// --------------------------------------------------------------------------
// ARDrone::open(IP address of AR.Drone)
// Description : Initialize the AR.Drone.
// Return value : SUCCESS: 1 FAILURE: 0
// --------------------------------------------------------------------------
int ARDrone::open(const char *ardrone_addr)
{
// Initialize FFmpeg
av_register_all();
avformat_network_init();
av_log_set_level(AV_LOG_QUIET);
// Save IP address
strncpy(ip, ardrone_addr, 16);
// Get version information
if (!getVersionInfo()) return 0;
printf("AR.Drone Ver. %d.%d.%d\n", version.major, version.minor, version.revision);
//// getVersionInfo() takes too long before realising the drone is not connected
//// it call tcp open, which makes a socket and tries to connect to it
//// using the connect method, which has too big of a timeout.
//// making a smaller, 5 sec timeout before checking the verison to see if drone connected.
//// if not, return 0
//if (!version.major) {
// // create timeout and wait 5 sec
// printf("Waiting for drone to connect...\n");
// msleep(5000);
// // check again
// if (!version.major) return 0;
//}
// Initialize AT command
if (!initCommand()) return 0;
// Initialize Navdata
if (!initNavdata()) return 0;
// Initialize Video
if (!initVideo()) return 0;
// Wait for updating state
//msleep(500);
// Get configurations
if (!getConfig()) return 0;
// Reset emergency
resetWatchDog();
resetEmergency();
return 1;
}
// --------------------------------------------------------------------------
// ARDrone::open(IP address of AR.Drone)
// Description : Initialize the AR.Drone.
// Return value : SUCCESS: 1 FAILURE: 0
// --------------------------------------------------------------------------
int ARDrone::open(const char *ardrone_addr)
{
#if _WIN32
// Initialize WSA
WSAData wsaData;
WSAStartup(MAKEWORD(1,1), &wsaData);
#endif
// Initialize FFmpeg
av_register_all();
avformat_network_init();
av_log_set_level(AV_LOG_QUIET);
// Save IP address
strncpy(ip, ardrone_addr, 16);
// Get version information
if (!getVersionInfo()) return 0;
printf("AR.Drone Ver. %d.%d.%d\n", version.major, version.minor, version.revision);
// Get configurations
if (!getConfig()) return 0;
// Initialize AT command
if (!initCommand()) return 0;
// Initialize Navdata
if (!initNavdata()) return 0;
// Initialize Video
if (!initVideo()) return 0;
// Wait for updating state
msleep(500);
// Reset emergency
resetWatchDog();
resetEmergency();
return 1;
}
// --------------------------------------------------------------------------
// ARDrone::landing()
// Description : Land the AR.Drone.
// Return value : NONE
// --------------------------------------------------------------------------
void ARDrone::landing(void)
{
resetWatchDog();
resetEmergency();
sockCommand.sendf("AT*REF=%d,290717696\r", seq++);
}
// --------------------------------------------------------------------------
// ARDrone::takeoff()
// Description : Take off the AR.Drone.
// Return value : NONE
// --------------------------------------------------------------------------
void ARDrone::takeoff(void)
{
resetWatchDog();
resetEmergency();
sockCommand.sendf("AT*REF=%d,290718208\r", seq++);
}