ARDrone: Unterschied zwischen den Versionen

Aus FunkFeuer Wiki
Wechseln zu: Navigation, Suche
(→‎FILESYSTEM)
(→‎API)
Zeile 126: Zeile 126:
 
  apps                  fact_accs_infos.bin  navdata_blackbox.bin  sys?og.bin            www
 
  apps                  fact_accs_infos.bin  navdata_blackbox.bin  sys?og.bin            www
 
  config.ini            fact_trims.bin        random_mac.txt        trims.bin
 
  config.ini            fact_trims.bin        random_mac.txt        trims.bin
 +
 +
=== AR.Drone Configuration File (/data/config.ini) ===
 +
# cat config.ini
 +
[general]
 +
num_version_config            = 1
 +
num_version_mb                = 17
 +
num_version_soft              = 1.3.3
 +
soft_build_date                = 2010-09-22 15:30
 +
motor1_soft                    = 0.0
 +
motor1_hard                    = 0.0
 +
motor1_supplier                = 0.0
 +
motor2_soft                    = 0.0
 +
motor2_hard                    = 0.0
 +
motor2_supplier                = 0.0
 +
motor3_soft                    = 0.0
 +
motor3_hard                    = 0.0
 +
motor3_supplier                = 0.0
 +
motor4_soft                    = 0.0
 +
motor4_hard                    = 0.0
 +
motor4_supplier                = 0.0
 +
ardrone_name                  = My ARDrone
 +
flying_time                    = 630
 +
navdata_demo                  = TRUE
 +
com_watchdog                  = 2
 +
video_enable                  = TRUE
 +
vision_enable                  = TRUE
 +
vbat_min                      = 9000
 +
 +
[control]
 +
accs_offset                    = { -2.1041426e+03 1.9623026e+03 2.0612791e+03 }
 +
accs_gains                    = {  9.8346788e-01 2.0515487e-02 1.5799545e-02  -1.3670200e-02 -9.8090577e-01 1.9539831e-02  5.9470539e-03 -3.6688969e-02 -9.7911078e-01  }
 +
gyros_offset                  = { 1.6544460e+03 1.6738420e+03 1.6580200e+03 }
 +
gyros_gains                    = { 6.9924705e-03 -7.0605604e-03 -3.7827170e-03 }
 +
gyros110_offset                = { 1.5891379e+03 1.6813199e+03 }
 +
gyros110_gains                = { 1.5292658e-03 -1.5492389e-03 }
 +
gyro_offset_thr_x              = 4.0000000e+00
 +
gyro_offset_thr_y              = 4.0000000e+00
 +
gyro_offset_thr_z              = 5.0000000e-01
 +
pwm_ref_gyros                  = 470
 +
control_level                  = 0
 +
shield_enable                  = 1
 +
euler_angle_max                = 3.4906584e-01
 +
altitude_max                  = 10000
 +
altitude_min                  = 50
 +
control_trim_z                = 0.0000000e+00
 +
control_iphone_tilt            = 5.8549303e-01
 +
control_vz_max                = 1.0000000e+03
 +
control_yaw                    = 3.4906585e+00
 +
outdoor                        = TRUE
 +
flight_without_shell          = TRUE
 +
brushless                      = TRUE
 +
autonomous_flight              = FALSE
 +
manual_trim                    = FALSE
 +
indoor_euler_angle_max        = 2.0943952e-01
 +
indoor_control_vz_max          = 7.0000000e+02
 +
indoor_control_yaw            = 1.7453293e+00
 +
outdoor_euler_angle_max        = 4.6401200e-01
 +
outdoor_control_vz_max        = 1.3894274e+03
 +
outdoor_control_yaw            = 5.1314220e+00
 +
 +
[network]
 +
ssid_single_player            = ardrone_v1.3.3
 +
ssid_multi_player              = ardrone_v1.3.3
 +
infrastructure                = TRUE
 +
secure                        = FALSE
 +
passkey                        =
 +
navdata_port                  = 5554
 +
video_port                    = 5555
 +
at_port                        = 5556
 +
cmd_port                      = 0
 +
owner_mac                      = 00:00:00:00:00:00
 +
owner_ip_address              = 0
 +
local_ip_address              = 0
 +
broadcast_address              = 0
 +
 +
[pic]
 +
ultrasound_freq                = 8
 +
ultrasound_watchdog            = 3
 +
pic_version                    = 262192
 +
 +
[video]
 +
camif_fps                      = 15
 +
camif_buffers                  = 2
 +
num_trackers                  = 12
 +
 +
[detect]
 +
enemy_colors                  = 1
 +
enemy_without_shell            = 0
 +
detect_type                    = 3
 +
 +
[syslog]
 +
output                        = 7
 +
max_size                      = 102400
 +
nb_files                      = 5
 +
  
 
=== API ===
 
=== API ===

Version vom 13. November 2010, 20:15 Uhr

ARDrone

Parrot produces a very nice quadcopter called "ARDone"

Homepage: http://ardrone.parrot.com/parrot-ar-drone/usa/

In Vienna you can get them at Mediamarkt for 300,- EUR

We plan to make a mesh of flying drones.


