A.R.Drone Developer Guide - Abstract

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26 Listing 5.6: The video pipeline typedef struct _vp_api_io_stage_ { //Enum corresponding to the type of stage available, include in file . //Only used for Debug. VP_API_IO_TYPE type; //Specific data to the current stage. Definitions are given in include files < VP_Stages/*> . void *cfg; //Structure {vp_api_stage_funcs} is included in with the definition of stages. Stages are included also in the directory Soft/Lib/ardrone_tool/Video. vp_api_stage_funcs_t funcs; / /This structure is included in the file and is shared between all stages. It contains video buffers and information on decoding the video. vp_api_io_data_t data; } vp_api_io_stage_t; Definition of the structure of a pipeline: The structure is included in file : typedef struct _vp_api_io_pipeline_ { //Number of stage to added in the pipeline. uint32_t nb_stages; //Address to the first stage. vp_api_io_stage_t *stages; //Must equal to NULL vp_api_handle_msg_t handle_msg; //Must equal to 0. uint32_t nb_still_running; //Must equal to NULL. vp_api_fifo_t fifo; } vp_api_io_pipeline_t; 5.7 Adding control devices The ARDroneTool and demonstration programs come with an example of how to use a gamepad to pilot the drone. The gamepad.c[pp] files in the example contain the code necessary to detect the presence of a gamepad, poll its status and send corresponding commands. To add a control device and make ARDroneTool consider it, you must write : • an initialization function, that ARDroneTool will call once when initializing the application. The provided example scans the system and searches a known gamepad by looking for its USB Vendor ID and Product ID. • an update function, that ARDroneTool will systatically call every 20ms during the application lifetime, unless the initialization fails • a clean up function, that ARDroneTool calls once at the end of the application
Listing 5.7: Building a video pipeline #include #include #include #include #include vp_api_io_pipeline_t pipeline; vp_api_io_data_t out; vp_api_io_stage_t stages[NB_STAGES]; video_com_config_t icc; icc.com = COM_VIDEO(); icc.buffer_size = 100000; icc.protocol = VP_COM_UDP; COM_CONFIG_SOCKET_VIDEO(&icc.socket, VP_COM_CLIENT, VIDEO_PORT, wifi_ardrone_ip); pipeline.nb_stages = 0; stages[pipeline.nb_stages].type = VP_API_INPUT_SOCKET; stages[pipeline.nb_stages].cfg = (void *)&icc; stages[pipeline.nb_stages].funcs = video_com_funcs; pipeline.nb_stages++; Listing 5.8: Running a video pipeline res = vp_api_open(&pipeline, &pipeline_handle); if( SUCCEED(res) ) { int loop = SUCCESS; out.status = VP_API_STATUS_PROCESSING; while(loop == SUCCESS) { if( SUCCEED(vp_api_run(&pipeline, &out)) ) { if( (out.status == VP_API_STATUS_PROCESSING || out.status == VP_API_STATUS_STILL_RUNNING) ) { loop = SUCCESS; } } else loop = -1; // Finish this thread } vp_api_close(&pipeline, &pipeline_handle); } 27
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 12 and 13: 6 (a) Throttle (b) Roll (c) Pitch (
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 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
Page 63 and 64: PIC:ultrasound_freq = 8 PIC:ultraso
Page 65 and 66: 8.3 General configuration All the c
Page 67 and 68: GENERAL:video_enable Read/Write Des
Page 69 and 70: CONTROL:control_level Read/Write De
Page 71 and 72: setting. AT command example : AT*CO
Page 73 and 74: CONTROL:outdoor_control_vz_max Read
Page 75 and 76: The UDP socket port where the AT*co
Page 77 and 78: 8.7 Video configuration VIDEO:camif
Page 79 and 80: 8.8 Leds configuration LEDS:leds_an
Page 81 and 82: DETECT:detections_select_h Descript
Page 83:
8.10 SYSLOG section This section is
Page 87:
Part II Tutorials 81
Page 91 and 92:
11 Building the Linux Examples The
Page 93 and 94:
You will see a list of axes and but
Page 95 and 96:
11.6 Run the Navigation program Fir
Page 97 and 98:
12 Building the Windows Example The
Page 99 and 100:
12.2 Required settings in the sourc
Page 101:
The example is basic one which simp
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