get-mission.py

"""
    Send MISSION_REQUEST_LIST message to the vehicle first
    Vehicle will respond to this with MISSION_COUNT message that contains total mission item count
    Request mission items from vehicle using MISSION_REQUEST_INT message
    Vehicle will respond to this message with MISSION_ITEM_INT messages

    https://mavlink.io/en/messages/common.html#MISSION_REQUEST_LIST
    https://mavlink.io/en/messages/common.html#MISSION_COUNT
    https://mavlink.io/en/messages/common.html#MISSION_REQUEST_INT
    https://mavlink.io/en/messages/common.html#MISSION_ITEM_INT
    https://ardupilot.org/copter/docs/parameters.html#auto-options-auto-mode-options
"""

import time
import pymavlink.mavutil as utility
import pymavlink.dialects.v20.all as dialect

# connect to vehicle
vehicle = utility.mavlink_connection(device="udpin:127.0.0.1:14560")

# wait for a heartbeat
vehicle.wait_heartbeat()

# inform user
print("Connected to system:", vehicle.target_system, ", component:", vehicle.target_component)

# create mission request list message
message = dialect.MAVLink_mission_request_list_message(target_system=vehicle.target_system,
                                                       target_component=vehicle.target_component,
                                                       mission_type=dialect.MAV_MISSION_TYPE_MISSION)

# send the message to the vehicle
vehicle.mav.send(message)

# wait mission count message
message = vehicle.recv_match(type=dialect.MAVLink_mission_count_message.msgname,
                             blocking=True)

# convert this message to dictionary
message = message.to_dict()

# get the mission item count
count = message["count"]
print("Total mission item count:", count)

# create mission item list
mission_item_list = []

# get the mission items
for i in range(count):
    # create mission request int message
    message = dialect.MAVLink_mission_request_int_message(target_system=vehicle.target_system,
                                                          target_component=vehicle.target_component,
                                                          seq=i,
                                                          mission_type=dialect.MAV_MISSION_TYPE_MISSION)

    # send mission request int message to the vehicle
    vehicle.mav.send(message)

    # wait mission item int message
    message = vehicle.recv_match(type=dialect.MAVLink_mission_item_int_message.msgname,
                                 blocking=True)

    # convert this message to dictionary
    message = message.to_dict()

    # add mission item to the list
    mission_item_list.append(message)

# print mission items
for mission_item in mission_item_list:
    print("Seq", mission_item["seq"],
          "Latitude", mission_item["x"] * 1e-7,
          "Longitude", mission_item["y"] * 1e-7,
          "Altitude", mission_item["z"])