Getting state from "moveToChanged"

Hello, first, thank you for the code! It’s really helping me with my thesis.

I’m working with a Bebop 2 and have a question about moving the drone to GPS coordinates. I’ve made some code that uses the “moveTo” command to make the drone reach a specific coordinate. I was wondering if I could ask the bebop whether it has reached its destination coordinate. I currently have no way of knowing when the drone actually reaches that point. Since I noticed in the code that you ask for “AllStates” (in common.xml, common class, AllStates cmd), I thought you might know how to go about this.

I’ve figured out there is a command that seems to poll for a “moveToChanged” state. Refer to the following code (in ardrone3.xml, PilotingState class, moveToChanged cmd):

<cmd name="moveToChanged" id="12">
    <comment
        title="Move to changed"
        desc="The drone moves or moved to a given location."
        support="090c:4.3.0"
        triggered="by [MoveTo](#1-0-10) or when the drone did reach the given position."/>
    <arg name="latitude" type="double">
        Latitude of the location (in degrees) to reach
    </arg>
    <arg name="longitude" type="double">
        Longitude of the location (in degrees) to reach
    </arg>
    <arg name="altitude" type="double">
        Altitude above sea level (in m) to reach
    </arg>
    <arg name="orientation_mode" type="enum">
        Orientation mode of the move to
        <enum name="NONE">
            The drone won't change its orientation
        </enum>
        <enum name="TO_TARGET">
            The drone will make a rotation to look in direction of the given location
        </enum>
        <enum name="HEADING_START">
            The drone will orientate itself to the given heading before moving to the location
        </enum>
        <enum name="HEADING_DURING">
            The drone will orientate itself to the given heading while moving to the location
        </enum>
    </arg>
    <arg name="heading" type="float">
        Heading (relative to the North in degrees).
        This value is only used if the orientation mode is HEADING_START or HEADING_DURING
    </arg>
    <arg name="status" type="enum">
        Status of the move to
        <enum name="RUNNING">
            The drone is actually flying to the given position
        </enum>
        <enum name="DONE">
            The drone has reached the target
        </enum>
        <enum name="CANCELED">
            The move to has been canceled, either by a CancelMoveTo command
            or when a disconnection appears.
        </enum>
        <enum name="ERROR">
            The move to has not been finished or started because of an error.
        </enum>
    </arg>
</cmd>

However, in contrast to the AllStates cmd, this cmd seems to require arguments (refer the the snippet below).

<cmd name="AllStates" id="0" timeout="RETRY">
    <comment
        title="Ask for all states"
        desc="Ask for all states.\n\n
        **Please note that you should not send this command if you are using the\n
        libARController API as this library is handling the connection process for you.**"
        support="drones"
        result="The product will trigger all states events (such as [FlyingState](#1-4-1) for the Bebop).\n
        Then, it will trigger [AllStatesEnd](#0-5-0)."/>
</cmd>

I tried to pass no arguments, to see what it gives. In following snippet you can see how I did this.

def ask_for_move_to_status(self):
    command_tuple = self.command_parser.get_command_tuple("ardrone3", "PilotingState", "moveToChanged")
    return self.drone_connection.send_noparam_command_packet_ack(command_tuple)

This doesn’t really return anything. I was wondering if you know whether the “moveToChanged” cmd is a valid way for retrieving the state. If so, then should I pass parameters and what should I pass? Or how would I go about this? Any help or advice would be much appreciated! Thanks in advance.

[CedricMingneau]

@Cozmo25 I wrote this function (and it worked for me):

def move_to_coord(self, latitude, longitude, altitude, heading):
        (command_tuple, enum_tuple) = self.command_parser.get_command_tuple_with_enum(
            "ardrone3", "Piloting", "moveTo", "NONE")
        self.drone_connection.send_coord_command(command_tuple, latitude, longitude, altitude, enum_tuple, heading)

First I let the drone take off (by using bebop.safe_takeoff()), then I could use move_to_coord() along with some coordinates. Please don’t ask me anything specific about the code, as it has been a while since I’ve played around with it 😅

[amymcgovern]

The sensors dictionary has everything the drone sends back! I save it EVERY time it sends stuff. I only made special variables for the ones I used a lot. I may well add more this summer as we are moving to a bebop project from a mambo only project.