UAV::Pilot::ARDrone::Control
my $driver = UAV::Pilot::ARDrone::Driver->new( ... ); $driver->connect; my $dev = UAV::Pilot::ARDrone::Control->new({ driver => $driver, }); $dev->takeoff; $dev->pitch( 0.5 ); $dev->wave; $dev->flip_left; $dev->land;
UAV::Pilot::ControlHelicopter implementation for the Parrot AR.Drone.
NOTE: It's highly recommended that you initialize the subclass UAV::Pilot::ARDrone::Control::Event instead of this one.
UAV::Pilot::ARDrone::Control::Event
new({ driver => $driver, video => $video_driver, });
Constructor. As with UAV::Pilot::Control, the driver option is a mandatory parameter with the value being a UAV::Pilot::Driver::ARDrone object.
UAV::Pilot::Control
driver
UAV::Pilot::Driver::ARDrone
The optional video parameter is a UAV::Pilot::Driver::ARDrone::Video object. When the emergency mode is toggled on the ARDrone, the video stream needs to be restarted. Placing the object here will call emergency_restart() on the video object for you.
video
UAV::Pilot::Driver::ARDrone::Video
emergency_restart()
Takeoff.
Land.
pitch( 0.5 )
Pitch (front-to-back movement). Takes a floating point number between -1.0 and 1.0. On the AR.Drone, negative numbers pitch the nose down and fly forward.
roll( -1.0 )
Roll (left-to-right movement). Takes a floating point number between -1.0 and 1.0. On the AR.Drone, negative numbers go left.
yaw( -0.25 )
Yaw (spin). Takes a floating point number between -1.0 and 1.0. On the AR.Drone, negative numbers spin left.
vert_speed( 0.7 )
Change the vertical speed. Takes a floating point number between -1.0 and 1.0. On the AR.Drone, negative numbers make it go down.
Calibrates the magnetometer. This must be done while in flight. The drone will spin around (yaw movement) while it does this.
Toggles the emergency state. If your UAV goes out of control, call this to immediately shut it off. When in the emergency state, it will not be responsive to further commands. Call this again to bring it out of this state.
Sends a command to reset the watchdog process. You need to send some command at least every 2 seconds, or else the AR.Drone thinks the connection was lost. If you don't have anything else to send, send this one.
If you run start_event_loop(), the reset will happen for you.
start_event_loop()
Stops the UAV and hovers in place.
Starts saving navigation data on the UAV itself. The file will be in the directory:
/boxes/flight_YYYYMMDD_hhmmss
You can FTP into the AR.Drone to retrieve this.
Stops logging navigation data on the UAV.
Stops logging navigation data on the UAV AND deletes the log directory.
take_picture( $delay, $num_pics )
Saves a picture in JPG format to:
/boxes/flight_YYYYMMDD_hhmmss/picture_YYYYMMDD_hhmmss.jpg
Start recording the video stream to a USB stick attached to the AR.Drone's internal USB port. The stick must have at least 100MB free.
setup_read_nav_event( $event );
Pass a UAV::Pilot::EasyEvent object. Sets up a UAV::Pilot::NavCollector::AckEvents and starts an event timer for reading nav packets.
UAV::Pilot::EasyEvent
UAV::Pilot::NavCollector::AckEvents
set_multiconfig( $user_id, $app_id, $session_id )
NOTE: This doesn't yet seem to work right. You can set the keys, but the UAV won't respond to config commands after that. It should just be a matter of sending AT*CONFIG_IDS before each AT*CONFIG, which is what send_config() will do for you. But it doesn't work. Still debugging . . .
AT*CONFIG_IDS
AT*CONFIG
send_config()
Pass a unique user, app, and session ID. The best way to generate these is to take a string identifying your user and app and run it through a CRC32. The $session_id is optional; if passed, it should be unique to this particular run.
$session_id
In the AR.Drone, "multiconfig" is a way to set configurations that are unique to the user, app, or session. For backwards compatibility with old apps, the AR.Drone only lets you set some keys when using multiconfig. See the AR.Drone SDK docs for details.
send_config( $name, $value )
Send a config name/value. If you used set_multiconfig(), this will send the necessary commands before the config setting.
set_multiconfig()
The Parrot AR.Drone comes preprogrammed with a bunch of "flight animations" (complicated achrebatic manuevers). You can call the methods below to run them. Note that some of these need a generous amount of horizontal and vertical space, so be sure to be in a wide open area for testing.
I find "wave" and "flip_behind" are particularly good ways to impress house guests :)
phi_m30_deg phi_30_deg theta_m30_deg theta_30_deg theta_20deg_yaw_200deg theta_20deg_yaw_m200deg turnaround turnaround_godown yaw_shake yaw_dance phi_dance theta_dance vz_dance wave phi_theta_mixed double_phi_theta_mixed flip_ahead flip_behind flip_left flip_right
The LEDs on the Parrot AR.Drone can be directly controlled using these animation methods. They all take two parameters: the frequency (in Hz) as a floating point number, and the duration.
led_blink_green_red led_blink_green led_blink_red led_blink_orange led_snake_green_red led_fire led_standard led_red led_green led_red_snake led_blank led_right_missile led_left_missile led_double_missile led_front_left_green_others_red led_front_right_green_others_red led_rear_right_green_others_red led_rear_left_green_others_red led_left_green_right_red led_left_red_right_green led_blink_standard
To install UAV::Pilot, copy and paste the appropriate command in to your terminal.
cpanm
cpanm UAV::Pilot
CPAN shell
perl -MCPAN -e shell install UAV::Pilot
For more information on module installation, please visit the detailed CPAN module installation guide.