Drone Update Frequencies: The drone’s data transmission update frequency depends on parameter. When it is set to , the transmission frequency is set , otherwise transmission frequency is set to . ( is a numeric parameter not Boolean, so use 1 and 0 (not True/False) to set/unset it) Driver Update Frequencies: The driver can operate in two modes: real-time or fixed rate. When the parameter is set to True, the driver publishes any received information instantly. When it is set to False, the driver caches the received data first, then sends them at a fixed rate. This rate is configured via parameter. The default configuration is: and . Please note that if is smaller than the drone’s transmission frequency, some data is going to be lost. The driver’s start-up output shows the current configuration. You can also use command to check the publish rate of the driver. Linear acceleration, angular velocity and orientation of the drone is published to a standard ROS sensor_msgs/Imu message.

The units are all metric and reference frame is set to drone’s frame. The covariance values are specified through , and parameters. For More information, please check the Parameters section. The normalized magnetometer readings are published to topic as a standard ROS geometry_msgs/Vector3Stamped message.parrot ar drone owners manual New in version 1.4.ar drone 2 pil The driver calculates and publishes Odometry data by integrating velocity estimates reported by the drone (which is based on optical flow). storm drone ff flying platform buyThe data is published as nav_msgs/Odometry messages to topic. ar drone 2 portée

The corresponding transform is also published as transformation. You can access almost all sensor readings, debug values and status reports sent from the AR-Drone by using . If you set any of following parameters to , their corresponding information will be published to a separate topic. For example if you enable , the driver will publish AR-Drone time information to topic. parrot ar drone warrantyMost of the names are self-explanatory. ar drone 2 loses altitudePlease consult AR-Drone SDK 2.0’s documentation (or source code) for more information. All parameters are set to False by default. You can use | command for each topic to inspect its published message’s data structure. Both AR-Drone 1.0 and 2.0 are equipped with two cameras. One frontal camera pointing forward and one vertical camera pointing downward.

This driver will create three topics for each drone: , and . Each of these three are standard ROS camera interface and publish messages of type image transport. The driver is also a standard ROS camera driver, therefor if camera calibration information is provided either as a set of ROS parameters or through and/or files, calibration information will be also published via topics. Please check the FAQ section for more information. The will always contain the selected camera’s video stream and information. The way that the other two streams work depend on the type of Drone. AR-Drone 1 supports four modes of video streams: Front camera only, bottom camera only, front camera with bottom camera inside (picture in picture) and bottom camera with front camera inside (picture in picture). According to active configuration mode, the driver decomposes the PIP stream and publishes pure front/bottom streams to corresponding topics. The topic will include the correct image size. AR-Drone 2 does not support PIP feature anymore, therefore only one of or topics will be updated based on which camera is selected at the time.

The message also contains information about the special tags that are detected by the drone’s on-board vision processing system. To learn more about the system and the way it works please consult AR-Drone SDK 2.0’s developers guide. These tags are detected on both video cameras on-board at . To configure (or disable) this feature check the Parameters section. Information about these detected tags are published through the following field of the Legacy Navigation data message. : The number of detected tags. : Vector of types of detected tags (details below) , , , : Vector of position components and size components for each tag. These numbers are expressed in numbers between [0,1000]. You need to convert them back to pixel unit using the corresponding camera’s resolution (can be obtained front topic). : For the tags that support orientation, this is the vector that contains the tag orientation expressed in degrees [0..360). By default, the driver configures the drone to look for using bottom camera and on indoor shells () using front camera.

For information on how to extract information from field. Check the FAQ section in the end. WIFI USE: How to respect regulations and optimize Bebop Drone range The range of Bebop Drone depends on the power of WiFi generated by the device (smartphone / tablet). This power depends on several parameters: the type of device and its use In general, it is better to use 2.4GHz WiFi to maximize range. If you want to focus on the quality of streaming video, it is recommended to choose 5GHz WiFi (less interference). The Parrot Bebop Drone software features an optimized algorithm that gives advantage to the piloting reactivity than the video streaming quality. Note that the quality of the streaming video has no influence on the quality of the video “onboard”  recorded by the drone (1080p 30fps). To perform these tests, the experimental protocol is as follows: Bebop flies 20 m above ground Fly straightkeep heading camera forward (camera forward)

