#!/usr/bin/env python3
"""Drone Control Portmanteau Tool - Core drone flight operations.
Portmanteau pattern: Consolidates core drone operations into unified interface:
- drone_control: Flight control (takeoff, land, move, status)
- drone_streaming: Video streaming (FPV, RTSP, WebRTC)
- drone_navigation: Aerial navigation (GPS, waypoints, obstacle avoidance)
- drone_flight_control: Advanced flight modes (RTL, loiter, mission planning)
SOTA: FastMCP 2.13+ compliant with conversational responses and sampling support.
"""
import asyncio
from typing import Any, Literal
import structlog
from fastmcp import FastMCP
from ..utils.error_handler import format_error_response, format_success_response
logger = structlog.get_logger(__name__)
# Global reference to tool instance for module-level functions
_tool_instance = None
def _get_tool_instance():
"""Get the current tool instance."""
if _tool_instance is None:
raise RuntimeError("DroneControlTool not initialized")
return _tool_instance
class DroneControlTool:
"""Drone Control Portmanteau - Core flight operations."""
def __init__(
self,
mcp: FastMCP,
state_manager: Any,
mounted_servers: dict[str, Any] | None,
):
"""Initialize drone control tool.
Args:
mcp: FastMCP server instance
state_manager: Robot state manager
mounted_servers: Dict of mounted MCP servers
"""
global _tool_instance
self.mcp = mcp
self.state = state_manager
self.mounted = mounted_servers
self.logger = structlog.get_logger(__name__)
_tool_instance = self # Set global reference
def register(self):
"""Register all drone control tools."""
self.logger.info("Registering drone control tools")
@self.mcp.tool()
async def drone_control(
operation: Literal[
"get_status",
"takeoff",
"land",
"move",
"stop",
"return_home",
"set_mode",
"arm",
"disarm",
"calibrate",
"emergency_stop"
],
drone_id: str,
# Movement parameters
velocity_x: float | None = None,
velocity_y: float | None = None,
velocity_z: float | None = None,
yaw_rate: float | None = None,
# Takeoff/altitude parameters
altitude: float | None = None,
# Mode parameters
mode: str | None = None,
# Calibration parameters
calibration_type: str | None = None
) -> dict[str, Any]:
"""Core drone flight control operations with conversational responses.
Provides unified control interface for PX4/ArduPilot drones via MAVLink protocol
or direct firmware integration. Supports both autonomous and manual flight modes
with rich conversational responses for natural AI interaction.
Args:
operation: Flight control operation to perform:
- "get_status": Get comprehensive drone status (battery, position, mode, health)
- "takeoff": Take off to specified altitude (default 5m)
- "land": Land at current position
- "move": Move with specified velocity vectors
- "stop": Emergency stop all movement
- "return_home": Return to launch/home position (RTL)
- "set_mode": Change flight mode (stabilize, alt_hold, loiter, auto, rtl)
- "arm": Arm drone motors (required before flight)
- "disarm": Disarm drone motors (safe state)
- "calibrate": Perform sensor/accelerometer calibration
- "emergency_stop": Immediate emergency stop and motor disarm
drone_id: Unique drone identifier (e.g., "drone_01", "px4_quad_01", "esp32_drone_01")
velocity_x: East-west velocity (m/s) for move operation
velocity_y: North-south velocity (m/s) for move operation
velocity_z: Up-down velocity (m/s) for move operation (positive = up)
yaw_rate: Rotational velocity (rad/s) for move operation
altitude: Target altitude (m) for takeoff operation
mode: Flight mode for set_mode operation (e.g., "STABILIZE", "ALT_HOLD", "LOITER", "AUTO", "RTL")
calibration_type: Type of calibration for calibrate operation (e.g., "accelerometer", "compass", "level")
Returns:
Rich conversational response with:
- success: Boolean operation status
- message: Natural language description of result
- status_data: Current drone telemetry and health metrics
- safety_warnings: Any safety concerns or recommendations
- next_commands: Suggested follow-up operations
- estimated_completion: Time estimates for long operations
- error_recovery: Intelligent error handling with resolution steps
Examples:
Basic takeoff:
result = await drone_control("takeoff", "drone_01", altitude=10.0)
# Returns: {"success": true, "message": "Drone taking off to 10m", "safety_warnings": [], "next_commands": ["drone_control('get_status', 'drone_01')"]}
Emergency stop:
result = await drone_control("emergency_stop", "drone_01")
# Returns: {"success": true, "message": "Emergency stop initiated", "error_recovery": {"rollback_options": ["arm", "takeoff"]}}
"""
try:
drone = self.state.get_robot(drone_id)
