plutocontrol

plutocontrol is a Python library for controlling Pluto drones. This library provides various methods to interact with the drone, including connecting, controlling movements, and accessing sensor data.

Installation

pip install plutocontrol

Usage

After installing the package, you can import and use the Pluto class in your Python scripts.

Configuration

By default, the package connects to the drone at IP 192.168.4.1 on port 23. You can customize these values when creating a Pluto instance:

from plutocontrol import Pluto

# Use default IP (192.168.4.1) and port (23)
pluto = Pluto()

# Use custom IP address when in ST mode
pluto = Pluto(ip='192.168.1.100')

Example Usage

Example 1: Basic Usage (Default IP)

from plutocontrol import Pluto

# Create an instance of the Pluto class with default IP (192.168.4.1:23)
pluto = Pluto()

# Connect to the drone
pluto.connect()

# Arm the drone
pluto.arm()

# Disarm the drone
pluto.disarm()

# Disconnect from the drone
pluto.disconnect()

Example 2: Custom IP Address when drone is connected to router with ST mode

from plutocontrol import Pluto
import time

# Create an instance with custom IP
pluto = Pluto(ip='192.168.1.100')

# Connect to the drone
pluto.connect()
time.sleep(1)

# Arm and take off
pluto.arm()
time.sleep(2)
pluto.take_off()
time.sleep(5)

# Fly forward
pluto.forward()
time.sleep(2)
pluto.reset()

# Land and disconnect
pluto.land()
time.sleep(3)
pluto.disconnect()

Class and Methods

Pluto Class

Connection

Commands to connect/ disconnect to the drone server.

#Connects from the drone server.
pluto.connect()

#Disconnects from the drone server.
pluto.disconnect()

Camera module

Sets the IP and port for the camera connection. should be initialized before pluto.connect().

pluto.cam()

Arm and Disarm Commands

#Arms the drone, setting it to a ready state.
pluto.arm()

#Disarms the drone, stopping all motors.
pluto.disarm()

Pitch Commands

#Sets the drone to move forward.
pluto.forward()

#Sets the drone to move backward.
pluto.backward()

Roll Commands

#Sets the drone to move left (roll).
pluto.left()

#Sets the drone to move right (roll).
pluto.right()

Yaw Commands

#Sets the drone to yaw right.
pluto.right_yaw()

#Sets the drone to yaw left.
pluto.left_yaw()

Throttle Commands

Increase/ Decrease the drone's height.

#Increases the drone's height.
pluto.increase_height()

#Decreases the drone's height.
pluto.decrease_height()

Takeoff and Land

#Arms the drone and prepares it for takeoff.
pluto.take_off()

#Commands the drone to land.
pluto.land()

Developer Mode

Toggle Developer Mode

#Turns the Developer mode ON
pluto.devOn()

#Turns the Developer mode OFF
pluto.devOff()

motor_speed(motor_index, speed)

Sets the speed of a specific motor (motor index from 0 to 3).

pluto.motor_speed(0, 1500)

Get MSP_ALTITUDE Values

#Returns the height of the drone from the sensors.
height = pluto.get_height()

#Returns the rate of change of altitude from the sensors.
vario = pluto.get_vario()

Get MSP_ALTITUDE Values

#Returns the roll value from the drone.
roll = pluto.get_roll()

#Returns the pitch value from the drone.
pitch = pluto.get_pitch()

#Returns the yaw value from the drone.
yaw = pluto.get_yaw()

Get MSP_RAW_IMU Values

Accelerometer

Returns the accelerometer value for the x,y,z - axis.

#Returns the accelerometer value for the x-axis.
acc_x = pluto.get_acc_x()

#Returns the accelerometer value for the y-axis.
acc_y = pluto.get_acc_y()

#Returns the accelerometer value for the z-axis.
acc_z = pluto.get_acc_z()

Gyroscope

Returns the Gyroscope value for the x,y,z - axis.

#Returns the Gyroscope value for the x-axis.
gyro_x = pluto.get_gyro_x()

#Returns the Gyroscope value for the y-axis.
gyro_y = pluto.get_gyro_y()

#Returns the Gyroscope value for the z-axis.
gyro_z = pluto.get_gyro_z()

Magnetometer

Returns the Magntometer value for the x,y,z - axis.

#Returns the Magnetometer value for the x-axis.
mag_x = pluto.get_mag_x()

#Returns the Magnetometer value for the y-axis.
mag_y = pluto.get_mag_y()

#Returns the Magnetometer value for the z-axis.
mag_z = pluto.get_mag_z()

Calibration Commands

#Calibrates the accelerometer.
pluto.calibrate_acceleration()

#Calibrates the magnetometer.
pluto.calibrate_magnetometer()

Get MSP_Analog Values

#Returns the battery value in volts from the drone.
battery = pluto.get_battery()

#Returns the battery percentage from the drone.
battery_percentage = pluto.get_battery_percentage()

Enhanced Battery Telemetry (Mobile App Features)

The package now supports enhanced battery telemetry matching the mobile app functionality, with support for multiple MSP protocol versions.

Protocol Version Detection

The drone's MSP protocol version is automatically detected:

# Check protocol version
print(f"Protocol Version: {pluto.MSP_Protocol_Version}")

Comprehensive Battery Information

Get all battery information in one call:

#Get comprehensive battery info (all parameters)
battery_info = pluto.get_battery_info()

# Protocol V1 returns:
# {
#     'voltage': '11.25V',
#     'current': '1250mA',
#     'capacity_drawn': '450mAh',
#     'capacity_remaining': '1350mAh',
#     'state_of_charge': '75%',
#     'auto_land_mode': 0,
#     'protocol': 'V1 (Enhanced)'
# }

Battery Helper Methods

Convenient methods to check battery status without parsing raw values.

