise"
 time.sleep(1)
 while vehicle.gps_0.fix_type &lt; 2:
 print "Waiting for GPS...:", vehicle.gps_0.fix_type
 time.sleep(1)

 print "Arming motors"
 # Copter should arm in GUIDED mode
 vehicle.mode = VehicleMode("GUIDED")
 vehicle.armed = True
 vehicle.flush()

 while not vehicle.armed and not api.exit:
 print " Waiting for arming..."
 time.sleep(1)

 print "Taking off!"
 vehicle.commands.takeoff(aTargetAltitude) # Take off to target altitude
 vehicle.flush()

 # Wait until the vehicle reaches a safe height before processing the goto (otherwise the command 
 # after Vehicle.commands.takeoff will execute immediately).
 while not api.exit:
 print " Altitude: ", vehicle.location.alt
 if vehicle.location.alt&gt;=aTargetAltitude*0.95: #Just below target, in case of undershoot.
 print "Reached target altitude"
 break
 time.sleep(1)

def get_distance_metres(aLocation1, aLocation2):
 dlat = aLocation2.lat - aLocation1.lat
 dlong = aLocation2.lon - aLocation1.lon
 return math.sqrt((dlat*dlat) + (dlong*dlong)) * 1.113195e5

def goto_position_target_global_int(aLocation):
 """
 Send SET_POSITION_TARGET_GLOBAL_INT command to request the vehicle fly to a specified location.

 For more information see: https://pixhawk.ethz.ch/mavlink/#SET_POSITION_TARGET_GLOBAL_INT

 See the above link for information on the type_mask (0=enable, 1=ignore). 
 At time of writing, acceleration and yaw bits are ignored.
 """
 msg = vehicle.message_factory.set_position_target_global_int_encode(
 0, # time_boot_ms (not used)
 0, 0, # target system, target component
 mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, # frame 
 0b0000111111111000, # type_mask (only speeds enabled)
 aLocation.lat*1e7, # lat_int - X Position in WGS84 frame in 1e7 * meters
 aLocation.lon*1e7, # lon_int - Y Position in WGS84 frame in 1e7 * meters
 aLocation.alt, # alt - Altitude in meters in AMSL altitude, not WGS84 if absolute or relative, above terrain if GLOBAL_TERRAIN_ALT_INT
 0, # X velocity in NED frame in m/s
 0, # Y velocity in NED frame in m/s
 0, # Z velocity in NED frame in m/s
 0, 0, 0, # afx, afy, afz acceleration (not supported yet, ignored in GCS_Mavlink)
 0, 0) # yaw, yaw_rate (not supported yet, ignored in GCS_Mavlink) 
 # send command to vehicle
 vehicle.send_mavlink(msg)
 vehicle.flush()



def gotoGPS(location):
 currentLocation = vehicle.location
 targetDistance = get_distance_metres(currentLocation, location)
 goto_position_target_global_int(location)
 vehicle.flush()
 while not api.exit and vehicle.mode.name=="GUIDED": #Stop action if we are no longer in guided mode.
 remainingDistance=get_distance_metres(vehicle.location, location)
 if remainingDistance&lt;=targetDistance*0.05: #Just below target, in case of undershoot.
 print "Reached target"
 break
 time.sleep(2)

arm_and_takeoff(10)
time.sleep(2)
newLoc = Location (vehicle.location.lat, vehicle.location.lon, vehicle.location.alt+10)
gotoGPS(newLoc)
time.sleep(10)
vehicle.mode = VehicleMode("LAND")
vehicle.flush()
</code></pre>

Cheers!

Nicolas

Pleas help me to understand ho to change altitude in drone API. I can not find information about that. Even in source code.

I have a simple project, drone must do a few movements. Arm the motors (of course with preflight check), takeoff on 10 meters, wait 20 sec. and climb to 20 meters.

So what function do I use to force my multi-rotor climb in 20 meters, or go down in 5 meters?

And tell me please a similar 'cmd'command for MAVProxy.

How to change altitude in Drone API

翻译质量差，导致语言生硬或混乱。

没有提供实际的解决方法或示例。

解答不清晰，无法理解或解决问题。

页面排版不美观，阅读体验差。

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请帮助我理解如何在无人机API中改变高度。我找不到关于这方面的信息。即使是在源代码中。我有一个简单的项目，无人机必须做几个动作。启动发动机(当然要进行飞行前检查)，起飞10米，等待20秒。然后爬到20米的高度。那么，我应该使用什么函数来强制我的多旋翼在20米内爬升，或者在5米内下降？并告诉我，请对MAVProxy使用类...

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