Terrain feature

event message olympe.messages.terrain.altitude_above_terrain(altitude=None, type=None, grid_precision=None, _policy='check_wait', _float_tol=(1e-07, 1e-09), _int_tol=0)

terrain.altitude_above_terrain

Altitude of the drone above terrain using terrain maps.

Parameters:

altitudei32

Altitude(m) of the drone above the terrain, not relevant if type is none

typeolympe.enums.terrain.type

Terrain type used.

grid_precisionfloat

grid precision(°), not relevant if type is none

_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 USA:

with an up to date firmware

Triggered: regularly.

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

terrain.calibrate

For calibration, the drone will assume that the pilot is at the center of the image seen. Gimbal angles will be corrected accordingly

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 USA:

with an up to date firmware

Result: calibration_state() state field changes to ok. or issue is filled with reasons

Expectations: (calibration_state(state='ok', _policy='wait') | calibration_state(issue='too_close|too_low', _policy='wait')) & calibrate_result(result='success', failure_reason='unmet_position_requirements|imprecise_location|too_large_pitch_offset', _policy='wait')

event message olympe.messages.terrain.calibrate_result(result=None, failure_reason=None, _policy='check_wait', _float_tol=(1e-07, 1e-09), _int_tol=0)

terrain.calibrate_result

Result of calibrate command

Parameters:

resultolympe.enums.terrain.calibrate_result

The success (or failure) of the calibrate command.

failure_reasonBitfieldOf(olympe.enums.terrain.calibrate_result_reason, u8)

Reported reason for drone calibration failure. 0 if success.

_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_MIL:

with an up to date firmware

Triggered: On calibrate command reception

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

terrain.calibration_reset

Reset the calibration of Drone’s Line of Sight.

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 USA:

with an up to date firmware

Result: calibration_state() required

Expectations: calibration_state(state='required', _policy='wait')

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

terrain.calibration_state

State of calibration of Drone’s Line of Sight.

Parameters:

stateolympe.enums.terrain.calibration_state

State of the calibration

issueBitfieldOf(olympe.enums.terrain.calibration_issue, u8)

Reported issue for drone calibration. Updated whenever it changes. If calibration_state is not changing to ok, it indicates the reason of the failure.

_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 USA:

with an up to date firmware

Triggered: At connection and whenever there is a change in the calibration state.

command message olympe.messages.terrain.set_amsl_reference(elevation, latitude, longitude, _timeout=10, _no_expect=False, _float_tol=(1e-07, 1e-09), _int_tol=0)

terrain.set_amsl_reference

Set Terrain Above Mean Sea Level Elevation Reference

Parameters:

elevationfloat

Terrain elevation(m) above mean sea level at the location given by Latitude and Longitude.

latitudedouble

Latitude of the location (in degrees)

longitudedouble

Longitude of the location (in degrees)

_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

enum olympe.enums.terrain.calibrate_result

success:

calibrate procedure is a success. (0)

failure:

calibrate procedure has failed. (1)

enum olympe.enums.terrain.calibrate_result_reason

unmet_position_requirements:

At least one calibration_issue is still declared at the command reception (0)

imprecise_location:

Drone’s and/or pilot’s locations are not precise enough for calibration (1)

too_large_pitch_offset:

Gimbal pitch is incoherent with the expected range (2)

enum olympe.enums.terrain.calibration_issue

Possible issues for calibration

too_close:

Drone is too close to perform accurate calibration (0)

too_low:

Drone is too low to perform accurate calibration (1)

invalid_controller_coords:

Controller coordinates are invalid (2)

bad_pitch:

Drone gimbal pitch is not adequate (3)

enum olympe.enums.terrain.calibration_state

Line of sight calibration state

required:

Calibration is required to improve image center coordinates (0)

ok:

Drone is calibrated (1)

enum olympe.enums.terrain.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.terrain.type

Terrain data type

none:

No data. (0)

dted:

DTED data. (1)