Qualcomm Goes Ubuntu for Drone Reference PlatformRunning Gobot on the ARDrone Most users of it don't know this, but the ARDrone 2.0 runs a BusyBox LinuxThis means we can execute code on the drone itself, and connect to it over For this example, we'll get an ARDrone to talk to a Digispark plugged into theUnfortunately, since the ARDrone doesn't have much in the way of resources on-board, we can't compile directly on the drone, but it has an ARM-based processor, so we can easily compile on another To get this done you will need: Your BeagleBone Black will need to be running Ubuntu 13.10 as the default Debian install won't be able to do what we need, and newer versions of the Linux kernel prevent the compiled executable from running on the dron's hardware. This guide also assumes you're using a UNIX-y OS (Linux or OS X) and you have at least Go version 1.2 installed on your Beaglebone Black. With that in mind, let's get started.

First, connect to the BeagleBone over SSH, and install the GCC-based Go compiler: Now install Gobot on the Beaglebone Black: For this example, we'll blink the Digispark's built in led every one second: Save this program on your Beaglebone Black as blink.go and then compile the program with: On your host computer, connect to your ARDrone's WiFi, and telnet into the drone: Once you're logged into the drone, edit the file /etc/usb.ids: And add the following lines: Next, edit the file /etc/init.d/rcS: Once that's done, restart the drone. On your host computer, move to your tmp directory: And copy the compiled blink binary from your BeagleBone Black to your host computer: $ scp [email protected]:/tmp/blink . Connect your computer again to the ARDrone's WiFi and plug the Digispark into the drone's usb port, which should be attached near the battery compartment. Once that's done, use ftp to move the blink binary from your host

computer over to the drone: The ftp program will copy the binary to the ~/data/video folder on the drone, so telnet back into it and move to that directory: Once in that directory, you can set the executible flag on the binary and run it: At this point your Digispark's LED should be blinking. You've now got Gobot programs running directly on the ARDrone. From here, the sky's the limit. 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 onblack ops 2 drohne einsetzen an Ubuntu base (12.04/groovy, 13.10/hydro, 14.04/indigo) and issuing ablack ops 2 drone swarm gameplayThere is a nice tutorial by Mike Hamer thatblack ops 2 drone swarm gameplay basically explains all necessary steps, such asar drone parrot prezzo

or alternatively use more slightly more involved stuff These are from the code coming with the above mentioned tutorial, also rendering the drone's video feed in a ROS window. Being based on the SDK, ROS communicates with the default parrotIn the default configuration this results in a bit of aThere's lots of parameters settable via ROSparrot ar drone nz params but i haven't played with that.difference parrot ar drone 1 et 2 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-M

It 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.