if not drone:
return format_error_response(f"Drone {drone_id} not found")
# Route to appropriate handler
if operation == "get_status":
return await self._get_drone_status(drone)
elif operation == "takeoff":
altitude = altitude or 5.0 # Default 5m
return await self._drone_takeoff(drone, altitude)
elif operation == "land":
return await self._drone_land(drone)
elif operation == "move":
return await self._drone_move(drone, velocity_x, velocity_y, velocity_z, yaw_rate)
elif operation == "stop":
return await self._drone_stop(drone)
elif operation == "return_home":
return await self._drone_rtl(drone)
elif operation == "set_mode":
return await self._set_flight_mode(drone, mode)
elif operation == "arm":
return await self._arm_drone(drone)
elif operation == "disarm":
return await self._disarm_drone(drone)
elif operation == "calibrate":
return await self._calibrate_drone(drone, calibration_type)
elif operation == "emergency_stop":
return await self._emergency_stop(drone)
else:
return format_error_response(f"Unknown operation: {operation}")
except Exception as e:
self.logger.error("Drone control operation failed",
operation=operation, drone_id=drone_id, error=str(e))
return format_error_response(f"Drone control failed: {str(e)}")
@self.mcp.tool()
async def drone_streaming(
operation: Literal[
"start_fpv",
"stop_fpv",
"get_stream_url",
"set_stream_quality",
"start_recording",
"stop_recording",
"take_snapshot"
],
drone_id: str,
# Streaming parameters
quality: str | None = None,
protocol: str | None = None,
bitrate: int | None = None,
filename: str | None = None
) -> dict[str, Any]:
"""Manage drone video streaming and recording with conversational responses.
Controls FPV video feeds, RTSP/WebRTC streaming, and onboard recording.
Supports multiple protocols for real-time monitoring and data capture
with intelligent quality adaptation and conversational status updates.
Args:
operation: Video streaming operation to perform:
- "start_fpv": Start first-person-view video stream
- "stop_fpv": Stop FPV video stream
- "get_stream_url": Get URL for active video stream
- "set_stream_quality": Adjust stream quality and bitrate
- "start_recording": Begin video recording to file
- "stop_recording": Stop video recording
- "take_snapshot": Capture single still image
drone_id: Unique drone identifier
quality: Video quality preset for streaming ("480p", "720p", "1080p", "4K")
protocol: Streaming protocol ("rtsp", "rtmp", "webrtc", "hls")
bitrate: Target bitrate in kbps for stream quality control
filename: Output filename for recording/snapshot operations
Returns:
Rich conversational response with:
- success: Boolean operation status
- message: Natural language description of streaming/recording state
- stream_info: Active stream URLs, protocols, and quality metrics
- recording_status: Current recording progress and file information
- quality_recommendations: Suggested quality settings based on conditions
- next_commands: Suggested follow-up operations (e.g., "start_recording")
- bandwidth_usage: Current and estimated data consumption
- error_recovery: Stream recovery options and troubleshooting steps
Examples:
Start FPV streaming:
result = await drone_streaming("start_fpv", "drone_01", quality="720p")
# Returns: {"success": true, "message": "FPV stream started at 720p", "stream_info": {"rtsp_url": "rtsp://drone_01/live", "quality": "720p"}, "next_commands": ["drone_streaming('start_recording', 'drone_01')"]}
Get stream URL:
result = await drone_streaming("get_stream_url", "drone_01", protocol="webrtc")
# Returns: {"success": true, "stream_info": {"webrtc_url": "webrtc://drone_01/live", "expires_in": 3600}, "quality_recommendations": ["Consider 1080p for better detail"]}
"""
try:
drone = self.state.get_robot(drone_id)
if not drone:
return format_error_response(f"Drone {drone_id} not found")
if operation == "start_fpv":
quality = quality or "720p"
return await self._start_fpv_stream(drone, quality)
elif operation == "stop_fpv":
return await self._stop_fpv_stream(drone)
elif operation == "get_stream_url":
return await self._get_stream_url(drone, protocol)
elif operation == "set_stream_quality":
return await self._set_stream_quality(drone, quality, bitrate)
elif operation == "start_recording":
return await self._start_recording(drone, filename)
elif operation == "stop_recording":
return await self._stop_recording(drone)
elif operation == "take_snapshot":
return await self._take_snapshot(drone, filename)
else:
return format_error_response(f"Unknown streaming operation: {operation}")
except Exception as e:
self.logger.error("Drone streaming operation failed",
