How to have continuous moveBy

ANAFI USA / ANAFI Thermal / ANAFI 4K
1

When I generate dynamically a succession of drone(moveBy(...)).wait() there is a waiting time (the drone slow down and then stop moving) between each moveBy. If I remove the the .wait() the drone does not have the desired behavior.

For example, if I do that:

drone(
    moveBy(5, 0, 0, 0)
).wait()
drone(
    moveBy(0, 5, 0, 0)
).wait
drone(
    moveBy(-5, 0, 0, 0)
).wait()
drone(
    moveBy(0, -5, 0, 0)
).wait()

I got a perfect square (with long pause at each angle !!), but if I do that:

drone(
    moveBy(5, 0, 0, 0)
)
drone(
    moveBy(0, 5, 0, 0)
)
drone(
    moveBy(-5, 0, 0, 0)
)
drone(
    moveBy(0, -5, 0, 0)
).wait()

the drone move 20m to the left. So what I want as behavior it that the drone do the square smoothly (the corner can be curved)

Thank you.

2 Likes
2

Hi,

The moveBy command ends when the drone sends the “moveByEnd” event. Normally, this event is sent by the drone when it reaches its final (stop dead) position. This can take a while.

For your use case, I see two options :

  1. Interrupt the moveBy commands by a PCMD commands before reaching the final position
  2. Use only the PCMD commands and control the drone in position and/or velocity using the PositionChanged or SpeedChanged events.
3

Ok, thank you for your answer

4

Hi!

Would the cancelMoveBy work to interupt the previous moveBy, instead of the PCMD-command?

5

Hi!

Last time I tried cancelMoveBy command it was not working.

I don’t know if it’s a bug or I used it badly

6

Hi again!

I tried the cancelMoveBy too, but had no success. :slightly_frowning_face:

I also wish to use the moveBy function faster than waiting for it to end. We are using an external sensor to implement a precise landing with the anafi, and would like to send consecutive moveBy-commands to correct for drift while approaching the landing spot.

I tried sending a PCMD(1,0,0,0,0,0) where I would have sent a cancelMoveBy, but the anafi did not respond to the moveBy that follows the PCMD, unless I added a 3 seconds long delay in between.

Controlling the drone by the PCMD-commands could be an option, but this option lack the precision we desire.

Is there any other tricks that might help?

7

By the way, @BaptisteP,

If you add a time delay between the moveBys in your 5x5 sqare, they seems to stack up to some degree. I tried it in the simulator and the anafi did not move in a perfect sqare, but it ended up where it started. It seemes like maybe the anafi changes the target for the unfinshed moveBy when it receives the next.

8

I am in the same situation, but currently I have no solution. I hope someone has one.

Thanks, but I don’t know how to determines the delay. It will depend of the time needed to do the moveBy, but we don’t know it.

9

Hi.
I can interrupt the moveBy commands to use PCMD commands as blow.
PCMD(1,1,1,1,1,1)
Anafi stoped befor reaching its final position.

10

@misoragod Would you be so kind and share some example code on how you achieved this exactly? Thank you!

1 Like