A.R.Drone Developer Guide - Abstract

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6 (a) Throttle (b) Roll (c) Pitch (d) Yaw Figure 2.1: Drone movements Manoeuvres are obtained by changing pitch, roll and yaw angles of the AR.Drone . Varying left and right rotors speeds the opposite way yields roll movement. This allows to go forth and back. Varying front and rear rotors speeds the opposite way yields pitch movement. Varying each rotor pair speed the opposite way yields yaw movement. This allows turning left and right.
(a) Indoor (b) Outdoor Figure 2.2: Drone hulls 2.2 Indoor and outdoor design configurations When flying outdoor the AR.Drone can be set in a light and low wind drag configuration (2.2b). Flying indoor requires the drone to be protected by external bumpers (2.2a). When flying indoor, tags can be added on the external hull to allow several drones to easily detect each others via their cameras. 2.3 Engines The AR.Drone is powered with brushless engines with three phases current controlled by a micro-controller The AR.Drone automatically detects the type of engines that are plugged and automatically adjusts engine controls. The AR.Drone detects if all the engines are turning or are stopped. In case a rotating propeller encounters any obstacle, the AR.Drone detects if any of the propeller is blocked and in such case stops all engines immediately. This protection system prevents repeated shocks. 7
Page 1 and 2: Developer Guide SDK 1.6
Page 3 and 4: Contents A.R.Drone Developer Guide
Page 5 and 6: GENERAL:navdata_options . . . . . .
Page 7: Part I SDK documentation 1
Page 10 and 11: 4 • an open-source iPhone game ex
Page 14 and 15: 8 2.4 LiPo batteries (a) Ultrasound
Page 16 and 17: 10 2.8 Video streaming and tags det
Page 19 and 20: 3 AR.Drone SDK Overview This SDK al
Page 21 and 22: Let’s now detail the ARDroneTool
Page 23 and 24: 4 ARDroneLIB and ARDroneTool functi
Page 25: The flags argument is a bitfiels co
Page 28 and 29: 22 5.2 Customizing the client initi
Page 30 and 31: 24 Listing 5.4: Example of navdata
Page 32 and 33: 26 Listing 5.6: The video pipeline
Page 34 and 35: 28 Once these functions are written
Page 36 and 37: 30 6.1 AT Commands syntax Strings a
Page 38 and 39: 32 6.5 AT Commands summary AT comma
Page 40 and 41: 34 Note : The names "start" and "se
Page 42 and 43: 36 AT*FTRIM Summary : Flat trims -
Page 44 and 45: 38 AT*LED Summary : Sets the drone
Page 46 and 47: 40 All the blocks share this common
Page 48 and 49: 42 7.1.3 Augmented reality data str
Page 50 and 51: 44 RGB image Y image CB image CR im
Page 52 and 53: 46 7.2.1.4 Picture resolution (PRES
Page 54 and 55: 48 • Bit 4 : 1 means there is non
Page 56 and 57: 50 • Initialize the counter of su
Page 58 and 59: 52 • Step 3, remaining data (DC v
Page 61 and 62: 8 Drone Configuration The drone beh
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PIC:ultrasound_freq = 8 PIC:ultraso
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8.3 General configuration All the c
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GENERAL:video_enable Read/Write Des
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CONTROL:control_level Read/Write De
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setting. AT command example : AT*CO
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CONTROL:outdoor_control_vz_max Read
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The UDP socket port where the AT*co
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8.7 Video configuration VIDEO:camif
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8.8 Leds configuration LEDS:leds_an
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DETECT:detections_select_h Descript
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8.10 SYSLOG section This section is
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Part II Tutorials 81
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11 Building the Linux Examples The
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You will see a list of axes and but
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11.6 Run the Navigation program Fir
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12 Building the Windows Example The
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12.2 Required settings in the sourc
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The example is basic one which simp
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A.R.Drone Developer Guide - Abstract

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