General

• Introduction
  • Parrot SDKs
    • Ground SDK
    • Air SDK
    • Air SDK/Ground SDK interaction
• Installation
  • Adding Linux packages
• Install airsdk-cli command line utility
• “Hello, Drone!”
  • Hello Flight supervisor state machine
  • Hello Guidance mode
  • Hello Service
  • Security setup
  • Security setup of a real drone
  • Security setup of a simulated drone
  • Build the Hello Drone Flight mission
  • Install the Hello Drone Flight mission
• System software architecture
  • Onboard software
    • Flight supervisor
    • Guidance
    • Services
    • Drone controller
• Autonomous flight
  • 1. Reuse Default mission Guidance modes
  • 2. Write a semi-custom Guidance mode inheriting from generic trajectory
  • 3. Write a full-custom Guidance mode
  • 4. Tools to help writing a Guidance mode
    • 4.1 Types
    • 4.2 Utils
      • 4.2.1 Target reached detectors
      • 4.2.2 Timeout detector
      • 4.2.3 Motion detectors
      • 4.2.4 Blockage detectors
      • 4.2.5 Absolute planner and framer
• Flight supervisor
  • Description
  • State machine structure
  • How to modify the state machine
    • Mission
      • Mission.on_load()
      • Mission.on_unload()
      • Mission.on_activate()
      • Mission.on_deactivate()
      • Mission.can_activate()
      • Mission.can_deactivate()
      • Mission.states()
      • Mission.transitions()
    • On load
    • On unload
    • On activate
    • On deactivate
    • Can activate
    • Can deactivate
    • States
    • Transitions
  • Managers
    • Core features
    • Directory structure
  • Sample
  • Messages
    • Settings
• Flight supervisor API
  • fsup.genstate
    • genstate.guidance_modes()
    • can_enter()
    • can_exit()
    • enter()
    • exit()
    • get_config()
    • on_activate()
    • on_deactivate()
    • set_guidance_mode()
    • set_timeout()
    • step()
    • wakeup_after()
    • wakeup_periodically()
    • loop
    • log
    • mc
    • parent
    • name
    • statuses
    • settings
      • settings.subscribe()
      • settings.get()
      • settings.set()
    • home
      • home.enable_home_update()
      • home.set_custom_position()
      • home.get_current_home()
      • home.get_current_home_type()
      • home.get()
    • tlm_dctl
    • State.mission
  • fsup.genmission
  • fsup.message_center
    • supervisor.Supervisor
      • supervisor.Supervisor.make_message_center()
    • Message Center
    • Service
    • Service Pair
    • Observer
    • Events
  • fsup.timers
    • timers.Timer
      • timers.Timer.cancel()
      • timers.Timer.destroy()
      • timers.Timer.start()
  • fsup.cache
    • cache.Cache
      • cache.Cache.get()
      • cache.Cache.make_observer()
      • cache.Cache.notify_all_observers()
      • cache.Cache.notify_observer()
      • cache.Cache.observe()
      • cache.Cache.reset()
      • cache.Cache.set()
      • cache.Cache.set_multiple()
  • fsup.enums
    • BatteryAlert
      • BatteryAlert.NONE
      • BatteryAlert.WARNING
      • BatteryAlert.CRITICAL
    • BatteryAlertLevel
      • BatteryAlertLevel.SHUTDOWN
      • BatteryAlertLevel.CRITICAL
      • BatteryAlertLevel.LOW
      • BatteryAlertLevel.OK
      • BatteryAlertLevel.UNKNOWN
    • BatteryDataRole
      • BatteryDataRole.NONE
      • BatteryDataRole.HOST
      • BatteryDataRole.DEVICE
    • BatteryPowerRole
      • BatteryPowerRole.NONE
      • BatteryPowerRole.SINK
      • BatteryPowerRole.SOURCE
    • DefectiveMotorFailureType
      • DefectiveMotorFailureType.NONE
      • DefectiveMotorFailureType.MOTOR_STALLED
      • DefectiveMotorFailureType.PROPELLER_SECURITY
      • DefectiveMotorFailureType.RC_EMERGENCY_STOP
      • DefectiveMotorFailureType.DEFECTIVE_PROP
    • DefectiveMotorId
      • DefectiveMotorId.NONE
      • DefectiveMotorId.FRONT_LEFT
      • DefectiveMotorId.FRONT_RIGHT
      • DefectiveMotorId.REAR_RIGHT
      • DefectiveMotorId.REAR_LEFT
    • MotionState
      • MotionState.STEADY
      • MotionState.MOVING
    • MotorError
      • MotorError.NONE
      • MotorError.EEPROM
      • MotorError.MOTOR_STALLED
      • MotorError.PROPELLER_SECURITY
      • MotorError.COMM_LOST
      • MotorError.RC_EMERGENCY_STOP
      • MotorError.REAL_TIME
      • MotorError.MOTOR_SETTING
      • MotorError.TEMPERATURE
