Flight Plan feature

event message olympe.messages.flight_plan.capabilities(supported_capabilities=None, _policy='check_wait', _float_tol=(1e-07, 1e-09), _int_tol=0)

flight_plan.capabilities

Capabilities

Parameters:

supported_capabilitiesBitfieldOf(olympe.enums.flight_plan.supported_capabilities, u16)

Supported capabilities.

_policyolympe.messaging.arsdk_expectations.ExpectPolicy

specify how to check the expectation. Possible values are ‘check’, ‘wait’ and ‘check_wait’ (defaults to ‘check_wait’)

_float_toltuple

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

_matching_modeolympe.MatchingMode

specify the expectation matching mode (default to olympe.MatchingMode.pattern)

_int_tolint

specify the int comparison tolerance, an int containing an absolute tolerate int value (default to 0)

Supported by:

ANAFI Ai:

with an up to date firmware

Triggered: At connection only.

command message olympe.messages.flight_plan.clear_recovery_info(_timeout=10, _no_expect=False, _float_tol=(1e-07, 1e-09), _int_tol=0)

flight_plan.clear_recovery_info

Clears information provided by event recovery_info().

Parameters:

_timeoutint

command message timeout (defaults to 10)

_no_expectbool

if True, do not expect the usual command expectation (defaults to False)

_float_toltuple

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

_matching_modeolympe.MatchingMode

specify the expectation matching mode (default to olympe.MatchingMode.pattern)

_int_tolint

specify the int comparison tolerance, an int containing an absolute tolerate int value (default to 0)

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 message olympe.messages.flight_plan.info(missing_inputs=None, _policy='check_wait', _float_tol=(1e-07, 1e-09), _int_tol=0)

flight_plan.info

Flight plan info

Parameters:

missing_inputsBitfieldOf(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.

_policyolympe.messaging.arsdk_expectations.ExpectPolicy

specify how to check the expectation. Possible values are ‘check’, ‘wait’ and ‘check_wait’ (defaults to ‘check_wait’)

_float_toltuple

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

_matching_modeolympe.MatchingMode

specify the expectation matching mode (default to olympe.MatchingMode.pattern)

_int_tolint

specify the int comparison tolerance, an int containing an absolute tolerate int value (default to 0)

Supported by:

ANAFI Ai:

with an up to date firmware

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

command message olympe.messages.flight_plan.pre_config(_timeout=10, _no_expect=False, _float_tol=(1e-07, 1e-09), _int_tol=0)

flight_plan.pre_config

Start flightplan pre-configuration

Parameters:

_timeoutint

command message timeout (defaults to 10)

_no_expectbool

if True, do not expect the usual command expectation (defaults to False)

_float_toltuple

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

_matching_modeolympe.MatchingMode

specify the expectation matching mode (default to olympe.MatchingMode.pattern)

_int_tolint

specify the int comparison tolerance, an int containing an absolute tolerate int value (default to 0)

Supported by:

ANAFI Ai:

with an up to date firmware

Result: The drone will prepare the execution of a flightplan

event message olympe.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), _int_tol=0)

flight_plan.recovery_info

Information about the latest flight plan started before connection

Parameters:

flightplan_idstring

Unique identifier of the flight plan to execute.

custom_idstring

Custom identifier of the latest flight plan execution started before connection, or empty if none.

itemu32

Index of the latest mission item executed.

running_timeu32

Running time if the flightplan is currently being executed.

resource_idstring

First resource id of the latest media capture requested by the flightplan.

_policyolympe.messaging.arsdk_expectations.ExpectPolicy

specify how to check the expectation. Possible values are ‘check’, ‘wait’ and ‘check_wait’ (defaults to ‘check_wait’)

_float_toltuple

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

_matching_modeolympe.MatchingMode

specify the expectation matching mode (default to olympe.MatchingMode.pattern)

_int_tolint

specify the int comparison tolerance, an int containing an absolute tolerate int value (default to 0)

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 message olympe.messages.flight_plan.start_at(flightplan_id, custom_id, type, item, _timeout=10, _no_expect=False, _float_tol=(1e-07, 1e-09), _int_tol=0)

flight_plan.start_at

Start a flight plan at a given mission item.

Parameters:

flightplan_idstring

Unique identifier of the flight plan to execute.

custom_idstring

Replaces the flightplan id in all the events returned by the drone. If empty, the original id is used.

typeolympe.enums.flight_plan.mavlink_type

Mavlink file type

itemu32

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.

