Drone States¶
The ARDrone SDK 2.0.1 defines the following drone states in
ARDroneLib/Soft/Common/config.h
These states are presented as DroneState attributes in the library.
- class pyardrone.navdata.states.DroneState(data)[source]¶
- fly_mask¶
bit 0. FLY MASK : (0) ardrone is landed, (1) ardrone is flying
- video_mask¶
bit 1. VIDEO MASK : (0) video disable, (1) video enable
- vision_mask¶
bit 2. VISION MASK : (0) vision disable, (1) vision enable
- control_mask¶
bit 3. CONTROL ALGO : (0) euler angles control, (1) angular speed control
- altitude_mask¶
bit 4. ALTITUDE CONTROL ALGO : (0) altitude control inactive (1) altitude control active
- user_feedback_start¶
bit 5. USER feedback : Start button state
- command_mask¶
bit 6. Control command ACK : (0) None, (1) one received
- camera_mask¶
bit 7. CAMERA MASK : (0) camera not ready, (1) Camera ready
- travelling_mask¶
bit 8. Travelling mask : (0) disable, (1) enable
- usb_mask¶
bit 9. USB key : (0) usb key not ready, (1) usb key ready
- navdata_demo_mask¶
bit 10. Navdata demo : (0) All navdata, (1) only navdata demo
- navdata_bootstrap¶
bit 11. Navdata bootstrap : (0) options sent in all or demo mode, (1) no navdata options sent
- motors_mask¶
bit 12. Motors status : (0) Ok, (1) Motors problem
- com_lost_mask¶
bit 13. Communication Lost : (1) com problem, (0) Com is ok
- software_fault¶
bit 14. Software fault detected - user should land as quick as possible (1)
- vbat_low¶
bit 15. VBat low : (1) too low, (0) Ok
- user_el¶
bit 16. User Emergency Landing : (1) User EL is ON, (0) User EL is OFF
- timer_elapsed¶
bit 17. Timer elapsed : (1) elapsed, (0) not elapsed
- magneto_needs_calib¶
bit 18. Magnetometer calibration state : (0) Ok, no calibration needed, (1) not ok, calibration needed
- angles_out_of_range¶
bit 19. Angles : (0) Ok, (1) out of range
- wind_mask¶
bit 20. WIND MASK: (0) ok, (1) Too much wind
- ultrasound_mask¶
bit 21. Ultrasonic sensor : (0) Ok, (1) deaf
- cutout_mask¶
bit 22. Cutout system detection : (0) Not detected, (1) detected
- pic_version_mask¶
bit 23. PIC Version number OK : (0) a bad version number, (1) version number is OK
- atcodec_thread_on¶
bit 24. ATCodec thread ON : (0) thread OFF (1) thread ON
- navdata_thread_on¶
bit 25. Navdata thread ON : (0) thread OFF (1) thread ON
- video_thread_on¶
bit 26. Video thread ON : (0) thread OFF (1) thread ON
- acq_thread_on¶
bit 27. Acquisition thread ON : (0) thread OFF (1) thread ON
- ctrl_watchdog_mask¶
bit 28. CTRL watchdog : (1) delay in control execution (> 5ms), (0) control is well scheduled
- adc_watchdog_mask¶
bit 29. ADC Watchdog : (1) delay in uart2 dsr (> 5ms), (0) uart2 is good
- com_watchdog_mask¶
bit 30. Communication Watchdog : (1) com problem, (0) Com is ok
- emergency_mask¶
bit 31. Emergency landing : (0) no emergency, (1) emergency