RTH feature

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

rth.abort

Abort a currently executing return to home.

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:

for firmware release versions 1.7.0

ANAFI Thermal:

for firmware release versions 1.7.0

ANAFI_UA:

for firmware release versions 1.3.0

Result: The drone will abort its return home. Then, event state() is triggered.

Expectations: state(state='available', reason='stopped', _policy='wait')

event message olympe.messages.rth.auto_trigger_mode(mode=None, _policy='check_wait', _float_tol=(1e-07, 1e-09), _int_tol=0)

rth.auto_trigger_mode

RTH auto trigger mode

Parameters:

modeolympe.enums.rth.auto_trigger_mode

RTH auto trigger mode.

_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:

for firmware release versions 1.7.0

ANAFI Thermal:

for firmware release versions 1.7.0

ANAFI_UA:

for firmware release versions 1.3.0

Triggered: At connection; on changes.

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

rth.cancel_auto_trigger

Cancel any current return home auto trigger. This command has no effect if there is no auto trigger currently planned (i.e. reason of rth_auto_trigger() is none).

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:

with an up to date firmware

ANAFI Thermal:

with an up to date firmware

Result: The drone will cancel its return home auto trigger. Then, event rth_auto_trigger() is triggered with reason set to none.

Expectations: rth_auto_trigger(reason='none', _policy='wait')

event message olympe.messages.rth.custom_location(latitude=None, longitude=None, altitude=None, _policy='check_wait', _float_tol=(1e-07, 1e-09), _int_tol=0)

rth.custom_location

Custom location

Parameters:

latitudedouble

Latitude of the custom location

longitudedouble

Longitude of the custom location

altitudefloat

Altitude of the custom location above takeoff (ATO).

_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:

for firmware release versions 1.7.0

ANAFI Thermal:

for firmware release versions 1.7.0

ANAFI_UA:

for firmware release versions 1.3.0

Triggered: by set_custom_location()

event message olympe.messages.rth.delay(delay=None, min=None, max=None, _policy='check_wait', _float_tol=(1e-07, 1e-09), _int_tol=0)

rth.delay

Return home trigger delay. This delay represents the time after which the return home is automatically triggered after a disconnection.

Parameters:

delayu16

Delay in second

minu16

Min delay in second

maxu16

Max delay in second

_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:

for firmware release versions 1.7.0

ANAFI Thermal:

for firmware release versions 1.7.0

ANAFI_UA:

for firmware release versions 1.3.0

Triggered: by set_delay().

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

rth.ending_behavior

Ending behavior

Parameters:

ending_behaviorolympe.enums.rth.ending_behavior

Ending behavior action

_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:

for firmware release versions 1.7.0

ANAFI Thermal:

for firmware release versions 1.7.0

ANAFI_UA:

for firmware release versions 1.3.0

Triggered: when the ending behavior action changes and when setting a new ending behavior action has been refused by the drone.

event message olympe.messages.rth.ending_hovering_altitude(current=None, min=None, max=None, _policy='check_wait', _float_tol=(1e-07, 1e-09), _int_tol=0)

rth.ending_hovering_altitude

This altitude represents the altitude for the hovering at the end of rth. It is only used when ending_behavior is set to hovering.

Parameters:

currentfloat

Altitude used by the drone when hovering at the end of return home. This end altitude is AGL (above ground level).

minfloat

Range min of altitude

maxfloat

Range max of altitude

_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:

for firmware release versions 1.7.0

ANAFI Thermal:

for firmware release versions 1.7.0

ANAFI_UA:

for firmware release versions 1.3.0

Triggered: At connection; by set_ending_hovering_altitude().

event message olympe.messages.rth.followee_location(latitude=None, longitude=None, altitude=None, _policy='check_wait', _float_tol=(1e-07, 1e-09), _int_tol=0)

rth.followee_location

Followee location

Parameters:

latitudedouble

Latitude of the followee location

longitudedouble

Longitude of the followee location

altitudefloat

Altitude of the followee location above takeoff (ATO).

_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:

for firmware release versions 1.7.0

ANAFI Thermal:

for firmware release versions 1.7.0

ANAFI_UA:

for firmware release versions 1.3.0

Triggered: regularly when drone is in FollowMe or LookAt with gps() sent.

event message olympe.messages.rth.home_location(latitude=None, longitude=None, altitude=None, _policy='check_wait', _float_tol=(1e-07, 1e-09), _int_tol=0)

rth.home_location

The current home location

Parameters:

latitudedouble

Latitude of the home location

longitudedouble

Longitude of the home location

altitudefloat

Altitude of the home location above takeoff (ATO).

