NavData

To access navdata:

>>> from pyardrone import ARDrone, at
>>> drone = ARDrone()
>>> drone.navdata_ready.wait()  # wait for first navdata
>>> drone.navdata
NavData(checksum=928, cks=Cks(value=928), metadata=Metadata(header=1432778632, state=1333790928, sequence_number=79367, vision_flag=1))
>>> drone.navdata.metadata
Metadata(header=1432778632, state=1333790928, sequence_number=79367, vision_flag=1)

For navdata demo data, according to the Developer Guide from parrot, you have to send an AT*CONFIG command, which is:

>>> drone.send(at.CONFIG('general:navdata_demo', True))

in pyardrone.

And drone.navdata.demo will be available then.

A higher level API for configuring ARDrone will be available in future versions, though.

The NavData Class

exception pyardrone.navdata.NavDataError

Bases: Exception

exception pyardrone.navdata.ChecksumError

Bases: NavDataError

exception pyardrone.navdata.IncorrectChecksum

Bases: ChecksumError

exception pyardrone.navdata.ChecksumNotPresent

Bases: ChecksumError

exception pyardrone.navdata.InvalidSize

Bases: NavDataError

class pyardrone.navdata.NavData(buffer)

Bases: SimpleNamespace

Container of navdata options.

NavData of ARDrone is available after navdata_ready.is_set() is True.

You can call navdata_ready.wait() to wait for it.

To fetch an option:

>>> drone.navdata.demo
Demo(altitude=0, ctrl_state=131072, detection_camera_rot=...)

List of navdata Options

This module corresponds to ARDroneLib/Soft/Common/navdata_common.h

class pyardrone.navdata.options.Metadata

Header of NavData.

Available via NavData.metadata

Corresponds to C struct navdata_t.

header

Should be 0x55667788

state

raw drone state, see also: DroneState

sequence_number

vision_flag

class pyardrone.navdata.options.OptionHeader

tag

Structure/Union member

size

Structure/Union member

class pyardrone.navdata.options.Demo

Minimal navigation data for all flights.

Corresponds to C struct navdata_demo_t.

ctrl_state

Flying state (landed, flying, hovering, etc.) defined in CTRL_STATES enum.

vbat_flying_percentage

battery voltage filtered (mV)

theta

UAV’s pitch in milli-degrees

phi

UAV’s roll in milli-degrees

psi

UAV’s yaw in milli-degrees

altitude

UAV’s altitude in centimeters

vx

UAV’s estimated linear velocity

vy

UAV’s estimated linear velocity

vz

UAV’s estimated linear velocity

num_frames

streamed frame index Not used -> To integrate in video stage.

detection_camera_rot

Deprecated ! Don’t use !

detection_camera_trans

Deprecated ! Don’t use !

detection_tag_index

Deprecated ! Don’t use !

detection_camera_type

Type of tag searched in detection

drone_camera_rot

Deprecated ! Don’t use !

drone_camera_trans

Deprecated ! Don’t use !

class pyardrone.navdata.options.Time

Timestamp

Corresponds to C struct navdata_time_t.

time

32 bit value where the 11 most significant bits represents the seconds, and the 21 least significant bits are the microseconds.

class pyardrone.navdata.options.RawMeasures

Raw sensors measurements

Corresponds to C struct navdata_raw_measures_t.

raw_accs

filtered accelerometers

raw_gyros

filtered gyrometers

raw_gyros_110

gyrometers x/y 110 deg/s

vbat_raw

battery voltage raw (mV)

us_debut_echo

Structure/Union member

us_fin_echo

Structure/Union member

us_association_echo

Structure/Union member

us_distance_echo

Structure/Union member

us_courbe_temps

Structure/Union member

us_courbe_valeur

Structure/Union member

us_courbe_ref

Structure/Union member

flag_echo_ini

Structure/Union member

nb_echo

Structure/Union member

sum_echo

Structure/Union member

alt_temp_raw

Structure/Union member

gradient

Structure/Union member

class pyardrone.navdata.options.PressureRaw

Corresponds to C struct navdata_pressure_raw_t.

up

Structure/Union member

ut

Structure/Union member

Temperature_meas

Structure/Union member

Pression_meas

Structure/Union member

class pyardrone.navdata.options.Magneto

Corresponds to C struct navdata_magneto_t.

mx

Structure/Union member

my

Structure/Union member

mz

Structure/Union member

magneto_raw

magneto in the body frame, in mG

magneto_rectified

Structure/Union member

magneto_offset

Structure/Union member

heading_unwrapped

Structure/Union member

heading_gyro_unwrapped

Structure/Union member

heading_fusion_unwrapped

Structure/Union member

magneto_calibration_ok

Structure/Union member

magneto_state

Structure/Union member

magneto_radius

Structure/Union member

error_mean

Structure/Union member

error_var

Structure/Union member

class pyardrone.navdata.options.WindSpeed

Corresponds to C struct navdata_wind_speed_t.

