Flight Plan feature#

event messageolympe.messages.flight_plan.capabilities(supported_capabilities=None, _policy='check_wait', _float_tol=(1e-07, 1e-09))#

flight_plan.capabilities

Capabilities

Parameters
  • supported_capabilities (BitfieldOf(olympe.enums.flight_plan.supported_capabilities, u16)) – Supported capabilities.

  • _policy (olympe.arsdkng.expectations.ExpectPolicy) – specify how to check the expectation. Possible values are ‘check’, ‘wait’ and ‘check_wait’ (defaults to ‘check_wait’)

  • _float_tol (tuple) – specify the float comparison tolerance, a 2-tuple containing a relative tolerance float value and an absolute tolerate float value (default to (1e-07, 1e-09)). See python 3 stdlib math.isclose documentation for more information

Supported by:

Anafi Ai

with an up to date firmware

Triggered At connection only.

command messageolympe.messages.flight_plan.clear_recovery_info(_timeout=10, _no_expect=False, _float_tol=(1e-07, 1e-09))#

flight_plan.clear_recovery_info

Clears information provided by event recovery_info().

Parameters
  • _timeout (int) – command message timeout (defaults to 10)

  • _no_expect (bool) – if True for,do not expect the usual command expectation (defaults to False)

  • _float_tol (tuple) – specify the float comparison tolerance, a 2-tuple containing a relative tolerance float value and an absolute tolerate float value (default to (1e-07, 1e-09)). See python 3 stdlib math.isclose documentation for more information

Supported by:

Anafi Ai

with an up to date firmware

Result: Information provided by event recovery_info() are cleared.

Expectations: recovery_info(flightplan_id=, custom_id=, item=0, _policy='wait')

event messageolympe.messages.flight_plan.info(missing_inputs=None, _policy='check_wait', _float_tol=(1e-07, 1e-09))#

flight_plan.info

Flight plan info

Parameters
  • missing_inputs (BitfieldOf(olympe.enums.flight_plan.indicator, u32)) – List of missing requirements to start flight plan. If at least one input is missing, drone won’t be able to start a flight plan.

  • _policy (olympe.arsdkng.expectations.ExpectPolicy) – specify how to check the expectation. Possible values are ‘check’, ‘wait’ and ‘check_wait’ (defaults to ‘check_wait’)

  • _float_tol (tuple) – specify the float comparison tolerance, a 2-tuple containing a relative tolerance float value and an absolute tolerate float value (default to (1e-07, 1e-09)). See python 3 stdlib math.isclose documentation for more information

Supported by:

Anafi Ai

with an up to date firmware

Triggered During connection and when the list of missing requirements changes.

event messageolympe.messages.flight_plan.recovery_info(flightplan_id=None, custom_id=None, item=None, running_time=None, resource_id=None, _policy='check_wait', _float_tol=(1e-07, 1e-09))#

flight_plan.recovery_info

Information about the latest flight plan started before connection

Parameters
  • flightplan_id (string) – Unique identifier of the flight plan to execute.

  • custom_id (string) – Custom identifier of the latest flight plan execution started before connection, or empty if none.

  • item (u32) – Index of the latest mission item executed.

  • running_time (u32) – Running time if the flightplan is currently being executed.

  • resource_id (string) – First resource id of the latest media capture requested by the flightplan.

  • _policy (olympe.arsdkng.expectations.ExpectPolicy) – specify how to check the expectation. Possible values are ‘check’, ‘wait’ and ‘check_wait’ (defaults to ‘check_wait’)

  • _float_tol (tuple) – specify the float comparison tolerance, a 2-tuple containing a relative tolerance float value and an absolute tolerate float value (default to (1e-07, 1e-09)). See python 3 stdlib math.isclose documentation for more information

Supported by:

Anafi Ai

with an up to date firmware

Triggered At connection, when a flight plan has stopped, or by clear_recovery_info().

command messageolympe.messages.flight_plan.start_at(flightplan_id, custom_id, type, item, _timeout=10, _no_expect=False, _float_tol=(1e-07, 1e-09))#

flight_plan.start_at

Start a flight plan at a given mission item.

Parameters
  • flightplan_id (string) – Unique identifier of the flight plan to execute.

  • custom_id (string) – Replaces the flightplan id in all the events returned by the drone. If empty, the original id is used.

  • type (olympe.enums.flight_plan.mavlink_type) – Mavlink file type

  • item (u32) – Index of the mission item where the flight plan should start. This is the place of the mission item in the mission’s items list, starting from 0.

  • _timeout (int) – command message timeout (defaults to 10)

  • _no_expect (bool) – if True for,do not expect the usual command expectation (defaults to False)

  • _float_tol (tuple) – specify the float comparison tolerance, a 2-tuple containing a relative tolerance float value and an absolute tolerate float value (default to (1e-07, 1e-09)). See python 3 stdlib math.isclose documentation for more information

Supported by:

Anafi Ai

with an up to date firmware

Result: If the flight plan has been started, event MavlinkFilePlayingStateChanged() is triggered with param state set to playing. Otherwise, event MavlinkFilePlayingStateChanged() is triggered with param state set to stopped and event MavlinkPlayErrorStateChanged() is triggered with an explanation of the error.

