as2_python_api.modules.follow_reference_module module

Follow reference module.

class as2_python_api.modules.follow_reference_module.FollowReferenceModule(drone: DroneInterface)

Bases: ModuleBase, FollowReferenceBehavior

Follow reference Module.

follow_reference(x: float, y: float, z: float, frame_id: str, speed_x: float, speed_y: float, speed_z: float) → bool

Follow reference. With keep yaw. Non-blocking call.

Parameters:

• x (float) – x position relative to the frame_id

• y (float) – y position relative to the frame_id

• z (float) – z position relative to the frame_id

• frame_id (str) – frame_id of the reference

• speed_x (float) – speed limit

• speed_y (float) – speed limit

• speed_z (float) – speed limit

follow_reference_with_reference_facing(x: float, y: float, z: float, frame_id: str, speed_x: float, speed_y: float, speed_z: float) → bool

Follow reference. With reference facing yaw mode. Non-blocking call.

Parameters:

• x (float) – x position relative to the frame_id

• y (float) – y position relative to the frame_id

• z (float) – z position relative to the frame_id

• frame_id (str) – frame_id of the reference

• speed_x (float) – speed limit

• speed_y (float) – speed limit

• speed_z (float) – speed limit

follow_reference_with_yaw(x: float, y: float, z: float, frame_id: str, speed_x: float, speed_y: float, speed_z: float, angle: float) → bool

Follow reference. With desired yaw angle. Non-blocking call.

Parameters:

• x (float) – x position relative to the frame_id

• y (float) – y position relative to the frame_id

• z (float) – z position relative to the frame_id

• frame_id (str) – frame_id of the reference

• speed_x (float) – speed limit

• speed_y (float) – speed limit

• speed_z (float) – speed limit

• yaw_angle (float) – yaw angle (rad)