API reference

This page introduces the APIs of CV Drone.

ARDrone::open(const char *ardrone_addr)

• ardrone_addr: IP adrress of AR.Drone.
• Initializes the AR.Drone.
• When it succeed it returns 1, if it failed it returns 0.

ARDrone::update(void)

• Updates all datas of the AR.Drone.
• When it succeed it returns 1, if it failed it returns 0.
• NOTE: Only for backward compatibility.

ARDrone::close(void)

• Finalizes the AR.Drone.
• This function is automatically called.

ARDrone::getImage(void)

• Obtains a frame from the camera of AR.Drone.
• When it succeed it returns cv::Mat or IplImage*, if it failed it returns an empty cv::Mat() or NULL.

ARDrone::getVersion(void)

• Obtains AR.Drone's version.

ARDrone::getRoll(void)

• Obtains AR.Drone's role angle [rad]

ARDrone::getPitch(void)

• Obtains AR.Drone's pitch angle [radian].

ARDrone::getYaw(void)

• Obtains AR.Drone's yaw angle [radian].

ARDrone::getAltitude(void)

• Obtains AR.Drone's altitude [m].

ARDrone::getVelocity(double *vx, double *vy, double *vz)

• *vx: The pointer to X (Front side of AR.Drone) velocity [m/s].
• *vy: The pointer to Y (Left side of AR.Drone) velocity [m/s].
• *vz: The pointer to Z (Upper side of AR.Drone) velocity [m/s].
• Obtains AR.Drone's velocities.
• This function returns a norm[m/s] of velocity vectors.

ARDrone::getPosition(double *latitude, double *longitude, double *elevation)

• *latitude: The pointer to north-latitude of AR.Drone 2.0.
• *longitude: The pointer to east-longitude of AR.Drone 2.0.
• *elevation: The pointer to elevation of AR.Drone 2.0.
• Obtains GPS information from the AR.Drone 2.0 Flight Recorder.
• This function returns 1 when the GPS data is reliable.

ARDrone::getBatteryPercentage(void)

• Obtains AR.Drone's battery percentage.

ARDrone::takeoff(void)

• Takes off the AR.Drone.

ARDrone::landing(void)

• Lands the AR.Drone.

ARDrone::emergency(void)

• Emergency stop.
• Not recommended.

ARDrone::move(double vx, double vy, double vr)

• vx: X velocity [m/s].
• vy: Y velocity [m/s].
• vr: Rotational speed [rad/s].
• Moves the AR.Drone in 2D plane.

ARDrone::move3D(double vx, double vy, double vz, double vr)

• vx: X velocity [m/s].
• vy: Y velocity [m/s].
• vz: Z velocity [m/s].
• vr: Rotational speed [rad/s].
• Moves the AR.Drone in 3D space.

ARDrone::onGround(void)

• Checks AR.Drone is on ground or not.
• If YES it returns 1, if NO it returns 0.

ARDrone::setFlatTrim()

• Calibrates the flat trim of AR.Drone.
• You should set your AR.Drone on a flat plane.

ARDrone::setCalibration(int device)

• device: Device ID (Magnetometer = 0)
• Calibrates the magnetometer of AR.Drone 2.0.

ARDrone::setCamera(int channel)

• channel: Camera channel (0-3).

• Changes the camera channel.

  

ARDrone::setAnimation(int id, int duration)

• id: Flight animation ID (0-20)
• duration: Duration [ms]
• Runs specified flight animation.

ARDrone::setLED(int id, float freq, int duration)

• id: LED animation ID (0-20)
• freq: Frequency [Hz]
• duration: Duration [s]
• Runs specified LED animation.

ARDrone::setVideoRecord(bool activate)

• activate: Start/stop recording
• Starts recording video in a USB key.
• You should set a USB key with > 100MB to your drone.
• Don't forget calling setVideoRecord(false) at the end of recording.
• You should disconnect AR.Drone first, when the video was not saved to USB.
• This function is only for AR.Drone 2.0.

ARDrone::setOutdoorMode(bool activate)

• activate: Enable/disable outdoor mode
• Changes current mode to outdoor mode.
• NOTE: This is an experimental function.

ARDrone::willGetNewImage(void)

• Checks whether the video thread has received a new image since the last getImage().
• NOTE: This is an experimental function.

For more details of ARDrone class, please see ardrone.h.

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