High Level API

The ARDrone Object

class pyardrone.ARDrone(*, host='192.168.1.1', at_port=5556, navdata_port=5554, video_port=5555, watchdog_interval=0.5, timeout=0.01, bind=True, connect=True)[source]

The class representing a Parrot AR.Drone

Parameters:

  • host – address of the drone

  • at_port – AT command port

  • navdata_port – NavData port

  • video_port – Video port

  • control_port – Control port

  • watchdog_interval – seconds between each COMWDG sent in background

  • bind – whether to bind() the sockets; this option exists for testing

  • connect – connect to the drone at init

takeoff()

Sends the takeoff command.

land()

Sends the land command.

hover()

Sends the hover command.

move(*, forward=0, backward=0, left=0, right=0, up=0, down=0, cw=0, ccw=0)

Moves the drone.

To move the drone forward at 0.8x speed:

>>> drone.move(forward=0.8)

To move the drone right at 0.5x speed and upward at full speed:

>>> drone.move(right=0.5, up=1)

To rotate clockwise at 0.7x speed:

>>> drone.move(cw=0.7)
Parameters:

  • forward – speed for moving forward

  • backward – speed for moving backward

  • left – speed for moving left

  • right – speed for moving right

  • up – speed for moving up

  • down – speed for moving down

  • cw – speed for rotating clockwise

  • ccw – speed for rotating counter-clockwise

navdata_ready

A threading.Event indicating whether navdata and state is ready.

drone.navdata_ready.is_set() # bool: whether navdata is ready
drone.navdata_ready.wait()   # wait until navdata is ready
navdata

Latest NavData from drone.

This is an attribute which gets updated each time the drone sends navdata back to the computer.

See also

pyardrone.navdata.NavData

state

The latest state from NavData.

>>> drone.state.fly_mask
True  # drone is flying
>>> drone.state.video
True  # video is enabled

See DroneState for the full list of states.

Latest DroneState from drone.

send(command)
Parameters:

command (ATCommand) – command to send

Sends the command to the drone, with an internal increasing sequence number. this method is thread-safe.

Video Support

The following functions are available to the ARDrone class if opencv 3.0 (cv2) is installed.

class pyardrone.video.VideoMixin[source]

Mixin of ARDrone that provides video functionality

property frame

The latest frame from ARDrone, in opencv’s format.

property video_ready

A threading.Event object indicating whether video is ready.