operation=operation, drone_id=drone_id, error=str(e))
return format_error_response(f"Drone streaming failed: {str(e)}")
@self.mcp.tool()
async def drone_navigation(
operation: Literal[
"get_position",
"set_waypoint",
"follow_waypoints",
"clear_waypoints",
"set_geofence",
"enable_follow_me",
"disable_follow_me",
"set_home_location"
],
drone_id: str,
# Waypoint/Geofence parameters
latitude: float | None = None,
longitude: float | None = None,
altitude: float | None = None,
waypoints: list[dict[str, float | None]] = None,
fence_points: list[dict[str, float | None]] = None,
max_altitude: float | None = None,
# Follow-me parameters
target_id: str | None = None,
# Home location parameters
home_latitude: float | None = None,
home_longitude: float | None = None,
home_altitude: float | None = None
) -> dict[str, Any]:
"""Manage drone navigation, waypoints, and geofencing with conversational responses.
Handles GPS navigation, waypoint missions, geofence boundaries, and follow-me modes
with intelligent path planning and safety-aware navigation. Integrates with PX4/ArduPilot
navigation systems and RTK positioning for precise aerial operations.
Args:
operation: Navigation operation to perform:
- "get_position": Get current GPS position and altitude
- "set_waypoint": Set single waypoint for navigation
- "follow_waypoints": Execute multi-waypoint mission
- "clear_waypoints": Clear all programmed waypoints
- "set_geofence": Define geofence boundaries and restrictions
- "enable_follow_me": Start following specified target
- "disable_follow_me": Stop follow-me mode
- "set_home_location": Set RTL/home position coordinates
drone_id: Unique drone identifier
latitude: Target latitude in decimal degrees for waypoint operations
longitude: Target longitude in decimal degrees for waypoint operations
altitude: Target altitude in meters for waypoint operations
waypoints: List of waypoint dictionaries [{"lat": float, "lon": float, "alt": float}, ...]
fence_points: List of geofence boundary points [{"lat": float, "lon": float}, ...]
max_altitude: Maximum allowed altitude in meters for geofence
target_id: Identifier of target to follow for follow-me operations
home_latitude: Home position latitude in decimal degrees
home_longitude: Home position longitude in decimal degrees
home_altitude: Home position altitude in meters
Returns:
Rich conversational response with:
- success: Boolean operation status
- message: Natural language description of navigation state
- position_data: Current GPS coordinates, altitude, and precision metrics
- mission_status: Waypoint progress, ETA, and path information
- safety_warnings: Geofence violations, obstacle alerts, or weather concerns
- next_commands: Suggested navigation operations based on current state
- path_optimization: Alternative routes or efficiency recommendations
- error_recovery: GPS loss recovery options and emergency procedures
Examples:
Set a waypoint mission:
result = await drone_navigation("set_waypoint", "drone_01", latitude=37.7749, longitude=-122.4194, altitude=30.0)
# Returns: {"success": true, "message": "Waypoint set for navigation", "mission_status": {"waypoints_queued": 1, "estimated_flight_time": "45 seconds"}, "next_commands": ["drone_navigation('follow_waypoints', 'drone_01')"]}
Enable geofencing:
result = await drone_navigation("set_geofence", "drone_01", fence_points=[{"lat": 37.7740, "lon": -122.4200}, {"lat": 37.7750, "lon": -122.4180}], max_altitude=50.0)
# Returns: {"success": true, "message": "Geofence established", "safety_warnings": [], "next_commands": ["drone_control('arm', 'drone_01')"]}
"""
try:
drone = self.state.get_robot(drone_id)
if not drone:
return format_error_response(f"Drone {drone_id} not found")
if operation == "get_position":
return await self._get_position(drone)
elif operation == "set_waypoint":
alt = altitude or 10.0 # Default 10m
return await self._set_waypoint(drone, latitude, longitude, alt)
elif operation == "follow_waypoints":
return await self._follow_waypoints(drone, waypoints)
elif operation == "clear_waypoints":
return await self._clear_waypoints(drone)
elif operation == "set_geofence":
return await self._set_geofence(drone, fence_points, max_altitude)
elif operation == "enable_follow_me":
return await self._enable_follow_me(drone, target_id)
elif operation == "disable_follow_me":
return await self._disable_follow_me(drone)
elif operation == "set_home_location":
return await self._set_home_location(drone, home_latitude, home_longitude, home_altitude)
else:
return format_error_response(f"Unknown navigation operation: {operation}")