Device held in its optimum position Flight in a neutral radio environment (without disturbance Wifi) During these flight test sessions, the quality of the FPV experience varies. For example, you can reach 200m and then the video streaming quality decreases and then arrive around 225 m with a better one. This variation is mainly due to the physical environment around the drone. (Field, trees, buildings …) The following table shows the Bebop drone’s range results (estimated or calculated) with a Bebop No. PI040339P14K005079 with the version 1.32. FreeFlight versions used for the different smartphones / tablets are for iOS 3.1.25 and for Android 3.1.28. The tests were conducted December 3rd, 2014. *Europe includes the following countries : Austria, Belarus, Belgium, Bosnia and Herzegovina, Bulgaria, Cambodia, Croatia, Cyprus, Czech republic, Denmark, Estonia, Finland, France, Germany, Greece, Greenland, Haiti, Hungary, Iceland, Ireland, Italy, Latvia, Liechtenstein, Lithuania, Luxembourg, Macedonia, Malta, Netherlands, Norway, Poland, Portugal, Romania, Slovak Republic, Slovenia, Spain, Sweden, Switzerland, United Arab Emirates, United Kingdom

The maximal range reached by the Bebop Drone is highly correlated to the device (see Table above). Note that intrinsic Wifi performances of Bebop enable it to reach 2km with Skycontroller in optimal conditions. To maximize the reach with your device, Wifi antennas for your phone should be oriented to the drone (without obstacles). The position of your hands on it affects the quality of the wireless connection with your drone. Try to hold your device in one direction or the other and vary its inclination. Choose your device to learn how to hold it when you pilot: The Skycontroller * is a device, with a very specific Wi-Fi architecture, designed for the Bebop to maximize its reach. It is not compatible with AR. Tests conducted by the Skycontroller take into account the quality of the video streaming unlike other devices. The position of the hands on the Skycontroller does not affect the test results. Due to the Wifi regulation, channels at the beginning and end can not reach the maximum power.

Here are the best channels with Skycontroller: Channel 6 for 2G4 Channel 44 for 5G band-1 Channel 157 for 5G band-3 The Wifi transmitter of Skycontroller is more powerful in 5 GHz than in 2.4 GHz. The power is limited following the regulations of each country. The maximum power at 2.4 GHz is about 400 mW, it is about 4W at 5 GHz on channel 157. Each Wifi device must meet the standards of the country in which it is used. This applies to your device and obviously to the Parrot products (in particluar, Bebop and Skycontroller). Each country imposes a maximum power and a set of authorized channels. To perform the required network settings, go to Settings, and scroll with your finger to the Settings screen Networks By default, the selected setting is AUTO. Bebop Drone scans the surrounding WiFi networks and select the country it detects in the beacon frames, according to the international standard 802.11d. When you use the Parot Bebop Drone in the US, the regulation restrains the access to the country setting.

For other countries, you can change manually the setting Wifi standards distinguish Indoor or Outdoor use, especially in the case of the 5GHz band. This configuration affects the number of available channels. For some areas , the European zone, the 5GHz band (channels 36,40,44 and 48) are limited to Indoor use. They are therefore inaccessible if the Outdoor setting is selected. If you select Indoor setting. The channels of the 5GHz band become available to the countries of the European zone. Notable differences between the networks 2.4 GHz and 5 GHz are: The 5GHz network has a shorter range than 2.4 GHz. The devices configured in 2.4 GHz are more affected by interference than those configured as 5 GHz (which uses more bandwidth on a given channel). There are fewer devices supporting 5GHz. Bebop embeds a channel selection optimization algorithm that will evaluate the best compromise between maximum range and quality of streaming video, while favoring the latter. 

The channel selection by the algorithm is correlated to the Bebop environment during Bebop boot. The transmission power of the Bebop is the same at 2.4 GHz and 5 GHz. It is necessary to emit twice the power at 5 GHz to have the same reach than at 2.4 GHz . Ifyou want to focus on the ranfe, configure in Auto 2.4GHz: The channels are much less congested at 5GHz. The standard for 5GHz Wifi does not extend to the adjacent channels. If you want to focus on streaming video quality, choose the configuration in Auto at 5 GHz. You can make your setting manually. Select Manual and click on the desired channel in the dropdown list. Reminder: some channels are not available depending on your country and setting Indoor / Outdoor. Here are our recommendations to increase your drone range: Choose your device well and check the way you hold it, in particular the position of your hands, especially when you are at the range limit . Choose the country in which you are in the app.