Auto-Pilot the Parrot AR.Drone from Python (or Matlab or C) This repository contains source code for building a stubbed version of the AR.Drone AutoPylot program, which allows you to auto-pilot theDrone 1.0 or 2.0 from source code written in Python, on a computer running 64-bit This video gives you an idea of what you can do with the drone in Python, using this package (see below for instructions). As the video shows, the update rate is fast enough to enable interesting experiments.Drone 2.0 and my Sony VAIO Pro laptop, I have obtained update rates of around 30 Hz. If you're interested in a more graphical-interface approach, you might also look into Please note that I am only supporting this project on 64-bit Ubuntu, using the latest SDK and firmware from Parrot (currently SDK 2.0.1). I do not have the resources to support other OSs or backwardAlso make sure your AR.Drone has the current firmware -- easiest way is to download the current version of

If you have a Logitech Extreme 30 Pro joystick or Playstation PS3 controller, the only file you should need to modify immediately in the repository is the autopylot.makefile, whose first non-commented lines you should change to reflect where you put the AR.You should also modify the lines right below there that specify which kind of controller you have and its hexadecimal ID (which you can find by issuing the lsusb command in Linux). If you have some other kind of gamepad, like a Nintendo Wii, you'll have to modify autopylot_gamepad.c to reflect this. using Python, make sure to get the Python development environment: I set up the program so that the Logitech joystick axes work as follows: The Logitech buttons are labeled 1 - 12 on the joystick. I set up the program to work with them as I set up the program so that the PS3 axes work as follows: I set up the program to work with the PS3 buttons as follows: These button and axis configurations can be modified by editing gamepad.c

Change to the repository directory and type make. This will build the ardrone_autopylot executable, as well as compiling the SDK (probably with a lot of warnings aboutOnce you've built the program you can run it by typing ./ardrone_autopylot in the directory whereThe autopylot.makefile is set up to use Python, but you can modify it for Matlab or C. For Python, you should first make sure that your PYTHONPATH shell variable isparrot ar drone 2 set to include the current directory: either on the command line, or (betterparrot ar drone ireland long-term solution) in your .bashrc file, put the following instruction:parrot ar drone case The autopilot is intially off, so you are flying the AR.When you push the autopilot button (4 on the Logitech joystick,

× on the PS3), control is transferred to theAny subsequent joystick / gamepad action returns control to you, providing anThe function in autopylot_agent.py currently ignores the video and navigation data input and just makes the drone turn clockwise. (I've noticed that the program can take several seconds to report non-zero navigation data from the drone.) Note that the altitude and X/Y velocities are approixmate, and that the minimum reported altitude is around 230 mm. You can modify this function to do something The file autopylot_agent.m contains Matlab code equivalent to the Python code in autopylot_agent.py. To run the Matlab version, comment-out the Python lines (36-38) in autopylot.makefile, and un-comment the Matlab lines (45-47). you should have the following in your .bashrc file: You will also need the csh command, which is used by the Matlab Engine. To be sure you have this command, do sudo apt-get install csh in your Ubuntu shell.

If you prefer to program in C, comment-out the Python lines in autopylot.makefile, un-comment the C lines (50-51), and work with the codeYou will need OpenCV for Python, which you can install by following the instructions Copyright and licensing information can be found in the header of each source file. Please contact me with any questions orPaparazzi is an open-source autopilot system oriented toward inexpensive autonomous aircraft. Low cost and availability enable hobbyist use in small remotely piloted aircraft. The project began in 2003, and is being further developed and used at École nationale de l’aviation civile (ENAC), a French civil aeronautics academy. On September 3rd 2012, two Delft University of Technology student teams started a new UAV robotics project. This project results in a great success and all information were gathered and shared in public to explain how to do so. How Paparazzi for AR.Simply set your waypoints on a map, upload them to the drone.

Then, the drone will follow that flight pattern even if it flies out of range of your computer. Requirement: The only thing you need is an AR.Drone 2.0 with the GPS Flight Recorder Add-on and a laptop with Ubuntu Linux OS installed. This video below, from Mavlab, explain how to get started with the ARDrone in paparazzi: Disclaimer: This tutorial is dedicated to advanced users. Using this sofware will most likely void your warranty and might destroy your drone. Use at your own risk. In november 2014, The paparazzi uav team have received a pre-production model of the Bebop. They needed 3 days of reverse engineering and working hard on implementing paparazzi into the Parrot Bebop drone. The result is the Bebop hardware with only paparazzi uav software. If you want to see the progress, check their YouTube channel : If you are a software engineer, you can easily modify the autopilot based on their own special requirements, Paparazzi collaborators share ideas and information using the same MediaWiki software that is used by Wikipedia.