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mustafa-gokce / pymavrest

Python RESTful API for MAVLink enabled vehicles

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ardupilotmavlinkrestful-apipython

Pymavrest

Python RESTful API for MAVLink enabled vehicles

Features

  • Get all messages from vehicle
  • Get a specific message by it's name or ID
  • Get a specific message field with field name by message name or ID
  • Get all parameters from vehicle
  • Get a specific parameter by it's name
  • Get all mission items on vehicle
  • Get a specific mission item on vehicle by it's ID
  • Get all fence items on vehicle
  • Get a specific fence item on vehicle by it's ID
  • Get all rally items on vehicle
  • Get a specific rally item on vehicle by it's ID
  • Get statistics of API and vehicle connection
  • Get and set custom key/value pairs
  • Send COMMAND_LONG messages to vehicle
  • Send COMMAND_INT messages to vehicle
  • Send parameter send command to vehicle
  • Send mission item list to vehicle
  • Send fence item list to vehicle
  • Send rally item list to vehicle
  • Reconnect to vehicle if not received a message within a timeout
  • Drop non-periodic messages after a desired timeout
  • Set message stream rate
  • Message & parameter whitelist/blacklist support
  • Fetch parameters and plan, fence and rally items at start
  • Reset on-board vehicle statistics on start
  • Initialize custom key-value pair endpoint at start
  • Request non-default message streams at start

Installation

cd $HOME
git clone https://github.com/mustafa-gokce/pymavrest.git
cd pymavrest/
/usr/bin/python3 -m pip install -r requirements.txt

Usage

Run

/usr/bin/python3 pymavrest.py

Endpoints

Get all messages

curl http://127.0.0.1:2609/get/message/all

Sample data can be found in the get_message_all.json file.

curl https://raw.githubusercontent.com/mustafa-gokce/pymavrest/main/sample/get_message_all.json

Get a specific message by name

curl http://127.0.0.1:2609/get/message/GLOBAL_POSITION_INT
{
  "GLOBAL_POSITION_INT": {
    "alt": 584070,
    "hdg": 35319,
    "lat": -353632622,
    "lon": 1491652375,
    "relative_alt": -17,
    "statistics": {
      "average_frequency": 3.9979008611740223,
      "counter": 33,
      "duration": 8.00420048200067,
      "first": 1660640937.5848908,
      "first_monotonic": 5795.613378925,
      "instant_frequency": 3.982114016316042,
      "last": 1660640945.5890913,
      "last_monotonic": 5803.617579407,
      "latency": 0.25112289500066254
    },
    "time_boot_ms": 4870833,
    "vx": -1,
    "vy": 1,
    "vz": 0
  }
}

Get a specific message by message id

curl http://127.0.0.1:2609/get/message/33

Get a specific message field by message name

curl http://127.0.0.1:2609/get/message/GLOBAL_POSITION_INT/relative_alt
{
  "relative_alt": -17
}

Get a specific message field by message id

curl http://127.0.0.1:2609/get/message/33/alt
{
  "alt": 584070
}

Get all parameters

curl http://127.0.0.1:2609/get/parameter/all

Get a specific parameter by name

curl http://127.0.0.1:2609/get/parameter/STAT_RUNTIME
{
  "STAT_RUNTIME": {
    "statistics": {
      "average_frequency": 0.04563327537308594,
      "counter": 3,
      "duration": 43.82766706199618,
      "first": 1659120473.6298168,
      "first_monotonic": 41638.127151403,
      "instant_frequency": 0.03223455110705248,
      "last": 1659120517.4574845,
      "last_monotonic": 41681.954818465,
      "latency": 31.022612868997385
    },
    "value": 8897.0
  }
}

Get all plan

curl http://127.0.0.1:2609/get/plan/all

Get a specific mission plan item by id

curl http://127.0.0.1:2609/get/plan/1
{
  "autocontinue": 1,
  "command": 22,
  "current": 0,
  "frame": 3,
  "mission_type": 0,
  "param1": 0.0,
  "param2": 0.0,
  "param3": 0.0,
  "param4": 0.0,
  "seq": 1,
  "statistics": {
    "average_frequency": 0,
    "counter": 1,
    "duration": 0,
    "first": 1659097224.3198915,
    "first_monotonic": 20229.831076511,
    "instant_frequency": 0,
    "last": 1659097224.3198915,
    "last_monotonic": 20229.831076511,
    "latency": 0
  },
  "target_component": 0,
  "target_system": 255,
  "x": 0,
  "y": 0,
  "z": 50.0
}

