box.py

from AirSimClient import *
import sys
import time

client = MultirotorClient()
client.confirmConnection()
client.enableApiControl(True)
client.armDisarm(True)
client.takeoff()

print("Flying a small square box using moveByVelocityZ")
print("Try pressing 't' in the AirSim view to see a pink trace of the flight")

# AirSim uses NED coordinates so negative axis is up.
# z of -7 is 7 meters above the original launch point.
z = -7

# Fly given velocity vector for 5 seconds
duration = 5
speed = 1
delay = duration * speed;

# using DrivetrainType.MaxDegreeOfFreedom means we can control the drone yaw independently
# from the direction the drone is flying.  I've set values here that make the drone always point inwards
# towards the inside of the box (which would be handy if you are building a 3d scan of an object in the real world).
vx = speed
vy = 0
print("moving by velocity vx=" + str(vx) + ", vy=" + str(vy) + ", yaw=90")
client.moveByVelocityZ(vx,vy,z,duration, DrivetrainType.MaxDegreeOfFreedom, YawMode(False, 90))
time.sleep(delay)
vx = 0
vy = speed
print("moving by velocity vx=" + str(vx) + ", vy=" + str(vy)+ ", yaw=180")
client.moveByVelocityZ(vx,vy,z,duration, DrivetrainType.MaxDegreeOfFreedom, YawMode(False, 180))
time.sleep(delay)
vx = -speed
vy = 0
print("moving by velocity vx=" + str(vx) + ", vy=" + str(vy)+ ", yaw=270")
client.moveByVelocityZ(vx, vy, z,duration, DrivetrainType.MaxDegreeOfFreedom, YawMode(False, 270))
time.sleep(delay)
vx = 0
vy = -speed
print("moving by velocity vx=" + str(vx) + ", vy=" + str(vy) + ", yaw=0")
client.moveByVelocityZ(vx, vy,z,duration, DrivetrainType.MaxDegreeOfFreedom, YawMode(False, 0))
time.sleep(delay)
client.hover()