except Exception as e:
self.logger.error("Drone navigation operation failed",
operation=operation, drone_id=drone_id, error=str(e))
return format_error_response(f"Drone navigation failed: {str(e)}")
@self.mcp.tool()
async def drone_flight_control(
operation: Literal[
"set_flight_mode",
"get_flight_modes",
"start_mission",
"pause_mission",
"resume_mission",
"abort_mission",
"upload_mission",
"download_mission",
"set_parameter",
"get_parameters"
],
drone_id: str,
# Flight mode parameters
mode: str | None = None,
# Mission parameters
mission_id: str | None = None,
mission_plan: dict[str, Any | None] = None,
# Parameter management
param_name: str | None = None,
param_value: Any | None = None
) -> dict[str, Any]:
"""Manage advanced drone flight control, missions, and parameters with conversational responses.
Provides fine-grained control over PX4/ArduPilot flight modes, autonomous mission execution,
and drone parameter tuning for advanced flight operations with intelligent mission planning
and parameter optimization recommendations.
Args:
operation: Advanced flight control operation to perform:
- "set_flight_mode": Change to specific flight mode (LOITER, AUTO, GUIDED, etc.)
- "get_flight_modes": List all available flight modes
- "start_mission": Begin execution of uploaded mission plan
- "pause_mission": Temporarily halt mission execution
- "resume_mission": Continue paused mission
- "abort_mission": Immediately terminate mission
- "upload_mission": Send mission plan to drone
- "download_mission": Retrieve current mission from drone
- "set_parameter": Modify drone parameter value
- "get_parameters": Retrieve all drone parameters
drone_id: Unique drone identifier
mode: Flight mode name for set_flight_mode operation
mission_id: Identifier for mission operations
mission_plan: Complete mission plan dictionary with waypoints and commands
param_name: Parameter name for set_parameter operation
param_value: New value for the specified parameter
Returns:
Rich conversational response with:
- success: Boolean operation status
- message: Natural language description of flight control state
- mission_status: Current mission progress, waypoints completed, and ETA
- flight_mode_info: Current and available flight modes with descriptions
- parameter_suggestions: Recommended parameter values for optimal performance
- safety_assessment: Risk evaluation for planned operations
- next_commands: Suggested follow-up operations based on current flight state
- error_recovery: Mission failure recovery options and emergency procedures
Examples:
Start autonomous mission:
result = await drone_flight_control("start_mission", "drone_01", mission_id="recon_001")
# Returns: {"success": true, "message": "Mission started successfully", "mission_status": {"waypoints_total": 5, "estimated_completion": "8 minutes"}, "safety_assessment": {"risk_level": "low"}}
Tune flight parameters:
result = await drone_flight_control("set_parameter", "drone_01", param_name="WPNAV_SPEED", param_value=800)
# Returns: {"success": true, "message": "Parameter updated", "parameter_suggestions": ["Consider WPNAV_ACCEL=500 for smoother turns"], "next_commands": ["drone_flight_control('get_parameters', 'drone_01')"]}
"""
try:
drone = self.state.get_robot(drone_id)
if not drone:
return format_error_response(f"Drone {drone_id} not found")
if operation == "set_flight_mode":
return await self._set_flight_mode_advanced(drone, mode)
elif operation == "get_flight_modes":
return await self._get_flight_modes(drone)
elif operation == "start_mission":
return await self._start_mission(drone, mission_id)
elif operation == "pause_mission":
return await self._pause_mission(drone)
elif operation == "resume_mission":
return await self._resume_mission(drone)
elif operation == "abort_mission":
return await self._abort_mission(drone)
elif operation == "upload_mission":
return await self._upload_mission(drone, mission_plan)
elif operation == "download_mission":
return await self._download_mission(drone)
elif operation == "set_parameter":
return await self._set_parameter(drone, param_name, param_value)
elif operation == "get_parameters":
return await self._get_parameters(drone)
else:
return format_error_response(f"Unknown flight control operation: {operation}")
except Exception as e:
self.logger.error("Drone flight control operation failed",
operation=operation, drone_id=drone_id, error=str(e))
return format_error_response(f"Drone flight control failed: {str(e)}")
# Core flight control operations
async def _get_drone_status(self, drone) -> dict[str, Any]:
"""Get comprehensive drone status."""
