A.R.Drone Developer Guide - Abstract

18
ardrone_tool_set_ui_pad_select
Summary : Send emergency signal / recover from emergency
Corresponding AT command : AT*REF
Args : ( int value : emergency flag )
Description :
When the drone is in a normal flying or ready-to-fly state, use this command with value=1 to
start sending an emergency signal to the drone, i.e. make it stop its engines and fall.
When the drone is in an emergency state, use this command with value=1 to make the drone
try to resume to a normal state.
Once you sent the emergency signal, you must check the drone state in the navdata and wait
until its state is actually changed. You can then call this command with value=0 to stop sending
the emergency signal.
ardrone_at_set_progress_cmd
Summary : Moves the drone
Corresponding AT command : AT*PCMD
Args : (
int flags : Flag enabling the use of progressive commands and the new Combined
Yaw control mode
float phi : Left/right angle ∈ [−1.0; +1.0]
float theta : Front/back angle ∈ [−1.0; +1.0]
float gaz : Vertical speed ∈ [−1.0; +1.0]
float yaw : Angular speed ∈ [−1.0; +1.0]
Description :
This function makes the drone move in the air. It has no effect when the drone lies on the
ground.
The drone is controlled by giving as a command a set of four parameters :
• a left/right bending angle, with 0 being the horizontal plane, and negative values bending
leftward
• a front/back bending angle, with 0 being the horizontal plane, and negative values bending
frontward
• a vertical speed
• an angular speed around the yaw-axis
In order to allow the user to choose between smooth or dynamic moves, the arguments of
this function are not directly the control parameters values, but a percentage of the maximum
corresponding values as set in the drone parameters. All parameters must thus be floatingpoint
values between −1.0 and 1.0.
)