MoveTo after MoveBy not working

ANAFI USA / ANAFI Thermal / ANAFI 4K
1

When I use the MoveTo function after TakeOff, the function works, but when I use MoveTo after MoveBy, nothing happen. I don’t understand why.

Here an example code where the MoveTo doesn’t do anything:

import math
import olympe
from olympe.messages.ardrone3.Piloting import TakeOff, moveBy, Landing, moveTo, Circle
from olympe.messages.ardrone3.PilotingState import moveToChanged, FlyingStateChanged, PositionChanged, AttitudeChanged
from olympe.messages.ardrone3.GPSSettingsState import GPSFixStateChanged
from olympe.messages.ardrone3.PilotingState import GpsLocationChanged
from olympe.enums.ardrone3.Piloting import MoveTo_Orientation_mode


drone = olympe.Drone("10.202.0.1")
drone.connection()

# Take-off
drone(
    FlyingStateChanged(state="hovering", _policy="check")
    | FlyingStateChanged(state="flying", _policy="check")
    | (
        GPSFixStateChanged(fixed=1, _timeout=10, _policy="check_wait")
        >> (
            TakeOff(_no_expect=True)
            & FlyingStateChanged(
                state="hovering", _timeout=10, _policy="check_wait")
        )
    )
).wait()

# Get the home position 
drone_location = drone.get_state(GpsLocationChanged)

# Move 10m
drone(
    moveBy(10, 0, 0, math.pi)
    >> FlyingStateChanged(state="hovering", _timeout=20)
).wait().success()



# Go back home
drone(
    moveTo(drone_location["latitude"],  drone_location["longitude"], drone_location["altitude"], MoveTo_Orientation_mode.TO_TARGET, 0.0)
    >> moveToChanged(latitude=drone_location["latitude"], longitude=drone_location["longitude"], altitude=drone_location["altitude"], orientation_mode=MoveTo_Orientation_mode.TO_TARGET, status='DONE', _policy='wait')
    >> FlyingStateChanged(state="hovering", _timeout=5)
).wait()

# Landing
drone(
    Landing()
    >> FlyingStateChanged(state="landed", _timeout=5)
).wait()

drone.disconnection()

Here the log I get:

