Legal Question in Family Law in California

Child Emancipation/Neglect

I am 17 years old and I have been living with my grandparents for about 6 years. I lived with my mother prior to that, but she was not fit to take care of a child at the time. She moved to Palm Springs and I did not hear from her for 2 years. Now she is back in my life again. My mom never gave my grandparents official custody of me. I feel that emancipation is necessecary. Technically, am I already emancipated? If not, who can really give me consent to do so? My mother, or my grandparents?

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