Remote Control module for AR.Drone. More...

#include <Ardrone.h>

Public Types
enum	LEDAnimation { ARDRONE_LED_ANIMATION_BLINK_GREEN_RED = 0, ARDRONE_LED_ANIMATION_BLINK_GREEN, ARDRONE_LED_ANIMATION_BLINK_RED, ARDRONE_LED_ANIMATION_BLINK_ORANGE, ARDRONE_LED_ANIMATION_SNAKE_GREEN_RED, ARDRONE_LED_ANIMATION_FIRE, ARDRONE_LED_ANIMATION_STANDARD, ARDRONE_LED_ANIMATION_RED, ARDRONE_LED_ANIMATION_GREEN, ARDRONE_LED_ANIMATION_RED_SNAKE, ARDRONE_LED_ANIMATION_BLANK, ARDRONE_LED_ANIMATION_RIGHT_MISSILE, ARDRONE_LED_ANIMATION_LEFT_MISSILE, ARDRONE_LED_ANIMATION_DOUBLE_MISSILE, ARDRONE_LED_ANIMATION_FRONT_LEFT_GREEN_OTHERS_RED, ARDRONE_LED_ANIMATION_FRONT_RIGHT_GREEN_OTHERS_RED, ARDRONE_LED_ANIMATION_REAR_RIGHT_GREEN_OTHERS_RED, ARDRONE_LED_ANIMATION_REAR_LEFT_GREEN_OTHERS_RED, ARDRONE_LED_ANIMATION_LEFT_GREEN_RIGHT_RED, ARDRONE_LED_ANIMATION_LEFT_RED_RIGHT_GREEN, ARDRONE_LED_ANIMATION_BLINK_STANDARD }
	Defines types of LED animation for use with addAtLedAnimCmd() More...
enum	Animation { ARDRONE_ANIMATION_PHI_M30_DEG = 0, ARDRONE_ANIMATION_PHI_30_DEG, ARDRONE_ANIMATION_THETA_M30_DEG, ARDRONE_ANIMATION_THETA_30_DEG, ARDRONE_ANIMATION_THETA_20DEG_YAW_200DEG, ARDRONE_ANIMATION_THETA_20DEG_YAW_M200DEG, ARDRONE_ANIMATION_TURNAROUND, ARDRONE_ANIMATION_TURNAROUND_GODOWN, ARDRONE_ANIMATION_YAW_SHAKE, ARDRONE_ANIMATION_YAW_DANCE, ARDRONE_ANIMATION_PHI_DANCE, ARDRONE_ANIMATION_THETA_DANCE, ARDRONE_ANIMATION_VZ_DANCE, ARDRONE_ANIMATION_WAVE, ARDRONE_ANIMATION_PHI_THETA_MIXED, ARDRONE_ANIMATION_DOUBLE_PHI_THETA_MIXED }
	Defines types of animation for use with addAtAnimCmd() More...

Public Member Functions
	Ardrone ()
void	init ()
void	run ()
void	setControlYaw (float control_yaw)
void	setControlVZMax (float control_vz_max)
void	setEulerAngleMax (float euler_angle_max)
void	setAlitudeMax (float altitude_max)
void	setOutdoor (float outdoor)
void	setFlying (boolean flying)
boolean	flying ()
void	setRoll (float roll)
float	roll ()
void	setPitch (float pitch)
float	pitch ()
void	setGaz (float gaz)
float	gaz ()
void	setYaw (float yaw)
float	yaw ()
void	connected ()
void	periodicTask ()
void	addAtPCmd (unsigned int flags, float roll, float pitch, float gaz, float yaw)
void	addAtConfigCmd (const char name, const char value)
void	addAtLedCmd (Ardrone::LEDAnimation animation=ARDRONE_LED_ANIMATION_BLINK_GREEN_RED, float frequency=5.0, uint16_t duration=5)
void	addAtAnimCmd (Ardrone::Animation animation=ARDRONE_ANIMATION_WAVE, uint16_t duration=5)
void	addAtFtrimCmd ()
	Adds a drone FTRIM comamnd to the command buffer, which will be sent during the next update();.
void	addAtRefCmd (uint32_t flags)
void	addAtComWdgCmd ()
	Adds a drone COMWDG comamnd to the command buffer, which will be sent during the next update();.
void	addAtPmodeCmd (uint8_t mode)
void	addAtMiscCmd (uint16_t a, uint16_t b, uint16_t c, uint16_t d)

Protected Member Functions
void	device_init ()
void	update ()
void	sendAtCmd (uint8_t *msg, uint16_t len)
void	sendAtCmd (char *s)
void	sendCurrentAtCmd ()
	Sends the entire currently accumulated command buffer to the drone AT port.

Detailed Description

Remote Control module for AR.Drone.

This class provides a simple interface to the AR.Drone over a WiFi connection.

