# Send ArduPilot Drone Control to your agent Hand the extracted package to your coding agent with a concrete install brief instead of figuring it out manually. ## Fast path - Download the package from Yavira. - Extract it into a folder your agent can access. - Paste one of the prompts below and point your agent at the extracted folder. ## Suggested prompts ### New install ```text I downloaded a skill package from Yavira. Read SKILL.md from the extracted folder and install it by following the included instructions. Tell me what you changed and call out any manual steps you could not complete. ``` ### Upgrade existing ```text I downloaded an updated skill package from Yavira. Read SKILL.md from the extracted folder, compare it with my current installation, and upgrade it while preserving any custom configuration unless the package docs explicitly say otherwise. Summarize what changed and any follow-up checks I should run. ``` ## Machine-readable fields ```json { "schemaVersion": "1.0", "item": { "slug": "ardupilot", "name": "ArduPilot Drone Control", "source": "tencent", "type": "skill", "category": "开发工具", "sourceUrl": "https://clawhub.ai/LuweiLiao/ardupilot", "canonicalUrl": "https://clawhub.ai/LuweiLiao/ardupilot", "targetPlatform": "OpenClaw" }, "install": { "downloadUrl": "/downloads/ardupilot", "sourceDownloadUrl": "https://wry-manatee-359.convex.site/api/v1/download?slug=ardupilot", "sourcePlatform": "tencent", "targetPlatform": "OpenClaw", "packageFormat": "ZIP package", "primaryDoc": "SKILL.md", "includedAssets": [ "SKILL.md" ], "downloadMode": "redirect", "sourceHealth": { "source": "tencent", "slug": "ardupilot", "status": "healthy", "reason": "direct_download_ok", "recommendedAction": "download", "checkedAt": "2026-04-30T03:24:35.285Z", "expiresAt": "2026-05-07T03:24:35.285Z", "httpStatus": 200, "finalUrl": "https://wry-manatee-359.convex.site/api/v1/download?slug=ardupilot", "contentType": "application/zip", "probeMethod": "head", "details": { "probeUrl": "https://wry-manatee-359.convex.site/api/v1/download?slug=ardupilot", "contentDisposition": "attachment; filename=\"ardupilot-1.0.0.zip\"", "redirectLocation": null, "bodySnippet": null, "slug": "ardupilot" }, "scope": "item", "summary": "Item download looks usable.", "detail": "Yavira can redirect you to the upstream package for this item.", "primaryActionLabel": "Download for OpenClaw", "primaryActionHref": "/downloads/ardupilot" }, "validation": { "installChecklist": [ "Use the Yavira download entry.", "Review SKILL.md after the package is downloaded.", "Confirm the extracted package contains the expected setup assets." ], "postInstallChecks": [ "Confirm the extracted package includes the expected docs or setup files.", "Validate the skill or prompts are available in your target agent workspace.", "Capture any manual follow-up steps the agent could not complete." ] } }, "links": { "detailUrl": "https://openagent3.xyz/skills/ardupilot", "downloadUrl": "https://openagent3.xyz/downloads/ardupilot", "agentUrl": "https://openagent3.xyz/skills/ardupilot/agent", "manifestUrl": "https://openagent3.xyz/skills/ardupilot/agent.json", "briefUrl": "https://openagent3.xyz/skills/ardupilot/agent.md" } } ``` ## Documentation ### ArduPilot 无人机控制 Skill 通过 pymavlink 连接并控制 ArduPilot 无人机 (如 CubeOrange 等)。 ### ⚠️ 重要：起飞核心流程 起飞必须连续发送命令，不要等待！ # 1. 等待飞控稳定 (status=3) while True: msg = master.wait_heartbeat(timeout=3) if msg and msg.system_status == 3: break # 2. 连续发送：ARM → GUIDED → TAKEOFF (不要等待!) master.mav.command_long_send(1, 1, 400, 0, 1, 21196, 0, 0, 0, 0, 0) # ARM (force=21196) mode_map = master.mode_mapping() master.set_mode(mode_map['GUIDED']) # GUIDED master.mav.command_long_send(1, 1, 22, 0, 0, 0, 0, 0, 0, 0, 5) # TAKEOFF 5m # 3. 监控高度 for i in range(40): msg = master.recv_match(type='GLOBAL_POSITION_INT', timeout=0.5) if msg: alt = msg.relative_alt / 1000 if alt >= 4.5: print('✅ 到达目标高度!') break 关键点： 发送 ARM 后立即发送 GUIDED 和 TAKEOFF，不要等待 如果等待，飞控会重新上锁 force=21196 是 ArduPilot 的 magic value ### 连接 from pymavlink import mavutil master = mavutil.mavlink_connection('tcp:localhost:5762') master.wait_heartbeat(timeout=10) system_id = master.target_system # 通常是 1 component_id = master.target_component ### 1. 