The requested URL /forum/viewtopic.php?t=4200 was not found on this server.Robot App Store Developer Program How to Control AR.Drone Movements During Flight Make sure you are familiar with "How to program AR.Drone remotely over WIFI" chapter before you continue This command is used to control the flight motion of the drone while in the air such as rotation or speed. Make sure the command AT*FTRIM has been called before taking-off for horizontalotherwise Ar.Drone won’t be able to stabilize itself when flying. AT*REF=[Sequence number ],[Flag bit-field],[Roll],[Pitch],[Gaz],[Yaw] Sequence number- 1 if it is a first command, or sequence number value of previous command + 1. Flag bit field- a 32 bit-wide bit-field integer. Roll- drone left-right tilt. Floating point value in range of -1 to1; Pitch- drone front-back tilt. Gaz- drone vertical speed. Floating point value in range of -1 till 1; Yaw- drone angular speed. The following UDP packet will make the drone to spin clockwise with 0.75 of its

The UDP packet that is sent to AR. AT* PCMD =1,1,0,0,0, 1061158912 Flag bit-field argument values This flag bit-field configures how the drone will interpret the progressive commands Bits order is from right to left MSB first. The flag field contains the following bits: Bit 0: Enable progressive commands. If this bit is set to 0- progressive commands values (Roll, Pitch’ Gaz and Yaw) will be ignored and the drone will enter a hovering mode. Setting this bit to 1- will make AR.Drone to consider the values of the progressive commands that are passed in this command; Bit 1: Enable combined yaw. If this bit is set to 0- Yaw argument value will be considered. Setting this bit to 1- will result the Yaw argument value to be ignored and to be calculated automatically according to the Roll argument value for base turns; Bit 2-31: are not used. The following flag field's values are valid: 0- Hovering mode- the drone will stay on top of the same point above the

1- Progressive mode- the values of all the progressive command argument willbuy a drone aircraft 2- Combined yaw mode only- do not use this mode;parrot ar drone toys r us 3- Progressive with combined yaw mode- the values of the progressive commandparrot ar drone 2 future shop arguments will be considered except the yaw argument that will be calculated automaticallyparrot ar drone hobbex according to the roll argument;parrot ar drone zwaag Roll argument value sets the percentage of the maximum inclination as configuredparrot ar drone reset

in the drone parameters for drone’s left-right tilt. The direction is determined by the sign of the number: Negative percentage value will make the drone tilt to its left, thus flying Positive percentage value will make the drone tilt to its right, thus flying How to represent the value: Convert the float number [-1, 1] to hexadecimal signed value. the conversion will be given in future posts; Convert back from hex to signed 32-bit decimal number; The following values are mostly used: -1082130432: The minimum converted value -1 will make the drone fly leftward -1086324736: The converted value -0.75 will make the drone fly leftwards -1090519040: The converted value -0.5 will make the drone fly leftwards with -1098907648: The converted value -0.25 will make the drone fly leftwards 0: This value will make the drone fly horizontally; 1048576000: The converted value 0.25 will make the drone fly rightwards with 1056964608: The converted value 0.5 will make the drone fly rightwards with

1061158912: The converted value 0.75 will make the drone fly rightwards with 1065353216: The maximum converted value 1 will make the drone fly rightward Pitch argument value sets the percentage of the maximum inclination as configured in the drone parameters for drone’s front-back tilt. Negative percentage value will make the drone lower its nose, thus flying Positive percentage value will make the drone raise its nose, thus flying Convert the float number [-1, 1] to hexadecimal signed value. The explanation for the conversion will be given in future posts; -1082130432: The minimum converted value -1 will make the drone fly frontwards -1086324736: The converted value -0.75 will make the drone fly frontwards -1090519040: The converted value -0.5 will make the drone fly frontwards -1098907648: The converted value -0.25 will make the drone fly frontwards 1048576000: The converted value 0.25 will make the drone fly backwards with

1056964608: The converted value 0.5 will make the drone fly backwards with 1061158912: The converted value 0.75 will make the drone fly backwards with 1065353216: The maximum converted value 1 will make the drone fly backwards Gaz argument value sets the percentage of the maximum vertical speed as configured in the drone parameters for drone’s vertical movement up or down. Negative percentage value will make the drone go down, thus go downwards; Positive percentage value will make the drone rise up in the air, thus go -1082130432: The minimum converted value -1 will make the drone fly downwards -1086324736: The converted value -0.75 will make the drone fly downwards -1090519040: The converted value -0.5 will make the drone fly downwards with -1098907648: The converted value -0.25 will make the drone fly downwards 0: This value will make the drone stay at the same position vertically; 1048576000: The converted value 0.25 will make the drone fly upwards with

1056964608: The converted value 0.5 will make the drone fly upwards with 1061158912: The converted value 0.75 will make the drone fly upwards with 1065353216: The maximum converted value 1 will make the drone fly upwards Yaw argument value sets the percentage of the maximum angular speed as configured in the drone parameters for drone’s right-left spin. Negative percentage value will make the drone spin left; Positive percentage value will make the drone spin right; -1082130432: The minimum converted value -1 will make the drone spin left -1086324736: The converted value -0.75 will make the drone spin left with -1090519040: The converted value -0.5 will make the drone spin left with -1098907648: The converted value -0.25 will make the drone spin left with 0: This value will make the drone stay at the same position horizontally; 1048576000: The converted value 0.25 will make the drone spin right with 1056964608: The converted value 0.5 will make the drone spin right with half