Air SDK Documentation

• 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
    • Create the workspace
    • 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
      • Configuration files
        • Create configuration files
        • Read configuration files
      • Transitions
    • Managers
      • Core features
      • Directory structure
    • Sample
    • Messages
      • Settings
  • Flight supervisor API
    • fsup.genstate
      • can_enter()
      • can_exit()
      • enter()
      • exit()
      • get_config()
      • on_activate()
      • on_deactivate()
      • set_timeout()
      • step()
      • wakeup_after()
      • wakeup_periodically()
      • set_guidance_mode
      • 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
        • message_center.MessageCenter
          • message_center.MessageCenter.attach_client_service_pair()
          • message_center.MessageCenter.attach_internal_service_pair()
          • message_center.MessageCenter.attach_server_service_pair()
          • message_center.MessageCenter.detach_service_pair()
          • message_center.MessageCenter.observe()
          • message_center.MessageCenter.start_client_channel()
          • message_center.MessageCenter.start_internal_channel()
          • message_center.MessageCenter.start_server_channel()
          • message_center.MessageCenter.stop_channel()
      • Service
        • service.Service
          • service.Service.alloc()
          • service.Service.observe()
          • service.Service.observe_messages()
          • service.Service.send()
      • Service Pair
        • service.ServicePair
      • Observer
        • observer.Observer
          • observer.Observer.unobserve()
        • observer.Notifier
          • observer.Notifier.notify()
          • observer.Notifier.observe()
          • observer.Notifier.unobserve()
      • Events
        • CONNECTED
        • DISCONNECTED
        • ACTIVE
        • INACTIVE
        • MESSAGE
        • EXIT
        • RESET
        • STATE_CHANGED
    • 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:
        • 1.2.1. Configuration:
        • auto_landing_alerts_manager
          • auto_landing_alerts_manager.AutoLandingAlertsManager
            • auto_landing_alerts_manager.AutoLandingAlertsManager.set_autolanding_alerts_state()
        • critical_rth_alerts_manager
          • critical_rth_alerts_manager.CriticalRthAlertsManager
            • critical_rth_alerts_manager.CriticalRthAlertsManager.get_long_term_wind_alt_ref()
            • critical_rth_alerts_manager.CriticalRthAlertsManager.get_settings()
            • critical_rth_alerts_manager.CriticalRthAlertsManager.restore_default_settings()
            • critical_rth_alerts_manager.CriticalRthAlertsManager.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_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_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.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
      • libairsdk
        • <airsdk/airsdk.hpp>
        • <airsdk/airsdk.h>
      • 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
    • Mission data storage
    • Mission temporary data
    • SD card storage
    • Configuration files
  • External USB accessories in an AirSDK mission
    • Network chipsets
    • USB audio
    • Serial devices
      • Examples
    • Network chipsets
    • Serial devices
  • Developer settings
    • Direct connection to the drone
    • Shell access
    • AirSDK missions logs
    • Live access to mission logs
• Creating a mission
  • Creating a mission with airsdk-cli (recommended)
  • Creating a mission without airsdk-cli (the hard-way)
    • Preface
      • Mission types
      • File tree of an Air SDK Mission
      • Install repo
      • Clone the airsdk-samples workspace
    • Starting point
    • Creating MyMission and MyService in Python
      • Creating the required directory/file structure
      • Editing the build files
      • Editing the main mission files
      • Editing the messages files
      • Editing the services files
      • Editing the metadata files
      • Make the mission visible to the build system
      • Configure the mission in the build system
      • Build and install the mission
• Messages
• Telemetry
• Video
• Example
  • “Hello, Drone!”
  • Video and Photo sample missions
  • Move sample mission
  • Telemetry sample missions (C/C++/Python)
  • Road Runner sample mission
• Glossary
  • Vector bases
  • Frames of reference
  • A word about NED basis and Global frame