/ 
UAV-Pilot-ARDrone-1.1
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/ UAV::Pilot::ARDrone::Driver

NAME

UAV::Pilot::ARDrone::Driver

SYNOPSIS

my $sender = UAV::Pilot::ARDrone::Driver->new({
    host => '192.168.1.1',
});
$sender->connect;

$sender->at_ref( 1, 0 ); # Takeoff
$sender->at_pcmd( 1, 1, 1.0, 0, 0, 0 ); # Progressive movement, roll
$sender->at_ref( 0, 0 ); # Land

DESCRIPTION

Low-level interface for controlling the Parrot AR.Drone. If you want to write an external program or library controlling this UAV, look at UAV::Pilot::Control::ARDrone instead.

ATTRIBUTES

host

port

seq

do_multicast_navdata

If true, navdata will use a multicast IP connection. Mac OSX seems to be tricky to use with multicast. Default is false.

METHODS

connect

Initiate the connection to the UAV.

at_ref

at_ref( $takeoff, $emergency );

Controls takeoff/landing, and also the emergency toggle. If the AR.Drone shows all red lights and won't respond to commands, send this with the emergency flag to reset it. This can also toggle emergency mode on in case the UAV flys out of control.

at_pcmd

at_pcmd( $do_progressive, $do_combined_yaw,
    $roll, $pitch, $vert_speed, $yaw );

Controls the roll/pitch/vertical speed/yaw. Sending this once will make the AR.Drone go briefly in that direction and then return to normal. For constant motion, the AR.Drone developer documents suggest sending the command every 30ms.

The roll/pitch/vert_speed/yaw parameters are numbers between -1.0 and 1.0. Note that they will be treated as single-precision (16 bit) floats, as per the developer docs.

at_pcmd_mag

at_pcmd_mag( $do_progressive, $do_combined_yaw,
    $roll, $pitch, $vert_speed, $angular_speed,
    $magneto, $magneto_accuracy );

Same as at_pcmd, but with additional argument for setting the current magneto heading.

For $magneto an angle of 0 means facing north, positive value is facing east, and negative is facing west. 1 and -1 are the same orientation.

The $magneto_accuracy sets the maximum deviation of where the magnetic heading differs from geomagnetic heading in degrees. Negative values indicate an invalid heading.

at_ftrim

Tells the AR.Drone that it's lying horizontally. It must be called after each startup. This command MUST NOT be sent when the drone is flying.

This is automatically called by connect().

at_calib

at_calib( $device )

Calibrates the magnetometer. This command MUST be sent when the AR.Drone is flying.

The $device parameter should be one of the ARDRONE_CALIBRATION_DEVICE_* constants.

This will cause the AR.Drone to spin around.

at_config

at_config( $name, $value );

Set a config option. See the list of config constants.

at_config_ids

at_config_ids( $session_id, $user_id, $app_id );

When using multiconfiguration, send this before every at_config() call.

at_comwdg

Reset the communication watchdog.

at_ctrl

A useful but rather under-documented command for initing things like navigation data.

add_nav_collector

add_nav_collector( $nav_collector )

Add an object that does the UAV::Pilot::NavCollector role. It will be passed a fresh nav packet each time it comes in.

multi_cmds

$driver->multi_cmds( sub {
    $driver->at_config_ids( 1234, 5678, 9012 );
    $driver->at_config( 'foo' => 1 );
    $driver->at_config( 'bar' => 2 );
});

Sends multiple commands in a single packet.

float_convert

float_convert( 2.0 )

Takes a 32-bit, single-precision floating point number. The binary form is then directly converted into an integer. For example, 0.5 converts into 1056964608.

The protocol requires floating point numbers to be transferred this way in some cases. The API will take care of most of these cases for you, but there are some configuration settings that you'll have to convert yourself (like LED animations).

read_nav_packet

Fetch and parse the latest nav packet off the nav socket. Returns true if there was a new nav packet to read, false otherwise. You can get the last available nav packet by calling last_nav_packet().

This is a non-blocking IO operation.

