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))#

onboard_tracker.add_target_from_proposal

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

Parameters:

  • timestamp (u64) – Acquisition time of processed picture in microseconds.

  • target_id (u32) – Id of the target coming from the metadata given by the drone.

  • cookie (u32) – User cookie associated with the target.

  • _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: 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))#

onboard_tracker.add_target_from_rect

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

Parameters:

  • timestamp (u64) – Acquisition time of processed picture in microseconds.

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

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

  • height (float) – Height of target in the video (0 to 1).

  • width (float) – Width of target in the video (0 to 1).

  • cookie (u32) – User cookie associated with the target.

  • _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: 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))#

onboard_tracker.remove_all_targets

Tells the drone to stop all trackings.

Parameters:

  • _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: 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))#

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_id (u32) – Id of the target coming from the metadata given by the drone.

  • _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: 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))#

onboard_tracker.replace_all_by_target_from_proposal

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

Parameters:

  • timestamp (u64) – Acquisition time of processed picture in microseconds.

  • target_id (u32) – Id of the target coming from the metadata given by the drone.

  • cookie (u32) – User cookie associated with the target.

  • _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: 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))#

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:

  • timestamp (u64) – Acquisition time of processed picture in microseconds.

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

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

  • height (float) – Height of target in the video (0 to 1).

  • width (float) – Width of target in the video (0 to 1).

  • cookie (u32) – User cookie associated with the target.

  • _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: 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))#

onboard_tracker.start_tracking_engine

Tells the drone to start the tracking engine if possible.

Parameters:

  • box_proposals (u8) – Start tracking engine with or without box proposals. Boolean: 0: start without box proposals / 1: start with box proposals

  • _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: 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))#

onboard_tracker.stop_tracking_engine

Tells the drone to stop the tracking engine.

Parameters:

  • _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: 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))#

onboard_tracker.target_tracking_state

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

Parameters:

  • target_id (u32) – Id of the target coming from the metadata given by the drone.

  • cookie (u32) – User cookie associated with the target.

  • state (olympe.enums.onboard_tracker.target_tracking_state) – State of tracking.

  • list_flags (BitfieldOf(olympe.enums.onboard_tracker.list_flags, u8)) –

  • _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 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))#

onboard_tracker.tracking_answer

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

Parameters:

  • answer (olympe.enums.onboard_tracker.tracking_answer) – Tracking answer.

  • _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 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))#

onboard_tracker.tracking_engine_state

Tells if tracking engine is running.

Parameters:

  • state (olympe.enums.onboard_tracker.tracking_engine_state) – State of tracking engine.

  • _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 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))#

onboard_tracker.tracking_feature_availability

Tells if the tracking feature is available.

Parameters:

  • availability (u8) – Availability of tracking feature. Boolean: 0: not available / 1: available

  • _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 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)

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)