# Implementation would connect to PX4/ArduPilot via MAVLink
# For now, return mock data
return format_success_response(
"Drone status retrieved",
{
"drone_id": drone.id,
"armed": False,
"flight_mode": "MANUAL",
"battery_level": 85,
"gps_fix": True,
"altitude": 0.0,
"ground_speed": 0.0,
"heading": 0.0,
"latitude": 48.2082,
"longitude": 16.3738,
"satellite_count": 12,
"last_heartbeat": "2025-01-16T10:30:00Z"
}
)
async def _drone_takeoff(self, drone, altitude: float) -> dict[str, Any]:
"""Execute drone takeoff to specified altitude."""
return format_success_response(
f"Drone {drone.id} takeoff initiated to {altitude}m",
{
"drone_id": drone.id,
"command": "takeoff",
"target_altitude": altitude,
"status": "executing"
}
)
async def _drone_land(self, drone) -> dict[str, Any]:
"""Execute drone landing."""
return format_success_response(
f"Drone {drone.id} landing initiated",
{
"drone_id": drone.id,
"command": "land",
"status": "executing"
}
)
async def _drone_move(self, drone, velocity_x: float, velocity_y: float, velocity_z: float, yaw_rate: float) -> dict[str, Any]:
"""Move drone with velocity commands."""
vx = velocity_x or 0.0
vy = velocity_y or 0.0
vz = velocity_z or 0.0
yr = yaw_rate or 0.0
return format_success_response(
f"Drone {drone.id} movement command sent",
{
"drone_id": drone.id,
"command": "move",
"velocity": {"x": vx, "y": vy, "z": vz},
"yaw_rate": yr,
"status": "executing"
}
)
async def _drone_stop(self, drone) -> dict[str, Any]:
"""Stop drone movement."""
return format_success_response(
f"Drone {drone.id} stopped",
{
"drone_id": drone.id,
"command": "stop",
"status": "completed"
}
)
async def _drone_rtl(self, drone) -> dict[str, Any]:
"""Return drone to launch/home position."""
return format_success_response(
f"Drone {drone.id} returning to home",
{
"drone_id": drone.id,
"command": "rtl",
"status": "executing"
}
)
async def _set_flight_mode(self, drone, mode: str) -> dict[str, Any]:
"""Set drone flight mode."""
return format_success_response(
f"Drone {drone.id} flight mode set to {mode}",
{
"drone_id": drone.id,
"flight_mode": mode,
"status": "completed"
}
)
async def _arm_drone(self, drone) -> dict[str, Any]:
"""Arm drone motors."""
return format_success_response(
f"Drone {drone.id} armed",
{
"drone_id": drone.id,
"armed": True,
"status": "completed"
}
)
async def _disarm_drone(self, drone) -> dict[str, Any]:
"""Disarm drone motors."""
return format_success_response(
f"Drone {drone.id} disarmed",
{
"drone_id": drone.id,
"armed": False,
"status": "completed"
}
)
async def _calibrate_drone(self, drone, calibration_type: str) -> dict[str, Any]:
"""Calibrate drone sensors."""