CONSTANTS

Calibration Devices

ARDRONE_CALIBRATION_DEVICE_MAGNETOMETER
ARDRONE_CALIBRATION_DEVICE_NUMBER

Ctrl Commands

ARDRONE_CTRL_GET_CONFIG

Networking Ports

ARDRONE_PORT_COMMAND
ARDRONE_PORT_COMMAND_TYPE
ARDRONE_PORT_NAV_DATA
ARDRONE_PORT_NAV_DATA_TYPE
ARDRONE_PORT_VIDEO_P264_V1
ARDRONE_PORT_VIDEO_P264_V2
ARDRONE_PORT_VIDEO_P264_V1_TYPE
ARDRONE_PORT_VIDEO_P264_V2_TYPE
ARDRONE_PORT_VIDEO_H264
ARDRONE_PORT_VIDEO_H264_TYPE
ARDRONE_PORT_CTRL
ARDRONE_PORT_CTRL_TYPE

Configuration

General

ARDRONE_CONFIG_GENERAL_NUM_VERSION_CONFIG
ARDRONE_CONFIG_GENERAL_NUM_VERSION_MB
ARDRONE_CONFIG_GENERAL_NUM_VERSION_SOFT
ARDRONE_CONFIG_GENERAL_DRONE_SERIAL
ARDRONE_CONFIG_GENERAL_SOFT_BUILD_DATE
ARDRONE_CONFIG_GENERAL_MOTOR1_SOFT
ARDRONE_CONFIG_GENERAL_MOTOR1_HARD
ARDRONE_CONFIG_GENERAL_MOTOR1_SUPPLIER
ARDRONE_CONFIG_GENERAL_ARDRONE_NAME
ARDRONE_CONFIG_GENERAL_FLYING_TIME
ARDRONE_CONFIG_GENERAL_NAVDATA_DEMO
ARDRONE_CONFIG_GENERAL_NAVDATA_OPTIONS
ARDRONE_CONFIG_GENERAL_COM_WATCHDOG
ARDRONE_CONFIG_GENERAL_VIDEO_ENABLE
ARDRONE_CONFIG_GENERAL_VBAT_MIN

Control

ARDRONE_CONFIG_CONTROL_ACCS_OFFSET             => 'control:accs_offset',
ARDRONE_CONFIG_CONTROL_ACCS_GAINS              => 'control:accs_gains',
ARDRONE_CONFIG_CONTROL_GYROS_OFFSET            => 'control:gyros_offset',
ARDRONE_CONFIG_CONTROL_GYROS_GAINS             => 'control:gyros_gains',
ARDRONE_CONFIG_CONTROL_GYROS110_OFFSET         => 'control:gyros110_offset',
ARDRONE_CONFIG_CONTROL_GYROS110_GAINS          => 'control:gyros110_gains',
ARDRONE_CONFIG_CONTROL_MAGNETO_OFFSET          => 'control:magneto_offset',
ARDRONE_CONFIG_CONTROL_MAGNETO_RADIUS          => 'control:magneto_radius',
ARDRONE_CONFIG_CONTROL_GYRO_OFFSET_THR_X       => 'control:gyro_offset_thr_x',
ARDRONE_CONFIG_CONTROL_PWM_REF_GYROS           => 'control:pwm_ref_gyros',
ARDRONE_CONFIG_CONTROL_OSCTUN_VALUE            => 'control:osctun_value',
ARDRONE_CONFIG_CONTROL_OSCTUN_TEST             => 'control:osctun_test',
ARDRONE_CONFIG_CONTROL_CONTROL_LEVEL           => 'control:control_level',
ARDRONE_CONFIG_CONTROL_EULER_ANGLE_MAX         => 'control:euler_angle_max',
ARDRONE_CONFIG_CONTROL_ALTITUDE_MAX            => 'control:altitude_max',
ARDRONE_CONFIG_CONTROL_ALTITUDE_MIN            => 'control:altitude_min',
ARDRONE_CONFIG_CONTROL_CONTROL_IPHONE_TILT     => 'control:control_iphone_tilt',
ARDRONE_CONFIG_CONTROL_CONTROL_VZ_MAX          => 'control:control_vz_max',
ARDRONE_CONFIG_CONTROL_CONTROL_YAW             => 'control:control_yaw',
ARDRONE_CONFIG_CONTROL_OUTDOOR                 => 'control:outdoor',
ARDRONE_CONFIG_CONTROL_FLIGHT_WITHOUT_SHELL    => 'control:flight_without_shell',
ARDRONE_CONFIG_CONTROL_AUTONOMOUS_FLIGHT       => 'control:autonomous_flight',
ARDRONE_CONFIG_CONTROL_MANUAL_TRIM             => 'control:manual_trim',
ARDRONE_CONFIG_CONTROL_INDOOR_EULER_ANGLE_MAX  => 'control:indoor_euler_angle_max',
ARDRONE_CONFIG_CONTROL_INDOOR_CONTROL_VZ_MAX   => 'control:indoor_control_vz_max',
ARDRONE_CONFIG_CONTROL_INDOOR_CONTROL_YAW      => 'control:indoor_control_yaw',
ARDRONE_CONFIG_CONTROL_OUTDOOR_EULER_ANGLE_MAX => 'control:outdoor_euler_angle_max',
ARDRONE_CONFIG_CONTROL_OUTDOOR_CONTROL_VZ_MAX  => 'control:outdoor_control_vz_max',
ARDRONE_CONFIG_CONTROL_OUTDOOR_CONTROL_YAW     => 'control:outdoor_control_yaw',
ARDRONE_CONFIG_CONTROL_FLYING_MODE             => 'control:flying_mode',
ARDRONE_CONFIG_CONTROL_HOVERING_RANGE          => 'control:hovering_range',
ARDRONE_CONFIG_CONTROL_FLIGHT_ANIM             => 'control:flight_anim',

