arm_takeoff_3.py

from dronekit import connect, VehicleMode, LocationGlobalRelative, APIException
import time
import socket
import math
import argparse

def connectMyCopter():
    parser = argparse.ArgumentParser(description='commands')
    parser.add_argument('--connect')
    args = parser.parse_args()

    connection_string = args.connect
    baud_rate = 57600

    vehicle = connect(connection_string, baud=baud_rate, wait_ready=True)
    return vehicle

def arm(vehicle):
    vehicle.mode = VehicleMode("GUIDED")
    while vehicle.mode != "GUIDED":
        print("Waiting for drone to enter GUIDED flight mode")
        time.sleep(1)
    while not vehicle.is_armable:
        print("Waiting to be armable")
        time.sleep(1)
    print("Arming motors!")
    vehicle.armed = True

    while not vehicle.armed:
        print("Waiting to be armed...")
        time.sleep(1)
    print("Vehicle is armed!")
    return None

def takeoff(aTargetAltitude,vehicle):

    print("Taking off!")
    vehicle.simple_takeoff(aTargetAltitude)

    while True:
        print("Altitude: ", vehicle.location.global_relative_frame.alt)
        if vehicle.location.global_relative_frame.alt >= aTargetAltitude * 0.95:
            print("Reached target altitude!")
            break
        time.sleep(1)
    return None