dvberkel / drone

Program a Parrot AR drone with node.js

Drone

programming the parrat AR Drone with node.

Getting started

Connect to your drone wifi and try out various programs.

Programs

This section introduces various programs to try out. They all work by the following principle.

node <section_name>

read_data.js

This logs navigation data to standard out. You can expect a stream of the following output.

{ header: 1432778632,
  droneState:
   { flying: 0,
     videoEnabled: 0,
     visionEnabled: 0,
     controlAlgorithm: 0,
     altitudeControlAlgorithm: 1,
     startButtonState: 0,
     controlCommandAck: 0,
     cameraReady: 1,
     travellingEnabled: 0,
     usbReady: 0,
     navdataDemo: 1,
     navdataBootstrap: 1,
     motorProblem: 0,
     communicationLost: 0,
     softwareFault: 0,
     lowBattery: 0,
     userEmergencyLanding: 0,
     timerElapsed: 0,
     MagnometerNeedsCalibration: 0,
     anglesOutOfRange: 0,
     tooMuchWind: 0,
     ultrasonicSensorDeaf: 0,
     cutoutDetected: 0,
     picVersionNumberOk: 1,
     atCodecThreadOn: 1,
     navdataThreadOn: 1,
     videoThreadOn: 1,
     acquisitionThreadOn: 1,
     controlWatchdogDelay: 0,
     adcWatchdogDelay: 0,
     comWatchdogProblem: 0,
     emergencyLanding: 0 },
  sequenceNumber: 2790,
  visionFlag: 1 }

By adding any argument to the commandline call the full data is generate. E.g.

node read_data.js full

results in a stream of data like

{ header: 1432778632,
  droneState:
   { flying: 0,
     videoEnabled: 0,
     visionEnabled: 0,
     controlAlgorithm: 0,
     altitudeControlAlgorithm: 1,
     startButtonState: 0,
     controlCommandAck: 1,
     cameraReady: 1,
     travellingEnabled: 0,
     usbReady: 0,
     navdataDemo: 1,
     navdataBootstrap: 0,
     motorProblem: 0,
     communicationLost: 0,
     softwareFault: 0,
     lowBattery: 0,
     userEmergencyLanding: 0,
     timerElapsed: 1,
     MagnometerNeedsCalibration: 0,
     anglesOutOfRange: 1,
     tooMuchWind: 0,
     ultrasonicSensorDeaf: 0,
     cutoutDetected: 0,
     picVersionNumberOk: 1,
     atCodecThreadOn: 1,
     navdataThreadOn: 1,
     videoThreadOn: 1,
     acquisitionThreadOn: 1,
     controlWatchdogDelay: 0,
     adcWatchdogDelay: 0,
     comWatchdogProblem: 0,
     emergencyLanding: 1 },
  sequenceNumber: 97673,
  visionFlag: 0,
  demo:
   { controlState: 'CTRL_DEFAULT',
     flyState: 'FLYING_OK',
     batteryPercentage: 34,
     rotation:
      { frontBack: 0.821,
        pitch: 0.821,
        theta: 0.821,
        y: 0.821,
        leftRight: -4.962,
        roll: -4.962,
        phi: -4.962,
        x: -4.962,
        clockwise: -7.003,
        yaw: -7.003,
        psi: -7.003,
        z: -7.003 },
     frontBackDegrees: 0.821,
     leftRightDegrees: -4.962,
     clockwiseDegrees: -7.003,
     altitude: 0,
     altitudeMeters: 0,
     velocity: { x: 0, y: 0, z: 0 },
     xVelocity: 0,
     yVelocity: 0,
     zVelocity: 0,
     frameIndex: 0,
     detection: { camera: [Object], tagIndex: 0 },
     drone: { camera: [Object] } },
  visionDetect:
   { nbDetected: 0,
     type: [ 0, 0, 0, 0 ],
     xc: [ 0, 0, 0, 0 ],
     yc: [ 0, 0, 0, 0 ],
     width: [ 0, 0, 0, 0 ],
     height: [ 0, 0, 0, 0 ],
     dist: [ 0, 0, 0, 0 ],
     orientationAngle: [ 0, 0, 0, 0 ],
     rotation: [ [Object], [Object], [Object], [Object] ],
     translation: [ [Object], [Object], [Object], [Object] ],
     cameraSource: [ 0, 0, 0, 0 ] } }

animate_leds

node animate_leds [0-20]

will animate the leds with the following pattern.

[
  /*  0 */ 'blank',
  /*  1 */ 'blinkGreen',
  /*  2 */ 'blinkGreenRed',
  /*  3 */ 'blinkOrange',
  /*  4 */ 'blinkRed',
  /*  5 */ 'blinkStandard',
  /*  6 */ 'doubleMissile',
  /*  7 */ 'fire',
  /*  8 */ 'frontLeftGreenOthersRed',
  /*  9 */ 'frontRightGreenOthersRed',
  /* 10 */ 'green',
  /* 11 */ 'leftGreenRightRed',
  /* 12 */ 'leftMissile',
  /* 13 */ 'leftRedRightGreen',
  /* 14 */ 'rearLeftGreenOthersRed',
  /* 15 */ 'rearRightGreenOthersRed',
  /* 16 */ 'red',
  /* 17 */ 'redSnake',
  /* 18 */ 'rightMissile',
  /* 19 */ 'snakeGreenRed',
  /* 20 */ 'standard'
];