int main ( int argc, char** argv, char** envv ) {
int i ;
ARDrone* bob ;
NavData data ;
bob = ARDrone_new( "192.168.1.1" ) ;
ARDrone_connect( bob ) ;
ARDrone_trim ( bob ) ;
sleep(5) ;
for ( i=0; i<15; i++ ) {
sleep(1) ;
ARDrone_get_navdata( bob, &data ) ;
printf( "state %d - bat %d \n", data.state, data.bat ) ;
}
ARDrone_free( bob ) ;
return 0 ;
}
/* test gps
version du 29/11/13 BJ
test de navdata.state
//00 | FLY MASK : (0) ardrone is landed, (1) ardrone is flying
//01 | VIDEO MASK : (0) video disable, (1) video enable
//02 | VISION MASK : (0) vision disable, (1) vision enable
//03 | CONTROL ALGO : (0) euler angles control, (1) angular speed control
//04 | ALTITUDE CONTROL ALGO : (0) altitude control inactive (1) altitude control active
//05 | USER feedback : Start button state
//06 | Control command ACK : (0) None, (1) one received
//07 | Trim command ACK : (0) None, (1) one received
//08 | Trim running : (0) none, (1) running
//09 | Trim result : (0) failed, (1) succeeded
//10 | Navdata demo : (0) All navdata, (1) only navdata demo
//11 | Navdata bootstrap : (0) options sent in all or demo mode, (1) no navdata options sent
//12 | Motors status : (0) Ok, (1) Motors Com is down
//13 |
//14 | Bit means that there's an hardware problem with gyrometers
//15 | VBat low : (1) too low, (0) Ok
//16 | VBat high (US mad) : (1) too high, (0) Ok
//17 | Timer elapsed : (1) elapsed, (0) not elapsed
//18 | Power : (0) Ok, (1) not enough to fly
//19 | Angles : (0) Ok, (1) out of range
//20 | Wind : (0) Ok, (1) too much to fly
//21 | Ultrasonic sensor : (0) Ok, (1) deaf
//22 | Cutout system detection : (0) Not detected, (1) detected
//23 | PIC Version number OK : (0) a bad version number, (1) version number is OK
//24 | ATCodec thread ON : (0) thread OFF (1) thread ON
//25 | Navdata thread ON : (0) thread OFF (1) thread ON
//26 | Video thread ON : (0) thread OFF (1) thread ON
//27 | Acquisition thread ON : (0) thread OFF (1) thread ON
//28 | CTRL watchdog : (1) delay in control execution (> 5ms), (0) control is well scheduled // Check frequency of control loop
//29 | ADC Watchdog : (1) delay in uart2 dsr (> 5ms), (0) uart2 is good // Check frequency of uart2 dsr (com with adc)
//30 | Communication Watchdog : (1) com problem, (0) Com is ok // Check if we have an active connection with a client
//31 Emergency landing : (0) no emergency, (1) emergency
*/
int main ( int argc, char** argv, char** envv ) {
int i , US, TRIM, BAT;
ARDrone* bob ;
NavData data ;
float latitude;
int64_t lat;
bob = ARDrone_new( "192.168.10.3" ) ;
ARDrone_connect( bob, 1 ) ;
ARDrone_trim ( bob ) ;
ARDrone_land (bob);
i=1;
while(i<40){
ARDrone_get_navdata( bob, &data ) ;
printf("données gps latitude %lf longitude %lf elevation %lf \n",data.lat, data.lon, data.elevation);
printf("données gps hdop %lf vdop %lf \n", data.hdop, data.vdop);
sleep(2);
i=i+1;
}
ARDrone_free( bob ) ;
return 0 ;
}
int main ( int argc, char** argv, char** envv ) {
int iFrame ;
ARDrone* bob ;
YUV420Image* img ;
img = YUV420Image_new(640,480) ;
bob = ARDrone_new( "192.168.1.1" ) ;
ARDrone_connect( bob ) ;
ARDrone_trim ( bob ) ;
iFrame = 0 ;
while(1) {
ARDrone_get_YUV420Image ( bob, img ) ;
SaveFrame( img, iFrame ) ;
iFrame++ ;
usleep( 50000 ) ;
}
ARDrone_free( bob ) ;
return 0 ;
}
int main ( int argc, char** argv, char** envv ) {
int iFrame ;
ARDrone* bob ;
RGB24Image* img ;
img = RGB24Image_new(640,480) ;
bob = ARDrone_new( "192.168.1.1" ) ;
ARDrone_connect( bob ) ;
ARDrone_trim ( bob ) ;
iFrame = 0 ;
ARDrone_zap_camera ( bob, 1 ) ;
sleep(2) ;
for ( iFrame=0; iFrame<100; iFrame++ ) {
ARDrone_get_RGB24Image ( bob, img ) ;
SaveFrame( img, iFrame ) ;
}
ARDrone_zap_camera ( bob, 2 ) ;
sleep(2) ;
for ( iFrame=100; iFrame<200; iFrame++ ) {
ARDrone_get_RGB24Image ( bob, img ) ;
SaveFrame( img, iFrame ) ;
}
ARDrone_free( bob ) ;
return 0 ;
}
int main ( int argc, char** argv, char** envv ) {
ARDrone* bob ;
bob = ARDrone_new( "192.168.1.1" ) ;
ARDrone_connect( bob ) ;
ARDrone_trim ( bob ) ;
sleep(2) ;
ARDrone_reset_defaults( bob ) ;
ARDrone_free( bob ) ;
return 0 ;
}
int main ( int argc, char** argv, char** envv ) {
ARDrone* bob ;
GLWindow* win ;
YUV420Image* img ;
RGB24Image* img2 ;
unsigned char* picture;
unsigned char* stream;
//int i;
img = YUV420Image_new(640,360) ; // ou 480
img2 = RGB24Image_new(640,360);
bob = ARDrone_new( "192.168.1.1" ) ;
ARDrone_connect( bob ) ;
ARDrone_trim ( bob ) ;
sleep(2);
ARDrone_zap_camera ( bob, 2 ) ;
sleep(1);
win = GLWindow_new ("glview", 640, 360, 0 ) ;
while(1)
{
ARDrone_get_YUV420Image ( bob, img ) ;
picture=convYUV( img );
stream=convYUVtoRGB(picture) ;
//for(i=0;i<30;i++)
//{
// printf("%d ",picture[i]);
//}
ARDrone_get_RGB24Image ( bob, img2 ) ;
GLWindow_draw_rgb(win,picture ); //img2->pixels
GLWindow_swap_buffers(win);
XEvent event;
while ( GLWindow_next_event( win, &event ) )
{
GLWindow_process_events( win, event );
}
//printf("\n\n");
usleep( 50000 ) ;
//sleep(8);
}
ARDrone_free( bob ) ;
free(picture);
free(stream);
return 0 ;
}
