Created download_commands function in flight_controller.py

mavlink/modules/flight_controller.py

@@ -253,3 +253,25 @@ def get_flight_mode(self) -> "tuple[bool, drone_odometry.FlightMode | None]":
         if flight_mode == "AUTO":
             return True, drone_odometry.FlightMode.MOVING
         return True, drone_odometry.FlightMode.MANUAL
+
+    def download_commands(self) -> "list[dronekit.Command]":
+        """
+        Downloads the current list of commands from the drone.
+
+        Returns
+        -------
+        list[dronekit.Command]
+            The list of commands currently held by the drone.
+        """
+        try:
+            command_sequence = self.drone.commands
+            command_sequence.download()
+            command_sequence.wait_ready()
+            commands = list(command_sequence)
+            return commands
+        except dronekit.TimeoutError:
+            print("ERROR: Download timeout, commands are not being received.")
+            return []
+        except ConnectionResetError:
+            print("ERROR: Connection with drone reset. Unable to download commands.")
+            return []

mavlink/test_flight_controller.py

@@ -4,7 +4,7 @@
 
 import time
 
-from mavlink.modules import flight_controller
+from modules import flight_controller
 
 
 DELAY_TIME = 0.5  # seconds
@@ -47,6 +47,15 @@ def main() -> int:
 
         time.sleep(DELAY_TIME)
 
+    # Download and print commands
+    commands = controller.download_commands()
+    if commands:
+        print("Downloaded commands:")
+        for command in commands:
+            print(command)
+    else:
+        print("No commands available.")
+
     result, home = controller.get_home_location(TIMEOUT)
     if not result:
         print("Failed to get home location")