AR.Drone: Sensor Data

1. AR.Drone: Sensor Data • Seang Cau • June 15th, 2011

2. AR.Drone: Sensor Data • Purpose: • Determine were data is located • Determine type of data that is available

3. Retrieving Navigation Data navData_common.c contains both navigation data and sensor data. navData_common.h contains the static definitions such as MAYDAY_TIMEOUT _navdata_demo_t contains minimal navigation data for all flights

4. _navdata_demo_t • Contains minimal flight information • theta – UAV’s Attitude (pitch) • phi – UAV’s Attitude (roll) • psi – UAV’s Attitude (yaw) • altitude – UAV’s Altitude • vx – UAV’s estimated linear velocity • vy – UAV’s estimated linear velocity • vz – UAV’s estimated linear velocity

5. Raw Sensor Measurements • _navdata_raw_measures_t • raw_accs[] – filtered accelerometers • raw_gyos[] – filtered gyrometers • vbat_raw – battery voltage (mV) • _navdata_phys_measures_t • vrefEpson – ref volt Epson gyro • vrefIDG – ref volt IDG gyro • _navdata_gyros_offsets_t

6. Video Data • _navdata_altitude_t • _navdata_vision_raw_t • _navdata_vision_t • _navdata_video_stream_t • Frame_size • Frame_index

7. More Raw Data • _navdata_euler_angles_t • _navdata_trims_t • _navdata_pwm_t • Contains the data of all four motors

8. SDK Demo - Navdata.c C_RESULT demo_navdata_client_process( const navdata_unpacked_t* const navdata ) { const navdata_demo_t*nd = &navdata->navdata_demo; printf("=====================\nNavdata for flight demonstrations =====================\n\n"); printf("Control state : %i\n",nd->ctrl_state); printf("Battery level : %i mV\n",nd->vbat_flying_percentage); printf("Orientation : [Theta] %4.3f [Phi] %4.3f [Psi] %4.3f\n",nd->theta,nd->phi,nd->psi); printf("Altitude : %i\n",nd->altitude); printf("Speed : [vX] %4.3f [vY] %4.3f [vZPsi] %4.3f\n",nd->theta,nd->phi,nd->psi); printf("\033[8A"); return C_OK; }

9. Conclusion • Raw and Processed Data is readily available. • Easily Retrieved

10. Next Steps: • Compile Basic AutoPylot Project to have the AR.Drone fly around in a circle • Insert code to retrieve sensor data. • Compile Basic AutoPylot Project with sensor data retrieval. • Repeat the above steps with greenball_agent.py