      • MotorError.BATTERY_VOLTAGE
      • MotorError.LIPO_CELLS
      • MotorError.MOSFETS
      • MotorError.BOOTLOADER
      • MotorError.ASSERT
    • RthBatteryCapacity
      • RthBatteryCapacity.OK
      • RthBatteryCapacity.WARNING
      • RthBatteryCapacity.CRITICAL
      • RthBatteryCapacity.TOOLATE
      • RthBatteryCapacity.UNKNOWN
    • Sensor
      • Sensor.IMU
      • Sensor.MAGNETOMETER
      • Sensor.BAROMETER
      • Sensor.GPS
      • Sensor.VERTICAL_RANGE_FINDER
      • Sensor.V_CAM_SPEED
    • VibrationLevel
      • VibrationLevel.OK
      • VibrationLevel.WARNING
      • VibrationLevel.CRITICAL
    • WindStatus
      • WindStatus.OK
      • WindStatus.WARNING
      • WindStatus.CRITICAL
  • libparrot_physics_binding
    • CoordGeo3
      • CoordGeo3.__init__()
      • CoordGeo3.is_valid()
      • CoordGeo3.distance()
      • CoordGeo3.to_ned()
      • CoordGeo3.latitude
      • CoordGeo3.longitude
      • CoordGeo3.altitude
    • CoordNed3
      • CoordNed3.__init__()
      • CoordNed3.distance()
      • CoordNed3.to_geo()
      • CoordNed3.x
      • CoordNed3.y
      • CoordNed3.z
  • Managers
    • Core
      • event_cache
        • get()
        • observe()
        • set()
      • geofence_manager
        • overwrite_user_setting()
        • restore_user_setting()
        • set_geofence_center_to_current_position()
        • statuses
      • oa_manager
        • is_active()
        • ACTIVE
        • INACTIVE
        • is_available()
        • AVAILABLE
        • UNAVAILABLE
        • is_desired()
        • DISABLED
        • STANDARD
        • is_obstacle_avoidance_drone_available()
        • overwrite_user_setting()
        • restore_user_setting()
        • set_frozen_alert()
        • set_stuck_alert()
        • statuses
      • takeoff_readyness_manager
        • get_ready()
      • video_manager
        • check_current_config()
        • configure()
        • get_config()
        • is_high_perf()
        • lock_config()
        • remove_capabilities()
        • restore_default_capabilities()
        • unlock_config()
• Guidance
  • Description
  • How to write a Guidance mode
  • Sample
  • How to switch between Guidance modes
  • Messages
• Guidance API
  • Enumerations
  • Classes
  • Native specific
  • Python specific
• Services
  • Description
  • How to write a service
    • C
    • Python
  • Example
  • Running multiple services
• Drone controller
  • Description
  • Inputs/Outputs
  • Messages
• How to install and use a Flight Mission
  • Description
  • Listing and installing flight missions from mission UI
  • Start a flight mission from mission UI
  • Exchanging messages between mission and mission UI
  • Mission web server REST API
• Default mission
  • 1. State machine Flight Supervisor:
    • 1.1. States:
    • 1.2. Managers:
      • auto_landing_alerts_manager
        • set_autolanding_alerts_state()
      • critical_rth_alerts_manager
        • get_long_term_wind_alt_ref()
        • get_settings()
        • restore_default_settings()
        • set_specific_settings()
      • flightplan_availability_manager
        • flightplan_availability_manager.FlightPlanAvailabilityManager
          • flightplan_availability_manager.FlightPlanAvailabilityManager.query()
          • flightplan_availability_manager.FlightPlanAvailabilityManager.set_navigation_required()
      • flightplan_manager
        • flightplan_manager.FlightPlanManager
          • flightplan_manager.FlightPlanManager.clear_resume()
          • flightplan_manager.FlightPlanManager.get_current_flightplan()
          • flightplan_manager.FlightPlanManager.get_current_index()
          • flightplan_manager.FlightPlanManager.is_current_done()
          • flightplan_manager.FlightPlanManager.is_resume()
          • flightplan_manager.FlightPlanManager.set_current_flightplan()
          • flightplan_manager.FlightPlanManager.set_current_index()
          • flightplan_manager.FlightPlanManager.set_resume()
      • handland_manager
        • handland_manager.HandLandManager
          • handland_manager.HandLandManager.is_available()
          • handland_manager.HandLandManager.start_check()
          • handland_manager.HandLandManager.start_perception()
          • handland_manager.HandLandManager.stop_check()