检查状态 # 获取飞控状态 msg = master.wait_heartbeat(timeout=5) print(f'status: {msg.system_status}') # 0=boot, 3=standby, 4=armed # 获取高度 msg = master.recv_match(type='GLOBAL_POSITION_INT', timeout=1) print(f'高度: {msg.relative_alt / 1000}m') # 获取 GPS msg = master.recv_match(type='GPS_RAW_INT', timeout=1) print(f'GPS: {msg.satellites_visible}颗, fix={msg.fix_type}') # 获取电池 msg = master.recv_match(type='SYS_STATUS', timeout=1) print(f'电池: {msg.voltage_battery / 1000}V') ### 2. 起飞 (关键流程) # ⚠️ 必须等待飞控稳定 (status=3) while True: msg = master.wait_heartbeat(timeout=3) if msg and msg.system_status == 3: break # ⚠️ 连续发送命令，不要等待! master.mav.command_long_send(1, 1, 400, 0, 1, 21196, 0, 0, 0, 0, 0) # ARM mode_map = master.mode_mapping() master.set_mode(mode_map['GUIDED']) # GUIDED master.mav.command_long_send(1, 1, 22, 0, 0, 0, 0, 0, 0, 0, 8) # TAKEOFF 8m # 闭环监控 for i in range(40): msg = master.recv_match(type='GLOBAL_POSITION_INT', timeout=0.5) if msg: alt = msg.relative_alt / 1000 print(f'{i*0.5:.1f}s → {alt:.2f}m') if alt >= 7.2: # 90% 目标 print('✅ 到达!') break ### 3. 降落 # 切换到 LAND 模式 mode_map = master.mode_mapping() master.set_mode(mode_map['LAND']) # ⚠️ 必须持续发送 LAND 命令 for i in range(60): master.mav.command_long_send(1, 1, 21, 0, 0, 0, 0, 0, 0, 0, 0) import time time.sleep(0.5) msg = master.recv_match(type='GLOBAL_POSITION_INT', timeout=0.3) if msg: alt = msg.relative_alt / 1000 if alt < 0.3: print('✅ 降落完成!') break ### 4. 相对移动 (LOCAL_POSITION_NED) # 获取当前位置 local = master.recv_match(type='LOCAL_POSITION_NED', timeout=1) # X轴前进2米 (NED: X=北) master.mav.set_position_target_local_ned_send( 0, system_id, component_id, mavutil.mavlink.MAV_FRAME_LOCAL_NED, 0b0000111111111000, local.x + 2, local.y, local.z, 0, 0, 0, 0, 0, 0, 0, 0 ) ### 坐标系 (NED) X轴: 北 (正=北) Y轴: 东 (正=东) Z轴: 向下 (负值=向上=高度) ### 完整示例 from pymavlink import mavutil import time master = mavutil.mavlink_connection('tcp:localhost:5762') master.wait_heartbeat(timeout=10) print('=== 起飞到 5m ===') # 1. 等待飞控稳定 while True: msg = master.wait_heartbeat(timeout=3) if msg and msg.system_status == 3: break print('飞控就绪') # 2. 连续发送: ARM → GUIDED → TAKEOFF master.mav.command_long_send(1, 1, 400, 0, 1, 21196, 0, 0, 0, 0, 0) mode_map = master.mode_mapping() master.set_mode(mode_map['GUIDED']) master.mav.command_long_send(1, 1, 22, 0, 0, 0, 0, 0, 0, 0, 5) print('ARM + GUIDED + TAKEOFF') # 3. 闭环监控 for i in range(40): msg = master.recv_match(type='GLOBAL_POSITION_INT', timeout=0.5) if msg: alt = msg.relative_alt / 1000 print(f'{i*0.5:.1f}s → {alt:.2f}m') if alt >= 4.5: print('✅ 5m!') break # === 降落 === mode_map = master.mode_mapping() master.set_mode(mode_map['LAND']) for i in range(60): master.mav.command_long_send(1, 1, 21, 0, 0, 0, 0, 0, 0, 0, 0) time.sleep(0.5) msg = master.recv_match(type='GLOBAL_POSITION_INT', timeout=0.3) if msg: alt = msg.relative_alt / 1000 if alt < 0.3: print('✅ 降落完成!') break ### 注意事项 起飞：连续发送命令，不要等待 降落：持续发送 LAND 命令 闭环检查：每次操作前后获取状态 GUIDED 模式：自主飞行必须用 GUIDED GPS：确保 fix_type >= 3 端口：常用 TCP 5762 ### 依赖 pip install pymavlink ## Trust - Source: tencent - Verification: Indexed source record - Publisher: LuweiLiao - Version: 1.0.0 ## Source health - Status: healthy - Item download looks usable. - Yavira can redirect you to the upstream package for this item. - Health scope: item - Reason: direct_download_ok - Checked at: 2026-04-30T03:24:35.285Z - Expires at: 2026-05-07T03:24:35.285Z - Recommended action: Download for OpenClaw ## Links - [Detail page](https://openagent3.xyz/skills/ardupilot) - [Send to Agent page](https://openagent3.xyz/skills/ardupilot/agent) - [JSON manifest](https://openagent3.xyz/skills/ardupilot/agent.json) - [Markdown brief](https://openagent3.xyz/skills/ardupilot/agent.md) - [Download page](https://openagent3.xyz/downloads/ardupilot)