FAQ

  • how long can it fly? 
Approximately 15 minutes
  • how much can it carry?

Approx. 200 grams


Documentation

Hardware

  • Linux myhost 2.6.27.47-parrot-01227-g93dde09 #1 PREEMPT Fri Jul 2 15:23:06 CEST 2010 armv5tejl GNU/Linux
  • Processor : ARM926EJ-S rev 5 (v5l)
  • Mykonos Parrot platform,
  • REv: 0904
  • Memory: 128MB RAM
  • Wi-Fi: AR6000 
# cat /proc/cpuinfo 
Processor       : ARM926EJ-S rev 5 (v5l)
BogoMIPS        : 233.47
Features        : swp half thumb fastmult edsp java 
CPU implementer : 0x41
CPU architecture: 5TEJ
CPU variant     : 0x0
CPU part        : 0x926
CPU revision    : 5
Cache type      : write-back
Cache clean     : cp15 c7 ops
Cache lockdown  : format C
Cache format    : Harvard
I size          : 32768
I assoc         : 4
I line length   : 32
I sets          : 256
D size          : 16384
D assoc         : 4
D line length   : 32
D sets          : 128
# free
              total         used         free       shared      buffers
  Mem:       126072        12480       113592            0            0
 Swap:            0            0            0
Total:       126072        12480       113592

Hardware  : Mykonos Parrot platform Revision  : 0904 Serial  : 0000000000000000

The Wi-Fi chip seems to have it's own SDIO interface driver. Anyway, the good news for us is, that ad-hoc mode works very well.

OLSRD - HowTo / Build @ Debian 5.0

Add new Source to /etc/apt/sources.list: 

deb http://www.emdebian.org/debian/ lenny main

Get new Update´s! 

sudo apt-get update

Copy & Paste into Shell: 

sudo apt-get install emdebian-archive-keyring libc6-armel-cross libc6-dev-armel-cross binutils-arm-linux-gnueabi gcc-4.3-arm-linux-gnueabi g++-4.3-arm-linux-gnueabi apt-cross dpkg-cross libncurses5-dev
sudo apt-get update

Download/Extract Latest STABLE OLSRD Release: (Example) 

wget http://www.olsr.org/releases/[VERSION]/olsrd-[VERSION].tar.gz
tar xfv olsrd-[VERSION].tar.gz
cd olsrd-[VERSION]

Edit Makefile.inc: 

vi Makefile.inc

Press [ i ] 

CC=gcc-4.3-arm-linux-gnueabi

Press [ ESC ] & type [ :wq ] & PRESS ENTER

Compile OLSRD: 

make
make libs

Now olsrd is Compiled and ready for AR.Drone!

FILESYSTEM

-> /
bin       dev       factory   home      mnt       root      sys       update    var
data      etc       firmware  lib       proc      sbin      tmp       usr       www

-> /bin
ash               cp                false             ip                mv                pwd               stat              vi
busybox           cttyhack          fgrep             ipcalc            netstat           random_ip         stty              watch
cat               date              gdbserver         kill              olsr.sh           random_mac        sync             wifi_setup.sh
channelselector   dd                getopt            ln                olsrd             reset_dhcp.sh     tar               zcat
check_update.sh   df                grep              ls                pairing_setup.sh  rm                touch
checkplf          dmesg             gunzip            mkdir             pidof             rmdir             true
chgrp             echo              gzip              mknod             ping              sed               umount
chmod             egrep             hostname          mktemp            program.elf       sh                uname
chown             factory_reset_cb  httpd             mount             ps                sleep             usleep

-> /etc
fstab          hostname       httpd.conf     init.d         ld.so.cache    olsrd.conf     profile        udhcpd.conf
group          hosts          inetd.conf     inittab        nsswitch.conf  passwd         protocols