          • handland_manager.HandLandManager.stop_perception()
      • handtakeoff_manager
        • handtakeoff_manager.HandTakeoffManager
          • handtakeoff_manager.HandTakeoffManager.__init__()
          • handtakeoff_manager.HandTakeoffManager.start()
          • handtakeoff_manager.HandTakeoffManager.stop()
          • handtakeoff_manager.HandTakeoffManager.log
          • handtakeoff_manager.HandTakeoffManager.mc
          • handtakeoff_manager.HandTakeoffManager.messages_svc
          • handtakeoff_manager.HandTakeoffManager.observer
          • handtakeoff_manager.HandTakeoffManager.started
      • home_manager
        • home_manager.HomePositionManager
          • home_manager.HomePositionManager.check_first_fix_validity()
          • home_manager.HomePositionManager.check_takeoff_validity()
          • home_manager.HomePositionManager.force_type()
          • home_manager.HomePositionManager.get()
          • home_manager.HomePositionManager.get_current_home()
          • home_manager.HomePositionManager.get_current_home_type()
          • home_manager.HomePositionManager.get_home_distance()
          • home_manager.HomePositionManager.get_is_home_close_2D()
          • home_manager.HomePositionManager.get_is_home_very_close_2D()
          • home_manager.HomePositionManager.is_takeoff_position_valid()
          • home_manager.HomePositionManager.set_custom_position()
          • home_manager.HomePositionManager.set_takeoff_position()
      • lookat_availability_manager
        • lookat_availability_manager.LookAtAvailabilityManager
          • lookat_availability_manager.LookAtAvailabilityManager.query()
      • lookat_manager
        • lookat_manager.LookAtManager
          • lookat_manager.LookAtManager.update_started_status()
      • magneto_calibration_manager
        • magneto_calibration_manager.MagnetoCalibrationManager
          • magneto_calibration_manager.MagnetoCalibrationManager.__init__()
          • magneto_calibration_manager.MagnetoCalibrationManager.start()
          • magneto_calibration_manager.MagnetoCalibrationManager.stop()
          • magneto_calibration_manager.MagnetoCalibrationManager.mc
          • magneto_calibration_manager.MagnetoCalibrationManager.msg
          • magneto_calibration_manager.MagnetoCalibrationManager.obs
          • magneto_calibration_manager.MagnetoCalibrationManager.started
      • move_availability_manager
        • move_availability_manager.MoveAvailabilityManager
          • move_availability_manager.MoveAvailabilityManager.__init__()
          • move_availability_manager.MoveAvailabilityManager.start()
          • move_availability_manager.MoveAvailabilityManager.stop()
          • move_availability_manager.MoveAvailabilityManager.log
          • move_availability_manager.MoveAvailabilityManager.mc
          • move_availability_manager.MoveAvailabilityManager.mission
          • move_availability_manager.MoveAvailabilityManager.sender
          • move_availability_manager.MoveAvailabilityManager.started
          • move_availability_manager.MoveAvailabilityManager.statuses
      • pilot_trajectory_est_manager
        • pilot_trajectory_est_manager.PilotTrajectoryEstManager
          • pilot_trajectory_est_manager.PilotTrajectoryEstManager.get_is_altitude_accurate()
          • pilot_trajectory_est_manager.PilotTrajectoryEstManager.get_is_gps_valid()
          • pilot_trajectory_est_manager.PilotTrajectoryEstManager.get_is_position_accurate()
          • pilot_trajectory_est_manager.PilotTrajectoryEstManager.get_is_position_close()
          • pilot_trajectory_est_manager.PilotTrajectoryEstManager.get_is_position_far()
          • pilot_trajectory_est_manager.PilotTrajectoryEstManager.get_is_position_very_close()
          • pilot_trajectory_est_manager.PilotTrajectoryEstManager.get_is_position_very_far()
          • pilot_trajectory_est_manager.PilotTrajectoryEstManager.set_advertise_gps_validity()
          • pilot_trajectory_est_manager.PilotTrajectoryEstManager.set_advertise_position_accurate()
      • poi_availability_manager
        • poi_availability_manager.PoiAvailabilityManager
          • poi_availability_manager.PoiAvailabilityManager.query()
      • poi_manager
        • poi_manager.PoiManager
          • poi_manager.PoiManager.send_aborted()
