2.1.1. GPS support, update 2.2.2. Ivy / Mavlink / ROS bridging I am putting this here because it is a piece of information i have been looking for myself and in the hope it might be useful for someoneThe Parrot ARDrone is a cheap, stable, and readily availableWanting to use it for robotics experiments going beyond what can be done with the apps, you might wonder which framework to pick to base your own development on. Below I list three existing and well developed frameworks and briefly enumerate the See also our lab's robot doucmentation at https://wikis.hu-berlin.de/koro/AR_Drone There is a ROS driver for the ARDrone, which is, quoting the source, "ardroneautonomy" is a ROS driver for Parrot AR-DroneThis driver is based on official AR-Drone SDK version 2.0 and supports both AR-Drone 1.0 and 2.0. It supports both ARDrone versions and getting the drone into the air consists mostly in installing the ros-DISTRO-ardrone-autonomy .deb on

an Ubuntu base (12.04/groovy, 13.10/hydro, 14.04/indigo) and issuing aThere is a nice tutorial by Mike Hamer that basically explains all necessary steps, such asparrot ar drone wie hoch or alternatively use more slightly more involved stuffparrot ar drone slovenija These are from the code coming with the above mentioned tutorial,parrot ar drone raggio d'azione also rendering the drone's video feed in a ROS window.ar drone 2 cameras Being based on the SDK, ROS communicates with the default parrotdrone buying guide

In the default configuration this results in a bit of aThere's lots of parameters settable via ROS params but i haven't played with that.ar drone 2 top speed Thanks to Mani Monajjemi's work, support for the Parrot Flight Recorder GPS module has been enabled. The functionality is in the gps-waypoint branch, install instructions are in the docs at I briefly tested install and ran the ardronedriver with "enablenavdatagps:=True", the data seems to be coming in fine. test the actual waypoint navigation (pending). ROS also seems to suffer from the stuck magnetometer problems resulting in a message from the driver like: "Something seems to be wrong with the magnetometer (small values)." Paparazzi is a well known and mature autonmous flight environment. recent addition makes it possible to operate the ARDrone from withinThere are two ways to do it, using either

SDK based control or uploading the native ppz firmware for onboardOnly ardrone\raw worked for me. Using raw mode, you loose visual stabilization but there is a gstreamer based video framework and some example gst apps that can be used to do vision basedgstreamer is a modular video processing and streaming suite and operates with (in my experience) quite low latency. Configuring ATT mode ("normal" attitude control mode) for use with a joystick (e.g. gamepad) make it easier later on. I used a PS3 gamepad Getting the right hardware accelerates the progress of things, ublox GPS seems to be a good choice (used drotek's USB ready NEO6-MIt seems this module needs the cdc-acm.ko driver which I set up Then you need to calibrate the magnetometer. How to do that is described in the ppz wiki. After connecting the GPS, calibrating the Mag and having prepared the flight environment, go outside, wait for the fix, adjust your flight plan and try takeoff, standby, p1, go p2,

Update : thanks to several investigative minds , this can be fixed by resetting the navboard via GPIO 177 when the values stall. There is a problem with the magnetometer which sometimes gets stuck, not sending data anymore. This results in the GPS navigation failingTry to emergency land and restart. several successful flights though, you just need to watch behaviour diligently or fix the problem. In general, the experience is a teaser for a real paparazzi system. Ivy / Mavlink / ROS bridging There are several ways for bridging the ivy-based Paparazzi communications into Mavlink or ROS: There is an ivy/ros bridge available here at that yet and it seems it needs to be updated for use with hydro and There is a ground agent for that purpose on the mavlink github /mavlink/mavlink-ivy-interface (by way of There is an ivy-bridge module in our mavhub framework but it has been a while that i have used this. You can operate the drone from qgroundcontrol.

The details escape meBasically you can set GPS waypoints and let the drone exectue that flight plan. Parrot has a user guide for setting that up /support/ -> User guides. This is a library for talking to the drone via javascript. interesting, even more so if javascript is your language, SDK controlI have not tested it details are here. In summary, both ROS and Paparazzi for ARDrone work very well. want to do outdoor GPS based experiments, you currently need to useFor indoor use and easy access experiments for students ROS is probably the way to go. FIXME: put that into Paparazzi or Koro Wiki.Please, wait while we are validating your browser Acme Research Drone Airframe Additional Community Posted Configurations A lot of questions have been asked as to possible ways to integrate the PX4FMU, PX4IOAR, PX4FLOW and the AR.Drone (either v1 or v2) I have tried to present one of the many possible configurations of the various devices to provide some ideas for further research and development.

The controller gains provided here are just a starting point, please refer to the multirotor_pid_tuning page to learn how to tune your system Download and import the following text file into QGroundControl for convenient parameter setting. Only the Acme Research Drone related parameters will be changed, all others, i.e. the Radio Control calibration, will remain unchanged. These parts are required: 1x PX4FMU + PX4IOAR Kit (comes with all required spacers, PX4IOARMT battery board, velcro straps, vibration dampers and screws) 1x RC Receiver: List of compatible RC receivers 1x Radio modem: List of compatible radio modems 1x min. 2GB microSD / microSDHC / microSDXC card: List of compatible memory cards Please refer to https://pixhawk.ethz.ch/px4/airframes/ar_drone for the initial assembly instructions for the PX4FMU / PX4IOAR / AR. It was first necessary to remove the self adhesive metal strengthening plates, the front camera and the battery / AR.Drone FMU mounting assembly from the original body shell.

The excess front nose was cut off and the area where the ultrasonic sensor mounts onto the body was removed to enable the body shell to fit over the PX4FMU / PX4IOAR / AR.Drone central cross assembly. Using a hot wire an area on the top read of the body was removed in preparation for the installation of the 3DR uBlox GPS module. Again using a hot wire and hot knife the remaining part of the nose was prepared for the installation of the PX4FLOW module, extra EPP was removed where needed to enable access to the board's interface ports. In order to strengthen the bodywork around the PX4FLOW lens area a layer of fiberglass tape was added and the PX4FLOW was mounted in position on the top of the body shell. To provide some additional protection to the battery and to increase the rigidity of the EPP bodywork a hinged carbon fiber baseplate was added (the original one provided some protection but adds nothing in the way of rigidity). The radio receiver was then mounted on the outside of the body with self adhesive velcro (the super strength variety!).