-> /etc/init.d
rcS

-> /sbin
arp          fdisk        ifconfig     insmod       iwgetid      iwspy        mdev         modprobe     rmmod        switch_root  udhcpc
blkid        halt         ifrename     iwconfig     iwlist       klogd        mkdosfs      poweroff     route        sysctl       zcip
fbsplash     hwclock      init         iwevent      iwpriv       lsmod        mkfs.vfat    reboot       setconsole   syslogd

-> /data
accs_infos.bin        emergency.bin         log_bin               syslog.bin            video
apps                  fact_accs_infos.bin   navdata_blackbox.bin  sys?og.bin            www
config.ini            fact_trims.bin        random_mac.txt        trims.bin

AR.Drone Configuration File (/data/config.ini)

# cat config.ini 
[general]
num_version_config             = 1
num_version_mb                 = 17
num_version_soft               = 1.3.3
soft_build_date                = 2010-09-22 15:30
motor1_soft                    = 0.0
motor1_hard                    = 0.0
motor1_supplier                = 0.0
motor2_soft                    = 0.0
motor2_hard                    = 0.0
motor2_supplier                = 0.0
motor3_soft                    = 0.0
motor3_hard                    = 0.0
motor3_supplier                = 0.0
motor4_soft                    = 0.0
motor4_hard                    = 0.0
motor4_supplier                = 0.0
ardrone_name                   = My ARDrone
flying_time                    = 630
navdata_demo                   = TRUE
com_watchdog                   = 2
video_enable                   = TRUE
vision_enable                  = TRUE
vbat_min                       = 9000 

[control]
accs_offset                    = { -2.1041426e+03 1.9623026e+03 2.0612791e+03 }
accs_gains                     = {  9.8346788e-01 2.0515487e-02 1.5799545e-02  -1.3670200e-02 -9.8090577e-01 1.9539831e-02   5.9470539e-03 -3.6688969e-02 -9.7911078e-01  }
gyros_offset                   = { 1.6544460e+03 1.6738420e+03 1.6580200e+03 }
gyros_gains                    = { 6.9924705e-03 -7.0605604e-03 -3.7827170e-03 }
gyros110_offset                = { 1.5891379e+03 1.6813199e+03 }
gyros110_gains                 = { 1.5292658e-03 -1.5492389e-03 }
gyro_offset_thr_x              = 4.0000000e+00
gyro_offset_thr_y              = 4.0000000e+00
gyro_offset_thr_z              = 5.0000000e-01
pwm_ref_gyros                  = 470
control_level                  = 0
shield_enable                  = 1
euler_angle_max                = 3.4906584e-01
altitude_max                   = 10000
altitude_min                   = 50
control_trim_z                 = 0.0000000e+00
control_iphone_tilt            = 5.8549303e-01
control_vz_max                 = 1.0000000e+03
control_yaw                    = 3.4906585e+00
outdoor                        = TRUE
flight_without_shell           = TRUE
brushless                      = TRUE
autonomous_flight              = FALSE
manual_trim                    = FALSE
indoor_euler_angle_max         = 2.0943952e-01
indoor_control_vz_max          = 7.0000000e+02
indoor_control_yaw             = 1.7453293e+00
outdoor_euler_angle_max        = 4.6401200e-01
outdoor_control_vz_max         = 1.3894274e+03
outdoor_control_yaw            = 5.1314220e+00

[network]
ssid_single_player             = ardrone_v1.3.3
ssid_multi_player              = ardrone_v1.3.3
infrastructure                 = TRUE
secure                         = FALSE
passkey                        = 
navdata_port                   = 5554
video_port                     = 5555
at_port                        = 5556
cmd_port                       = 0
owner_mac                      = 00:00:00:00:00:00
owner_ip_address               = 0
local_ip_address               = 0
broadcast_address              = 0

[pic]
ultrasound_freq                = 8
ultrasound_watchdog            = 3
pic_version                    = 262192

[video]
camif_fps                      = 15
camif_buffers                  = 2
num_trackers                   = 12

[detect]
enemy_colors                   = 1
enemy_without_shell            = 0
detect_type                    = 3

[syslog]
output                         = 7
max_size                       = 102400
nb_files                       = 5


API

Links / external documentation

Pics

  • AR.Drone.Bottom.jpg
  • AR.Drone.Cross.Junction.jpg
  • AR.Drone.Accu.jpg
  • AR.Drone.Main.PCB.Front.jpg
  • AR.Drone.Main.PCB.Back.jpg
  • AR.Drone.US.PCB.Sensors.jpg
  • AR.Drone.US.PCB.Front.jpg
Von „https://oldwiki.funkfeuer.at/index.php?title=ARDrone&oldid=11030“