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Mission Planner 的一个很酷的功能是它可以运行 Python 脚本，这是一种扩展程序内建函数之外的功能的简单方法。它还可以很容易地与其它dll和模块集成，远远超出Mission Planner的现有功能限制。
概述
你可以轻松地对无人机进行编程以执行任何操作，从机器人杂技到脚本驱动的任务。前支持 Python 2.x，最高支持 2.7（Mission Planner 在内部使用 IronPython 的实现）。
除了常规的 Python 命令，以下是你可以使用的特殊Mission Planner命令：
cs.VARIABLENAME = currentstate
可以使用Mission Planner中“飞行数据”的状态选项卡上的任何变量。
Script.METHODNAME(...)
选项是：
Script.Sleep(ms)
Script.ChangeParam(name,value)
Script.GetParam(name)
Script.ChangeMode(mode) （与飞行模式设置界面中“AUTO”中显示的相同）
>Script.WaitFor(string,timeout)
Script.SendRC(channel,pwm,sendnow)
这里有一个例子，控制多翼飞机在空中翻滚！
print 'Start Script'
for chan in range(1,9):
Script.SendRC(chan,1500,False)
Script.SendRC(3,Script.GetParam('RC3_MIN'),True)
Script.Sleep(5000)
while cs.lat == 0:
print 'Waiting for GPS'
Script.Sleep(1000)
print 'Got GPS'
jo = 10 * 13
print jo
Script.SendRC(3,1000,False)
Script.SendRC(4,2000,True)
cs.messages.Clear()
Script.WaitFor('ARMING MOTORS',30000)
Script.SendRC(4,1500,True)
print 'Motors Armed!'
Script.SendRC(3,1700,True)
while cs.alt < 50:
Script.Sleep(50)
Script.SendRC(5,2000,True) # acro
Script.SendRC(1,2000,False) # roll
Script.SendRC(3,1370,True) # throttle
while cs.roll > -45: # top half 0 - 180
Script.Sleep(5)
while cs.roll < -45: # -180 - -45
Script.Sleep(5)
Script.SendRC(5,1500,False) # stabilize
Script.SendRC(1,1500,True) # level roll
Script.Sleep(2000) # 2 sec to stabilize
Script.SendRC(3,1300,True) # throttle back to land
thro = 1350 # will descend
while cs.alt > 0.1:
Script.Sleep(300)
Script.SendRC(3,1000,False)
Script.SendRC(4,1000,True)
Script.WaitFor('DISARMING MOTORS',30000)
Script.SendRC(4,1500,True)
print 'Roll complete'由Mission Planner公开给Python的类
Mission Planner使用以下代码公开类：
将类引用到python
scope.SetVariable(Variablename, ClassInstance);
公开了以下类：
scope.SetVariable("MAV", MainV2.comPort);
scope.SetVariable("cs", MainV2.comPort.MAV.cs);
scope.SetVariable("Script", this);
scope.SetVariable("mavutil", this);
你可以在此处添加自己的类。现在让我们探索你可以使用这些类在脚本中使用的重要方法和属性。
Class Name: Script.cs
Python Variable: Script , mavutil
| Method | Description |
| bool ChangeParam (string param, float value) | |
| Float GetParam (string param) | |
| bool ChangeMode (string mode) | Changes flying mode |
| bool SendRC (int channel, ushort pwm, bool sendnow) | Send Chxout values. |
Class Name: CurrentState.cs
Python Variable: cs
| Method | Type | Description |
| roll | float | Roll (deg) |
| pitch | float | Pitch (deg) |
| yaw | float | Yaw (deg) |
| lat | float | Latitude (deg) |
| lng | float | Longitude (deg) |
| groundcourse | float | Ground Course (deg) |
| alt | float | Altitude (dist) |
| altoffsethome | float | Altitude Home Offset (dist) |
| gpsstatus | float | GPS Status |
| gpshdop | float | GPS HDOP |
| satcount | float | Satellite Count |
| altd100 | float | Altitude / 100 |
| altd1000 | float | Altitude / 1000 |
| airspeed | float | Airspeed (speed) |
| targetairspeed | float | Airspeed Target (speed) |
| groundspeed | float | Ground Speed (speed) |
| verticalspeed | float | Vertical Speed (speed) |
| wind_dir | float | Wind Direction (deg) |
| wind_vel | float | Wind Velocity (speed) |
| ax, ay, az | float | Acceleration Values in x,y,z |
| gx, gy, gz | float | Gyro Values in x,y,z |
| mx, my, mz | float | Mag Values in x,y,z |
| failsafe | bool | Fail Safe Active or Not |
| rxrssi | float | |
| chx1in, chx2in, …. chx8in | float | Input Channels from 1 to 8 |
| ch1out, chx2out, …. chx8out | float | Output Channel form 1 to 8 |
| nav_roll | float | Roll Target (deg) |
| nav_pitch | float | Pitch Target (deg) |
| nav_bearing | float | Bearing target (deg) |
| target_bearing | float | Bearing Target (deg) |
| wp_dist | float | Distance to Next Waypoint (dist) |
| alt_error | float | Altitude Error (dist) |
| ber_error | float | Bearing Error (dist) |
| aspd_error | float | Airspeed Error (speed) |
| wpno | float | Flying Mode |
| mode | String | Flying Mode |
| dimbrate | float | Climb Rate (speed) |
| tot | int | Time over target (sec) |
| distTraveled | float | Distance Traveled (dist) |
| timeInAir | float | Time in Air (sec) |
| turnrate | float | Turn Rate (speed) |
| radius | float | Turn Radius (dist) |
| battery_voltage | float | Battery Voltage (volt) |
| battery_remaining | float | Battery Remaining (%) |
| current | float | battery Current (Amps) |
| HomeAlt | float | |
| DistToHome | float | Absolute Pressure Value |
| press_abs | float | Absolute Pressure Value |
| sonarrange | float | Sonar Range (meters) |
| sonarVoltage | float | Sonar Voltage (volt) |
| armed | bool | True if Armed |
请注意，虽然这些属性是读/写，但写入其中一些可能会破坏状态。使用Script类中的方法来控制车辆。例如，使用Script.ChangeMode(xmode)而不是 cs.mode = xmode。
Class Name: MavLink.cs
Python Variable: MAV
| Method | Description |
| bool setParam (string paramname, float value) | Same as Script.ChangeParam() |
| bool doARM (bool armit) | BE CAREFUL when using it. |
| byte getWPCount ( ) | Gets Waypoints Count. |
使用 CPython 标准库
你可以从常规的Python 2中导入标准库。将以下代码添加到脚本的顶部(将"c:\python27\lib"替换为你自己的文件夹)：
import sys sys.path.append(r"c:\python27\lib")
例如，在这里，我们正在导入串行库、os库和线程库，它们在典型的Python 2.7安装目录里面的两个文件夹中。
添加这三个库的特定文件夹路径后，我们就可以使用下一个“import”命令来导入它们：
import sys sys.path.append(r"c:\Python27\Lib\site-packages") sys.path.append(r"c:\Python27\Lib") import serial, os, threading
教程和示例脚本
编写固定翼特技
添加新变量和类
编写基于时间的脚本