          • poi_manager.PoiManager.send_running()
          • poi_manager.PoiManager.update_state()
      • precise_home_manager
        • precise_home_manager.PreciseHomeManager
          • precise_home_manager.PreciseHomeManager.check_reset_sensor_timer()
          • precise_home_manager.PreciseHomeManager.check_sensor_status()
          • precise_home_manager.PreciseHomeManager.check_sensor_status_timer()
          • precise_home_manager.PreciseHomeManager.check_set_ref_image_condition()
          • precise_home_manager.PreciseHomeManager.enable_precise_home()
          • precise_home_manager.PreciseHomeManager.get_drone_geo_position()
          • precise_home_manager.PreciseHomeManager.get_drone_local_position()
          • precise_home_manager.PreciseHomeManager.get_precise_home_local_position()
          • precise_home_manager.PreciseHomeManager.is_available()
          • precise_home_manager.PreciseHomeManager.is_move_already_interrupted()
          • precise_home_manager.PreciseHomeManager.is_target_found()
          • precise_home_manager.PreciseHomeManager.on_gps_ok()
          • precise_home_manager.PreciseHomeManager.on_pcmd_horiz()
          • precise_home_manager.PreciseHomeManager.on_set_mode()
          • precise_home_manager.PreciseHomeManager.on_state()
          • precise_home_manager.PreciseHomeManager.reset_sensor()
          • precise_home_manager.PreciseHomeManager.set_heading_is_locked()
          • precise_home_manager.PreciseHomeManager.set_move_in_progress()
          • precise_home_manager.PreciseHomeManager.set_ref_image_timer()
          • precise_home_manager.PreciseHomeManager.should_reset_sensor_score()
          • precise_home_manager.PreciseHomeManager.should_search_phome()
          • precise_home_manager.PreciseHomeManager.start_process()
          • precise_home_manager.PreciseHomeManager.stop_process()
          • precise_home_manager.PreciseHomeManager.check_reset_sensor_timer
          • precise_home_manager.PreciseHomeManager.check_sensor_status_timer
          • precise_home_manager.PreciseHomeManager.set_ref_image_timer
      • precise_hovering_manager
        • precise_hovering_manager.PreciseHoveringManager
          • precise_hovering_manager.PreciseHoveringManager.start_sensor()
          • precise_hovering_manager.PreciseHoveringManager.stop_sensor()
      • rth_availability_manager
        • rth_availability_manager.RthAvailabilityManager
          • rth_availability_manager.RthAvailabilityManager.query()
      • rth_manager
        • rth_manager.RthManager
          • rth_manager.RthManager.generate_flightplan()
          • rth_manager.RthManager.get_altitude()
          • rth_manager.RthManager.get_last_start_reason()
          • rth_manager.RthManager.get_optimal_speed()
          • rth_manager.RthManager.pause()
          • rth_manager.RthManager.resume()
          • rth_manager.RthManager.send_status_blocked()
          • rth_manager.RthManager.send_status_finished()
          • rth_manager.RthManager.update_status()
      • target_trajectory_est_manager
        • target_trajectory_est_manager.TargetTrajectoryEstManager
          • target_trajectory_est_manager.TargetTrajectoryEstManager.reset_sensor()
      • visual_tracking_manager
        • visual_tracking_manager.VisualTrackingManager
          • visual_tracking_manager.VisualTrackingManager.is_activated()
          • visual_tracking_manager.VisualTrackingManager.start_visual_tracking_engine()
          • visual_tracking_manager.VisualTrackingManager.stop_all_target_tracking()
          • visual_tracking_manager.VisualTrackingManager.stop_visual_tracking_engine()
          • visual_tracking_manager.VisualTrackingManager.update_state()
• How to update a FlightPlan dynamically
  • Inserting a waypoint
  • Removing a waypoint
  • Replacing a waypoint
• Framework
  • API Parrot
    • Msghub
    • Telemetry
    • Video-acquisition
    • Video-ipc
    • Pomp
    • Shsettings
    • Ulog
• Security
  • General description
    • Secure Element
    • Drone Certificate
  • Digital Signature
    • Description
    • Generate a key pair
    • Add a key to the Secure Element
• Storage and persistence
  • Configuration files
• Developer settings
  • Direct connection to the drone
  • Shell access
  • AirSDK missions logs
  • Live access to mission logs