Expectations: MavlinkFilePlayingStateChanged(state='playing', type=self.type, _policy='wait')

command messageolympe.messages.flight_plan.start_at_v2(flightplan_id, custom_id, type, item, continue_on_disconnect, _timeout=10, _no_expect=False, _float_tol=(1e-07, 1e-09))#

flight_plan.start_at_v2

Start a flight plan at a given mission item.

Parameters
  • flightplan_id (string) – Unique identifier of the flight plan to execute.

  • custom_id (string) – Replaces the flightplan id in all the events returned by the drone. If empty, the original id is used.

  • type (olympe.enums.flight_plan.mavlink_type) – Mavlink file type

  • item (u32) – Index of the mission item where the flight plan should start. This is the index of the mission item in the mission’s items list, starting from 0.

  • continue_on_disconnect (u8) – Boolean : 0 : RTH on Disconnection / 1 : Continue on Disconnection

  • _timeout (int) – command message timeout (defaults to 10)

  • _no_expect (bool) – if True for,do not expect the usual command expectation (defaults to False)

  • _float_tol (tuple) – specify the float comparison tolerance, a 2-tuple containing a relative tolerance float value and an absolute tolerate float value (default to (1e-07, 1e-09)). See python 3 stdlib math.isclose documentation for more information

Supported by:

Anafi Ai

with an up to date firmware

Result: If the flight plan has been started, event MavlinkFilePlayingStateChanged() is triggered with param state set to playing. Otherwise, event MavlinkFilePlayingStateChanged() is triggered with param state set to stopped and event MavlinkPlayErrorStateChanged() is triggered with an explanation of the error.

Expectations: MavlinkFilePlayingStateChanged(state='playing', type=self.type, _policy='wait')

event messageolympe.messages.flight_plan.waypoint_skipped(item=None, _policy='check_wait', _float_tol=(1e-07, 1e-09))#

flight_plan.waypoint_skipped

Waypoint skipped

Parameters
  • item (u32) – Index of the mission item corresponding to the skipped waypoint.

  • _policy (olympe.arsdkng.expectations.ExpectPolicy) – specify how to check the expectation. Possible values are ‘check’, ‘wait’ and ‘check_wait’ (defaults to ‘check_wait’)

  • _float_tol (tuple) – specify the float comparison tolerance, a 2-tuple containing a relative tolerance float value and an absolute tolerate float value (default to (1e-07, 1e-09)). See python 3 stdlib math.isclose documentation for more information

Supported by:

Anafi Ai

with an up to date firmware

Triggered During a flight plan, a waypoint could not be reached and was skipped.

enumolympe.enums.flight_plan.indicator#

Indicators needed to start an animation.

drone_gps

Drone gps is not fixed. (0)

drone_magneto

Drone magneto is not valid. (1)

drone_geofence

Drone is out of geofence. (2)

drone_min_altitude

Drone is under min altitude. (3)

drone_max_altitude

Drone is above max altitude. (4)

drone_flying

Drone is not flying. (5)

target_position_accuracy

Target position has a bad accuracy. (6)

target_image_detection

Target image detection is not working. (7)

drone_target_distance_min

Drone is too close to target. (8)

drone_target_distance_max

Drone is too far from target. (9)

target_horiz_speed

Target horizontal speed is too high. (10)

target_vert_speed

Target vertical speed is too high. (11)

target_altitude_accuracy

Target altitude has a bad accuracy. (12)

drone_battery

Drone battery is insufficient. (13)

drone_state

Drone is not in a valid state. (14)

enumolympe.enums.flight_plan.list_flags#

Arsdk built-in “list_flags” enum that is used to in “LIST_ITEM” event messages

First

Arsdk built-in “list_flags” enum that is used to in “LIST_ITEM” event messages (0)

Last

Arsdk built-in “list_flags” enum that is used to in “LIST_ITEM” event messages (1)

Empty

Arsdk built-in “list_flags” enum that is used to in “LIST_ITEM” event messages (2)

Remove

Arsdk built-in “list_flags” enum that is used to in “LIST_ITEM” event messages (3)

Type of flight plan file.

Enum aliases:

flightPlan

Mavlink file for FlightPlan (0)

mapMyHouse

Mavlink file for MapMyHouse (1)

flightPlanV2

Mavlink file for FlightPlan V2 (better follow the standard) (2)

enumolympe.enums.flight_plan.supported_capabilities#

Supported capabilities.

start_at

Support command to start a flight plan at a given item. (0)

start_at_v2

Support command to start a flight plan at a given item with disconnection behavior. (1)