Add Takeoff Command Sequence, Home Location Reset, and Minor Bug Fixes (#66)

* Fixed issue with readme

* Integrate HRL Support (#8)

* Added missing type hints

* Refactored to cleanup message sending and added support to send msg until ack

* Added support for new HRL messages

* Updated devices to use tuple key and ensure msg target in network

* Added requirement to clone repo in readme

* Resolved grammatical error

* Updated readme to reflect require_ack change

* Updated python requirement in readme and updated setup version

* Resolved errors in structuring named value int message

* Cleaned up readme formatting

* Created dependencies section in readme

* Update Message Commands and Handlers (#15)

* Add HRL Support (#10)

* Fixed issue with readme

* Integrate HRL Support (#8)

* Added missing type hints

* Refactored to cleanup message sending and added support to send msg until ack

* Added support for new HRL messages

* Updated devices to use tuple key and ensure msg target in network

* Added requirement to clone repo in readme

* Resolved grammatical error

* Updated readme to reflect require_ack change

* Updated python requirement in readme and updated setup version

* Resolved errors in structuring named value int message

* Cleaned up readme formatting

* Created dependencies section in readme

* Removed ros commands, fixed gps, renamed outgoingmsg to agentmsg, fixed ack issue

* fixed setup version

* Cleaned up debug messages and fixed readme example

* Add Param Setting and Reading (#19)

* Resolved typo in readme

* Re-update send command methods to use timeout instead of infinite loop

* Refactored various send message functions into single function

* Implemented starter waypoint and mission support

* Added mission to agent object

* Updated agent to have name field

* Rename timeout period in agent

* Modified agentmsg to be parent class and updated send method to used full msg

* Refactored send message to be more usable and added new commands

* Added waypoint and takeoff messages

* Added simple takeoff and takeoff command support

* Add catches to prevent invalid altitude settings

* Code cleanup

* Added missing method type hints

* Fixed mission init and msgmap init

* Updated common messages to use msg timeout

* Fixed variable naming in msgs

* Updated senders to check ack instead of in retry function

* Add support to set parameters

* Added support to set parameters and started process of enabling reading parameters

* Cleaned up agent and modified parameters stored to be circular buffer

* Added interface to read parameters

* Removed unused files

* Added assertions to message construction to ensure proper msg type is provided

* Added debug statements to parameter read method

* Resolved bugs in message sending and message map

* Wrapped up implementation of initial parameter setting and reading feature

* Removed unused comments

* Refactored send message implementation to create new thread on call

* Refactored parameter implementation to use independent threads

* Removed log option and made just debug

* Cleaned up parameter read implementation

* Update README to Reflect Usage Changes (#31)

* Updated readme example to use latest version of pymavswarm

* Updated readme example to use latest version of pymavswarm

* Resolve param retry error

* Fixed incorrect mavlink message sent on takeoff command (#35)

* Resolve Takeoff and Acknowledgement Bugs (#37)

* Resolved typo in readme

* Re-update send command methods to use timeout instead of infinite loop

* Refactored various send message functions into single function

* Implemented starter waypoint and mission support

* Added mission to agent object

* Updated agent to have name field

* Rename timeout period in agent

* Modified agentmsg to be parent class and updated send method to used full msg

* Refactored send message to be more usable and added new commands

* Added waypoint and takeoff messages

* Added simple takeoff and takeoff command support

* Add catches to prevent invalid altitude settings

* Code cleanup

* Added missing method type hints

* Fixed mission init and msgmap init

* Updated common messages to use msg timeout

* Fixed variable naming in msgs

* Updated senders to check ack instead of in retry function

* Add support to set parameters

* Added support to set parameters and started process of enabling reading parameters

* Cleaned up agent and modified parameters stored to be circular buffer

* Added interface to read parameters

* Removed unused files

* Added assertions to message construction to ensure proper msg type is provided

* Added debug statements to parameter read method

* Resolved bugs in message sending and message map

* Wrapped up implementation of initial parameter setting and reading feature

* Removed unused comments

* Refactored send message implementation to create new thread on call

* Refactored parameter implementation to use independent threads

* Removed log option and made just debug

* Cleaned up parameter read implementation

* Resolved bugs in message acknowledgement and takeoff

* Resolve Disconnect and Reconnect Bug (#40)

* Update README Example to Use Latest Usage Changes (#32)

