More Notes: Process Ideas

Method

• The client gives a compiled list of commands to follow. The commands could be directions.
• directions are of two types (each corresponding to yaw changes):
• Left   (Ø°)
• Right (Ø°)
• at each corner is a tag (preliminarily a color, later a unique tag to match)
• the direction indicates which tag to seek next
• TEST: wall tags vs. floor tags?
• wall tags are simpler to find (only frontal camera)
• floor tags are more adaptable (not every corner ends with a wall)

AR.Drone Programming Protocols

• In case the packet contains more than one command, the new line byte \r 0x0A is used to separate the commands.
• Strings are encoded as 8-bit ASCII characters
• The maximum length of the command is 1024 characters
• 30 MS delay must be passed between the commands
• Commands should be no more than 2 seconds apart (continuous commands is better)
• The client must use the host AT command port to communicate 
• See developer guide, sec.6 for more on AT command syntax
• The IP address of the drone is 192.168.1.1 and there are three ports we can use to connect over UDP:
• Navigation Data Port = 5554
• On-Board Video Port = 5555
• AT Command Port = 5556

• AT*FTRIM = #<LF>                                                                
• Command for horizontal calibration (flat trim)
• #=1 
• LF = return character
• AT*REF = #,0001000101010100000000†§00000000<LF>   
• Argument 1 is sent as an integer (written here is its derivative binary form).
• §(1=change)(0=stay|stopEmergency)
• †(1=upUntilLifted)(0=downUntilLanded) 
• AT*PCMD = #,€,R,P,G,Y<LF>
• €(1=readCommands)(0=hover)
• R(-1,1 = roll)
• P(-1,1 = pitch)
• G(-1,1 = gaz)
• Y(-1,1 = yaw)
• -1,1 = float corresponds to %age of preset power range, in the format of its equivalent integer.
• AT*LED = #,@,F,D<LF>
• @ = predefined animation tag number (int 0-20)
• F = frequency (delay between commands)
• D = duration (number of times)

Resources

— A tutorial for programming the AR.Drone (communication syntax):

http://www.robotappstore.com/Knowledge-Base/Programming-ARDrone/101.html

— More info on the drone-computer communication

https://www.objc.io/issues/8-quadcopter/communicating-with-the-quadcopter/

https://abstract.cs.washington.edu/~shwetak/classes/ee472/assignments/lab4/drone_api.pdf

— Processing to communicate using UDP in oscP5 library (I would prefer something like
     this, as I am familiar with Processing)

http://www.sojamo.de/libraries/oscp5/

— Processing to communicate using created AR Drone library (if previous resource's option
    doesn't work)

http://kougaku-navi.net/ARDroneForP5/index_en.html

— Float to binary conversion (for commands, float > binary > integer is a necessary conversion)

http://kipirvine.com/asm/workbook/floating_tut.htm

To Research Next

• Receiving drone's navdata
• Receiving drone's video
• Image matching
• Color-searching