wind_speed

estimated wind speed [m/s]

wind_angle

estimated wind direction in North-East frame [rad] e.g. if wind_angle is pi/4, wind is from South-West to North-East

wind_compensation_theta

Structure/Union member

wind_compensation_phi

Structure/Union member

state_x1

Structure/Union member

state_x2

Structure/Union member

state_x3

Structure/Union member

state_x4

Structure/Union member

state_x5

Structure/Union member

state_x6

Structure/Union member

magneto_debug1

Structure/Union member

magneto_debug2

Structure/Union member

magneto_debug3

Structure/Union member

class pyardrone.navdata.options.KalmanPressure

Corresponds to C struct navdata_kalman_pressure_t.

offset_pressure

Structure/Union member

est_z

Structure/Union member

est_zdot

Structure/Union member

est_bias_PWM

Structure/Union member

est_biais_pression

Structure/Union member

offset_US

Structure/Union member

prediction_US

Structure/Union member

cov_alt

Structure/Union member

cov_PWM

Structure/Union member

cov_vitesse

Structure/Union member

bool_effet_sol

Structure/Union member

somme_inno

Structure/Union member

flag_rejet_US

Structure/Union member

u_multisinus

Structure/Union member

gaz_altitude

Structure/Union member

Flag_multisinus

Structure/Union member

Flag_multisinus_debut

Structure/Union member

class pyardrone.navdata.options.Zimmu3000

Corresponds to C struct navdata_zimmu_3000_t.

vzimmuLSB

Structure/Union member

vzfind

Structure/Union member

class pyardrone.navdata.options.PhysMeasures

Corresponds to C struct navdata_phys_measures_t.

accs_temp

Structure/Union member

gyro_temp

Structure/Union member

phys_accs

Structure/Union member

phys_gyros

Structure/Union member

alim3V3

3.3volt alim [LSB]

vrefEpson

ref volt Epson gyro [LSB]

vrefIDG

ref volt IDG gyro [LSB]

class pyardrone.navdata.options.GyrosOffsets

Corresponds to C struct navdata_gyros_offsets_t.

offset_g

Structure/Union member

class pyardrone.navdata.options.EulerAngles

Corresponds to C struct navdata_euler_angles_t.

theta_a

Structure/Union member

phi_a

Structure/Union member

class pyardrone.navdata.options.References

Corresponds to C struct navdata_references_t.

ref_theta

Structure/Union member

ref_phi

Structure/Union member

ref_theta_I

Structure/Union member

ref_phi_I

Structure/Union member

ref_pitch

Structure/Union member

ref_roll

Structure/Union member

ref_yaw

Structure/Union member

ref_psi

Structure/Union member

vx_ref

Structure/Union member

vy_ref

Structure/Union member

theta_mod

Structure/Union member

phi_mod

Structure/Union member

k_v_x

Structure/Union member

k_v_y

Structure/Union member

k_mode

Structure/Union member

ui_time

Structure/Union member

ui_theta

Structure/Union member

ui_phi

Structure/Union member

ui_psi

Structure/Union member

ui_psi_accuracy

Structure/Union member

ui_seq

Structure/Union member

class pyardrone.navdata.options.Trims

Corresponds to C struct navdata_trims_t.

angular_rates_trim_r

Structure/Union member

euler_angles_trim_theta

Structure/Union member

euler_angles_trim_phi

Structure/Union member

class pyardrone.navdata.options.RcReferences

Corresponds to C struct navdata_rc_references_t.

rc_ref_pitch

Structure/Union member

rc_ref_roll

Structure/Union member

rc_ref_yaw

Structure/Union member

rc_ref_gaz

Structure/Union member

rc_ref_ag

Structure/Union member

class pyardrone.navdata.options.Pwm

Corresponds to C struct navdata_pwm_t.

motor1

Structure/Union member

motor2

Structure/Union member

motor3

Structure/Union member

motor4

Structure/Union member

sat_motor1

Structure/Union member

sat_motor2

Structure/Union member

sat_motor3

Structure/Union member

sat_motor4

Structure/Union member

gaz_feed_forward

Structure/Union member

gaz_altitude

Structure/Union member

altitude_integral

Structure/Union member

vz_ref

Structure/Union member

u_pitch

Structure/Union member

u_roll

Structure/Union member

u_yaw

Structure/Union member

yaw_u_I

Structure/Union member

u_pitch_planif

Structure/Union member

u_roll_planif

Structure/Union member

u_yaw_planif

Structure/Union member

u_gaz_planif

Structure/Union member

current_motor1

Structure/Union member

current_motor2

Structure/Union member

current_motor3

Structure/Union member

current_motor4

Structure/Union member

altitude_prop

Structure/Union member

altitude_der

Structure/Union member

class pyardrone.navdata.options.Altitude

Corresponds to C struct navdata_altitude_t.

