Merge pull request #624 from dronekit/use-start_default

Use dronekit_sitl start_default to remove boilerplate

Author: hamishwillee

docs/guide/quick_start.rst

@@ -46,18 +46,16 @@ we then use to query the attributes.
 .. code:: python
 
     print "Start simulator (SITL)"
-    from dronekit_sitl import SITL
-    sitl = SITL()
-    sitl.download('copter', '3.3', verbose=True)
-    sitl_args = ['-I0', '--model', 'quad', '--home=-35.363261,149.165230,584,353']
-    sitl.launch(sitl_args, await_ready=True, restart=True)
+    import dronekit_sitl
+    sitl = dronekit_sitl.start_default()
+    connection_string = sitl.connection_string()
 
     # Import DroneKit-Python
     from dronekit import connect, VehicleMode
 
     # Connect to the Vehicle. 
-    print "Connecting to vehicle on: 'tcp:127.0.0.1:5760'"
-    vehicle = connect('tcp:127.0.0.1:5760', wait_ready=True)
+    print("Connecting to vehicle on: %s" % (connection_string,))
+    vehicle = connect(connection_string, wait_ready=True)
 
     # Get some vehicle attributes (state)
     print "Get some vehicle attribute values:"

examples/channel_overrides/channel_overrides.py

@@ -27,14 +27,10 @@
 
 
 #Start SITL if no connection string specified
-if not args.connect:
-    print "Starting copter simulator (SITL)"
-    from dronekit_sitl import SITL
-    sitl = SITL()
-    sitl.download('copter', '3.3', verbose=True)
-    sitl_args = ['-I0', '--model', 'quad', '--home=-35.363261,149.165230,584,353']
-    sitl.launch(sitl_args, await_ready=True, restart=True)
-    connection_string = 'tcp:127.0.0.1:5760'
+if not connection_string:
+    import dronekit_sitl
+    sitl = dronekit_sitl.start_default()
+    connection_string = sitl.connection_string()
 
 
 # Connect to the Vehicle

examples/create_attribute/create_attribute.py

@@ -28,14 +28,10 @@
 
 
 #Start SITL if no connection string specified
-if not args.connect:
-    print "Starting copter simulator (SITL)"
-    from dronekit_sitl import SITL
-    sitl = SITL()
-    sitl.download('copter', '3.3', verbose=True)
-    sitl_args = ['-I0', '--model', 'quad', '--home=-35.363261,149.165230,584,353']
-    sitl.launch(sitl_args, await_ready=True, restart=True)
-    connection_string = 'tcp:127.0.0.1:5760'
+if not connection_string:
+    import dronekit_sitl
+    sitl = dronekit_sitl.start_default()
+    connection_string = sitl.connection_string()
 
 
 # Connect to the Vehicle

examples/drone_delivery/drone_delivery.py

@@ -24,14 +24,11 @@
 
 connection_string=args.connect
 
-if not args.connect:
-    print "Starting copter simulator (SITL)"
-    from dronekit_sitl import SITL
-    sitl = SITL()
-    sitl.download('copter', '3.3', verbose=True)
-    sitl_args = ['-I0', '--model', 'quad', '--home=-35.363261,149.165230,584,353']
-    sitl.launch(sitl_args, await_ready=True, restart=True)
-    connection_string='tcp:127.0.0.1:5760'
+#Start SITL if no connection string specified
+if not connection_string:
+    import dronekit_sitl
+    sitl = dronekit_sitl.start_default()
+    connection_string = sitl.connection_string()
 
 local_path=os.path.dirname(os.path.abspath(__file__))
 print "local path: %s" % local_path

examples/flight_replay/flight_replay.py

@@ -21,22 +21,6 @@
 args = parser.parse_args()
 
 
-def start_default_sitl(lat=None, lon=None):
-    print "Starting copter simulator (SITL)"
-    from dronekit_sitl import SITL
-    sitl = SITL()
-    sitl.download('copter', '3.3', verbose=True)
-    if ((lat is not None and lon is None) or
-        (lat is None and lon is not None)):
-        print("Supply both lat and lon, or neither")
-        exit(1)
-    sitl_args = ['-I0', '--model', 'quad', ]
-    if lat is not None:
-        sitl_args.append('--home=%f,%f,584,353' % (lat,lon,))
-    sitl.launch(sitl_args, await_ready=True, restart=True)
-    connection_string='tcp:127.0.0.1:5760'
-    return (sitl, connection_string)
-
 def get_distance_metres(aLocation1, aLocation2):
     """
     Returns the ground distance in metres between two LocationGlobal objects.
@@ -164,7 +148,9 @@ def arm_and_takeoff(aTargetAltitude):
     start_lat = messages[0].lat/1.0e7
     start_lon = messages[0].lon/1.0e7
 