Get all fence

curl http://127.0.0.1:2609/get/fence/all

Get a specific fence item by id

curl http://127.0.0.1:2609/get/fence/1
{
  "count": 6,
  "idx": 1,
  "lat": -35.35980224609375,
  "lng": 149.16319274902344,
  "statistics": {
    "average_frequency": 0,
    "counter": 1,
    "duration": 0,
    "first": 1660055296.6694324,
    "first_monotonic": 28660.054151877,
    "instant_frequency": 0,
    "last": 1660055296.6694324,
    "last_monotonic": 28660.054151877,
    "latency": 0
  },
  "target_component": 0,
  "target_system": 255
}

Get all rally

curl http://127.0.0.1:2609/get/rally/all

Get a specific rally item by id

curl http://127.0.0.1:2609/get/rally/0
{
  "alt": 100,
  "break_alt": 40,
  "count": 2,
  "flags": 0,
  "idx": 0,
  "land_dir": 0,
  "lat": -353608816,
  "lng": 1491632271,
  "statistics": {
    "average_frequency": 0,
    "counter": 1,
    "duration": 0,
    "first": 1660120011.4000502,
    "first_monotonic": 6584.331569675,
    "instant_frequency": 0,
    "last": 1660120011.4000502,
    "last_monotonic": 6584.331569675,
    "latency": 0
  },
  "target_component": 0,
  "target_system": 255
}

Get all custom key value pairs

curl http://127.0.0.1:2609/get/custom/all

Get a specific key value pair based on key

curl http://127.0.0.1:2609/get/custom/pi
{
  "pi": 3.14
}

(after do the post)

Get statistics

curl http://127.0.0.1:2609/get/statistics
{
  "api": {
    "statistics": {
      "average_frequency": 0.3857063030400946,
      "counter": 119,
      "duration": 308.52490369500083,
      "first": 1661338992.8301845,
      "first_monotonic": 16294.305472133,
      "instant_frequency": 0.008128899417259904,
      "last": 1661339301.3550882,
      "last_monotonic": 16602.830375828,
      "latency": 123.01788331600255
    }
  },
  "vehicle": {
    "statistics": {
      "average_frequency": 109.54041660187012,
      "counter": 33759,
      "duration": 308.18761738599824,
      "first": 1661338993.145153,
      "first_monotonic": 16294.62044054,
      "instant_frequency": 3076.544455364997,
      "last": 1661339301.3327703,
      "last_monotonic": 16602.808057926,
      "latency": 0.0003250399968237616
    }
  }
}

Dump all API data

curl http://127.0.0.1:2609/get/all

Post COMMAND_INT command message to vehicle

To move to a position in GUIDED mode using COMMAND_INT command message:

curl -i -X POST -H "Content-Type: application/json" -d '{"target_system": 0, "target_component":0, "frame":6, "command":192, "current":0, "autocontinue":0,"param1":1, "param2":0, "param3":0, "param4":0, "x":-353613322, "y":1491611469, "z":10}' http://127.0.0.1:2609/post/command_int
{
  "command": "POST_INT",
  "connected": true,
  "sent": true,
  "valid": true
}

Post COMMAND_LONG command message to vehicle

To arm the vehicle using COMMAND_LONG command message:

curl -i -X POST -H "Content-Type: application/json" -d '{"target_system": 0, "target_component":0, "command":400, "confirmation":0, "param1":1, "param2":0, "param3":0, "param4":0, "param5":0, "param6":0, "param7":0}' http://127.0.0.1:2609/post/command_long
{
  "command": "POST_LONG",
  "connected": true,
  "sent": true,
  "valid": true
}

Post PARAM_SET command message to vehicle

To set SYSID_THISMAV parameter to 26, using PARAM_SET command message:

curl -i -X POST -H "Content-Type: application/json" -d '{"target_system": 0, "target_component":0, "param_id":"SYSID_THISMAV", "param_value":26, "param_type":9}' http://127.0.0.1:2609/post/param_set
{
  "command": "POST_PARAM",
  "connected": true,
  "sent": true,
  "valid": true
}

Add or update a custom key value pair to API

curl -i -X POST -H "Content-Type: application/json" -d '{"key": "pi", "value": 3.14}' http://127.0.0.1:2609/post/custom
{
  "command": "POST_CUSTOM",
  "sent": true,
  "valid": true
}

Upload flight plan to vehicle

curl -i -X POST -H "Content-Type: application/json" -d '[{"target_system": 0, "target_component": 0, "seq": 1, "frame": 0, "command": 16, "current": 0, "autocontinue": 0, "param1": 0,"param2": 0,"param3": 0,"param4": 0, "x": -353606091, "y": 1491650274, "z": 784.5, "mission_type": 0}]' http://127.0.0.1:2609/post/plan
{
  "command": "POST_PLAN",
  "connected": true,
  "sent": true,
  "valid": true
}