|09/07/2019 08:24:01.419707|_recv_cmd_cb                    ardrone3.GPSSettingsState.GPSFixStateChanged(fixed=1)|
|---|---|
|09/07/2019 08:24:01.421269|_send_command                   Ardrone3.Piloting.TakeOff(): has been sent asynchronously|
|09/07/2019 08:24:01.423618|_recv_cmd_cb                    ardrone3.GPSState.NumberOfSatelliteChanged(numberOfSatellite=12)|
|09/07/2019 08:24:01.426100|_recv_cmd_cb                    common.MavlinkState.MavlinkFilePlayingStateChanged(state=MavlinkFilePlayingStateChanged_State.stopped, filepath='', type=MavlinkFilePlayingStateChanged_Type.flightPlan)|
|09/07/2019 08:24:01.427568|_recv_cmd_cb                    common.FlightPlanState.ComponentStateListChanged(component=ComponentStateListChanged_Component.GPS, State=1)|
|09/07/2019 08:24:01.443506|_recv_cmd_cb                    common.FlightPlanState.ComponentStateListChanged(component=ComponentStateListChanged_Component.Calibration, State=1)|
|09/07/2019 08:24:01.447843|_recv_cmd_cb                    common.FlightPlanState.ComponentStateListChanged(component=ComponentStateListChanged_Component.TakeOff, State=1)|
|09/07/2019 08:24:01.449354|_recv_cmd_cb                    common.FlightPlanState.AvailabilityStateChanged(AvailabilityState=1)|
|09/07/2019 08:24:01.452474|_recv_cmd_cb                    ardrone3.GPSState.HomeTypeAvailabilityChanged(type=HomeTypeAvailabilityChanged_Type.FIRST_FIX, available=4)|
|09/07/2019 08:24:01.453767|_recv_cmd_cb                    ardrone3.GPSState.HomeTypeChosenChanged(type=HomeTypeChosenChanged_Type.FIRST_FIX)|
|09/07/2019 08:24:01.465463|_recv_cmd_cb                    common.RunState.RunIdChanged(runId='65F5FF')|
|09/07/2019 08:24:05.492359|_send_command                   Ardrone3.Piloting.MoveBy(c_double(10.0), c_double(0.0), c_double(0.0), c_double(3.141592653589793)): has been sent asynchronously|
|09/07/2019 08:24:05.498305|_recv_cmd_cb                    ardrone3.GPSState.HomeTypeAvailabilityChanged(type=HomeTypeAvailabilityChanged_Type.TAKEOFF, available=1)|
|09/07/2019 08:24:05.499754|_recv_cmd_cb                    ardrone3.GPSState.HomeTypeChosenChanged(type=HomeTypeChosenChanged_Type.TAKEOFF)|
|09/07/2019 08:24:05.501712|_recv_cmd_cb                    ardrone3.PilotingState.NavigateHomeStateChanged(state=NavigateHomeStateChanged_State.available, reason=NavigateHomeStateChanged_Reason.enabled)|
|09/07/2019 08:24:05.502779|_recv_cmd_cb                    animation.availability(values='horizontal_panorama|dronie|horizontal_reveal|vertical_reveal|twist_up')|
|09/07/2019 08:24:05.523245|_recv_cmd_cb                    animation.availability(values='')|
|09/07/2019 08:24:06.395053|_recv_cmd_cb                    user_storage.capabilities(supported_features='format_when_ready_allowed|format_result_evt_supported|format_progress_evt_supported')|
|09/07/2019 08:24:06.396085|_recv_cmd_cb                    user_storage.supported_formatting_types(supported_types='full|quick')|
|09/07/2019 08:24:06.397406|_recv_cmd_cb                    user_storage.capabilities(supported_features='format_when_ready_allowed|format_result_evt_supported|format_progress_evt_supported')|
|09/07/2019 08:24:06.398059|_recv_cmd_cb                    user_storage.supported_formatting_types(supported_types='full|quick')|
|09/07/2019 08:24:06.398631|_recv_cmd_cb                    user_storage.state(physical_state=phy_state.undetected, file_system_state=fs_state.unknown, attribute='', monitor_enabled=0, monitor_period=0)|
|09/07/2019 08:24:06.399279|_recv_cmd_cb                    user_storage.info(name='', capacity=0)|
|09/07/2019 08:24:06.401143|_recv_cmd_cb                    camera.recording_state(cam_id=0, available=availability.available, state=state.inactive, start_timestamp=0)|
|09/07/2019 08:24:06.405972|_recv_cmd_cb                    ardrone3.MediaRecordState.VideoStateChangedV2(state=VideoStateChangedV2_State.stopped, error=VideoStateChangedV2_Error.ok)|
|09/07/2019 08:24:06.407329|_recv_cmd_cb                    mediastore.state(state=state.indexing)|
|09/07/2019 08:24:06.408459|_recv_cmd_cb                    mediastore.state(state=state.indexed)|
|09/07/2019 08:24:06.409451|_recv_cmd_cb                    mediastore.counters(video_media_count=0, photo_media_count=0, video_resource_count=0, photo_resource_count=0)|
|09/07/2019 08:24:14.975638|_recv_cmd_cb                    ardrone3.PilotingEvent.moveByEnd(dX=9.900297164916992, dY=-0.0018132030963897705, dZ=-0.0031625032424926758, dPsi=6.517730799515675e-10, error=MoveByEnd_Error.ok)|
|09/07/2019 08:24:15.600378|_recv_cmd_cb                    common.CommonState.BatteryStateChanged(percent=99)|
|09/07/2019 08:24:35.022351|_send_command                   Ardrone3.Piloting.MoveTo(c_double(48.878899993189485), c_double(2.3677804621113245), c_double(0.0), c_uint(1), c_double(0.0)): has been sent asynchronously|
|09/07/2019 08:24:44.669101|_recv_cmd_cb                    common.CommonState.BatteryStateChanged(percent=98)|
|09/07/2019 08:24:55.068102|_send_command                   Ardrone3.Piloting.Landing(): has been sent asynchronously|
|09/07/2019 08:24:55.076181|_recv_cmd_cb                    ardrone3.PilotingState.moveToChanged(latitude=48.878899993189485, longitude=2.3677804621113245, altitude=0.0, orientation_mode=MoveToChanged_Orientation_mode.TO_TARGET, heading=-91.91930389404297, status=MoveToChanged_Status.CANCELED)|
|09/07/2019 08:24:55.087303|_recv_cmd_cb                    follow_me.state(mode=mode.none, behavior=behavior.idle, animation=animation.none, animation_available='')|
|09/07/2019 08:25:00.117741|disconnection                   we are not disconnected yet|