_timeoutint

command message timeout (defaults to 10)

_no_expectbool

if True, do not expect the usual command expectation (defaults to False)

_float_toltuple

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

_matching_modeolympe.MatchingMode

specify the expectation matching mode (default to olympe.MatchingMode.pattern)

_int_tolint

specify the int comparison tolerance, an int containing an absolute tolerate int value (default to 0)

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 message olympe.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), _int_tol=0)

flight_plan.start_at_v2

Start a flight plan at a given mission item.

Parameters:

flightplan_idstring

Unique identifier of the flight plan to execute.

custom_idstring

Replaces the flightplan id in all the events returned by the drone. If empty, the original id is used.

typeolympe.enums.flight_plan.mavlink_type

Mavlink file type

itemu32

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_disconnectu8

Boolean : 0 : RTH on Disconnection / 1 : Continue on Disconnection

_timeoutint

command message timeout (defaults to 10)

_no_expectbool

if True, do not expect the usual command expectation (defaults to False)

_float_toltuple

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

_matching_modeolympe.MatchingMode

specify the expectation matching mode (default to olympe.MatchingMode.pattern)

_int_tolint

specify the int comparison tolerance, an int containing an absolute tolerate int value (default to 0)

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 message olympe.messages.flight_plan.supported_feature(value=None, _policy='check_wait', _float_tol=(1e-07, 1e-09), _int_tol=0)

flight_plan.supported_feature

Whether the flight plan feature is supported or not.

Parameters:

valueu8

Boolean: 1 if flight plan is supported, 0 otherwise

_policyolympe.messaging.arsdk_expectations.ExpectPolicy

specify how to check the expectation. Possible values are ‘check’, ‘wait’ and ‘check_wait’ (defaults to ‘check_wait’)

_float_toltuple

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

_matching_modeolympe.MatchingMode

specify the expectation matching mode (default to olympe.MatchingMode.pattern)

_int_tolint

specify the int comparison tolerance, an int containing an absolute tolerate int value (default to 0)

Supported by:

ANAFI_3_INSPECT:

for firmware release versions 8.4.0

ANAFI_3_MIL:

for firmware release versions 8.4.0

ANAFI_3_GOV:

for firmware release versions 8.4.0

Triggered: During connection.

event message olympe.messages.flight_plan.waypoint_skipped(item=None, _policy='check_wait', _float_tol=(1e-07, 1e-09), _int_tol=0)

flight_plan.waypoint_skipped

Waypoint skipped

Parameters:

itemu32

Index of the mission item corresponding to the skipped waypoint.

_policyolympe.messaging.arsdk_expectations.ExpectPolicy

specify how to check the expectation. Possible values are ‘check’, ‘wait’ and ‘check_wait’ (defaults to ‘check_wait’)

_float_toltuple

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

_matching_modeolympe.MatchingMode

specify the expectation matching mode (default to olympe.MatchingMode.pattern)

_int_tolint

specify the int comparison tolerance, an int containing an absolute tolerate int value (default to 0)

Supported by:

ANAFI Ai:

with an up to date firmware

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

enum olympe.enums.flight_plan.indicator

Indicators needed to start flight plan.

drone_gps:

Drone gps is not fixed. (0)

drone_magneto:

Drone magneto is not valid. (1)

drone_geofence:

Drone is out of geofence. Not applicable to Flight plan. (2)

drone_min_altitude:

Drone is under min altitude. Not applicable to Flight plan. (3)

drone_max_altitude:

Drone is above max altitude. Not applicable to Flight plan. (4)

drone_flying:

Drone is not flying. Not applicable to Flight plan. (5)

target_position_accuracy:

Target position has a bad accuracy. Not applicable to Flight plan. (6)

target_image_detection:

Target image detection is not working. Not applicable to Flight plan. (7)

drone_target_distance_min:

Drone is too close to target. Not applicable to Flight plan. (8)

drone_target_distance_max:

Drone is too far from target. Not applicable to Flight plan. (9)

target_horiz_speed:

Target horizontal speed is too high. Not applicable to Flight plan. (10)

target_vert_speed:

Target vertical speed is too high. Not applicable to Flight plan. (11)

target_altitude_accuracy:

Target altitude has a bad accuracy. Not applicable to Flight plan. (12)

drone_battery:

Drone battery power level is insufficient. (13)

drone_state:

Drone is not in a valid state. (14)

drone_battery_too_hot:

Drone battery temperature is too high. (15)

enum olympe.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)

enum olympe.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)