AR.Drone 2.0 SDK 2.0开发者指南：核心技术与操作详解

Drone

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AR_Drone Developer Guide SDK 2.0 是一份针对 Parrot 公司的 AR.Drone 2.0 开发者的详细指南，发布于2012年5月21日。该文档是英文版，由 Stephane Piskorski、Nicolas Brulez 等人准备并经批准，旨在帮助开发者深入了解和利用 AR.Drone 的各种功能。文档内容涵盖了 AR.Drone 的关键组件和技术特性。 1. **SDK文档介绍** SDK（Software Development Kit）是开发工具包，它提供了必要的工具和文档，以便开发者能够创建与 AR.Drone 2.0 智能无人机交互的应用程序。这份文档作为开发者入门的基石，为开发者提供了一个全面的框架，包括如何理解和操作无人机的硬件、软件以及接口。 2. **AR.Drone 2.0概述** - **四旋翼无人机介绍**：文档首先简要介绍了 AR.Drone 的基本构造，它是基于四旋翼设计的无人机，具有高度的灵活性和稳定性。 - **室内和室外设计配置**：指南强调了无人机在不同环境中的适用性，包括室内飞行的安全设置和室外环境下的性能优化。 - **发动机和电池**：文档详细解释了 AR.Drone 的动力系统，包括锂电池的使用，以及电池管理的重要性，以确保无人机的续航能力。 3. **运动传感器**：提供了关于加速度计、陀螺仪和磁力计等运动传感器的详细介绍，这些传感器对于无人机的姿态控制和导航至关重要。 4. **基础和辅助操控**：介绍了如何通过遥控器或高级编程实现无人机的基本飞行控制，如起飞、降落、移动和悬停，以及AR.Drone如何利用内置算法进行辅助操控，如自动跟踪目标。 5. **高级操作和主机倾斜传感器**：高级开发者可以学习如何利用 AR.Drone 与主机设备（如 iPhone 或 iPod Touch）之间的连接，通过倾斜传感器进行更复杂的飞行控制和特技动作。 6. **版权和商标声明**：文档结尾部分包含了版权和商标信息，强调所有权利保留，并提醒读者 Parrot 和相关合作伙伴的商标使用权。这份文档是开发人员进行 AR.Drone 项目的基础参考资料，无论你是希望进行简单的应用程序开发还是深入研究无人机的控制系统，它都是不可或缺的资源。通过阅读和理解这份指南，开发者将能够充分利用 AR.Drone 的潜力，创造出创新的无人机应用。

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(a) Ultrasound sensor (b) Camera

Figure 2.3: Drone Sensors

2.5 Motion sensors

The AR.Drone has many motions sensors. They are located below the central hull.

The AR.Drone 1.0 features a 6 DOF, MEMS-based, miniaturized inertial measurement unit. It

provides the software with pitch, roll and yaw measurements.

Inertial measurements are used for automatic pitch, roll and yaw stabilization and assisted

tilting control. They are needed for generating realistic augmented reality effects.

An ultrasound telemeter provides with altitude measures for automatic altitude stabilization

and assisted vertical speed control.

A camera aiming towards the ground provides with ground speed measures for automatic

hovering and trimming.

The AR.Drone 2.0 Add 3 DOF to the IMU with a 3 axis magnetometer (mandatory for Absolute

Control mode). It also adds a pressure sensor to allow altitude measurements at any height.

2.6 Assisted control of basic manoeuvres

Usually quadrotor remote controls feature levers and trims for controlling UAV pitch, roll, yaw

and throttle. Basic manoeuvres include take-off, trimming, hovering with constant altitude,

and landing. It generally takes hours to a beginner and many UAV crashes before executing

safely these basic manoeuvres.

Thanks to the AR.Drone 2.0 onboard sensors take-off, hovering, trimming and landing are now

completely automatic and all manoeuvres are completely assisted.

• the drone own IP address plus a number between 1 and 4 (for AR.Drone 2.0 and

AR.Drone 1.0 after 1.1.3 version)

5. the client device can start sending requests the AR.Drone IP address and its services ports.

2.10 Communication services between the AR.Drone 2.0 and a

client device

Controlling the AR.Drone is done through 3 main communication services.

Controlling and conﬁguring the drone is done by sending AT commands on UDP port 5556.

The transmission latency of the control commands is critical to the user experience. Those

commands are to be sent on a regular basis (usually 30 times per second). The list of available

commands and their syntax is discussed in chapter 6.

Information about the drone (like its status, its position, speed, engine rotation speed, etc.),

called navdata, are sent by the drone to its client on UDP port 5554. These navdata also include

tags detection information that can be used to create augmented reality games. They are sent

approximatively 15 times per second in demo mode, and 200 times per second in full (debug)

mode.

A video stream is sent by the AR.Drone to the client device on port 5555 (UDP for AR.Drone

1.0 , TCP for AR.Drone 2.0 ). Images from this video stream can be decoded using the codec

included in this SDK. Its encoding format is discussed in section 7.2.

A fourth communication channel, called control port, can be established on TCP port 5559 to

transfer critical data, by opposition to the other data that can be lost with no dangerous effect.

It is used to retrieve conﬁguration data, and to acknowledge important information such as the

sending of conﬁguration information.

2.11 Differences between AR.Drone 2.0 and AR.Drone 1.0

Please note that this list is not an exhaustive list, but rather a reminder for developpers that

want to support both generations of AR.Drone

Sensors

AR.Drone 2.0 includes new hardware sensors : a 3 axis magnetometer, and a pressure sensor.

Other sensors were also changed, as the navigation boards are not the same.

These magnetometer is mandatory for the Absolute Control feature. The pressure sensor allows

the AR.Drone 2.0 to know its height regardless of the ultrasound performance (after 6 meters,

the ultrasound can’t measure the height)

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