Upload rally point items plan to vehicle

curl -i -X POST -H "Content-Type: application/json" -d '[{"target_system": 0, "target_component": 0, "idx": 0, "count": 1, "lat": -353606091, "lng": 1491650274, "alt": 100, "break_alt":40, "land_dir":0, "flags": 0}]' http://127.0.0.1:2609/post/rally
{
  "command": "POST_RALLY",
  "connected": true,
  "sent": true,
  "valid": true
}

Upload fence point items plan to vehicle

curl -i -X POST -H "Content-Type: application/json" -d '[ { "target_system": 0, "target_component": 0, "idx": 0, "count": 5, "lat": -35.363094, "lng": 149.164749 }, { "target_system": 0, "target_component": 0, "idx": 1, "count": 5, "lat": -35.361046, "lng": 149.165146 }, { "target_system": 0, "target_component": 0, "idx": 2, "count": 5, "lat": -35.365143, "lng": 149.167801 }, { "target_system": 0, "target_component": 0, "idx": 3, "count": 5, "lat": -35.3645481, "lng": 149.161713 }, { "target_system": 0, "target_component": 0, "idx": 4, "count": 5, "lat": -35.361046, "lng": 149.165146 } ]' http://127.0.0.1:2609/post/fence
{
  "command": "POST_FENCE",
  "connected": true,
  "sent": true,
  "valid": true
}

Send a message to vehicle

curl -i -X POST -H "Content-Type: application/json" -d '{"message_name": "MISSION_ITEM_INT", "message_content": [0, 0, 0, 6, 16, 2, 0, 0, 0, 0, 0, -353612986, 1491611332, 50.0]}' http://127.0.0.1:2609/post/message
{
  "command": "POST_MESSAGE",
  "sent": true,
  "valid": true
}

Advanced run and query

/usr/bin/python3 pymavrest.py --host="127.0.0.1" --port=2609 --master="udpin:127.0.0.1:14550" --timeout=5.0 --drop=5.0 --rate=4 --white_message="GLOBAL_POSITION_INT,ATTITUDE,VFR_HUD" --black_message="VFR_HUD" --param=True --plan=True --fence=True --rally=True --reset=True --custom='{"pi": 3.14}' --request='{"245": 5}' --white_parameter="SYSID_THISMAV,SYSID_MYGCS" --black_parameter="SYSID_MYGCS" --statistics=True --home=True
curl http://127.0.0.1:2609/get/message/all
{
  "ATTITUDE": {
    "pitch": -0.0009615588351152837,
    "pitchspeed": -0.00013825629139319062,
    "roll": -0.0007417603628709912,
    "rollspeed": -0.0001102022361010313,
    "statistics": {
      "average_frequency": 3.992590263518338,
      "counter": 6,
      "duration": 1.2523198400012916,
      "first": 1660055296.9819467,
      "first_monotonic": 28660.366665863,
      "instant_frequency": 4.073447899117448,
      "last": 1660055298.2342658,
      "last_monotonic": 28661.618985703,
      "latency": 0.24549227700117626
    },
    "time_boot_ms": 14405031,
    "yaw": -0.13958577811717987,
    "yawspeed": -0.0006176364840939641
  },
  "GLOBAL_POSITION_INT": {
    "alt": 584070,
    "hdg": 35201,
    "lat": -353632620,
    "lon": 1491652373,
    "relative_alt": -17,
    "statistics": {
      "average_frequency": 3.9926913529235,
      "counter": 6,
      "duration": 1.2522881330005475,
      "first": 1660055296.98224,
      "first_monotonic": 28660.366959684,
      "instant_frequency": 4.075237972571812,
      "last": 1660055298.2345283,
      "last_monotonic": 28661.619247817,
      "latency": 0.24538444300196716
    },
    "time_boot_ms": 14405031,
    "vx": 1,
    "vy": -1,
    "vz": 0
  }
}

Arguments

Argument Type Default Help
host str "127.0.0.1" Pymavrest server IP address
port int 2609 Pymavrest server port number
master str "udpin:127.0.0.1:14550" Standard MAVLink connection string
timeout float 5.0 Try to reconnect after this seconds when no message is received, zero means do not reconnect
drop float 5.0 Drop non-periodic messages after this seconds, zero means do not drop
rate int 4 Message stream that will be requested from vehicle, zero means do not request
white_message str "" Comma separated white list to filter messages, empty means all messages are in white list
black_message str "" Comma separated black list to filter messages
white_parameter str "" Comma separated white list to filter parameters, empty means all parameters are in white list
black_parameter str "" Comma separated black list to filter parameters
param bool True Fetch parameters
plan bool True Fetch plan
fence bool True Fetch fence
rally bool True Fetch rally
reset bool False Reset on-board vehicle statistics on start
custom str "" User-defined custom key-value pairs
request str "" Request non-default message streams with frequency
statistics bool True Enable statistics
home bool True Request home

About

Python RESTful API for MAVLink enabled vehicles

ardupilotmavlinkrestful-apipython

License:The Unlicense

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