Overview

This module presents a simple interface through wchich you can control and fly a AR.Drone. It requires a WiFi interface hardware and the WiShield library. It initialises the WiFi library, hardware and drone, then sends a stream of flying commands to the drone's AT UDP port. Member functions allow you to control the pitch, roll, yaw and altitude of the drone, and to make it land and take off, based on some input device (or perhaps a canned sequence of commands).

Initialisation

This module intialises the drone in the following way:

initialises the WiShield WiFi hardware to connect to the ad-hoc network whose name is given by ssid
Makes a TCP connection to ARDRONE_CONFIGDATA_PORT. This forces ARP to be done, and waits for the drone to be booted and available. The following AT cpommands are then sent to the ARDRONE_AT_PORT UDP port on the drone.
Sets the control:outdoor, control:control_yaw, control:control_vz_max, control:euler_angle_max, control:altitude_max configuration parameters.
sets control_level to 1
Sets a FTRIM command which indicates the drone is level
flashes the LEDs on teh drone.

After initialisation, the update() function sends PCMD, REF and COMWDG commands every ARDRONE_AT_CMD_INTERVAL milliseconds.

Member Enumeration Documentation

enum Ardrone::Animation

Defines types of animation for use with addAtAnimCmd()

Each animation produces a different type of preprogrammed pattern of movement, superposed on the flying commands

enum Ardrone::LEDAnimation

Defines types of LED animation for use with addAtLedAnimCmd()

Each animation produces a different type of flashing pattern

Constructor & Destructor Documentation

Ardrone::Ardrone ( )

Constructor. After contruction and initialisation, call the init() and run() functions. You must also define the SSID of the AR.Drone's ad-hoc wireless network, like this:

Ardrone ardrone;

const prog_char ssid[] PROGMEM = "ardrone_165416";

where ardrone_165416 is replaced with the actual network name for your particular AR.Drone.

Member Function Documentation

void Ardrone::addAtAnimCmd	(	Ardrone::Animation	animation = `ARDRONE_ANIMATION_WAVE`,
		uint16_t	duration = `5`
	)

Adds a drone ANIM comamnd to the command buffer, which will be sent during the next update();

Parameters:

[in]	animation	One of the Animation values, which specifies the type of flying animation pattern to use
[in]	duration	Period of time to run the animation for in seconds

void Ardrone::addAtConfigCmd	(	const char *	name,
		const char *	value
	)

Adds a drone CONFIG comamnd to the command buffer, which will be sent during the next update();

Parameters:

[in]	name	String name of the config parameter to change
[in]	value	String value to change it to

Referenced by device_init().

void Ardrone::addAtLedCmd	(	Ardrone::LEDAnimation	animation = `ARDRONE_LED_ANIMATION_BLINK_GREEN_RED`,
		float	frequency = `5.0`,
		uint16_t	duration = `5`
	)

Adds a drone LED comamnd to the command buffer, which will be sent during the next update();

Parameters:

[in]	animation	One of the LEDAnimation values, which specifies the type of flashing pattern to use
[in]	frequency	Flashing frequency in Hz.
[in]	duration	Period of time to run the animation for in seconds

Referenced by device_init().

void Ardrone::addAtMiscCmd	(	uint16_t	a,
		uint16_t	b,
		uint16_t	c,
		uint16_t	d
	)

Adds a drone MISC comamnd to the command buffer, which will be sent during the next update();

Parameters:

[in]	a	Not documented
[in]	b	Not documented
[in]	c	Not documented
[in]	d	Not documented

void Ardrone::addAtPCmd	(	unsigned int	flags,
		float	roll,
		float	pitch,
		float	gaz,
		float	yaw
	)

Adds a drone PCMD comamnd to the command buffer, which will be sent during the next update();

Parameters:

[in]	flags	Bitmask of ARDRONE_PCMD_FLAG_* flags
[in]	roll	The new roll command value.
[in]	pitch	The new pitch command value.
[in]	gaz	The new gaz command value.
[in]	yaw	The new yaw command value.

Referenced by update().

void Ardrone::addAtPmodeCmd ( uint8_t mode )

Adds a drone PMODE comamnd to the command buffer, which will be sent during the next update();

Parameters:

[in] mode Not documented

void Ardrone::addAtRefCmd ( uint32_t flags )

Adds a drone REF comamnd to the command buffer, which will be sent during the next update();

Parameters:

[in] flags Bitmask of ARDRONE_REF_FLAG_*

Referenced by update().

void Ardrone::connected ( )

For internal use only. Indicates a successful connection to the drone has been made, and initialisation can commence

void Ardrone::device_init ( )

protected

For internal use only. Called periodically during device initialisation. Sends a series of commands to initialise the drone.

References addAtConfigCmd(), addAtFtrimCmd(), addAtLedCmd(), and sendCurrentAtCmd().

Referenced by periodicTask().

boolean Ardrone::flying ( )

Returns the most recently set value of the flying parameter.

Returns:: the current value of the flying parameter

Referenced by setFlying().

float Ardrone::gaz ( )

Returns the most recently set value of the gaz parameter.

