Onboard Tracker feature#

command messageolympe.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 messageolympe.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 messageolympe.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 messageolympe.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 messageolympe.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 messageolympe.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 messageolympe.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 messageolympe.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 messageolympe.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 messageolympe.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 messageolympe.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 messageolympe.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.

enumolympe.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)

enumolympe.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)

enumolympe.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)

enumolympe.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)