This program is a automatic flight toolkit for ArDrone 2. We implenented 5 flight tasks. They are [0] tracking color block, [1] tracking Aruco marker (http://www.uco.es/investiga/grupos/ava/node/26) [2] Flight along corridor , [3] Recorder video, [4] Auto landing.
The source is based on Tomas KRAJNIK's source code (http://labe.felk.cvut.cz/~tkrajnik/ardrone/), and Aruco (http://www.uco.es/investiga/grupos/ava/node/26). We fix some bugs, and change the SDL to Qt GUI.
- Aruco ( included)
- Qt4 (sudo apt-get install libqt4-core libqt4-dev)
- OpenCV (sudo apt-get install libcv2.4)
- ffmpeg (sudo apt-get install ffmpeg libavcodec53 libavcodec-dev libswscale2 libswscale-dev libavutil-dev libavutil51)
cd marker
make
cd ..
make
./ardrone_auto.e mode
[0] ColorTrack
[1] DetectMarker
[2] VanishPoint
[3] RecordVideo
[4] Landing
examples:
./ardrone_auto.e 0
(Tracking a color block)
./ardrone_auto.e 3
(Record video to file)
keyboard key:
[Enter] take off / land
[Space] auto-flight / manually
[a] yaw -
[d] yaw +
[Left] roll -
[Right] roll +
[Up] pitch -
[Down] pitch +
[s] hight +
[w] hight -
[z] camera 0
[x] camera 1
[p] screen capture
Only test on Linux Mint 16 64-bit.
- If can not connect to ArDrone2, please check 'ardone_CImageClient.cpp', change headerSize = 64 in function CimageClient::DoExecute()