I am a beginner so if i explain incorrectly please feel free to correct me or ask for more info on my problem. 
I am trying to control a drone using PyMavLink. The drone has a pixhawk board running arducopter software. V4.5.5 (Newest).
I also have the newest pymavlink version. V2.4.41
My code is this for now:
from pymavlink import mavutil
import time
def connect_to_pixhawk(port='/dev/ttyUSB0', baud=57600):
# Connect to the Pixhawk
connection = mavutil.mavlink_connection(port, baud=baud)
connection.wait_heartbeat()
print(f"Heartbeat from system (system {connection.target_system} component {connection.target_component})")
return connection
def change_mode(connection, mode=0):
try:
connection.mav.command_long_send(
connection.target_system,
connection.target_component,
176,
0,
1, mode, 0, 0, 0, 0, 0)
ack = connection.recv_match(type='COMMAND_ACK', blocking=True, timeout=5)
print(ack)
return ack
except Exception as e:
print(e)
def arm(connection, value=1):
try:
connection.mav.command_long_send(
connection.target_system,
connection.target_component,
400,
0,
value, 0, 0, 0, 0, 0, 0)
ack = connection.recv_match(type='COMMAND_ACK', blocking=True, timeout=5)
print(ack)
except Exception as e:
print(e)
def takeoff(connection, height):
connection.mav.command_long_send(
connection.target_system,
connection.target_component,
mavutil.mavlink.MAV_CMD_NAV_TAKEOFF,
0, 0, 0, 0, 0, 0, 0,
height)
# Receive and print acknowledgement message for takeoff
msg = connection.recv_match(type='COMMAND_ACK', blocking=True)
def check_modes(connection):
print(connection.mode_mapping())
def move(connnection, x,y,z):
connection.mav.set_position_target_local_ned_encode(0,
connection.target_system,
connection.target_component,
mavutil.mavlink.MAV_FRAME_BODY_FRD, #Relative to drone itself, not north. (Only for forward not rotate)
64, #Dont Touch
x, #x
y, #y
z, #z
0, #vx
0, #vy
0, #vz
0, #yaw
0, #yaw rate
0,0,0)
ack = connection.recv_match(type='COMMAND_ACK', blocking=True, timeout=5)
print(ack)
if __name__ == "__main__":
connection = connect_to_pixhawk()
check_modes(connection)
change_mode(connection, 0)
time.sleep(1)
arm(connection, 1)
time.sleep(1)
takeoff(connection, 3)
time.sleep(1)
move(connection, 2,0,0)
time.sleep(1)
move(connection, 0,0,0)
time.sleep(1)
arm(connection, 0)
print("DONE")
I am getting this output:
Heartbeat from system (system 1 component 0)
{'STABILIZE': 0, 'ACRO': 1, 'ALT_HOLD': 2, 'AUTO': 3, 'GUIDED': 4, 'LOITER': 5, 'RTL': 6, 'CIRCLE': 7, 'POSITION': 8, 'LAND': 9, 'OF_LOITER': 10, 'DRIFT': 11, 'SPORT': 13, 'FLIP': 14, 'AUTOTUNE': 15, 'POSHOLD': 16, 'BRAKE': 17, 'THROW': 18, 'AVOID_ADSB': 19, 'GUIDED_NOGPS': 20, 'SMART_RTL': 21, 'FLOWHOLD': 22, 'FOLLOW': 23, 'ZIGZAG': 24, 'SYSTEMID': 25, 'AUTOROTATE': 26, 'AUTO_RTL': 27}
COMMAND_ACK {command : 176, result : 0, progress : 0, result_param2 : 0, target_system : 255, target_component : 0}
COMMAND_ACK {command : 400, result : 0, progress : 0, result_param2 : 0, target_system : 255, target_component : 0}
None
None
COMMAND_ACK {command : 400, result : 0, progress : 0, result_param2 : 0, target_system : 255, target_component : 0}
DONE
I am using a radio antenna to connect the computer running pymavlink and the pixhawk drone. This is because i tried a serial connection but it was unstable.
When I use pymavlink to control the drone, I can arm it, change modes, however I cannot liftoff, move or do anything else with it.
I am not sure if my code is incorrect itself, as some commands work but others return no ACK.
I have been facing this problem for months, and I really couldnt find any answer online, I hope this is a dumb mistake, any help is very appreciated.