Thank you

1 Like
2

Hi,

The problem is that the drone does not go back in the “hovering” state after a moveBy command. The moveTo command is then ignored because the drone is not in the “hovering” state.
This is a regression in the (simulated) Anafi firmware introduced somewhere between the 1.2.4 and the 1.3.2 Anafi firmware release. This will be fixed in the future Anafi firmware release (probably in a 1.6.x).

As a workaround, you can send an “hovering command” (actually a PCMD(1, 0, 0, 0, 0, 0)) after the moveBy command. This will force the Anafi to go back in the “hovering” state and to accept the moveTo command from there.

import math
import olympe
from olympe.messages.ardrone3.Piloting import TakeOff, moveBy, Landing, moveTo, Circle, PCMD
from olympe.messages.ardrone3.PilotingState import moveToChanged, FlyingStateChanged, PositionChanged, AttitudeChanged
from olympe.messages.ardrone3.GPSSettingsState import GPSFixStateChanged
from olympe.messages.ardrone3.PilotingState import GpsLocationChanged
from olympe.enums.ardrone3.Piloting import MoveTo_Orientation_mode

drone = olympe.Drone("10.202.0.1")
drone.connection()

# Take-off
drone(
    FlyingStateChanged(state="hovering", _policy="check")
    | FlyingStateChanged(state="flying", _policy="check")
    | (
        GPSFixStateChanged(fixed=1, _timeout=10, _policy="check_wait")
        >> (
            TakeOff(_no_expect=True)
            & FlyingStateChanged(
                state="hovering", _timeout=10, _policy="check_wait")
        )
    )
).wait()

# Get the home position 
drone_location = drone.get_state(GpsLocationChanged)

# Move 10m
drone(
    moveBy(10, 0, 0, math.pi)
    >> PCMD(1, 0, 0, 0, 0, 0)
    >> FlyingStateChanged(state="hovering", _timeout=5)
).wait().success()



# Go back home
drone(
    moveTo(drone_location["latitude"],  drone_location["longitude"], drone_location["altitude"], MoveTo_Orientation_mode.TO_TARGET, 0.0)
    >> FlyingStateChanged(state="hovering", _timeout=5)
    >> moveToChanged(latitude=drone_location["latitude"], longitude=drone_location["longitude"], altitude=drone_location["altitude"], orientation_mode=MoveTo_Orientation_mode.TO_TARGET, status='DONE', _policy='wait')
    >> FlyingStateChanged(state="hovering", _timeout=5)
).wait()

# Landing
drone(
    Landing()
    >> FlyingStateChanged(state="landed", _timeout=5)
).wait()

drone.disconnection()

Please let me know if that works for you! Thanks

Nicolas

3

Yes it work, thanks

4

can it be that the workaround also is needed with ANAFI firmware 1.6.4 ? I experience the same kind of behaviour with a moveTo command after a moveBy command in sphinx.
@ndessart: can you confirm, that this behaviour is only present in sphinx, or also on the real ANAFI drone?

Thanks