Precise home when drone is close to home

I have been trying out the PreciseHome feature and it works really nice in most cases.

My implementation of precise home is roughly this:

  • After connect I enable precise home using set_mode(standard).
  • After takeoff I wait until state == available
  • Going home is then activated using NavigateHome

However I don’t understand how to activate this feature when the drone is already close to home (within 20 meters?). If I send the NavigateHome command in this case the drone yaws to point towards the home location, but it does not fly to the home location.

Also, sometimes after takeoff I do not get state == available. How can I restart the precise home feature in this case? Is there a better way than to land and takeoff again?

I am using Olympe 1.2.0 and the problem occurs both using Sphinx and an Anafi drone with FW 1.6.8.