Networking

ARDRONE_CONFIG_NETWORK_SSID_SINGLE_PLAYER
ARDRONE_CONFIG_NETWORK_WIFI_MODE
ARDRONE_CONFIG_NETWORK_WIFI_MODE_AP
ARDRONE_CONFIG_NETWORK_WIFI_MODE_JOIN
ARDRONE_CONFIG_NETWORK_WIFI_MODE_STATION
ARDRONE_CONFIG_NETWORK_OWNER_MAC

PIC

ARDRONE_CONFIG_PIC_ULTRASOUND_FREQ
ARDRONE_CONFIG_PIC_ULTRASOUND_WATCHDOG
ARDRONE_CONFIG_PIC_PIC_VERSION

Video

ARDRONE_CONFIG_VIDEO_CAMIF_FPS
ARDRONE_CONFIG_VIDEO_CODEC_FPS
ARDRONE_CONFIG_VIDEO_CAMIF_BUFFERS
ARDRONE_CONFIG_VIDEO_NUM_TRACKERS
ARDRONE_CONFIG_VIDEO_CODEC
ARDRONE_CONFIG_VIDEO_VIDEO_SLICES
ARDRONE_CONFIG_VIDEO_VIDEO_LIVE_SOCKET
ARDRONE_CONFIG_VIDEO_VIDEO_STORAGE_SPACE
ARDRONE_CONFIG_VIDEO_BITRATE
ARDRONE_CONFIG_VIDEO_MAX_BITRATE
ARDRONE_CONFIG_VIDEO_BITRATE_CONTROL_MODE
ARDRONE_CONFIG_VIDEO_BITRATE_STORAGE
ARDRONE_CONFIG_VIDEO_VIDEO_CHANNEL
ARDRONE_CONFIG_VIDEO_VIDEO_ON_USB
ARDRONE_CONFIG_VIDEO_VIDEO_FILE_INDEX

LEDS

ARDRONE_CONFIG_LEDS_LEDS_ANIM

Detect

ARDRONE_CONFIG_DETECT_ENEMY_COLORS
ARDRONE_CONFIG_DETECT_GROUNDSTRIPE_COLORS
ARDRONE_CONFIG_DETECT_ENEMY_WITHOUT_SHELL
ARDRONE_CONFIG_DETECT_TYPE
ARDRONE_CONFIG_DETECT_DETECTIONS_SELECT_H
ARDRONE_CONFIG_DETECT_DETECTIONS_SELECT_V_HSYNC
ARDRONE_CONFIG_DETECT_DETECTIONS_SELECT_V

Userbox

ARDRONE_CONFIG_USERBOX_USERBOX_CMD

GPS

ARDRONE_CONFIG_GPS_LATITUDE
ARDRONE_CONFIG_GPS_LONGITUDE
ARDRONE_CONFIG_GPS_ALTITUDE

Custom

ARDRONE_CONFIG_CUSTOM_APPLICATION_ID
ARDRONE_CONFIG_CUSTOM_APPLICATION_DESC
ARDRONE_CONFIG_CUSTOM_PROFILE_ID
ARDRONE_CONFIG_CUSTOM_PROFILE_DESC
ARDRONE_CONFIG_CUSTOM_SESSION_ID
ARDRONE_CONFIG_CUSTOM_SESSION_DESC

