ArduCopter Post 3.4 recommended way to programmatically Takeoff within a mavproxy module

Ground Control Software MAVProxy
1

First Post: I had been working on a mavproxy module that generates a flight plan automatically and the user just needs to say go after selecting a few parameters. I had a state machine that went through POSHOLD, ARM, AUTO, RC 3 1200 commands

self.master.set_mode(posholdNUM) # all executed in separate state machine operations
self.master.arducopter_arm()
self.master.set_mode(autoNUM)
self.module(‘rc’).cmd_rc([3, 1250])

in order to launch. Since 3.4 this doesn’t work. Always seemed a bit clumsy so I am up for a new way. On the command line we now have the Takeoff command but I haven’t found a good way to execute that command in code in a mavproxy module. Any suggestions?

2

Alright I’ll toss my own suggestion in here. If there are better ways I’m all ears. Maybe this will help someone who isn’t familiar with the commands available. I found this under mavproxy_cmdlong.py in the MAVProxy module directory. There is other good stuff in there once you know about it.

self.master.mav.command_long_send(self.target_system,
mavutil.mavlink.MAV_COMP_ID_SYSTEM_CONTROL, # target_component
mavutil.mavlink.MAV_CMD_NAV_TAKEOFF, # command
0, # confirmation
0, # param1
0, # param2
0, # param3
0, # param4
0, # param5
0, # param6
takeoffAlt) # param7