package mavsdk.rpc.follow_me

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Allow users to command the vehicle to follow a specific target. The target is provided as a GPS coordinate and altitude.

• rpc GetConfig (GetConfigRequest, GetConfigResponse)

  follow_me.proto:16

  Get current configuration.

  message GetConfigRequest

  follow_me.proto:60

  (message has no fields)

  message GetConfigResponse

  follow_me.proto:61

  • optional Config config = 1

    The current configuration

• rpc GetLastLocation (GetLastLocationRequest, GetLastLocationResponse)

  follow_me.proto:24

  Get the last location of the target.

  message GetLastLocationRequest

  follow_me.proto:84

  (message has no fields)

  message GetLastLocationResponse

  follow_me.proto:85

  • optional TargetLocation location = 1

    The last target location that was set

• rpc IsActive (IsActiveRequest, IsActiveResponse)

  follow_me.proto:20

  Check if FollowMe is active.

  message IsActiveRequest

  follow_me.proto:72

  (message has no fields)

  message IsActiveResponse

  follow_me.proto:73

  • bool is_active = 1

    Whether follow me is active or not

• rpc SetConfig (SetConfigRequest, SetConfigResponse)

  follow_me.proto:18

  Apply configuration by sending it to the system.

  message SetConfigRequest

  follow_me.proto:65

  • optional Config config = 1

    The new configuration to be set

  message SetConfigResponse

  follow_me.proto:68

  • optional FollowMeResult follow_me_result = 1

• rpc SetTargetLocation (SetTargetLocationRequest, SetTargetLocationResponse)

  follow_me.proto:22

  Set location of the moving target.

  message SetTargetLocationRequest

  follow_me.proto:77

  • optional TargetLocation location = 1

    The new TargetLocation to follow

  message SetTargetLocationResponse

  follow_me.proto:80

  • optional FollowMeResult follow_me_result = 1

• rpc Start (StartRequest, StartResponse)

  follow_me.proto:26

  Start FollowMe mode.

  message StartRequest

  follow_me.proto:89

  (message has no fields)

  message StartResponse

  follow_me.proto:90

  • optional FollowMeResult follow_me_result = 1

• rpc Stop (StopRequest, StopResponse)

  follow_me.proto:28

  Stop FollowMe mode.

  message StopRequest

  follow_me.proto:94

  (message has no fields)

  message StopResponse

  follow_me.proto:95

  • optional FollowMeResult follow_me_result = 1

Configuration type.

Used in: GetConfigResponse, SetConfigRequest

• float follow_height_m = 1

  [m] Follow height in meters (recommended minimum 8 meters)

• float follow_distance_m = 2

  [m] Follow distance to target in meters (recommended minimum 4 meter)

• float responsiveness = 4

  FollowDirection follow_direction = 3; // [!DEPRECIATED!] Direction to follow target at. Exists as a legacy to old PX4 Follow-Me, but now only used for setting the follow_angle_deg. This value never gets sent to the PX4 side!

  How responsive the vehicle is to the motion of the target, Lower value = More responsive (range 0.0 to 1.0)

• Config.FollowAltitudeMode altitude_mode = 5

  Follow Altitude control mode

• float max_tangential_vel_m_s = 6

  [m/s] Maximum orbit tangential velocity relative to the target, in meters per second. Higher value = More aggressive follow angle tracking.

• float follow_angle_deg = 7

  [deg] Follow Angle relative to the target. 0 equals following in front of the target's direction. Angle increases in Clockwise direction, so following from right would be 90 degrees, from the left is -90 degrees, and so on.

Altitude mode to configure which altitude the follow me will assume the target to be at.

Used in: Config

• FOLLOW_ALTITUDE_MODE_CONSTANT = 0

  Target assumed to be mobing at a constant altitude of home position (where the vehicle armed)

• FOLLOW_ALTITUDE_MODE_TERRAIN = 1

  Target assumed to be at the terrain level sensed by the distance sensor

• FOLLOW_ALTITUDE_MODE_TARGET_GPS = 2

  Target GPS altitude taken into account to do 3D tracking

Used in: SetConfigResponse, SetTargetLocationResponse, StartResponse, StopResponse

• FollowMeResult.Result result = 1

  Result enum value

• string result_str = 2

  Human-readable English string describing the result

Possible results returned for followme operations

Used in: FollowMeResult

• RESULT_UNKNOWN = 0

  Unknown result

• RESULT_SUCCESS = 1

  Request succeeded

• RESULT_NO_SYSTEM = 2

  No system connected

• RESULT_CONNECTION_ERROR = 3

  Connection error

• RESULT_BUSY = 4

  Vehicle is busy

• RESULT_COMMAND_DENIED = 5

  Command denied

• RESULT_TIMEOUT = 6

  Request timed out

• RESULT_NOT_ACTIVE = 7

  FollowMe is not active

• RESULT_SET_CONFIG_FAILED = 8

  Failed to set FollowMe configuration

Target location for the vehicle to follow

Used in: GetLastLocationResponse, SetTargetLocationRequest

• double latitude_deg = 1

  Target latitude in degrees

• double longitude_deg = 2

  Target longitude in degrees

• float absolute_altitude_m = 3

  Target altitude in meters above MSL

• float velocity_x_m_s = 4

  Target velocity in X axis, in meters per second

• float velocity_y_m_s = 5

  Target velocity in Y axis, in meters per second

• float velocity_z_m_s = 6

  Target velocity in Z axis, in meters per second