Flight Animation

ARDRONE_CONFIG_CONTROL_FLIGHT_ANIM_PHI_M30_DEG
ARDRONE_CONFIG_CONTROL_FLIGHT_ANIM_PHI_30_DEG
ARDRONE_CONFIG_CONTROL_FLIGHT_ANIM_THETA_M30_DEG
ARDRONE_CONFIG_CONTROL_FLIGHT_ANIM_THETA_30_DEG
ARDRONE_CONFIG_CONTROL_FLIGHT_ANIM_THETA_20DEG_YAW_200DEG
ARDRONE_CONFIG_CONTROL_FLIGHT_ANIM_THETA_20DEG_YAW_M200DEG
ARDRONE_CONFIG_CONTROL_FLIGHT_ANIM_TURNAROUND
ARDRONE_CONFIG_CONTROL_FLIGHT_ANIM_TURNAROUND_GODOWN
ARDRONE_CONFIG_CONTROL_FLIGHT_ANIM_YAW_SHAKE
ARDRONE_CONFIG_CONTROL_FLIGHT_ANIM_YAW_DANCE
ARDRONE_CONFIG_CONTROL_FLIGHT_ANIM_PHI_DANCE
ARDRONE_CONFIG_CONTROL_FLIGHT_ANIM_THETA_DANCE
ARDRONE_CONFIG_CONTROL_FLIGHT_ANIM_VZ_DANCE
ARDRONE_CONFIG_CONTROL_FLIGHT_ANIM_WAVE
ARDRONE_CONFIG_CONTROL_FLIGHT_ANIM_PHI_THETA_MIXED
ARDRONE_CONFIG_CONTROL_FLIGHT_ANIM_DOUBLE_PHI_THETA_MIXED
ARDRONE_CONFIG_CONTROL_FLIGHT_ANIM_FLIP_AHEAD
ARDRONE_CONFIG_CONTROL_FLIGHT_ANIM_FLIP_BEHIND
ARDRONE_CONFIG_CONTROL_FLIGHT_ANIM_FLIP_LEFT
ARDRONE_CONFIG_CONTROL_FLIGHT_ANIM_FLIP_RIGHT

ARDRONE_CONFIG_CONTROL_FLIGHT_ANIM_PHI_M30_DEG_MAYDAY
ARDRONE_CONFIG_CONTROL_FLIGHT_ANIM_PHI_30_DEG_MAYDAY
ARDRONE_CONFIG_CONTROL_FLIGHT_ANIM_THETA_M30_DEG_MAYDAY
ARDRONE_CONFIG_CONTROL_FLIGHT_ANIM_THETA_30_DEG_MAYDAY
ARDRONE_CONFIG_CONTROL_FLIGHT_ANIM_THETA_20DEG_YAW_200DEG_MAYDAY
ARDRONE_CONFIG_CONTROL_FLIGHT_ANIM_THETA_20DEG_YAW_M200DEG_MAYDAY
ARDRONE_CONFIG_CONTROL_FLIGHT_ANIM_TURNAROUND_MAYDAY
ARDRONE_CONFIG_CONTROL_FLIGHT_ANIM_TURNAROUND_GODOWN_MAYDAY
ARDRONE_CONFIG_CONTROL_FLIGHT_ANIM_YAW_SHAKE_MAYDAY
ARDRONE_CONFIG_CONTROL_FLIGHT_ANIM_YAW_DANCE_MAYDAY
ARDRONE_CONFIG_CONTROL_FLIGHT_ANIM_PHI_DANCE_MAYDAY
ARDRONE_CONFIG_CONTROL_FLIGHT_ANIM_THETA_DANCE_MAYDAY
ARDRONE_CONFIG_CONTROL_FLIGHT_ANIM_VZ_DANCE_MAYDAY
ARDRONE_CONFIG_CONTROL_FLIGHT_ANIM_WAVE_MAYDAY
ARDRONE_CONFIG_CONTROL_FLIGHT_ANIM_PHI_THETA_MIXED_MAYDAY
ARDRONE_CONFIG_CONTROL_FLIGHT_ANIM_DOUBLE_PHI_THETA_MIXED_MAYDAY
ARDRONE_CONFIG_CONTROL_FLIGHT_ANIM_FLIP_AHEAD_MAYDAY
ARDRONE_CONFIG_CONTROL_FLIGHT_ANIM_FLIP_BEHIND_MAYDAY
ARDRONE_CONFIG_CONTROL_FLIGHT_ANIM_FLIP_LEFT_MAYDAY
ARDRONE_CONFIG_CONTROL_FLIGHT_ANIM_FLIP_RIGHT_MAYDAY