How to fill yaw_type in guidance.goto_pb2.Destination?

ANAFI Ai
1

Hi,

I’m trying to use go_to guidance mode, but can’t find any doc on this.

I succeed to adb to drone, and with ipython find a little doc on guidance.goto_pb2.Destion :

gt_pb.Destination.__dict__
Out[5]: 
mappingproxy({'DESCRIPTOR': <google.protobuf.pyext._message.MessageDescriptor at 0x7f3b344850b0>,
              '__module__': 'guidance.goto_pb2',
              '__slots__': (),
              '__doc__': None,
              'position': <field property 'Guidance.GoTo.Messages.Destination.position'>,
              'velocity': <field property 'Guidance.GoTo.Messages.Destination.velocity'>,
              'yaw': <field property 'Guidance.GoTo.Messages.Destination.yaw'>,
              'yaw_rate': <field property 'Guidance.GoTo.Messages.Destination.yaw_rate'>,
              'yaw_type': <field property 'Guidance.GoTo.Messages.Destination.yaw_type'>,
              'max_horizontal_speed': <field property 'Guidance.GoTo.Messages.Destination.max_horizontal_speed'>,
              'max_vertical_speed': <field property 'Guidance.GoTo.Messages.Destination.max_vertical_speed'>,
              'max_yaw_rate': <field property 'Guidance.GoTo.Messages.Destination.max_yaw_rate'>})

But I don’t know how to fill yaw_type. Any help ? Any documentation ?

Best,
Clément

2

Found in goto.proto :

// Define yaw orientation type
enum YawType {
    // Current yaw
    NONE = 0;
    // Yaw toward the destination
    TARGET = 1;
    // Yaw from yaw value in Destination message.
    CUSTOM = 2;
}

It’s sad to don’t find this in AirSDK doc.

3

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