* Fixed issue with readme

* Integrate HRL Support (#8)

* Added missing type hints

* Refactored to cleanup message sending and added support to send msg until ack

* Added support for new HRL messages

* Updated devices to use tuple key and ensure msg target in network

* Added requirement to clone repo in readme

* Resolved grammatical error

* Updated readme to reflect require_ack change

* Updated python requirement in readme and updated setup version

* Resolved errors in structuring named value int message

* Cleaned up readme formatting

* Created dependencies section in readme

* Update Message Commands and Handlers (#15)

* Add HRL Support (#10)

* Fixed issue with readme

* Integrate HRL Support (#8)

* Added missing type hints

* Refactored to cleanup message sending and added support to send msg until ack

* Added support for new HRL messages

* Updated devices to use tuple key and ensure msg target in network

* Added requirement to clone repo in readme

* Resolved grammatical error

* Updated readme to reflect require_ack change

* Updated python requirement in readme and updated setup version

* Resolved errors in structuring named value int message

* Cleaned up readme formatting

* Created dependencies section in readme

* Removed ros commands, fixed gps, renamed outgoingmsg to agentmsg, fixed ack issue

* fixed setup version

* Cleaned up debug messages and fixed readme example

* Add Param Setting and Reading (#19)

* Resolved typo in readme

* Re-update send command methods to use timeout instead of infinite loop

* Refactored various send message functions into single function

* Implemented starter waypoint and mission support

* Added mission to agent object

* Updated agent to have name field

* Rename timeout period in agent

* Modified agentmsg to be parent class and updated send method to used full msg

* Refactored send message to be more usable and added new commands

* Added waypoint and takeoff messages

* Added simple takeoff and takeoff command support

* Add catches to prevent invalid altitude settings

* Code cleanup

* Added missing method type hints

* Fixed mission init and msgmap init

* Updated common messages to use msg timeout

* Fixed variable naming in msgs

* Updated senders to check ack instead of in retry function

* Add support to set parameters

* Added support to set parameters and started process of enabling reading parameters

* Cleaned up agent and modified parameters stored to be circular buffer

* Added interface to read parameters

* Removed unused files

* Added assertions to message construction to ensure proper msg type is provided

* Added debug statements to parameter read method

* Resolved bugs in message sending and message map

* Wrapped up implementation of initial parameter setting and reading feature

* Removed unused comments

* Refactored send message implementation to create new thread on call

* Refactored parameter implementation to use independent threads

* Removed log option and made just debug

* Cleaned up parameter read implementation

* Update README to Reflect Usage Changes (#31)

* Updated readme example to use latest version of pymavswarm

* Updated readme example to use latest version of pymavswarm

* Finalize Takeoff Command Integration (#36)

* Fixed issue with readme

* Integrate HRL Support (#8)

* Added missing type hints

* Refactored to cleanup message sending and added support to send msg until ack

* Added support for new HRL messages

* Updated devices to use tuple key and ensure msg target in network

* Added requirement to clone repo in readme

* Resolved grammatical error

* Updated readme to reflect require_ack change

* Updated python requirement in readme and updated setup version

* Resolved errors in structuring named value int message

* Cleaned up readme formatting

* Created dependencies section in readme

* Update Message Commands and Handlers (#15)

* Add HRL Support (#10)

* Fixed issue with readme

* Integrate HRL Support (#8)

* Added missing type hints

* Refactored to cleanup message sending and added support to send msg until ack

* Added support for new HRL messages

* Updated devices to use tuple key and ensure msg target in network

* Added requirement to clone repo in readme

* Resolved grammatical error

* Updated readme to reflect require_ack change

* Updated python requirement in readme and updated setup version

* Resolved errors in structuring named value int message

* Cleaned up readme formatting

* Created dependencies section in readme

* Removed ros commands, fixed gps, renamed outgoingmsg to agentmsg, fixed ack issue

* fixed setup version

* Cleaned up debug messages and fixed readme example

* Add Param Setting and Reading (#19)

