human
I wrote the below code

    if (not vehicle_class):
        vehicle_class = Vehicle
    handler = MAVConnection(ip, baud=baud, source_system=source_system, use_native=use_native)
    vehicle = vehicle_class(handler)
    if status_printer:
        @vehicle.on_message('STATUSTEXT')
        def listener(self, name, m):
            status_printer(re.sub('(^|\\n)', '>>>    ', m.text.decode('utf-8').rstrip()))
    if _initialize:
        vehicle.initialize(rate=rate, heartbeat_timeout=heartbeat_timeout)
    if wait_ready:
        if (wait_ready == True):
            vehicle.wait_ready(True)
        else:
            vehicle.wait_ready(*wait_ready)
    return vehicle

What's a good function header?
assistant
#Here's a good function header.

def connect(ip, _initialize=True, wait_ready=None, status_printer=errprinter, vehicle_class=None, rate=4, baud=115200, heartbeat_timeout=30, source_system=255, use_native=False):