parrot ar drone autonomy
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 as 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 ROS params but i haven't played with that. 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
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.
parrot ar drone autonomy 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. Published on Aug 11, 2013 A presentation given on August 7th 2013 at the Belgian NodeJS user group. #njugbe – August 2013 Entrepreneur, software hacker & rock climber. ardrone-webflight Browser-based GCS (Ground Control Station) ardrone-autonomy Library to support autonomous flights var arDrone = require('ar-drone'); var client = arDrone.createClient();
Nodecopter Berlin, Oct 2012 – Photo by Jan Marsch distance = speed x time var dx = vx * dt; var dy = vy * dt; x = x + dx * Math.cos(yaw) - dy * Math.sin(yaw); y = y + dx * Math.sin(yaw) + dy * Math.cos(yaw); Estimating state by integrating the drone odometry Back projection from image coordinates to real world Planar mapping from world to image space 2. Predict tag position 3. Observe real position (if tag visible) 5. Correct pose estimate // Linear algebra in Javascript is possible :-) var sylvester = require('sylvester'); var Matrix = sylvester. var Vector = sylvester. Odometry only With correction step VSLAM (Visual - Simultaneous localization and mapping) Tum AR Drone, autonomous flight with PTAM-based visual navigation for the Parrot AR. Model of a PID controller Shower Nr2 by PhotoAtelier, CC BY 2.0 PID.prototype.getCommand = function(e) { var time = Date.now(); var dt = (time - this._last_time) / 1000