* Resolved typo in readme

* Re-update send command methods to use timeout instead of infinite loop

* Refactored various send message functions into single function

* Implemented starter waypoint and mission support

* Added mission to agent object

* Updated agent to have name field

* Rename timeout period in agent

* Modified agentmsg to be parent class and updated send method to used full msg

* Refactored send message to be more usable and added new commands

* Added waypoint and takeoff messages

* Added simple takeoff and takeoff command support

* Add catches to prevent invalid altitude settings

* Code cleanup

* Added missing method type hints

* Fixed mission init and msgmap init

* Updated common messages to use msg timeout

* Fixed variable naming in msgs

* Updated senders to check ack instead of in retry function

* Add support to set parameters

* Added support to set parameters and started process of enabling reading parameters

* Cleaned up agent and modified parameters stored to be circular buffer

* Added interface to read parameters

* Removed unused files

* Added assertions to message construction to ensure proper msg type is provided

* Added debug statements to parameter read method

* Resolved bugs in message sending and message map

* Wrapped up implementation of initial parameter setting and reading feature

* Removed unused comments

* Refactored send message implementation to create new thread on call

* Refactored parameter implementation to use independent threads

* Removed log option and made just debug

* Cleaned up parameter read implementation

* Update README to Reflect Usage Changes (#31)

* Updated readme example to use latest version of pymavswarm

* Updated readme example to use latest version of pymavswarm

* Resolve param retry error

* Fixed incorrect mavlink message sent on takeoff command (#35)

* Resolve Merge Errors and Acknowledgement Bugs (#38)

* Fixed issue with readme

* Integrate HRL Support (#8)

* Added missing type hints

* Refactored to cleanup message sending and added support to send msg until ack

* Added support for new HRL messages

* Updated devices to use tuple key and ensure msg target in network

* Added requirement to clone repo in readme

* Resolved grammatical error

* Updated readme to reflect require_ack change

* Updated python requirement in readme and updated setup version

* Resolved errors in structuring named value int message

* Cleaned up readme formatting

* Created dependencies section in readme

* Update Message Commands and Handlers (#15)

* Add HRL Support (#10)

* Fixed issue with readme

* Integrate HRL Support (#8)

* Added missing type hints

* Refactored to cleanup message sending and added support to send msg until ack

* Added support for new HRL messages

* Updated devices to use tuple key and ensure msg target in network

* Added requirement to clone repo in readme

* Resolved grammatical error

* Updated readme to reflect require_ack change

* Updated python requirement in readme and updated setup version

* Resolved errors in structuring named value int message

* Cleaned up readme formatting

* Created dependencies section in readme

* Removed ros commands, fixed gps, renamed outgoingmsg to agentmsg, fixed ack issue

* fixed setup version

* Cleaned up debug messages and fixed readme example

* Add Param Setting and Reading (#19)

* Resolved typo in readme

* Re-update send command methods to use timeout instead of infinite loop

* Refactored various send message functions into single function

* Implemented starter waypoint and mission support

* Added mission to agent object

* Updated agent to have name field

* Rename timeout period in agent

* Modified agentmsg to be parent class and updated send method to used full msg

* Refactored send message to be more usable and added new commands

* Added waypoint and takeoff messages

* Added simple takeoff and takeoff command support

* Add catches to prevent invalid altitude settings

* Code cleanup

* Added missing method type hints

* Fixed mission init and msgmap init

* Updated common messages to use msg timeout

* Fixed variable naming in msgs

* Updated senders to check ack instead of in retry function

* Add support to set parameters

* Added support to set parameters and started process of enabling reading parameters

* Cleaned up agent and modified parameters stored to be circular buffer

* Added interface to read parameters

* Removed unused files

* Added assertions to message construction to ensure proper msg type is provided

* Added debug statements to parameter read method

* Resolved bugs in message sending and message map

* Wrapped up implementation of initial parameter setting and reading feature

* Removed unused comments

* Refactored send message implementation to create new thread on call

* Refactored parameter implementation to use independent threads

* Removed log option and made just debug

* Cleaned up parameter read implementation

* Update README to Reflect Usage Changes (#31)

* Updated readme example to use latest version of pymavswarm

* Updated readme example to use latest version of pymavswarm

* Resolve param retry error

* Fixed incorrect mavlink message sent on takeoff command (#35)

* Resolve Takeoff and Acknowledgement Bugs (#37)

