RTH feature#

command messageolympe.messages.rth.abort(_timeout=10, _no_expect=False, _float_tol=(1e-07, 1e-09))#

rth.abort

Abort a currently executing return to home.

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/AnafiFPV

with an up to date firmware

AnafiThermal

with an up to date firmware

ANAFI_UA

with an up to date firmware

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

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

event messageolympe.messages.rth.auto_trigger_mode(mode=None, _policy='check_wait', _float_tol=(1e-07, 1e-09))#

rth.auto_trigger_mode

RTH auto trigger mode

Parameters

  • mode (olympe.enums.rth.auto_trigger_mode) – RTH auto trigger mode.

  • _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/AnafiFPV

with an up to date firmware

AnafiThermal

with an up to date firmware

ANAFI_UA

with an up to date firmware

Triggered At connection; on changes.

command messageolympe.messages.rth.cancel_auto_trigger(_timeout=10, _no_expect=False, _float_tol=(1e-07, 1e-09))#

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

  • _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/AnafiFPV

with an up to date firmware

AnafiThermal

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 messageolympe.messages.rth.custom_location(latitude=None, longitude=None, altitude=None, _policy='check_wait', _float_tol=(1e-07, 1e-09))#

rth.custom_location

Custom location

Parameters

  • latitude (double) – Latitude of the custom location

  • longitude (double) – Longitude of the custom location

  • altitude (float) – Altitude of the custom location above takeoff (ATO).

  • _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/AnafiFPV

with an up to date firmware

AnafiThermal

with an up to date firmware

ANAFI_UA

with an up to date firmware

Triggered by set_custom_location()

event messageolympe.messages.rth.delay(delay=None, min=None, max=None, _policy='check_wait', _float_tol=(1e-07, 1e-09))#

rth.delay

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

Parameters

  • delay (u16) – Delay in second

  • min (u16) – Min delay in second

  • max (u16) – Max delay in second

  • _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/AnafiFPV

with an up to date firmware

AnafiThermal

with an up to date firmware

ANAFI_UA

with an up to date firmware

Triggered by set_delay().

event messageolympe.messages.rth.ending_behavior(ending_behavior=None, _policy='check_wait', _float_tol=(1e-07, 1e-09))#

rth.ending_behavior

Ending behavior

Parameters

  • ending_behavior (olympe.enums.rth.ending_behavior) – Ending behavior action

  • _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/AnafiFPV

with an up to date firmware

AnafiThermal

with an up to date firmware

ANAFI_UA

with an up to date firmware

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

event messageolympe.messages.rth.ending_hovering_altitude(current=None, min=None, max=None, _policy='check_wait', _float_tol=(1e-07, 1e-09))#

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

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

  • min (float) – Range min of altitude

  • max (float) – Range max of altitude

  • _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/AnafiFPV

with an up to date firmware

AnafiThermal

with an up to date firmware

ANAFI_UA

with an up to date firmware

Triggered At connection; by set_ending_hovering_altitude().

event messageolympe.messages.rth.followee_location(latitude=None, longitude=None, altitude=None, _policy='check_wait', _float_tol=(1e-07, 1e-09))#

rth.followee_location

Followee location

Parameters

  • latitude (double) – Latitude of the followee location

  • longitude (double) – Longitude of the followee location

  • altitude (float) – Altitude of the followee location above takeoff (ATO).

  • _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/AnafiFPV

with an up to date firmware

AnafiThermal

with an up to date firmware

ANAFI_UA

with an up to date firmware

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

event messageolympe.messages.rth.home_reachability(status=None, _policy='check_wait', _float_tol=(1e-07, 1e-09))#

rth.home_reachability

Home reachability status.

Parameters

  • status (olympe.enums.rth.home_reachability) – Status of the home reachability

  • _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/AnafiFPV

with an up to date firmware

AnafiThermal

with an up to date firmware

Triggered when home reachability status changes.

event messageolympe.messages.rth.home_type(type=None, _policy='check_wait', _float_tol=(1e-07, 1e-09))#

rth.home_type

Home type

Parameters

  • type (olympe.enums.rth.home_type) – Home type.

  • _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/AnafiFPV

with an up to date firmware

AnafiThermal

with an up to date firmware

ANAFI_UA

with an up to date firmware

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

event messageolympe.messages.rth.home_type_capabilities(values=None, _policy='check_wait', _float_tol=(1e-07, 1e-09))#

rth.home_type_capabilities

Home type capabilities

Parameters

  • values (BitfieldOf(olympe.enums.rth.home_type, u32)) – Bitfield of supported home types.

  • _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/AnafiFPV

with an up to date firmware

AnafiThermal

with an up to date firmware

ANAFI_UA

with an up to date firmware

Triggered at connection.

event messageolympe.messages.rth.info(missing_inputs=None, _policy='check_wait', _float_tol=(1e-07, 1e-09))#

rth.info

Describes the missing requirements to start a return home.

Parameters

  • missing_inputs (BitfieldOf(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.

  • _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 During connection and when the list of missing requirements changes.

event messageolympe.messages.rth.min_altitude(current=None, min=None, max=None, _policy='check_wait', _float_tol=(1e-07, 1e-09))#

rth.min_altitude

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

Parameters

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

  • min (float) – Range min of altitude

  • max (float) – Range max of altitude

  • _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/AnafiFPV

with an up to date firmware

AnafiThermal

with an up to date firmware

ANAFI_UA

with an up to date firmware

Triggered by set_min_altitude().

event messageolympe.messages.rth.preferred_home_type(type=None, _policy='check_wait', _float_tol=(1e-07, 1e-09))#

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

  • type (olympe.enums.rth.home_type) – Preferred Home type.