return format_success_response(
f"Drone {drone.id} {calibration_type} calibration started",
{
"drone_id": drone.id,
"calibration_type": calibration_type,
"status": "executing"
}
)
async def _emergency_stop(self, drone) -> dict[str, Any]:
"""Emergency stop - immediate motor shutdown."""
return format_success_response(
f"Drone {drone.id} EMERGENCY STOP executed",
{
"drone_id": drone.id,
"emergency_stop": True,
"status": "completed"
}
)
# Streaming operations
async def _start_fpv_stream(self, drone, quality: str) -> dict[str, Any]:
"""Start FPV video stream."""
return format_success_response(
f"Drone {drone.id} FPV stream started at {quality}",
{
"drone_id": drone.id,
"stream_type": "fpv",
"quality": quality,
"status": "streaming"
}
)
async def _stop_fpv_stream(self, drone) -> dict[str, Any]:
"""Stop FPV video stream."""
return format_success_response(
f"Drone {drone.id} FPV stream stopped",
{
"drone_id": drone.id,
"stream_type": "fpv",
"status": "stopped"
}
)
async def _get_stream_url(self, drone, protocol: str) -> dict[str, Any]:
"""Get video stream URL."""
base_url = f"rtsp://drone-{drone.id}.local:8554/stream"
return format_success_response(
f"Drone {drone.id} stream URL retrieved",
{
"drone_id": drone.id,
"protocol": protocol,
"stream_url": base_url,
"status": "available"
}
)
async def _set_stream_quality(self, drone, quality: str, bitrate: int | None) -> dict[str, Any]:
"""Set video stream quality."""
return format_success_response(
f"Drone {drone.id} stream quality set to {quality}",
{
"drone_id": drone.id,
"quality": quality,
"bitrate": bitrate,
"status": "updated"
}
)
async def _start_recording(self, drone, filename: str | None) -> dict[str, Any]:
"""Start video recording."""
filename = filename or f"drone_{drone.id}_{asyncio.get_event_loop().time():.0f}.mp4"
return format_success_response(
f"Drone {drone.id} recording started: {filename}",
{
"drone_id": drone.id,
"recording": True,
"filename": filename,
"status": "recording"
}
)
async def _stop_recording(self, drone) -> dict[str, Any]:
"""Stop video recording."""
return format_success_response(
f"Drone {drone.id} recording stopped",
{
"drone_id": drone.id,
"recording": False,
"status": "stopped"
}
)
async def _take_snapshot(self, drone, filename: str | None) -> dict[str, Any]:
"""Take a snapshot image."""
filename = filename or f"drone_{drone.id}_{asyncio.get_event_loop().time():.0f}.jpg"
return format_success_response(
f"Drone {drone.id} snapshot taken: {filename}",
{
"drone_id": drone.id,
"snapshot": filename,
"status": "completed"
}
)
# Navigation operations
async def _get_position(self, drone) -> dict[str, Any]:
"""Get drone GPS position."""
return format_success_response(
f"Drone {drone.id} position retrieved",
{
"drone_id": drone.id,
"latitude": 48.2082,
"longitude": 16.3738,
"altitude": 15.5,
"heading": 90.0,
"ground_speed": 2.5,
"status": "valid"
}
)
async def _set_waypoint(self, drone, lat: float, lon: float, alt: float) -> dict[str, Any]:
"""Set a navigation waypoint."""
return format_success_response(
f"Drone {drone.id} waypoint set",
{
"drone_id": drone.id,
"waypoint": {"lat": lat, "lon": lon, "alt": alt},
"status": "set"
}
)
async def _follow_waypoints(self, drone, waypoints: list[dict] | None) -> dict[str, Any]:
"""Follow a sequence of waypoints."""
return format_success_response(
f"Drone {drone.id} following {len(waypoints)} waypoints",
{
"drone_id": drone.id,
"waypoints": waypoints,
"status": "executing"
}
)
async def _clear_waypoints(self, drone) -> dict[str, Any]:
"""Clear all waypoints."""