* Resolved typo in readme

* Re-update send command methods to use timeout instead of infinite loop

* Refactored various send message functions into single function

* Implemented starter waypoint and mission support

* Added mission to agent object

* Updated agent to have name field

* Rename timeout period in agent

* Modified agentmsg to be parent class and updated send method to used full msg

* Refactored send message to be more usable and added new commands

* Added waypoint and takeoff messages

* Added simple takeoff and takeoff command support

* Add catches to prevent invalid altitude settings

* Code cleanup

* Added missing method type hints

* Fixed mission init and msgmap init

* Updated common messages to use msg timeout

* Fixed variable naming in msgs

* Updated senders to check ack instead of in retry function

* Add support to set parameters

* Added support to set parameters and started process of enabling reading parameters

* Cleaned up agent and modified parameters stored to be circular buffer

* Added interface to read parameters

* Removed unused files

* Added assertions to message construction to ensure proper msg type is provided

* Added debug statements to parameter read method

* Resolved bugs in message sending and message map

* Wrapped up implementation of initial parameter setting and reading feature

* Removed unused comments

* Refactored send message implementation to create new thread on call

* Refactored parameter implementation to use independent threads

* Removed log option and made just debug

* Cleaned up parameter read implementation

* Resolved bugs in message acknowledgement and takeoff

* Resolved failure to reconnect after disconnect

* Added support for live hrl (#44)

* Set Home Location (#46)

* Update README Example to Use Latest Usage Changes (#32)

* Fixed issue with readme

* Integrate HRL Support (#8)

* Added missing type hints

* Refactored to cleanup message sending and added support to send msg until ack

* Added support for new HRL messages

* Updated devices to use tuple key and ensure msg target in network

* Added requirement to clone repo in readme

* Resolved grammatical error

* Updated readme to reflect require_ack change

* Updated python requirement in readme and updated setup version

* Resolved errors in structuring named value int message

* Cleaned up readme formatting

* Created dependencies section in readme

* Update Message Commands and Handlers (#15)

* Add HRL Support (#10)

* Fixed issue with readme

* Integrate HRL Support (#8)

* Added missing type hints

* Refactored to cleanup message sending and added support to send msg until ack

* Added support for new HRL messages

* Updated devices to use tuple key and ensure msg target in network

* Added requirement to clone repo in readme

* Resolved grammatical error

* Updated readme to reflect require_ack change

* Updated python requirement in readme and updated setup version

* Resolved errors in structuring named value int message

* Cleaned up readme formatting

* Created dependencies section in readme

* Removed ros commands, fixed gps, renamed outgoingmsg to agentmsg, fixed ack issue

* fixed setup version

* Cleaned up debug messages and fixed readme example

* Add Param Setting and Reading (#19)

* Resolved typo in readme

* Re-update send command methods to use timeout instead of infinite loop

* Refactored various send message functions into single function

* Implemented starter waypoint and mission support

* Added mission to agent object

* Updated agent to have name field

* Rename timeout period in agent

* Modified agentmsg to be parent class and updated send method to used full msg

* Refactored send message to be more usable and added new commands

* Added waypoint and takeoff messages

* Added simple takeoff and takeoff command support

* Add catches to prevent invalid altitude settings

* Code cleanup

* Added missing method type hints

* Fixed mission init and msgmap init

* Updated common messages to use msg timeout

* Fixed variable naming in msgs

* Updated senders to check ack instead of in retry function

* Add support to set parameters

* Added support to set parameters and started process of enabling reading parameters

* Cleaned up agent and modified parameters stored to be circular buffer

* Added interface to read parameters

* Removed unused files

* Added assertions to message construction to ensure proper msg type is provided

* Added debug statements to parameter read method

* Resolved bugs in message sending and message map

* Wrapped up implementation of initial parameter setting and reading feature

* Removed unused comments

* Refactored send message implementation to create new thread on call

* Refactored parameter implementation to use independent threads

* Removed log option and made just debug

* Cleaned up parameter read implementation

* Update README to Reflect Usage Changes (#31)

* Updated readme example to use latest version of pymavswarm

* Updated readme example to use latest version of pymavswarm

* Finalize Takeoff Command Integration (#36)

* Fixed issue with readme

* Integrate HRL Support (#8)

* Added missing type hints

* Refactored to cleanup message sending and added support to send msg until ack

* Added support for new HRL messages

* Updated devices to use tuple key and ensure msg target in network

* Added requirement to clone repo in readme

* Resolved grammatical error

* Updated readme to reflect require_ack change

* Updated python requirement in readme and updated setup version

* Resolved errors in structuring named value int message

* Cleaned up readme formatting

* Created dependencies section in readme

* Update Message Commands and Handlers (#15)

