Getting started with ardupilot-sdk-python

This ardupilot-sdk-python provided basic function

Sent command to arducopter
arm(),disarm(),takeoff(),land(),flyTo()

Received arducopter status isArmed(),getMode(),getAttitude(),getAltitude(),getHeading(),getSpeed(),getLocation()

First Clone ardupilot-sdk-python from github

git clone https://github.com/drgowen/ardupilot-sdk-python

Adding function for getting Raw IMU in SDK

 def getIMU(self):
   if 'RAW_IMU' not in self.mav.messages:
     raise Error("Haven't received RAW_IMU information yet")
   att = self.mav.messages['RAW_IMU']
   return self.dictCopy(att, ['xacc','yacc','zacc'])

Example for get Attitude,Raw IMU from /dev/ttyUSB0 Baudrate:57600

from ardupilot import ArduPilot
import time as time_ #make sure we don't override time

def millis():
    return int(round(time_.time() * 1000))

ac = ArduPilot("/dev/ttyUSB0",57600)
#ac.arm()
#ac.disarm()
start_time = millis()
while(1):
   if(millis()-start_time > 200):
      print ac.getAttitude()
      print ac.getIMU()
      start_time = millis()     

Reference: https://github.com/drgowen/ardupilot-sdk-python