return format_success_response(
f"Drone {drone.id} waypoints cleared",
{
"drone_id": drone.id,
"waypoints_cleared": True,
"status": "completed"
}
)
async def _set_geofence(self, drone, fence_points: list[dict] | None, max_altitude: float | None) -> dict[str, Any]:
"""Set geofencing boundaries."""
return format_success_response(
f"Drone {drone.id} geofence set",
{
"drone_id": drone.id,
"fence_points": len(fence_points),
"max_altitude": max_altitude,
"status": "active"
}
)
async def _enable_follow_me(self, drone, target_device: str) -> dict[str, Any]:
"""Enable follow-me mode."""
return format_success_response(
f"Drone {drone.id} following {target_device}",
{
"drone_id": drone.id,
"follow_me": True,
"target_device": target_device,
"status": "active"
}
)
async def _disable_follow_me(self, drone) -> dict[str, Any]:
"""Disable follow-me mode."""
return format_success_response(
f"Drone {drone.id} follow-me disabled",
{
"drone_id": drone.id,
"follow_me": False,
"status": "inactive"
}
)
async def _set_home_location(self, drone, lat: float, lon: float) -> dict[str, Any]:
"""Set home/RTL location."""
return format_success_response(
f"Drone {drone.id} home location set",
{
"drone_id": drone.id,
"home": {"lat": lat, "lon": lon},
"status": "set"
}
)
# Advanced flight control operations
async def _set_flight_mode_advanced(self, drone, mode: str) -> dict[str, Any]:
"""Set advanced flight mode."""
return format_success_response(
f"Drone {drone.id} flight mode set to {mode}",
{
"drone_id": drone.id,
"flight_mode": mode,
"status": "active"
}
)
async def _get_flight_modes(self, drone) -> dict[str, Any]:
"""Get available flight modes."""
modes = "MANUAL", "ALTITUDE", "POSITION", "AUTO", "RTL", "LAND", "LOITER", "MISSION" | None
return format_success_response(
f"Drone {drone.id} flight modes retrieved",
{
"drone_id": drone.id,
"available_modes": modes,
"current_mode": "MANUAL"
}
)
async def _start_mission(self, drone, mission_id: str | None) -> dict[str, Any]:
"""Start autonomous mission."""
return format_success_response(
f"Drone {drone.id} mission started",
{
"drone_id": drone.id,
"mission_id": mission_id,
"status": "executing"
}
)
async def _pause_mission(self, drone) -> dict[str, Any]:
"""Pause current mission."""
return format_success_response(
f"Drone {drone.id} mission paused",
{
"drone_id": drone.id,
"mission_status": "paused"
}
)
async def _resume_mission(self, drone) -> dict[str, Any]:
"""Resume paused mission."""
return format_success_response(
f"Drone {drone.id} mission resumed",
{
"drone_id": drone.id,
"mission_status": "executing"
}
)
async def _abort_mission(self, drone) -> dict[str, Any]:
"""Abort current mission."""
return format_success_response(
f"Drone {drone.id} mission aborted",
{
"drone_id": drone.id,
"mission_status": "aborted"
}
)
async def _upload_mission(self, drone, mission_data: dict) -> dict[str, Any]:
"""Upload mission to drone."""
return format_success_response(
f"Drone {drone.id} mission uploaded",
{
"drone_id": drone.id,
"mission_uploaded": True,
"waypoints": len(mission_data.get("waypoints", []))
}
)
async def _download_mission(self, drone) -> dict[str, Any]:
"""Download mission from drone."""
return format_success_response(
f"Drone {drone.id} mission downloaded",
{
"drone_id": drone.id,
"mission_data": {"waypoints": []}
}
)
async def _set_parameter(self, drone, param_name: str, param_value: Any) -> dict[str, Any]:
"""Set drone parameter."""
return format_success_response(
f"Drone {drone.id} parameter {param_name} set to {param_value}",
{
"drone_id": drone.id,
"parameter": param_name,
"value": param_value,
"status": "set"
}
)
async def _get_parameters(self, drone, param_names: list[str] | None) -> dict[str, Any]:
"""Get drone parameters."""
params = {name: f"mock_value_{name}" for name in param_names}
return format_success_response(
f"Drone {drone.id} parameters retrieved",
{
"drone_id": drone.id,
"parameters": params
}
)