* Add HRL Support (#10)

* Fixed issue with readme

* Integrate HRL Support (#8)

* Added missing type hints

* Refactored to cleanup message sending and added support to send msg until ack

* Added support for new HRL messages

* Updated devices to use tuple key and ensure msg target in network

* Added requirement to clone repo in readme

* Resolved grammatical error

* Updated readme to reflect require_ack change

* Updated python requirement in readme and updated setup version

* Resolved errors in structuring named value int message

* Cleaned up readme formatting

* Created dependencies section in readme

* Removed ros commands, fixed gps, renamed outgoingmsg to agentmsg, fixed ack issue

* fixed setup version

* Cleaned up debug messages and fixed readme example

* Add Param Setting and Reading (#19)

* Resolved typo in readme

* Re-update send command methods to use timeout instead of infinite loop

* Refactored various send message functions into single function

* Implemented starter waypoint and mission support

* Added mission to agent object

* Updated agent to have name field

* Rename timeout period in agent

* Modified agentmsg to be parent class and updated send method to used full msg

* Refactored send message to be more usable and added new commands

* Added waypoint and takeoff messages

* Added simple takeoff and takeoff command support

* Add catches to prevent invalid altitude settings

* Code cleanup

* Added missing method type hints

* Fixed mission init and msgmap init

* Updated common messages to use msg timeout

* Fixed variable naming in msgs

* Updated senders to check ack instead of in retry function

* Add support to set parameters

* Added support to set parameters and started process of enabling reading parameters

* Cleaned up agent and modified parameters stored to be circular buffer

* Added interface to read parameters

* Removed unused files

* Added assertions to message construction to ensure proper msg type is provided

* Added debug statements to parameter read method

* Resolved bugs in message sending and message map

* Wrapped up implementation of initial parameter setting and reading feature

* Removed unused comments

* Refactored send message implementation to create new thread on call

* Refactored parameter implementation to use independent threads

* Removed log option and made just debug

* Cleaned up parameter read implementation

* Update README to Reflect Usage Changes (#31)

* Updated readme example to use latest version of pymavswarm

* Updated readme example to use latest version of pymavswarm

* Resolve param retry error

* Fixed incorrect mavlink message sent on takeoff command (#35)

* Resolve Merge Errors and Acknowledgement Bugs (#38)

* Fixed issue with readme

* Integrate HRL Support (#8)

* Added missing type hints

* Refactored to cleanup message sending and added support to send msg until ack

* Added support for new HRL messages

* Updated devices to use tuple key and ensure msg target in network

* Added requirement to clone repo in readme

* Resolved grammatical error

* Updated readme to reflect require_ack change

* Updated python requirement in readme and updated setup version

* Resolved errors in structuring named value int message

* Cleaned up readme formatting

* Created dependencies section in readme

* Update Message Commands and Handlers (#15)

* Add HRL Support (#10)

* Fixed issue with readme

* Integrate HRL Support (#8)

* Added missing type hints

* Refactored to cleanup message sending and added support to send msg until ack

* Added support for new HRL messages

* Updated devices to use tuple key and ensure msg target in network

* Added requirement to clone repo in readme

* Resolved grammatical error

* Updated readme to reflect require_ack change

* Updated python requirement in readme and updated setup version

* Resolved errors in structuring named value int message

* Cleaned up readme formatting

* Created dependencies section in readme

* Removed ros commands, fixed gps, renamed outgoingmsg to agentmsg, fixed ack issue

* fixed setup version

* Cleaned up debug messages and fixed readme example

* Add Param Setting and Reading (#19)

* Resolved typo in readme

* Re-update send command methods to use timeout instead of infinite loop

* Refactored various send message functions into single function

* Implemented starter waypoint and mission support

* Added mission to agent object

* Updated agent to have name field

* Rename timeout period in agent

* Modified agentmsg to be parent class and updated send method to used full msg

* Refactored send message to be more usable and added new commands

* Added waypoint and takeoff messages

* Added simple takeoff and takeoff command support

* Add catches to prevent invalid altitude settings

* Code cleanup

* Added missing method type hints

* Fixed mission init and msgmap init

* Updated common messages to use msg timeout

* Fixed variable naming in msgs

* Updated senders to check ack instead of in retry function

* Add support to set parameters

* Added support to set parameters and started process of enabling reading parameters