  • _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/AnafiFPV

with an up to date firmware

AnafiThermal

with an up to date firmware

ANAFI_UA

with an up to date firmware

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 messageolympe.messages.rth.return_to_home(_timeout=10, _no_expect=False, _float_tol=(1e-07, 1e-09))#

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

  • _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/AnafiFPV

with an up to date firmware

AnafiThermal

with an up to date firmware

ANAFI_UA

with an up to date firmware

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 messageolympe.messages.rth.rth_auto_trigger(reason=None, delay=None, _policy='check_wait', _float_tol=(1e-07, 1e-09))#

rth.rth_auto_trigger

Return Home auto trigger information.

Parameters

  • reason (olympe.enums.rth.auto_trigger_reason) – Reason of the auto trigger.

  • delay (u32) – Delay until the return home is automatically triggered by the drone, in seconds. If reason is none this information has no meaning.

  • _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/AnafiFPV

with an up to date firmware

AnafiThermal

with an up to date firmware

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

command messageolympe.messages.rth.set_auto_trigger_mode(mode, _timeout=10, _no_expect=False, _float_tol=(1e-07, 1e-09))#

rth.set_auto_trigger_mode

Set mode for auto trigger return home

Parameters

  • mode (olympe.enums.rth.auto_trigger_mode) – Mode asked by user

  • _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/AnafiFPV

with an up to date firmware

AnafiThermal

with an up to date firmware

ANAFI_UA

with an up to date firmware

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

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

command messageolympe.messages.rth.set_custom_location(latitude, longitude, altitude, _timeout=10, _no_expect=False, _float_tol=(1e-07, 1e-09))#

rth.set_custom_location

Set the custom location.

Parameters

  • latitude (double) – Latitude of the custom location

  • longitude (double) – Longitude of the custom location

  • altitude (float) – Altitude of the custom location above takeoff (ATO).

  • _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/AnafiFPV

with an up to date firmware

AnafiThermal

with an up to date firmware

ANAFI_UA

with an up to date firmware

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 messageolympe.messages.rth.set_delay(delay, _timeout=10, _no_expect=False, _float_tol=(1e-07, 1e-09))#

rth.set_delay

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

Parameters

  • delay (u16) – Delay in second

  • _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/AnafiFPV

with an up to date firmware

AnafiThermal

with an up to date firmware

ANAFI_UA

with an up to date firmware

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

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

command messageolympe.messages.rth.set_ending_behavior(ending_behavior, _timeout=10, _no_expect=False, _float_tol=(1e-07, 1e-09))#

rth.set_ending_behavior

Choose ending behavior action for RTH.

Parameters

  • ending_behavior (olympe.enums.rth.ending_behavior) – Ending behavior action

  • _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/AnafiFPV

with an up to date firmware

AnafiThermal

with an up to date firmware

ANAFI_UA

with an up to date firmware

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 messageolympe.messages.rth.set_ending_hovering_altitude(altitude, _timeout=10, _no_expect=False, _float_tol=(1e-07, 1e-09))#

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

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

  • _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/AnafiFPV

with an up to date firmware

AnafiThermal

with an up to date firmware

ANAFI_UA

with an up to date firmware

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 messageolympe.messages.rth.set_min_altitude(altitude, _timeout=10, _no_expect=False, _float_tol=(1e-07, 1e-09))#

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

  • altitude (float) – Return home min altitude above takeoff (ATO).

  • _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/AnafiFPV

with an up to date firmware

AnafiThermal

with an up to date firmware

ANAFI_UA

with an up to date firmware

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 messageolympe.messages.rth.set_preferred_home_type(type, _timeout=10, _no_expect=False, _float_tol=(1e-07, 1e-09))#

rth.set_preferred_home_type

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

Parameters

  • type (olympe.enums.rth.home_type) – Preferred home type.

  • _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/AnafiFPV

with an up to date firmware

AnafiThermal

with an up to date firmware

ANAFI_UA

with an up to date firmware

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 messageolympe.messages.rth.state(state=None, reason=None, _policy='check_wait', _float_tol=(1e-07, 1e-09))#

rth.state

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

Parameters

  • state (olympe.enums.rth.state) – State of the return to home

  • reason (olympe.enums.rth.state_reason) – Reason of the state change

  • _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/AnafiFPV

with an up to date firmware

AnafiThermal

with an up to date firmware

ANAFI_UA

with an up to date firmware

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

event messageolympe.messages.rth.takeoff_location(latitude=None, longitude=None, altitude=None, fixed_before_takeoff=None, _policy='check_wait', _float_tol=(1e-07, 1e-09))#

rth.takeoff_location

Takeoff-type home location

Parameters

  • latitude (double) – Latitude of the takeoff location

  • longitude (double) – Longitude of the takeoff location

  • altitude (float) – Altitude of the takeoff home location above takeoff (ATO).

  • fixed_before_takeoff (u8) – 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).

  • _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/AnafiFPV

with an up to date firmware

AnafiThermal

with an up to date firmware

ANAFI_UA

with an up to date firmware

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.

enumolympe.enums.rth.auto_trigger_mode#

RTH auto-trigger mode

Enum aliases:

off

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

on

Auto trigger is on. (1)

enumolympe.enums.rth.auto_trigger_reason#

RTH auto-trigger reason

Enum aliases:

none

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

battery_critical_soon

Battery will soon be critical. (1)

enumolympe.enums.rth.ending_behavior#

RTH ending behavior action.

landing

The RTH end behavior is landing (0)

hovering

The RTH end behavior is hovering (1)

enumolympe.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)

enumolympe.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)

enumolympe.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)

enumolympe.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)

enumolympe.enums.rth.state#

State of return to home

Enum aliases:

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)

enumolympe.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)