ar.drone java api_Parrot AR.Drone SDK 2.0开发文档
【实例简介】
这是Parrot发布的基于AR.Drone 2.0的SDK文档。
Contents
A R Drone Developer guide
Contents
I dK documentation
1 Introductio
2 ARDrone 2.0 overview
2.1 Introduction to
tor uav
5
2.2 Indoor and outdoor design configurations
2.3E1
7
2.4 LiPo batteries
7
2.5 Motion sensors
8
2.6 Assisted control of basic manoeuvres
8
2.7 Advanced manoeuvres using host tilt sensors
2.8 Video streaming, tags and roundel detection
2.9 Wifi network and connection
2.10 Communication services between the aR drone 2.0 and a client device
2.11 Differences between AR Drone 2.0 and AR Drone 1.0
3 AR Drone 2.0 sdK Overview
13
3.1 Layered ard
chitecture
13
3.2 The AR Drone 2.0 library
,,,,,14
3.3 The AR Drone 2.0 Tool
15
3.4 The AR Drone Engine-only for Apple ios devices
16
4 ARDronelIB and ArDrone tool functions
4.1 Drone control functions
ardrone_tool_set_ui_pad_start
19
ardronc-tool_sct_ui_pad_sclect
,19
ardrone _at set_progress_cmd
·帝普
20
ardrone_at_set_progress_cnd_with_magneto
21
5 Creating an application with ARDrone Tool
23
5.1 Quick steps to create a custom AR Drone 2.0 application
23
5.2 Customizing the client initialization
24
5.3 Using navigation data
25
5.4 Command line parsing for a particular application
27
5.5 Thread management in the application
27
5.6 Managing the video stream
28
6 AT Commands
31
6.1 AT Commands syntax
32
6.2 Commands sequencing
32
6.3 Floating-point parameters
33
6.4 AT Commands summary
34
6.5 Commands description
........35
AT REF
··
35
AT'PCMD/AT*PCMD MAG
··
36
AT*FTRIM
37
AtCALIB
37
AT*CONFIG
38
AT*CONFIG IDS
38
ATXCOMWDG
7 Incoming data streams
39
7.1 Navigation data
.39
7.1.1 Navigation data stream
翻·着
.39
7.1.2 Initiating the reception of Navigation data
40
7.1.3 Augmented reality data stream
..42
7.2 The AR Drone 1.0 video stream
43
7.2.1 Image structure
7.2.2 UVLC codec overview
45
7.2.3 P264 codec overview
翻鲁着
46
7.2.4 Specific block entropy-encoding
49
7. 2.5 Transport layer
52
7.2.6 End of scquencc(EOS)(22 bits)
57
7. 2.7 Intiating the video str
58
7. 3 The AR Drone 2.0 video stream
7.3.3 Network transmission of video stream
7.3.1 Vidco codecs
59
7.3.2 Video encapsulation on network
59
60
7.3.4 Latency reduction mecanism
61
7.3.5 Video record stream
61
8 Drone configuration
63
8.1 Reading the drone configuration
8.1.1 With ARDroneTool
63
8.1.2 Without ARDrone Tool
8. 2 Setting the drone configuration
翻D1翻
8. 2. 1 With ARDronetool
66
8.2.2 From the Control Engine for iphone
66
8.2.3 Without Ardrone tool
68
8.3 Multiconfiguration
69
8.3.1 With ARDrone Tool
Q
8.3.2 Multiconfiguration with Control Enginc (iPhone only
8.3.3 Without ARDrone tool
70
8.3.4 Common category(CAT_COMMON)
8.3.5 Application category(CAT_APPLi)
8.3.6 USer category (CAT_USEr)-also called"Profile"category
71
8.3.7 Session category (CAT SESSION)
8.3.8 Technical details on id generation and descriptions
8.4 Gcncral configuration
GENERAL: mum version confi
ig
GENERAL num version mb
23333
GENERAL num version soft
GENERAL: drone serial
GENERAL: Soft build date
GENERAL motor soft
GENERAL: motor hard
GENERAL: motorl_supplier...
乃33
GENERAL: ardrone name
GENERAL flying time
74
GENERAL naydata demo
74
GENERAL navdata options
4
GENERAL: com watchdog
74
GENERAL video enable
GENERAL vision enable
GENERAL: vbat min
5万万
8.5 Control configuration
CONTROL:accs offset
76
CONTROL: accs_gains
CONTROL: gyros_offset
76
CONTROL: gyros_gains
CONTROL: gyros110_offsct
76
CONTROL: gyros110-gains
76
CONTROL: magneto_offset
CONTROL: magneto radius
76
CONTROL: gyro_o
76
CONTROL: Pwm_ref_-gyros
····:····:
76
CONTROL: osctun value
CONTROL: oSctun test
CONTROL: control level
CONTROL: euler__angle_max
CONTROL altitude max
CONTROL: altitude min
CONTROL: control iphone tilt
7778888
CONTROL control vz max
CONTROL: control yaw
79
CONTROL: outdoor
79
CONTROL: flight without shell
CONTROL: autonomous flight
CONTROL manual trim
CONTROL: indoor_euler-angle_max
CONTROL: indoor control vz max
CONTROL: indoor control yaw
CONTROL: outdoor_euler_angle__max
80
CONTROL: outdoor control vz max
80
CONTROL: outdoor_control_yaw
80
CONTROL: flying_mode
..80
CONTROL: hovering range
81
IV
CONTROL: flight anim
.81
8.6 Network configuration
....82
NETWORK: ssid_single_player
82
NETWORK: ssid_multi-player
,,.,,82
NETWORK: wifi mode
···
82
NETWORK: wifi rate
82
NETWORK: owner mac
..82
8.7 Nav-board configuration..............
83
PIC:ultrasound_freq
83
PIC: ultrasound_watchdog
.83
PIC: pic version
8.8 Video configuration
84
VIDEO: camif f
84
VIDEO: codec_fps
ⅤIDEO: camif buffers
84
VIDEO: num trackers
84
Ⅴ IDEO: video codec
IDEO video slices
,,,,,,,,,,85
VIDEO video live socket
VIDEO: video_storage_space
VIDEO: bitrate
ⅤIDEO: max bitrate,
85
VIDEO: bitrate control mode
····
VIDEO: bitrate storage
86
Ⅴ IDEO video channel.
86
VIDEO: video on usb
86
VIDEO video file index
87
8.9 Leds configuration
88
LEDS leds anim
垂··鲁着
8.10 Detection configuration
DETECT:enemy colors
89
DETECT: groundstripe_colors
89
DETECT: enemy without shell
89
DETECT: detect type
89
DETECT detections select h
90
DETECT: detections select v hsync
····
90
DETECT: detections select v
垂·
90
8.11 SYSLOG section
8.12 USERBOX section
...92
USERBOX: userbox cmd
8.13 GPS section
GPS latitude
93
GPS: longitude
GPS: altitude
·····
8.14 CUSTOM section -Multiconfig support
94
CUSTOM: application_id
94
CUSTOM:application desc
,,,94
CUSTOM: Profile- id
番·
94
CUSTOM: profile_desc
94
CUSTOM: session id
94
CUSTOM: session desc
,,,,.,94
II Tutorials
95
9 Building the iOS Example
10 Building the Linux Examples
10.1 Set up your development environment
10.2 Compile linux examples
10.3 Run the sDk Demo program
100
10.4 Run the Navigation program
101
11 Building the android example
105
Part I
sdK documentation
【实例截图】
【核心代码】