Returns:: The current gaz value;

Referenced by setGaz().

void Ardrone::init ( )

Initialises the wireless WiFi receiver Call once at startup time after addresses, flight parameters etc have been configured.

void Ardrone::periodicTask ( )

For internal use only. Runs various periodic tasks for the drone

References device_init(), and update().

float Ardrone::pitch ( )

Returns the most recently set value of the pitch parameter.

Returns:: The current pitch value;

Referenced by setPitch().

float Ardrone::roll ( )

Returns the most recently set value of the roll parameter.

Returns:: The current roll value;

Referenced by setRoll().

void Ardrone::run ( )

Call this to process pending Wireless events. Call this as often as possible in your main loop. Runs the wireless driver stack, which calls periodicTask(), among other things

void Ardrone::sendAtCmd	(	uint8_t *	msg,
		uint16_t	len
	)

protected

Sends a command to the drone AT port

Parameters:

[in]	msg	The message to be sent
[in]	len	The length of the message in bytes

Referenced by sendAtCmd(), and sendCurrentAtCmd().

void Ardrone::sendAtCmd ( char * s )

protected

Sends a string to the drone AT port

Parameters:

[in] s The ASCII string to send

References sendAtCmd().

void Ardrone::setAlitudeMax ( float altitude_max )

Sets the intialisation value for control:altitude_max which limits the maximum height Defaults to 3000.0 mm

Parameters:

[in] altitude_max maximum altitude in mm

void Ardrone::setControlVZMax ( float control_vz_max )

Sets the intialisation value for control:control_vz_max which limits the maximum rate of change of altitude Defaults to 700.0 mm/sec

Parameters:

[in] control_vz_max maximum rate of change of altitude, mm/second

void Ardrone::setControlYaw ( float control_yaw )

Sets the intialisation value for control:control_yaw which limits the maximum rate of change of yaw Defaults to 1.75 radians/sec

Parameters:

[in] control_yaw maximum rate of change of yaw, radians/second

void Ardrone::setEulerAngleMax ( float euler_angle_max )

Sets the intialisation value for control:euler_angle_max which limits the maximum roll and pitch tilt Defaults to 0.1 radians

Parameters:

[in] euler_angle_max maximum tilt for roll and pitch in radians

void Ardrone::setFlying ( boolean flying )

Sets the flying parameter Causes the drone to take off or land. Defaults at initialisation to false.

Parameters:

[in] flying If true, drone will take off to 1m hover. If false, drone will land.

References flying().

void Ardrone::setGaz ( float gaz )

Sets the gaz (rate of change of altitude). Range from -1.0 (descend at control_vz_max mm/sec) to +1.0 (ascend at control_vz_max mm/sec). 0.0 means level. Defaults at initialisation to 0.0. The new gaz parameter will be sent during the next update() if the drone is flying.

Parameters:

[in] gaz The new gaz value

References gaz().

void Ardrone::setOutdoor ( float outdoor )

Sets the intialisation value for control:outdoor which specifies whether the default drone limits for indoor or outdoor flying should be used Defaults to false.

Parameters:

[in] outdoor true if flying outdoors

void Ardrone::setPitch ( float pitch )

Sets the pitch parameter. Range from -1.0 (pitch forward to euler_angle_max radians) to +1.0 (pitch back to euler_angle_max radians). 0.0 means level. Defaults at initialisation to 0.0. The new pitch parameter will be sent during the next update() if the drone is flying.

Parameters:

[in] pitch The new pitch value

References pitch().

void Ardrone::setRoll ( float roll )

Sets the roll parameter. Range from -1.0 (roll left to euler_angle_max radians) to +1.0 (roll right to euler_angle_max radians). 0.0 means level. Defaults at initialisation to 0.0. The new roll parameter will be sent during the next update() if the drone is flying.

Parameters:

[in] roll The new roll value

References roll().

void Ardrone::setYaw ( float yaw )

Sets the yaw (rate of change of yaw). Range from -1.0 (rotate left at control_yaw radians/sec) to +1.0 (rotate right at control_yaw radians/sec). 0.0 means no rotation. Defaults at initialisation to 0.0. The new yaw parameter will be sent during the next update() if the drone is flying.

Parameters:

[in] yaw The new yaw value

References yaw().

void Ardrone::update ( )

protected

For internal use only. Called periodically after device initialisation. Sends any commands accumulated by earlier calls to addAt*Cmd() functions. If the drone is flying sends a PCMD with the curent flying parameters Also sends a REF command with appropriate flags for flying or grounded Also sends a COMWDG command to refresh teh comms watchdog.

References addAtComWdgCmd(), addAtPCmd(), addAtRefCmd(), and sendCurrentAtCmd().

Referenced by periodicTask().

float Ardrone::yaw ( )

Returns the most recently set value of the yaw parameter.

Returns:: The current yaw value;

Referenced by setYaw().

The documentation for this class was generated from the following files:

Ardrone.h
Ardrone.cpp

Public Types

Public Member Functions

Protected Member Functions

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation