Onboard Tracker feature

command message olympe.messages.onboard_tracker.add_target_from_proposal(timestamp, target_id, cookie, _timeout=10, _no_expect=False, _float_tol=(1e-07, 1e-09), _int_tol=0)

onboard_tracker.add_target_from_proposal

Tells the drone to start tracking from a target id. The previous trackings are not stopped.

Parameters:

timestampu64

Acquisition time of processed picture in microseconds.

target_idu32

Id of the target coming from the metadata given by the drone.

cookieu32

User cookie associated with the target.

_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 sends tracking_answer()

Expectations: tracking_answer(_policy='wait')

command message olympe.messages.onboard_tracker.add_target_from_rect(timestamp, horizontal_position, vertical_position, height, width, cookie, _timeout=10, _no_expect=False, _float_tol=(1e-07, 1e-09), _int_tol=0)

onboard_tracker.add_target_from_rect

Tells the drone to start tracking a target from a rectangle. The previous trackings are not stopped.

Parameters:

timestampu64

Acquisition time of processed picture in microseconds.

horizontal_positionfloat

Horizontal position of the top left corner’s target in the video (0 to 1).

vertical_positionfloat

Vertical position of the top left corner’s target in the video (0 to 1).

heightfloat

Height of target in the video (0 to 1).

widthfloat

Width of target in the video (0 to 1).

cookieu32

User cookie associated with the target.

_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 sends tracking_answer()

Expectations: tracking_answer(_policy='wait')

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

onboard_tracker.remove_all_targets

Tells the drone to stop all trackings.

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 sends target_tracking_state()

Expectations: tracking_answer(_policy='wait')

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

onboard_tracker.remove_target

Tells the drone to stop tracking by target id. It is more efficient to use replace_all_by_target_from_rect() or replace_all_by_target_from_proposal()

Parameters:

target_idu32

Id of the target coming from the metadata given by the drone.

_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 sends tracking_answer()

Expectations: tracking_answer(_policy='wait')

command message olympe.messages.onboard_tracker.replace_all_by_target_from_proposal(timestamp, target_id, cookie, _timeout=10, _no_expect=False, _float_tol=(1e-07, 1e-09), _int_tol=0)

onboard_tracker.replace_all_by_target_from_proposal

Tells the drone to start tracking from a target id and stop any previous trackings.

Parameters:

timestampu64

Acquisition time of processed picture in microseconds.

target_idu32

Id of the target coming from the metadata given by the drone.

cookieu32

User cookie associated with the target.

_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 sends tracking_answer()

Expectations: tracking_answer(_policy='wait')

command message olympe.messages.onboard_tracker.replace_all_by_target_from_rect(timestamp, horizontal_position, vertical_position, height, width, cookie, _timeout=10, _no_expect=False, _float_tol=(1e-07, 1e-09), _int_tol=0)

onboard_tracker.replace_all_by_target_from_rect

Tells the drone to start tracking a target from a rectangle and stop any previous trackings.

Parameters:

timestampu64

Acquisition time of processed picture in microseconds.

horizontal_positionfloat

Horizontal position of the top left corner’s target in the video (0 to 1).

vertical_positionfloat

Vertical position of the top left corner’s target in the video (0 to 1).

heightfloat

Height of target in the video (0 to 1).

widthfloat

Width of target in the video (0 to 1).

cookieu32

User cookie associated with the target.

_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 sends tracking_answer()

Expectations: tracking_answer(_policy='wait')

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

onboard_tracker.start_tracking_engine

Tells the drone to start the tracking engine if possible.

Parameters:

box_proposalsu8

Start tracking engine with or without box proposals. Boolean: 0: start without box proposals / 1: start with box proposals

_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 sends tracking_engine_state()

Expectations: tracking_engine_state(_policy='wait')

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

onboard_tracker.stop_tracking_engine

Tells the drone to stop the tracking engine.

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 sends tracking_engine_state()

Expectations: tracking_engine_state(_policy='wait')

event message olympe.messages.onboard_tracker.target_tracking_state(target_id=None, cookie=None, state=None, list_flags=None, _policy='check_wait', _float_tol=(1e-07, 1e-09), _int_tol=0)

onboard_tracker.target_tracking_state

Tells the current tracking state of each target of the drone.

Parameters:

target_idu32

Id of the target coming from the metadata given by the drone.

cookieu32

User cookie associated with the target.

stateolympe.enums.onboard_tracker.target_tracking_state

State of tracking.

list_flags : BitfieldOf(olympe.enums.onboard_tracker.list_flags, u8)

_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 and whenever there is a change in the target tracking state

event message olympe.messages.onboard_tracker.tracking_answer(answer=None, _policy='check_wait', _float_tol=(1e-07, 1e-09), _int_tol=0)

onboard_tracker.tracking_answer

Tells if last command was processed or if there was an issue with it.

Parameters:

answerolympe.enums.onboard_tracker.tracking_answer

Tracking answer.

_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: By add_target_from_rect(), add_target_from_proposal(), remove_target(), replace_all_by_target_from_rect(), replace_all_by_target_from_proposal(), remove_all_targets()

event message olympe.messages.onboard_tracker.tracking_engine_state(state=None, _policy='check_wait', _float_tol=(1e-07, 1e-09), _int_tol=0)

onboard_tracker.tracking_engine_state

Tells if tracking engine is running.

Parameters:

stateolympe.enums.onboard_tracker.tracking_engine_state

State of tracking engine.

_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 and whenever there is a change in the tracking engine state.

event message olympe.messages.onboard_tracker.tracking_feature_availability(availability=None, _policy='check_wait', _float_tol=(1e-07, 1e-09), _int_tol=0)

onboard_tracker.tracking_feature_availability

Tells if the tracking feature is available.

Parameters:

availabilityu8

Availability of tracking feature. Boolean: 0: not available / 1: available

_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 and whenever there is a change in the tracking feature availability.

enum olympe.enums.onboard_tracker.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)

enum olympe.enums.onboard_tracker.target_tracking_state

State of tracking.

tracking:

A target has been selected and is currently visually tracked by the drone. (0)

searching:

Target has been lost, but the drone is trying to find it again. (1)

abandon:

After too much time in searching state, the drone abandons its target. This is a terminal state for the target, which will remain in the tracking state map until explicitely removed. (2)

pause:

The tracking is temporarily inactive on user request, by using yaw or pitch for example. It’ll resume in searching mode. (3)

enum olympe.enums.onboard_tracker.tracking_answer

Tracking answer.

processed:

Command was processed. (0)

target_limit_reached:

Command was not processed, tracker is at full capacity. The request is dropped. (1)

not_found:

Target was not found. The request is dropped. (2)

invalid:

Arguments are invalid. The request is dropped. (3)

enum olympe.enums.onboard_tracker.tracking_engine_state

Tracking engine state.

drone_activated:

Activated by a drone’s internal operation (like flying mission). (0)

activated:

Activated by command [start_tracking_engine](#157-10). (1)

available:

Tracking engine is available, and can be activated by [start_tracking_engine](#157-10). (2)