-    (sitl, connection_string) = start_default_sitl(lat=start_lat,lon=start_lon)
+    import dronekit_sitl
+    sitl = dronekit_sitl.start_default(lat=start_lat,lon=start_lon)
+    connection_string = sitl.connection_string()
 
 # Connect to the Vehicle
 print 'Connecting to vehicle on: %s' % connection_string

examples/follow_me/follow_me.py

@@ -28,15 +28,10 @@
 
 
 #Start SITL if no connection string specified
-if not args.connect:
-    print "Starting copter simulator (SITL)"
-    from dronekit_sitl import SITL
-    sitl = SITL()
-    sitl.download('copter', '3.3', verbose=True)
-    sitl_args = ['-I0', '--model', 'quad', '--home=-35.363261,149.165230,584,353']
-    sitl.launch(sitl_args, await_ready=True, restart=True)
-    connection_string = 'tcp:127.0.0.1:5760'
-
+if not connection_string:
+    import dronekit_sitl
+    sitl = dronekit_sitl.start_default()
+    connection_string = sitl.connection_string()
 
 # Connect to the Vehicle
 print 'Connecting to vehicle on: %s' % connection_string

examples/gcs/microgcs.py

@@ -20,14 +20,10 @@
 sitl = None
 
 #Start SITL if no connection string specified
-if not args.connect:
-    print "Starting copter simulator (SITL)"
-    from dronekit_sitl import SITL
-    sitl = SITL()
-    sitl.download('copter', '3.3', verbose=True)
-    sitl_args = ['-I0', '--model', 'quad', '--home=-35.363261,149.165230,584,353']
-    sitl.launch(sitl_args, await_ready=True, restart=True)
-    connection_string = 'tcp:127.0.0.1:5760'
+if not connection_string:
+    import dronekit_sitl
+    sitl = dronekit_sitl.start_default()
+    connection_string = sitl.connection_string()
 
 # Connect to the Vehicle
 print 'Connecting to vehicle on: %s' % connection_string

examples/guided_set_speed_yaw/guided_set_speed_yaw.py

@@ -25,14 +25,10 @@
 
 
 #Start SITL if no connection string specified
-if not args.connect:
-    print "Starting copter simulator (SITL)"
-    from dronekit_sitl import SITL
-    sitl = SITL()
-    sitl.download('copter', '3.3', verbose=True)
-    sitl_args = ['-I0', '--model', 'quad', '--home=-35.363261,149.165230,584,353']
-    sitl.launch(sitl_args, await_ready=True, restart=True)
-    connection_string='tcp:127.0.0.1:5760'
+if not connection_string:
+    import dronekit_sitl
+    sitl = dronekit_sitl.start_default()
+    connection_string = sitl.connection_string()
 
 
 # Connect to the Vehicle

examples/mission_basic/mission_basic.py

@@ -22,14 +22,10 @@
 
 
 #Start SITL if no connection string specified
-if not args.connect:
-    print "Starting copter simulator (SITL)"
-    from dronekit_sitl import SITL
-    sitl = SITL()
-    sitl.download('copter', '3.3', verbose=True)
-    sitl_args = ['-I0', '--model', 'quad', '--home=-35.363261,149.165230,584,353']
-    sitl.launch(sitl_args, await_ready=True, restart=True)
-    connection_string='tcp:127.0.0.1:5760'
+if not connection_string:
+    import dronekit_sitl
+    sitl = dronekit_sitl.start_default()
+    connection_string = sitl.connection_string()
 
 
 # Connect to the Vehicle

examples/mission_import_export/mission_import_export.py

@@ -25,14 +25,10 @@
 
 
 #Start SITL if no connection string specified
-if not args.connect:
-    print "Starting copter simulator (SITL)"
-    from dronekit_sitl import SITL
-    sitl = SITL()
-    sitl.download('copter', '3.3', verbose=True)
-    sitl_args = ['-I0', '--model', 'quad', '--home=-35.363261,149.165230,584,353']
-    sitl.launch(sitl_args, await_ready=True, restart=True)
-    connection_string='tcp:127.0.0.1:5760'
+if not connection_string:
+    import dronekit_sitl
+    sitl = dronekit_sitl.start_default()
+    connection_string = sitl.connection_string()
 
 
 # Connect to the Vehicle