A.R.Drone Developer Guide - Abstract

8 Drone Configuration
The drone behaviour depends on many parameters which can be modified by using the AT*CONFIG
AT command, or by using the appropriate ARDroneLIB function (see chapter 4.1).
This chapter shows how to read/write a configuration parameter, and gives the list of parameters
you can use in your application.
8.1 Reading the drone configuration
8.1.1 With ARDroneTool
ARDroneTool implements a ’control’ thread which automatically retrieves the drone configuration
at startup.
Include the file in your C code to access the
ardrone_control_config structure which contains the current drone configuration. Its most interesting
fields are described in the next section.
If your application is structured as recommended in chapter 5 or you are modifying one of the
examples, the configuration should be retrieved by ARDroneTool before the threads containing
your code get started by ARDroneTool .
8.1.2 Without ARDroneTool
The drone configuration parameters can be retrieved by sending the AT*CTRL command with
a mode parameter equaling 4 (CFG_GET_CONTROL_MODE).
The drone then sends the content of its configuration file, containing all the available configuration
parameters, on the control communication port (TCP port 5559). Parameters are sent as
ASCII strings, with the format Parameter_name = Parameter_value.
Here is an example of the sent configuration :
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