_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 8.3.0

ANAFI_3_MIL:

for firmware release versions 8.3.0

ANAFI_3_GOV:

for firmware release versions 8.3.0

Triggered: At connection; on changes.

event message olympe.messages.rth.home_reachability(status=None, _policy='check_wait', _float_tol=(1e-07, 1e-09), _int_tol=0)

rth.home_reachability

Home reachability status.

Parameters:

statusolympe.enums.rth.home_reachability

Status of the home reachability

_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:

with an up to date firmware

ANAFI Thermal:

with an up to date firmware

Triggered: when home reachability status changes.

event message olympe.messages.rth.home_type(type=None, _policy='check_wait', _float_tol=(1e-07, 1e-09), _int_tol=0)

rth.home_type

Home type

Parameters:

typeolympe.enums.rth.home_type

Home type.

_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:

with an up to date firmware

ANAFI Thermal:

with an up to date firmware

ANAFI_UA:

for firmware release versions 1.3.0

Triggered: when the home type changes and when setting a new home type has been refused by the drone.

event message olympe.messages.rth.home_type_capabilities(values=None, _policy='check_wait', _float_tol=(1e-07, 1e-09), _int_tol=0)

rth.home_type_capabilities

Home type capabilities

Parameters:

valuesBitfieldOf(olympe.enums.rth.home_type, u32)

Bitfield of supported home types.

_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:

for firmware release versions 1.7.0

ANAFI Thermal:

for firmware release versions 1.7.0

ANAFI_UA:

for firmware release versions 1.3.0

Triggered: at connection.

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

rth.info

Describes the missing requirements to start a return home.

Parameters:

missing_inputsBitfieldOf(olympe.enums.rth.indicator, u32)

List of missing requirements to activate return home. If at least one input is missing, drone won’t be able to return home.

_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.

event message olympe.messages.rth.min_altitude(current=None, min=None, max=None, _policy='check_wait', _float_tol=(1e-07, 1e-09), _int_tol=0)

rth.min_altitude

This altitude represents the minimum altitude used by the drone during the return home.

Parameters:

currentfloat

Minimum altitude used by the drone during RTH. This value is above takeoff (ATO)

minfloat

Range min of altitude

maxfloat

Range max of altitude

_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:

for firmware release versions 1.7.0

ANAFI Thermal:

for firmware release versions 1.7.0

ANAFI_UA:

for firmware release versions 1.3.0

Triggered: by set_min_altitude().

event message olympe.messages.rth.pilot_location(latitude=None, longitude=None, altitude=None, _policy='check_wait', _float_tol=(1e-07, 1e-09), _int_tol=0)

rth.pilot_location

Pilot location

Parameters:

latitudedouble

Latitude of the pilot location.

longitudedouble

Longitude of the pilot location.

altitudefloat

Altitude of the pilot location (ATO).

_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:

with an up to date firmware

ANAFI_3_MIL:

with an up to date firmware

ANAFI_3_GOV:

with an up to date firmware

Triggered: During connection; by return_to_home() is called.

event message olympe.messages.rth.preferred_home_type(type=None, _policy='check_wait', _float_tol=(1e-07, 1e-09), _int_tol=0)

rth.preferred_home_type

Preferred home type. Please note that this is only a user preference. The actual type chosen is given by the event home_type().

Parameters:

typeolympe.enums.rth.home_type

Preferred Home type.

_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:

for firmware release versions 1.7.0

ANAFI Thermal:

for firmware release versions 1.7.0

ANAFI_UA:

for firmware release versions 1.3.0

Triggered: When the preferred return home type changes. This event is triggered by set_preferred_home_type(). Note: This is a user preference, the actual type chosen is given by the event home_type().

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

rth.return_to_home

Return home. Ask the drone to fly to its home position. Please note that the drone will wait to be hovering to start its return home. This means that it will wait to have a PCMD() set at 0.

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:

with an up to date firmware

ANAFI Thermal:

with an up to date firmware

ANAFI_UA:

for firmware release versions 1.3.0

Result: event state() is triggered. Then, the drone will fly back to its home position. You can get a state pending if the drone is not ready to start its return home process but will do it as soon as it is possible.

Expectations: (state(state='in_progress', reason='user_request', _policy='wait') | state(state='pending', reason='user_request', _policy='wait'))

event message olympe.messages.rth.rth_auto_trigger(reason=None, delay=None, _policy='check_wait', _float_tol=(1e-07, 1e-09), _int_tol=0)

rth.rth_auto_trigger

Return Home auto trigger information.

