Parrot AR.Drone VSM User Guide
Contents
1. 168 2 2 192 168 1 2 192 168 1 1 Figure 2 Multiple AR Drone vehicles connection In this case it is necessary to add addresses of all computers to U g CS VSM configuration Copyright 2015 Smart Projects Holdings Ltd 1 2 Mission execution specifics Missions DEC ArDrone VSM remote Vehicles Microdrones VSM localhost FOIE ne ArDrone VSM localhost Operators Ardupilot Mega VSM localhost Configuration Mikrokopter VSM localhost LOS 192 168 2 2 Remove Figure 3 Adding AR Drone VSM AR Drone vehicles in U g CS are identified by a MavLink ID which is also the same for all AR Drone vehicles thus does not allow to distinguish one vehicle from another To overcome this problem it is necessary to assign custom serial number for connected vehicle on each computer That is for example AR Drone on PC1 will have serial number 1 but AR Drone on PC2 will have serial number 2 Add these lines to the first VSM vehicle ardrone custom my_drone system_id 1 vehicle ardrone custom my_drone model_name AR drone 2 0 vehicle ardrone custom my_drone serial_number And these lines to the second one vehicle ardrone custom my_drone system_id 1 vehicle ardrone custom my_drone model_name AR drone 2 0 vehicle ardrone custom my_drone serial_number Of course you need to make sure that network connection between UCS and computers with VSMs exist 1 2 Mission execution specifics e Fail s2. 8 5 Mission dump path Optional e Name prefix mission_dump_path path to a file Description File to dump all generated missions to Timestamp is appended to the name Delete the entry to disable mission dumping All directories in the path to a file should be already created Example vehicle ardupilot mission_dump_path C tmp ardupilot_dump 2 Disclaimer DISCLAIMER OF WARRANTIES AND LIMITATIONS ON LIABILITY a SMART PROJECTS HOLDINGS LTD MAKE NO REPRESENTATIONS OR WARRANTIES REGARDING T HE ACCURACY OR COMPLETENESS OF ANY CONTENT OR FUNCTIONALITY OF THE PRODUCT AND ITS DOCUMENTATION b SMART PROJECTS HOLDINGS LTD DISCLAIM ALL WARRANTIES IN CONNECTION WITH THE PRODUCT AND WILL NOT BE LIABLE FOR ANY DAMAGE OR LOSS RESULTING FROM YOUR USE OF THE PRODUCT INCLUDING BUT NOT LIMITED TO INJURY OR DEATH OF USER OR ANY THIRD PERSONS OR DAMAGE TO PROPERTY c THE SOFTWARE IS SUPPLIED AS IS WITH NO WARRANTIES AND CAN BE USED ONLY AT USERS OWN RISK Copyright O 2015 Smart Projects Holdings Ltd
3. 1 AR Drone VSM User Guide 1 1 AR Drone VSM User Guide ES uses A I Parrot FAB JD Tre YOUR REALITY BECOMES A VIDEO GAME 1 1 First time vehicle connection See Disclaimer Only AR Drone version 2 0 is supported Please follow these steps to connect an AR Drone vehicle to the U g CS 1 AR Drone should have Flight Recorder installed See manufacturer manual for details as well as official web site http ardrone2 parrot com 2 The connection to the drone is based on Wi Fi network The drone creates Wi Fi access point typically named ardrone2_XXXXXX to which your PC should connect the one where VSM is running Attention Notes on ArDrone WiFi connectivity Always ensure you have connected to the ArDrone Wi Fi access point e Reconnect to ArDrone manually It is recommended to manually reconnect to ArDrone WiFi network after power cycling the Ar Drone E g after battery change This is because it can take significant time until OS reconnects to the WiFi automatically ArDrone does not support multiple controllers connected to single drone Please make sure your iPad or iPhone device is disconnected from ArDrone WiFi and you do not have ArDrone applications running on your iPad or iPhone before connecting to UgCS Please disconnect the computer running UgCS from ArDrone WiFi network before you try to con nect your iPad or iPhone to ArDrone WiFi 3 Once the drone is connected it should appear in vehicles list
4. Both Uplink and Downlink connections should be available Press Gain control and Edit to select corresponding vehicle profile and change the default vehicle name to be convenient for you Copyright 2015 Smart Projects Holdings Ltd 2 CONTENTS Ardrone 1 Save 2 nane SI CZ gt Profile ArDrone Vehicles Profiles ArduCopter 101 es Tail number ArduCopter 101 Payloads Platform ArduPilot fg Profile 3DR ArduCopter Quad Users Take off point altitude m 1 16 Downlink Yes Configuration Uplink Yes ArduCopter 103 es Tail number ArduCopter 103 gt Platform ArduPilot fg Profile 3DR ArduCopter Quad Take off point altitude m Downlink Yes Uplink Yes Figure 1 New AR Drone vehicle Vehicle profile needs to be assigned to allow mission planning with this vehicle Image needs to be assigned to see vehicle location on the map 1 1 1 Multiple drones connection All AR Drone vehicles in default configuration use the same IP address so it is not possible to connect multiple AR Drone vehicles to the same computer without doing non standard vehicle reconfiguration Community written instructions about how to do it exist but they are not officially supported by AR Drone manufacturer Parrot The easiest way how to connect multiple AR Drone vehicles to U g CS is to connect each vehicle to its own computer with AR Drone VSM running on it 192 168 1 2 192 168 1 1 ucs vsw ma 192 168 2 1 192
