Obstacle avoidance feature#
- event messageolympe.messages.obstacle_avoidance.alert_timer(alert=None, timer=None, _policy='check_wait', _float_tol=(1e-07, 1e-09))#
obstacle_avoidance.alert_timer
Obstacle avoidance timer for alert
- Parameters
alert (
olympe.enums.obstacle_avoidance.alert) – Alert raised.timer (u32) – Timer until the deactivation of obstacle avoidance in seconds.
_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; on changes.
- event messageolympe.messages.obstacle_avoidance.alerts(alerts=None, _policy='check_wait', _float_tol=(1e-07, 1e-09))#
obstacle_avoidance.alerts
Obstacle avoidance alerts
- Parameters
alerts (BitfieldOf(
olympe.enums.obstacle_avoidance.alert, u16)) – Bitfield of activated obstacle avoidance alerts._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 entering or leaving any OA alert state.
- command messageolympe.messages.obstacle_avoidance.set_mode(mode, _timeout=10, _no_expect=False, _float_tol=(1e-07, 1e-09))#
obstacle_avoidance.set_mode
Configures obstacle avoidance mode.
- Parameters
mode (
olympe.enums.obstacle_avoidance.mode) – Obstacle avoidance mode._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: Activation or deactivation of obstacle avoidance. Event
status()is triggered.Expectations:
status(mode=self.mode, _policy='wait')
- event messageolympe.messages.obstacle_avoidance.status(mode=None, state=None, availability=None, _policy='check_wait', _float_tol=(1e-07, 1e-09))#
obstacle_avoidance.status
Obstacle avoidance status
- Parameters
mode (
olympe.enums.obstacle_avoidance.mode) – Obstacle avoidance mode.state (
olympe.enums.obstacle_avoidance.state) – Obstacle avoidance state.availability (
olympe.enums.obstacle_avoidance.availability) – Obstacle avoidance availability._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; on changes.
- enumolympe.enums.obstacle_avoidance.alert#
Obstacle avoidance alert.
- high_deviation
Distance from nominal trajectory exceeds threshold. (0)
- stuck
Drone is stuck by a presumably large obstacle. (1)
- stereo_failure
Perception system is unplugged or not working properly. Obstacle avoidance is unavailable and state is inactive. (2)
- stereo_lens_failure
Perception system lens is dirty or broken. Obstacle avoidance is unavailable and state is inactive. (3)
- gimbal_failure
Gimbal is not stabilized in direction of motion. Obstacle avoidance is unavailable and state is inactive. (4)
- too_dark
Environment is too dark for perception system or vertical camera. Obstacle avoidance is unavailable and state is inactive. (5)
- estimation_unreliable
GPS and vertical camera do not provide reliable data. Obstacle avoidance is unavailable and state is inactive. (6)
- calibration_failure
Perception system is not calibrated. Obstacle avoidance is unavailable and state is inactive. (7)
- poor_gps
Obstacle Avoidance is in degraded mode due to poor GPS quality. Obstacle avoidance is available with degraded performance. (8)
- strong_wind
Obstacle Avoidance is in degraded mode due to strong wind. Obstacle avoidance is available with degraded performance. (9)
- computational_error
Obstacle avoidance failed to compute trajectories. Obstacle avoidance is unavailable and state is inactive. (10)
- blind_motion_direction
The perception system is blind in the current motion direction. Obstacle avoidance is available and state may be active. (11)
- freeze
The drone is frozen and does not respond to PCMD Obstacle avoidance mode needs to be set to disabled for the drone to move again. Obstacle avoidance is unavailable and state is inactive. (12)
- enumolympe.enums.obstacle_avoidance.availability#
Obstacle avoidance availability.
- unavailable
Obstacle avoidance is not currently available. (0)
- available
Obstacle avoidance is currently available. (1)
- degraded
Obstacle avoidance is currently available but with degraded performance. (2)
- enumolympe.enums.obstacle_avoidance.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)
- enumolympe.enums.obstacle_avoidance.mode#
Obstacle avoidance mode.
- disabled
Obstacle avoidance is disabled. (0)
- standard
Obstacle avoidance is enabled, in standard mode. (1)
- enumolympe.enums.obstacle_avoidance.state#
Obstacle avoidance drone state.
- inactive
Obstacle avoidance is not currently active. (0)
- active
Obstacle avoidance is currently active and fully operational. (1)
- degraded
Obstacle avoidance is currently active but in degraded mode. (2)