/ 
UAV-Pilot-0.2-TRIAL
River stage one • 4 direct dependents • 4 total dependents
/ UAV::Pilot::Control::ARDrone

NAME

UAV::Pilot::Control::ARDrone

SYNOPSIS

my $sender = UAV::Pilot::Driver::ARDrone->new( ... );
$sender->connect;
my $dev = UAV::Pilot::Control::ARDrone->new({
    sender => $sender,
});

$dev->takeoff;
$dev->pitch( 0.5 );
$dev->wave;
$dev->flip_left;
$dev->land;

DESCRIPTION

UAV::Pilot::Control implementation for the Parrot AR.Drone.

METHODS

takeoff

Takeoff.

land

Land.

pitch

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

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

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

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.

calibrate

Calibrates the magnetometer. This must be done while in flight. The drone will spin around (yaw movement) while it does this.

emergency

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.

FLIGHT ANIMATION METHODS

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

LED ANIMATION METHODS

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