AngelR-PFC-Drone01

• Project Name: PFC-Drone01
• Author: Ángel Rojo Román
• Email Addres: infarr00@estudiantes.unileon.es
• Academic Year: 2010-2011
• Degree: Undergraduate
• Technologies: c, opencv, ARDrone API: sdk 1.5, svn
• Status: Finished

Flying AR.Drone(9 May 2011)

• Taking off

     ardrone_tool_set_ui_pad_start(1);

• Landing

     ardrone_tool_set_ui_pad_start(1);

• Turn to left

     ardrone_at_set_progress_cmd(1, 0, 0, 0, -0.3);

• Turn to right

     ardrone_at_set_progress_cmd(1, 0.3, 0, 0,0);

• Move Forward

     ardrone_at_set_progress_cmd(1,0,-0.3,0,0);

• Move Backward

     ardrone_at_set_progress_cmd(1, 0, 0.3, 0, 0);

• Move Up

     ardrone_at_set_progress_cmd(1, 0.3, 0, 0.5, 0);

• Move Down

     ardrone_at_set_progress_cmd(1, 0.3, 0, 0.5, 0);

• Move to Left

     ardrone_at_set_progress_cmd (1, -0.3, 0, 0,0);

• Move to Right

     ardrone_at_set_progress_cmd (1, 0.3, 0, 0,0);

Using Subversion(18 dec 2010)

• Creating a new Branch for your project

     $ svn copy http://robotica.unileon.es/svn/Projects/PFC/ardrone \
           http://robotica.unileon.es/svn/Projects/PFC/ardrone/branches/InterfazArdrone_aroro_18122010 \
           -m "Creating a new branch InterfazArdrone_aroro_18122010."

• Import your project in your branch:

     $svn import /(YOUR PROJECT DIR) http://robotica.unileon.es/svn/Projects/PFC/ardrone/branches/InterfazArdrone_aroro_18122010 -m "first import"

• Getting your project:

     $svn checkout http://robotica.unileon.es/svn/Projects/PFC/ardrone/branches/InterfazArdrone_aroro_18122010

• Remove a directory in svn repository:

     $svn delete http://(URL DIRECTORY) -m "DIRECTORY DELETED"

Makefile(18 dec 2010)

Don't forget use:

• gtk and ardrone libraries:

     GENERIC_LIBS=-lpc_ardrone -lgtk-x11-2.0 -lrt 

• compile fichero.c:

     GENERIC_BINARIES_COMMON_SOURCE_FILES+=			\
           fichero/fichero.c  \

Debug File(18 dec 2010)

I do an other two files called fichero.c and fichero.h

• fichero.h had the declaration of the function.

• fichero.c implements InsertarDatos function. InsertaDatos uses fopen(ruta, "a") to create a debug file or append text if the file already exist.

To check if debug is active, I use a control variable called debug in main. If debug = 0, debug file is not active. If debug =1, debug file is active.

Building a GTK window(18 dec 2010)

To Build a window you need gtk library: #include <gtk/gtk.h>. To keep a clear code, the main function have a call to paint the window.

     int
     main (int argc, char *argv[]){
           GtkWidget *window;
           gtk_init (&argc, &argv);
           window = create_window ();
           gtk_widget_show_all (window);
           gtk_main ();
           return 0;
     }

There is an other functions for received the events for the buttons:

     void on_button_aterrizar(GtkButton * button, gpointer user_data);
     void on_button_despegar(GtkButton * button, gpointer user_data);
     void on_button_mostrar_video(GtkButton * button, gpointer user_data);
     void on_button_debug(GtkButton * button, gpointer user_data);
     void on_button_ocultar_video(GtkButton * button, gpointer user_data);
     void func_crea_ventana_video(GtkButton * button, gpointer user_data);
     void func_oculta_ventana_video(GtkButton * button, gpointer user_data);

Installing OpenCv (1 dec 2010)

Open a new terminal and go to your workspace. The fist step is get the Opencv package:

     svn co https://opencvlibrary.svn.sourceforge.net/svnroot/opencvlibrary/tags/latest_tested_snapshot

Building Opencv:

     cd /opencv  
     mkdir release
     cd release
     cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local -D BUILD_PYTHON_SUPPORT=ON ..

After this command, you can see a list of libraries you don't have. Use Synaptic to install it.

     make
     sudo make install

Configuring ARDrone API: sdk 1.5 with Ps3pad in Linux (25 nov 2010)

Downloading sdk 1.5

• You should register in ARDRONE open API platform.
• Download sdk 1.5.
• Unpack the archive ARDrone_SDK_1_5_Version_20101004.tar.gz

Configure example files

• sdk_demo: It's the most simple example, you should change two files, so:

      cd (SKD)/Examples/Linux/sdk_demo/Sources

The first file is ardrone_testing_tool.c, it contains the main function in the project. You need to edit the input device, so copy this line into your file:

      ardrone_tool_input_add( &ps3pad );

The other file is /UI/gamepad.h and serves to configure Ps3pad buttons, you can copy the next values:

    #define GAMEPAD_PLAYSTATION3_ID 0x054C0268
    typedef enum
    {
         PS3BTN_SELECT=0,
         PS3BTN_L3=1,
         PS3BTN_R3=2,
         PS3BTN_START=3,
         PS3BTN_UPARROW=4,
         PS3BTN_RIGHTARROW=5,
         PS3BTN_DOWNARROW=6,
         PS3BTN_LEFTARROW=7,
         PS3BTN_L2=8,
         PS3BTN_R2=9,
         PS3BTN_L1=10,
         PS3BTN_R1=11,
         PS3BTN_TRIANGLE=12,
         PS3BTN_CIRCLE=13,
         PS3BTN_CROSS=14,
         PS3BTN_SQUARE=15,
         PS3BTN_PS3=16,
    }PS3PAD_BUTTONS;

• Navigation: This is a more complete example, the change is exactly the same as the second step in the sdk_demo example.

Compile and Running the examples

• The first step is get some libraries that let us compile ARDONE skd:

      $sudo apt-get install libsdl-dev libgtk2.0-dev libiw-dev

• Next you must build the ARDroneLIB library

      $cd SDK /ARDroneLib/Soft/Build
      $make

• Compile the sdk_demo example:

      $cd SDK /Examples/Linux/sdk_demo/Build
      $make

• Compile the Navigation example:

      $cd SDK /Examples/Linux/Navigation/Build
      $make

Now, you should have two executable files in (SDK)/Examples/Linux/Build/Release. Plug your ps3pad and prepare yourself to fly the PARROT ARDrone.

• Execute the sdk_demo example:

      ./linux_sdk_demo

• Execute the Navigation example:

      ./ardrone_navigation