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 eventhome_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 returnshome_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 homereason (
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 byabort()
, 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:
olympe.enums.ardrone3.ForcedLandingAutoTrigger_Reason
- 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:
olympe.enums.ardrone3.NavigateHomeStateChanged_State
- 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)