altitude_vision

Structure/Union member

altitude_vz

Structure/Union member

altitude_ref

Structure/Union member

altitude_raw

Structure/Union member

obs_accZ

Structure/Union member

obs_alt

Structure/Union member

obs_x

Structure/Union member

obs_state

Structure/Union member

est_vb

Structure/Union member

est_state

Structure/Union member

class pyardrone.navdata.options.VisionRaw

Corresponds to C struct navdata_vision_raw_t.

vision_tx_raw

Structure/Union member

vision_ty_raw

Structure/Union member

vision_tz_raw

Structure/Union member

class pyardrone.navdata.options.Vision

Corresponds to C struct navdata_vision_t.

vision_state

Structure/Union member

vision_misc

Structure/Union member

vision_phi_trim

Structure/Union member

vision_phi_ref_prop

Structure/Union member

vision_theta_trim

Structure/Union member

vision_theta_ref_prop

Structure/Union member

new_raw_picture

Structure/Union member

theta_capture

Structure/Union member

phi_capture

Structure/Union member

psi_capture

Structure/Union member

altitude_capture

Structure/Union member

time_capture

time in TSECDEC format (see config.h)

body_v

Structure/Union member

delta_phi

Structure/Union member

delta_theta

Structure/Union member

delta_psi

Structure/Union member

gold_defined

Structure/Union member

gold_reset

Structure/Union member

gold_x

Structure/Union member

gold_y

Structure/Union member

class pyardrone.navdata.options.VisionPerf

Corresponds to C struct navdata_vision_perf_t.

time_szo

Structure/Union member

time_corners

Structure/Union member

time_compute

Structure/Union member

time_tracking

Structure/Union member

time_trans

Structure/Union member

time_update

Structure/Union member

time_custom

Structure/Union member

class pyardrone.navdata.options.TrackersSend

Corresponds to C struct navdata_trackers_send_t.

locked

Structure/Union member

point

Structure/Union member

class pyardrone.navdata.options.VisionDetect

Corresponds to C struct navdata_vision_detect_t.

nb_detected

Structure/Union member

type

Structure/Union member

xc

Structure/Union member

yc

Structure/Union member

width

Structure/Union member

height

Structure/Union member

dist

Structure/Union member

orientation_angle

Structure/Union member

rotation

Structure/Union member

translation

Structure/Union member

camera_source

Structure/Union member

class pyardrone.navdata.options.VisionOf

Corresponds to C struct navdata_vision_of_t.

of_dx

Structure/Union member

of_dy

Structure/Union member

class pyardrone.navdata.options.Watchdog

Corresponds to C struct navdata_watchdog_t.

watchdog

Structure/Union member

class pyardrone.navdata.options.AdcDataFrame

Corresponds to C struct navdata_adc_data_frame_t.

version

Structure/Union member

data_frame

Structure/Union member

class pyardrone.navdata.options.VideoStream

Corresponds to C struct navdata_video_stream_t.

quant

quantizer reference used to encode frame [1:31]

frame_size

frame size (bytes)

frame_number

frame index

atcmd_ref_seq

atmcd ref sequence number

atcmd_mean_ref_gap

mean time between two consecutive atcmd_ref (ms)

atcmd_var_ref_gap

Structure/Union member

atcmd_ref_quality

estimator of atcmd link quality

out_bitrate

measured out throughput from the video tcp socket

desired_bitrate

last frame size generated by the video encoder

data1

Structure/Union member

data2

Structure/Union member

data3

Structure/Union member

data4

Structure/Union member

data5

Structure/Union member

tcp_queue_level

Structure/Union member

fifo_queue_level

Structure/Union member

class pyardrone.navdata.options.HdvideoStream

Corresponds to C struct navdata_hdvideo_stream_t.

hdvideo_state

Structure/Union member

storage_fifo_nb_packets

Structure/Union member

storage_fifo_size

Structure/Union member

usbkey_size

USB key in kbytes - 0 if no key present

usbkey_freespace

USB key free space in kbytes - 0 if no key present

frame_number

‘frame_number’ PaVE field of the frame starting to be encoded for the HD stream

usbkey_remaining_time

time in seconds

class pyardrone.navdata.options.Games

Corresponds to C struct navdata_games_t.

double_tap_counter

Structure/Union member

finish_line_counter

Structure/Union member

class pyardrone.navdata.options.Wifi

Corresponds to C struct navdata_wifi_t.

link_quality

Structure/Union member

class pyardrone.navdata.options.Cks

Corresponds to C struct navdata_cks_t.

value

Value of the checksum