Parameters:

reasonolympe.enums.rth.auto_trigger_reason

Reason of the auto trigger.

delayu32

Delay until the return home is automatically triggered by the drone, in seconds. If reason is none this information has no meaning.

_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:

with an up to date firmware

ANAFI Thermal:

with an up to date firmware

Triggered: when return home auto trigger information changes, then every seconds while reason is different from none.

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

rth.set_auto_trigger_mode

Set mode for auto trigger return home

Parameters:

modeolympe.enums.rth.auto_trigger_mode

Mode asked by user

_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:

for firmware release versions 1.7.0

ANAFI Thermal:

for firmware release versions 1.7.0

ANAFI_UA:

for firmware release versions 1.3.0

Result: Drone changes auto trigger mode. Event auto_trigger_mode() is triggered.

Expectations: auto_trigger_mode(mode=self.mode, _policy='wait')

command message olympe.messages.rth.set_custom_location(latitude, longitude, altitude, _timeout=10, _no_expect=False, _float_tol=(1e-07, 1e-09), _int_tol=0)

rth.set_custom_location

Set the custom location.

Parameters:

latitudedouble

Latitude of the custom location

longitudedouble

Longitude of the custom location

altitudefloat

Altitude of the custom location above takeoff (ATO).

_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:

for firmware release versions 1.7.0

ANAFI Thermal:

for firmware release versions 1.7.0

ANAFI_UA:

for firmware release versions 1.3.0

Result: If the drone knows its own location and if the custom location is not outside a circle centered on the drone with a radius equals to the max distance setting value, and if preferred home type (set_preferred_home_type()) is compatible, home_type() is sent with type = custom, otherwise it is sent back with the former home type. Moreover, custom_location() is sent by the drone.

Expectations: home_type(type='custom', _policy='wait') & custom_location(latitude=self.latitude, longitude=self.longitude, altitude=self.altitude, _policy='wait')

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

rth.set_delay

Set the delay after which the drone will automatically try to return home after a disconnection.

Parameters:

delayu16

Delay in second

_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:

for firmware release versions 1.7.0

ANAFI Thermal:

for firmware release versions 1.7.0

ANAFI_UA:

for firmware release versions 1.3.0

Result: The delay of the return home is set. Then, event delay() is triggered.

Expectations: delay(delay=self.delay, _policy='wait')

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

rth.set_ending_behavior

Choose ending behavior action for RTH.

Parameters:

ending_behaviorolympe.enums.rth.ending_behavior

Ending behavior action

_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:

for firmware release versions 1.7.0

ANAFI Thermal:

for firmware release versions 1.7.0

ANAFI_UA:

for firmware release versions 1.3.0

Result: The ending behavior action is set to the new one. Event ending_behavior() is sent, otherwise it is sent back with the former ending behavior type.

Expectations: ending_behavior(ending_behavior=self.ending_behavior, _policy='wait')

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

rth.set_ending_hovering_altitude

Set the return home ending hovering altitude. If the ending behavior action is set to hovering, Use this altitude.

Parameters:

altitudefloat

Altitude used by the drone when hovering at the end of return home. This end altitude is AGL (above ground level).

_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:

for firmware release versions 1.7.0

ANAFI Thermal:

for firmware release versions 1.7.0

ANAFI_UA:

for firmware release versions 1.3.0

Result: The ending altitude for the return home is set. Then, event ending_hovering_altitude() is triggered.

Expectations: ending_hovering_altitude(current=self.altitude, _policy='wait')

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

rth.set_min_altitude

Set the return home minimum altitude. If the drone is below this altitude when starting its return home, it will first reach the minimum altitude. If it is higher than this minimum altitude, it will operate its return home at its current altitude.

Parameters:

altitudefloat

Return home min altitude above takeoff (ATO).

_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:

for firmware release versions 1.7.0

ANAFI Thermal:

for firmware release versions 1.7.0

ANAFI_UA:

for firmware release versions 1.3.0

Result: The minimum altitude for the return home is set. Then, event min_altitude() is triggered.

Expectations: min_altitude(current=self.altitude, _policy='wait')

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

rth.set_preferred_home_type

Set the preferred home location type. The drone will always choose this home type when available.

Parameters:

typeolympe.enums.rth.home_type

Preferred home type.