* Cleaned up agent and modified parameters stored to be circular buffer

* Added interface to read parameters

* Removed unused files

* Added assertions to message construction to ensure proper msg type is provided

* Added debug statements to parameter read method

* Resolved bugs in message sending and message map

* Wrapped up implementation of initial parameter setting and reading feature

* Removed unused comments

* Refactored send message implementation to create new thread on call

* Refactored parameter implementation to use independent threads

* Removed log option and made just debug

* Cleaned up parameter read implementation

* Update README to Reflect Usage Changes (#31)

* Updated readme example to use latest version of pymavswarm

* Updated readme example to use latest version of pymavswarm

* Resolve param retry error

* Fixed incorrect mavlink message sent on takeoff command (#35)

* Resolve Takeoff and Acknowledgement Bugs (#37)

* Resolved typo in readme

* Re-update send command methods to use timeout instead of infinite loop

* Refactored various send message functions into single function

* Implemented starter waypoint and mission support

* Added mission to agent object

* Updated agent to have name field

* Rename timeout period in agent

* Modified agentmsg to be parent class and updated send method to used full msg

* Refactored send message to be more usable and added new commands

* Added waypoint and takeoff messages

* Added simple takeoff and takeoff command support

* Add catches to prevent invalid altitude settings

* Code cleanup

* Added missing method type hints

* Fixed mission init and msgmap init

* Updated common messages to use msg timeout

* Fixed variable naming in msgs

* Updated senders to check ack instead of in retry function

* Add support to set parameters

* Added support to set parameters and started process of enabling reading parameters

* Cleaned up agent and modified parameters stored to be circular buffer

* Added interface to read parameters

* Removed unused files

* Added assertions to message construction to ensure proper msg type is provided

* Added debug statements to parameter read method

* Resolved bugs in message sending and message map

* Wrapped up implementation of initial parameter setting and reading feature

* Removed unused comments

* Refactored send message implementation to create new thread on call

* Refactored parameter implementation to use independent threads

* Removed log option and made just debug

* Cleaned up parameter read implementation

* Resolved bugs in message acknowledgement and takeoff

* Added support for resetting the home location of an agent

* Cleaned up support for resetting home position

* Integrate Support for All-In-One Takeoff Command (#49)

* Created skeleton handler for all in one message

* Added initial implementation of full takeoff commands

* Added takeoff workflow to msg map

* Cleaned up support for full takeoff command

* Added arming delay and cleaned up msgs to support sequence commands

Author: evan-palmer

pymavswarm/Connection.py

@@ -45,7 +45,7 @@ def connect(self, port: str, baudrate: int, source_system: int=255, source_compo
                 self.connection.start_connection()
             except Exception:
                 # Handle the error message
-                self.logger.debug('MavSwarm was unable to establish a connection with the specified device')
+                self.logger.debug('MavSwarm was unable to establish a connection with the specified device', exc_info=True)
 
                 return False
 
@@ -58,6 +58,7 @@ def disconnect(self) -> bool:
         """
         if self.connection is not None:
             self.connection.disconnect()
+            self.connection = None
 
         return True
 
@@ -115,9 +116,10 @@ def get_agent_by_id(self, sys_id: int, comp_id: int) -> Optional[Agent]:
         """
         Get a specific agent by its system ID and component ID
         """
-        for agent in self.connection.devices.values():
-            if agent.sys_id == sys_id and agent.comp_id == comp_id:
-                return agent
+        device_id = (sys_id, comp_id)
+
+        if device_id in self.connection.devices:
+            return self.connection.devices[device_id]
 