# Get status string ('FULL', 'TWO_BAR', 'ONE_BAR', 'EMPTY')
status = pluto.get_battery_level_status()

# Check for critical battery (< 20%)
if pluto.is_battery_critical():
    print("LAND NOW!")

# Check if auto-landing is triggered
if pluto.should_auto_land():
    print("Drone is auto-landing due to low battery")

# Get a full summary dict (for UI/Display)
summary = pluto.get_battery_status_summary()
print(f"Icon: {summary['icon']} | Voltage: {summary['voltage']}")

Individual Telemetry Parameters

Enhanced Telemetry on Primus X2 / V5 boards

#Get compensated battery voltage in volts
voltage = pluto.get_battery_voltage_compensated()

#Get current draw in milliamps
current = pluto.get_current_mA()

#Get capacity consumed in mAh
capacity_drawn = pluto.get_capacity_drawn_mAh()

#Get remaining capacity in mAh
capacity_remaining = pluto.get_capacity_remaining_mAh()

#Get state of charge (0-100%)
soc = pluto.get_state_of_charge()

#Get auto-land mode status
auto_land = pluto.get_auto_land_status()

Basic Telemetry on Pluto / V4 boards

#Get battery voltage
voltage = pluto.get_battery_voltage_compensated()

#Get current draw
current = pluto.get_current_mA()

#Get signal strength (RSSI)
rssi = pluto.get_rssi()

#Get power meter sum
power_sum = pluto.get_power_meter_sum()

Telemetry Data Structure

Protocol Version 1:

• vBatComp: Battery voltage compensated (in centiv olts, divide by 100 for volts)
• mAmpRaw: Current draw in milliamps
• mAhDrawn: Capacity consumed in milliamp-hours
• mAhRemain: Remaining capacity in milliamp-hours
• soc_Fused: State of charge percentage (0-100)
• auto_LandMode: Auto-land mode status (0=off, 1=on)

Other Versions:

• bytevbat: Battery voltage in decivolts (divide by 10 for volts)
• pMeterSum: Power meter sum
• rssi: Signal strength indicator
• amperage: Current draw in milliamps

Wifi Configuration (Telnet / AT Commands)

To control multiple drones in the same network or to change the drone's Wifi settings (Stations Mode - ST), you can configure the Pluto drone using Telnet commands.

Prerequisites

• A Telnet client (e.g., Putty for Windows, or terminal telnet for Mac/Linux).
• Connect your computer to Pluto's Wifi (Default SSID: Pluto_XXXX, Password: dronaaviation).

Accessing Configuration

1. Connect to Pluto's Wifi.
2. Open your Telnet client.
3. Connect to IP: 192.168.4.1 on Port: 23.

Testing Connection

Type the following command:

+++AT

Response should be OK.

Common AT Commands

Command	Description
+++AT	Test connection. Response: OK
+++AT RESET	Soft reset the ESP (Wifi Module)
+++AT MODE	Print current mode settings
+++AT MODE <mode>	Set Wifi mode: 1 : STA (Station Mode - Connect to Router) 2 : AP (Access Point - Default) 3 : Both
+++AT STA	Print current Station SSID and Password
+++AT STA <SSID> <password>	Set the Router SSID and Password for Station Mode

Example: Setting up Station Mode (Connecting Pluto to Router)

To connect your Pluto drone to your home router so you can control it alongside other devices:

1. Connect to Pluto via Telnet.
2. Set the Router credentials:

   +++AT STA MyRouterName MyRouterPassword
   

3. Change mode to Station (or Both):

   +++AT MODE 3
   

4. Reset the drone/modules for changes to take effect.

Debugging and Developer Mode

If you are developing custom features or want to see what's happening inside the drone, you can enable Serial Debug Mode. This prints debug messages from the drone directly to your terminal.

# Enable Developer Mode (Serial Debug Output)
pluto.devOn()

# ... perform actions ...

# Disable Developer Mode
pluto.devOff()

Note: The library automatically detects and prints both:

• MSP Debug Packets: Structural debug data sent by the flight controller.
• Raw Serial Strings: printf style logs used in custom firmware.

Beginner Project Ideas

Here are some simple projects to get started with plutocontrol.

Project 1: The "Hello World" Flight

A simple script to take off, hover for 3 seconds, and land.

from plutocontrol import Pluto
import time

my_pluto = Pluto()
my_pluto.connect()

print("Arming...")
my_pluto.arm()
time.sleep(2)

print("Taking Off!")
my_pluto.take_off()
time.sleep(3) # Hover for 3 seconds

print("Landing...")
my_pluto.land()
time.sleep(2)

my_pluto.disarm()
my_pluto.disconnect()

Project 2: Keyboard Controller

Control your drone using your computer keyboard!

from plutocontrol import Pluto
import threading
import keyboard  # pip install keyboard

pluto = Pluto()
pluto.connect()
pluto.arm()

def control_loop():
    while True:
        if keyboard.is_pressed('w'): pluto.forward()
        elif keyboard.is_pressed('s'): pluto.backward()
        elif keyboard.is_pressed('a'): pluto.left()
        elif keyboard.is_pressed('d'): pluto.right()
        elif keyboard.is_pressed('space'): pluto.take_off()
        elif keyboard.is_pressed('x'): pluto.land()
        elif keyboard.is_pressed('q'): break # Quit
        else: 
            # Reset RC to neutral if keys released
            pluto.rcPitch = 1500
            pluto.rcRoll = 1500
            
control_loop()
pluto.disarm()
pluto.disconnect()