simple maneuver | Python Fiddle

#!/usr/bin/env python
# -*- coding: utf-8 -*-

# Import DroneKit-Python
from dronekit import connect, VehicleMode
from pymavlink import mavutil
import time

################### Connect to the UAV ################### 
connection_string = "tcp:192.168.8.1:5760"
print "Connecting to vehicle on: %s ..." % (connection_string)
vehicle = connect(connection_string, wait_ready=False)
print "... connected"
##########################################################

################### Wait for local location ###################
local_position_set = False
# Create a message listener for home position fix
@vehicle.on_message('LOCAL_POSITION_NED')
def listener(self, name, local_position):
    global local_position_set
    if not local_position_set:
        local_position_set = True

# wait for a home position lock
while not local_position_set:
    print "Waiting for local position..."
    time.sleep(1)
##########################################################

################### Arm the vehicle ###################
vehicle.mode = VehicleMode('POSCTL')
time.sleep(1)
print "New mode (%s) set." % vehicle.mode.name
print "Arming the vehicle ..."
vehicle.armed = True
time.sleep(10)
print "... done."
##########################################################

################### Home position in local frame ###################
print "Home local position: %s." % vehicle.location.local_frame
x = vehicle.location.local_frame.north
y = vehicle.location.local_frame.east

################### Take off ###################
type_mask = 0b110111000000  # only position and velocity bits are enabled
type_mask = type_mask | 0x1000 # set the is_takeoff_sp bit
vehicle.mode = VehicleMode('OFFBOARD')
z = -0.5
msg = vehicle.message_factory.set_position_target_local_ned_encode(
    0,       # time_boot_ms (not used)
    0, 0,    # target system, target component
    mavutil.mavlink.MAV_FRAME_LOCAL_NED, # frame
    type_mask, # type_mask 
    x, y, z, # x, y and z in m
    0, 0, 0.1, # x, y, z velocity in m/s
    0, 0, 0, # x, y, z acceleration
    0, 0)    # yaw, yaw_rate

print "Taking off ..."
while True :
    vehicle.send_mavlink(msg)
    vehicle.flush()
    if -vehicle.location.local_frame.down >= -z * 0.95: #Trigger just below target alt.
        print "Reached target altitude (%s)." % (-vehicle.location.local_frame.down)
        break
    time.sleep(0.1)
##########################################################

################### Loiter ###################
type_mask = 0b110111111000  # only position and velocity bits are enabled
type_mask = type_mask | 0x3000 # set the is_loiter_sp bit
msg = vehicle.message_factory.set_position_target_local_ned_encode(
    0,       # time_boot_ms (not used)
    0, 0,    # target system, target component
    mavutil.mavlink.MAV_FRAME_LOCAL_NED, # frame
    type_mask, # type_mask 
    x, y, z, # x, y and z in m
    0, 0, 0, # x, y, z velocity in m/s  (not used)
    0, 0, 0, # x, y, z acceleration (not supported yet, ignored in GCS_Mavlink)
    0, 0)    # yaw, yaw_rate (not supported yet, ignored in GCS_Mavlink)

print "Loitering for 5s ..."
while True:
    vehicle.send_mavlink(msg)
    vehicle.flush()
    time.sleep(0.1)
##########################################################

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