         return None
 

pymavswarm/MavSwarm.py

@@ -9,22 +9,32 @@ class AgentMsg:
         - msg_timeout   [float] : The amount of time that pymavswarm should attempt to resend a message if
                                   acknowledgement is not received. This is only used when check_ack is set
                                   to true
-        - ack_timeout   [float] : The amount of time that pymavswarm should way to check for an acknowledgement
+        - ack_timeout   [float] : The amount of time that pymavswarm should wait to check for an acknowledgement
                                   from an agent. This is only used when check_ack is set to true. This should be kept
                                   as short as possible to keep agent state information up-to-date
+        - state_timeout [float] : The amount of time that pymavswarm should wait for a given agent's state to change 
+                                  after receiving a mavlink message
+        - state_delay   [float] : The amount of time that pymavswarm should wait after sending a command prior to sending
+                                  another command. This parameter is used for sequence-driven commands such as the full
+                                  takeoff command sequence.
+                                   
     """
     def __init__(self, msg_type: str, 
                  target_system: int, 
                  target_comp: int, 
                  retry: bool,
                  msg_timeout: float=5.0,
-                 ack_timeout: float=1.0) -> None:
+                 ack_timeout: float=1.0,
+                 state_timeout: float=5.0,
+                 state_delay: float=3.0) -> None:
         self.msg_type = msg_type
         self.target_system = target_system
         self.target_comp = target_comp
         self.retry = retry
         self.msg_timeout = msg_timeout
         self.ack_timeout = ack_timeout
+        self.state_timeout = state_timeout
+        self.state_delay = state_delay
 
         return
 

pymavswarm/msg/AgentMsg.py

@@ -7,7 +7,20 @@ class FlightModeMsg(AgentMsg):
     """
     FlightModeMsg represents messages that should result in a flight mode change on an agent.
     """
-    def __init__(self, msg_type: str, target_system: int, target_comp: int, retry: bool, msg_timeout: float=5.0) -> None:
-        super().__init__(msg_type, target_system, target_comp, retry, msg_timeout=msg_timeout)
+    def __init__(self, msg_type: str, 
+                 target_system: int, 
+                 target_comp: int, 
+                 retry: bool, 
+                 msg_timeout: float=5.0, 
+                 ack_timeout: float=1.0,
+                 state_timeout: float=5.0,
+                 state_delay: float=3.0) -> None:
+        super().__init__(msg_type, 
+                         target_system, 
+                         target_comp, retry,
+                         msg_timeout=msg_timeout,
+                         ack_timeout=ack_timeout,
+                         state_timeout=state_timeout,
+                         state_delay=state_delay)
 
         return

pymavswarm/msg/FlightModeMsg.py

@@ -7,8 +7,23 @@ class FlightSpeedMsg(AgentMsg):
     FlightSpeedMsg represents messages that should change the flight speed of an agent.
     This may be either ground speed or air speed in m/s.
     """
-    def __init__(self, speed: float, msg_type: str, target_system: int, target_comp: int, retry: bool, msg_timeout: float=5.0) -> None:
-        super().__init__(msg_type, target_system, target_comp, retry, msg_timeout=msg_timeout)
+    def __init__(self, speed: float, 
+                 msg_type: str, 
+                 target_system: int, 
+                 target_comp: int, 
+                 retry: bool, 
+                 msg_timeout: float=5.0, 
+                 ack_timeout: float=1.0,
+                 state_timeout: float=5.0,
+                 state_delay: float=3.0) -> None:
+        super().__init__(msg_type, 
+                         target_system, 
+                         target_comp, 
+                         retry,
+                         msg_timeout=msg_timeout,
+                         ack_timeout=ack_timeout,
+                         state_timeout=state_timeout,
+                         state_delay=state_delay)
         self.speed = speed
 
         return

pymavswarm/msg/FlightSpeedMsg.py

@@ -9,8 +9,24 @@ class HRLMsg(AgentMsg):
     The message types that should be used with this type include:
         - start_path_execution
         - stop_path_execution
+        - reset_path_execution
+        - start_live_execution
     """
-    def __init__(self, msg_type: str, target_system: int, target_comp: int, retry: bool, msg_timeout: float=5.0) -> None:
-        super().__init__(msg_type, target_system, target_comp, retry, msg_timeout=msg_timeout)
+    def __init__(self, msg_type: str, 
+                 target_system: int, 
+                 target_comp: int, 
+                 retry: bool, 
+                 msg_timeout: float=5.0, 
+                 ack_timeout: float=1.0,
+                 state_timeout: float=5.0,
+                 state_delay: float=3.0) -> None:
+        super().__init__(msg_type, 
+                         target_system, 
+                         target_comp, 
+                         retry,
+                         msg_timeout=msg_timeout,
+                         ack_timeout=ack_timeout,
+                         state_timeout=state_timeout,
+                         state_delay=state_delay)
 
