Lesson 12: Python SDK Flight¶

Goal / 目標¶

Control StampFly from Python using the SDK. Send flight commands from a Jupyter notebook.

Python SDKを使ってStampFlyを操作する。Jupyterノートブックからフライトコマンドを送信する。

Overview / 概要¶

This lesson shifts from C++ firmware to Python-based control. The firmware side runs a stable PID controller (from Lesson 8). You will use the Python SDK and sf CLI to send high-level commands like takeoff, hover, and land.

このレッスンではC++ファームウェアからPythonベースの制御に移行する。ファームウェア側は Lesson 8の安定したPID制御を実行する。Python SDKとsf CLIを使って離陸、ホバリング、着陸などの高レベルコマンドを送信する。

Architecture / アーキテクチャ¶

┌──────────────────┐     WiFi      ┌──────────────────┐
│  PC / Notebook   │ ◄──────────► │    StampFly      │
│                  │               │                  │
│  Python SDK      │   commands    │  PID Controller  │
│  sf CLI          │ ──────────►  │  Motor Mixer     │
│  Jupyter         │   telemetry  │  Sensors         │
│                  │ ◄──────────  │                  │
└──────────────────┘               └──────────────────┘

Prerequisites / 前提条件¶

Item	Description
Firmware	Flash Lesson 12 (`sf lesson switch 12`)
WiFi	Connect PC to StampFly AP (`StampFly_XXXX`)
Python	`pip install stampfly-edu` (or `pip install -e ".[edu]"`)

Steps / 手順¶

1. Flash stable firmware / 安定ファームウェアを書き込む¶

sf lesson switch 12
sf flash vehicle -m

2. Connect to StampFly WiFi / WiFiに接続する¶

Connect your PC to the StampFly WiFi access point (SSID: StampFly_XXXX).

3. Use sf CLI for flight / sf CLIでフライト¶

# Takeoff to 0.5m / 0.5mまで離陸
sf flight takeoff

# Hover for 5 seconds / 5秒間ホバリング
sf flight hover --duration 5

# Land / 着陸
sf flight land

4. Python SDK in Jupyter / JupyterでPython SDKを使う¶

Open a Jupyter notebook and try the following:

from stampfly_edu import connect_or_simulate

# Connect to real drone or use simulator
# 実機に接続またはシミュレータを使用
drone = connect_or_simulate()

# Takeoff / 離陸
drone.takeoff(altitude=0.5)

# Wait / 待機
import time
time.sleep(3)

# Read telemetry / テレメトリ読み取り
print(f"Altitude: {drone.altitude:.2f} m")
print(f"Roll:     {drone.roll:.1f} deg")
print(f"Pitch:    {drone.pitch:.1f} deg")

# Land / 着陸
drone.land()

# Disconnect / 切断
drone.close()

5. Capture and plot telemetry / テレメトリを取得してプロットする¶

import matplotlib.pyplot as plt
from stampfly_edu import connect_or_simulate

drone = connect_or_simulate()
drone.takeoff(altitude=0.5)

# Record data for 5 seconds / 5秒間データを記録
data = drone.record(duration=5.0)

drone.land()
drone.close()

# Plot altitude / 高度をプロット
plt.figure(figsize=(10, 4))
plt.plot(data["time"], data["altitude"], label="Altitude")
plt.xlabel("Time [s]")
plt.ylabel("Altitude [m]")
plt.title("StampFly Altitude during Hover")
plt.legend()
plt.grid(True)
plt.show()

Firmware (C++ Side) / ファームウェア（C++側）¶

For this lesson, both student.cpp and solution.cpp contain the same PID controller from Lesson 8. The focus is on the Python side, not the C++ side.

このレッスンでは student.cpp と solution.cpp はどちらもLesson 8のPID制御と同じ内容。焦点はPython側であり、C++側ではない。

Useful Commands / 便利なコマンド¶

Command	Description
`sf flight takeoff`	Takeoff to default altitude
`sf flight land`	Land and disarm
`sf flight hover --duration N`	Hover for N seconds
`sf log wifi`	Stream real-time telemetry
`sf monitor`	Serial debug output

Key Concepts / キーコンセプト¶

Python SDK enables rapid prototyping and data analysis
connect_or_simulate() works with both real drone and simulator
WiFi telemetry provides real-time data at 400Hz
High-level commands abstract away low-level PID control
Jupyter notebooks combine code, visualization, and documentation