_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:

for firmware release versions 1.7.0

ANAFI Thermal:

for firmware release versions 1.7.0

ANAFI_UA:

for firmware release versions 1.3.0

Result: The drone returns preferred_home_type(). In addition, the drone returns home_type() with this value if the chosen home type is currently available.

Expectations: preferred_home_type(type=self.type, _policy='wait')

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

rth.state

Return home state. Availability is related to gps fix, magnetometer calibration.

Parameters:

stateolympe.enums.rth.state

State of the return to home

reasonolympe.enums.rth.state_reason

Reason of the state change

_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:

with an up to date firmware

ANAFI Thermal:

with an up to date firmware

ANAFI_UA:

for firmware release versions 1.3.0

Triggered: on connection, by return_to_home() or by abort(), or when the state of the return home changes.

event message olympe.messages.rth.takeoff_location(latitude=None, longitude=None, altitude=None, fixed_before_takeoff=None, _policy='check_wait', _float_tol=(1e-07, 1e-09), _int_tol=0)

rth.takeoff_location

Takeoff-type home location

Parameters:

latitudedouble

Latitude of the takeoff location

longitudedouble

Longitude of the takeoff location

altitudefloat

Altitude of the takeoff home location above takeoff (ATO).

fixed_before_takeoffu8

1 if the location was acquired before the takeoff. 0 if it was acquired during the flight (i.e. is it the first fix location).

_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:

for firmware release versions 1.7.0

ANAFI Thermal:

for firmware release versions 1.7.0

ANAFI_UA:

for firmware release versions 1.3.0

Triggered: when takeoff home location is known by the drone. If gps is fixed at the time of the takeoff, then fixed_before_takeoff is true, otherwise is false.

enum olympe.enums.rth.auto_trigger_mode

RTH auto-trigger mode

Enum aliases:

• olympe.enums.rth.auto_trigger_mode

• olympe.enums.alarms.state

• olympe.enums.leds.switch_state

off:

Auto trigger is off. RTH auto trigger will never occur. (0)

on:

Auto trigger is on. (1)

enum olympe.enums.rth.auto_trigger_reason

RTH auto-trigger reason

none:

There is no return home auto trigger planned. (0)

battery_critical_soon:

Battery will soon be critical. (1)

motor_down:

Return home is triggered because of motor_down. (2)

enum olympe.enums.rth.ending_behavior

RTH ending behavior action.

landing:

The RTH end behavior is landing (0)

hovering:

The RTH end behavior is hovering (1)

enum olympe.enums.rth.home_reachability

Home reachability

unknown:

Home reachability is unknown (0)

reachable:

Home is reachable (1)

critical:

Home is still reachable but won’t be if rth is not triggered now. If rth is running, cancelling it will probably make the home not reachable. (2)

not_reachable:

Home is not reachable (3)

enum olympe.enums.rth.home_type

Home type.

none:

No home type. This might be because the drone does not have a gps fix (0)

takeoff:

The drone will return to the last manual takeoff location (1)

followee:

The drone will return to the followee position (2)

custom:

The drone will return to a user-set custom location (3)

pilot:

The drone will return to the pilot position (4)

enum olympe.enums.rth.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)

enum olympe.enums.rth.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.rth.state

State of return to home

Enum aliases:

• olympe.enums.ardrone3.NavigateHomeStateChanged_State

• olympe.enums.rth.state

available:

Return to home is available (0)

in_progress:

Return to home is in progress (1)

unavailable:

Return to home is not available (2)

pending:

Return to home has been received, but its process is pending (3)

enum olympe.enums.rth.state_reason

Reason of the state

user_request:

User requested a return to home (available->in_progress) (0)

connection_lost:

Connection between controller and product lost (available->in_progress) (1)

low_battery:

Low battery occurred (available->in_progress) (2)

finished:

Return to home is finished (in_progress->available) (3)

stopped:

Return to home has been stopped (in_progress->available) (4)

disabled:

Return to home disabled by product (in_progress->unavailable or available->unavailable) (5)

enabled:

Return to home enabled by product (unavailable->available) (6)

flightplan:

Return to home during a flightplan (available->in_progress) (7)

blocked:

Return to home could not find a path to home (in_progress->available) (8)

icing:

Return to home triggered by propeller icing event (available->in_progress) (9)

battery_lost_comm:

Return to home triggered by battery lost comm event (available->in_progress) (10)

motor_down:

Return to home triggered by motor down event (available->in_progress) (11)

battery_too_hot:

Return to home triggered by battery too hot event (available->in_progress) (12)