         return

pymavswarm/msg/HRLMsg.py

@@ -0,0 +1,39 @@
+from typing import Optional
+from .AgentMsg import AgentMsg
+
+
+class HomePositionMsg(AgentMsg):
+    """
+    HomePositionMsg signals a home position reset. The home position can be reset to the current location
+    or set to a specific location. Note that if the home location is being reset to the current position,
+    then the location is not required. If the home location is being set to a specific location, all
+    components must be set. 
+    Params:
+        lat  :   : Longitude
+        long :   : Longitude
+        alt  : m : Altitude
+    """
+    def __init__(self, msg_type: str, 
+                 target_system: int, 
+                 target_comp: int, 
+                 retry: bool,
+                 lat: Optional[float]=None,
+                 lon: Optional[float]=None,
+                 alt: Optional[float]=None,
+                 msg_timeout: float=5.0,
+                 ack_timeout: float=1.0,
+                 state_timeout: float=5.0,
+                 state_delay: float=3.0) -> None:
+        super().__init__(msg_type, 
+                         target_system, 
+                         target_comp, 
+                         retry,
+                         msg_timeout=msg_timeout,
+                         ack_timeout=ack_timeout,
+                         state_timeout=state_timeout,
+                         state_delay=state_delay)
+        self.altitude = alt
+        self.lat = lat
+        self.lon = lon
+
+        return

pymavswarm/msg/HomePositionMsg.py

@@ -53,7 +53,9 @@ class HRLCommands:
     Enum class used to enable easy retrieval of the command used to send HRL commands
     """
     start_path_execution = 'startpath'
+    reset_path_execution = 'resetpath'
     stop_path_execution = 'stoppath'
+    start_live_execution = 'startlive'
 
 
 @dataclass
@@ -76,6 +78,10 @@ class MissionCommand:
     waypoint = 'waypoint'
     simple_takeoff = 'simpletakeoff'
     takeoff = 'takeoff'
+    full_takeoff = 'fulltakeoff'
+    full_simple_takeoff = 'simplefulltakeoff'
+    reset_home_position_to_current = 'resethomecurrent'
+    reset_home_position = 'resethome'
 
 
 class MsgMap:

pymavswarm/msg/MsgMap.py

@@ -8,7 +8,21 @@ class PreflightCalibrationMsg(AgentMsg):
     PreflightCalibrationMsg represents messages that perform pre-flight calibrations on a selected
     agent
     """
-    def __init__(self, msg_type: str, target_system: int, target_comp: int, retry: bool, msg_timeout: float=5.0) -> None:
-        super().__init__(msg_type, target_system, target_comp, retry, msg_timeout=msg_timeout)
+    def __init__(self, msg_type: str, 
+                 target_system: int, 
+                 target_comp: int, 
+                 retry: bool, 
+                 msg_timeout: float=5.0, 
+                 ack_timeout: float=1.0,
+                 state_timeout: float=5.0,
+                 state_delay: float=3.0) -> None:
+        super().__init__(msg_type, 
+                         target_system, 
+                         target_comp, 
+                         retry,
+                         msg_timeout=msg_timeout,
+                         ack_timeout=ack_timeout,
+                         state_timeout=state_timeout,
+                         state_delay=state_delay)
 
         return

pymavswarm/msg/PreflightCalibrationMsg.py

@@ -8,7 +8,21 @@ class SystemCommandMsg(AgentMsg):
     SystemCommandMsg class represents messages that perform some system-level operation on
     an agent such as arming or reboot.
     """
-    def __init__(self, msg_type: str, target_system: int, target_comp: int, retry: bool, msg_timeout: float=5.0) -> None:
-        super().__init__(msg_type, target_system, target_comp, retry, msg_timeout=msg_timeout)
+    def __init__(self, msg_type: str, 
+                 target_system: int, 
+                 target_comp: int, 
+                 retry: bool, 
+                 msg_timeout: float=5.0, 
+                 ack_timeout: float=1.0,
+                 state_timeout: float=5.0,
+                 state_delay: float=3.0) -> None:
+        super().__init__(msg_type, 
+                         target_system, 
+                         target_comp, 
+                         retry,
+                         msg_timeout=msg_timeout,
+                         ack_timeout=ack_timeout,
+                         state_timeout=state_timeout,
+                         state_delay=state_delay)
 
         return