5. Parrot AR Drone VSM User Guide UgCS 2 5 242 SS usos H E Parrot AB rre Copyright O 2015 Smart Projects Holdings Ltd ii CONTENTS Contents 1 AR Drone VSM User Guide 1 TA Firstime vehicle COMMSCHON lt s i 804 aeG ad a LAN B22 eae eRe a bs 1 1 151 Multiple drones Connect c osr ss du da a RR Re ae RER 2 1 2 Mission execution specifics q oe secs soi rora Eie dw a ed Mae ol 3 1 3 Command execution specifics 4 1d Command visibili oca ete ete A ana Boe ed A ad a 4 1 5 Telemetry information specifics ceace saamassa edit iat retea 5 DR AMECA Ne ees Ee oe Se ei ee De ds UP al ds ne 5 LE OMITA MS co 2 Des Dei ma EE Dale is fl NON fun ad a eee Re 5 1 7 1 COMMON DAMES lt lt pi dun le goes de ab de ee ad A de 5 17 2 UDP connectionconiigurahon e lt cos na ges Duo ee og eg ge a 5 1 7 3 Model name and serial number override 6 1 8 Common configuration file parameters 6 18 1 UgCS server configuration o LL LL dd a ao deu teu 6 18 2 Logging conliguraiion 8 26 64 04 24 48 ee Dae ERY ee EE RA 7 18 3 Serial portconfiguration 640060508 bee ee 4 ee pe du a 7 1 8 4 Network connection configuration 8 165 Mission umppaih 6 2 c co reg ose pad de he pe rh be ee he 9 2 Disclaimer 9 Copyright 2015 Smart Projects Holdings Ltd
6. afe settings in mission properties are ignored ArDrone has the following harcoded fail safe settings Condition Behavior Notes On GPS signal loss Unknown Has not been tested Should be Wait or Land On WiFi signal loss Continue mission On low battery Land Mission waypoint actions supported by ArDrone Flight plan element action Support Notes Camera control No Camera trigger No Yaw Yes Land Yes Panorama No Copyright O 2015 Smart Projects Holdings Ltd 4 CONTENTS Takeoff Yes Wait Yes Camera by time No Camera by distance No Please carefully check your flight plan for maximum distance from ground station It is worth not to fly far maximum 30 50 meters from a GS because the AR Drone is equipped with a short range Wi Fi In each route for AR Drone you should always have landing points In any flight plan a landing point should be near you or starting point If you do not specify a landing point the AR Drone will loiter in air until empty battery Landing point ensures that AR Drone will automatically return and land at this point even if connection is lost between the drone and a GS It might be necessary to wait several minutes after the AR Drone is powered on in order to have strong GPS signal It was noticed that the AR Drone positioning quality is very poor if the flight is started instantly after powering on the drone ArDrone wil
7. ector vehicle ardrone detector udp_local_ address 0 0 0 0 udp_local_ port 14550 udp_address 192 168 1 1 udp_port 14551 Copyright 2015 Smart Projects Holdings Ltd 6 CONTENTS 1 7 3 Model name and serial number override Optional Name vehicle ardrone custom name system_id system id e Name vehicle ardrone custom name model_name model name e Name vehicle ardrone custom name serial_number serial number e Description In U g CS each vehicle is identified by a unique combination of model name and serial number represented as text strings By default Ar Drone vehicles are identified with a model name Ar Drone and serial number equal with the Mavlink system id read from the vehicle It can be overridden by these parameters where name is an arbitrary vehicle name system id is the original Mavlink system id which should be overridden model name is a new model name to be visible to the U g CS serial number is a new serial number to be visible to the U g CS Example vehicle ardrone custom my_drone system_id 2 vehicle ardrone custom my_drone model_name AR drone 2 0 vehicle ardrone custom my_drone serial_number 123456 1 8 Common configuration file parameters VSM configuration file is a text file specified via command line argument config of the VSM application Example config etc opt ugcs vsm ardupilot conf Each configuration parameter is defined as a line in the config
8. g file var opt ugcs log vsm ardupilot vsm ardupilot log Example log file C Users John AppData Local UGCS logs vsm ardupilot vsm ardupilot log 1 8 2 3 Maximum single file size Optional e Name log single_max_size size Description Maximum size of a single log file When maximum size is exceeded existing file is renamed by adding a time stamp and logging is continued into the empty file size should be defined as a number postfixed by a case insensitive multiplier Gb G Gbyte Gbytes for Giga bytes Mb M Mbyte Mbytes for Mega bytes Kb K Kbyte Kbytes for Kilo bytes no postfix for bytes Default 100 Mb Example log single_max_size 500 Mb 1 8 3 Serial port configuration Optional VSM which communicates with vehicles via serial ports should define at least one serial port otherwise VSM will not try to connect to the vehicles Port name and baud rate should be both defined prefix is unique for each VSM 1 8 3 1 Port name Optional Name prefix port index name regular expression e Description Ports which should be used to connect to the vehicles by given VSM Port names are defined by a regular expression which can be used to define just a single port or create a port filtering regular expression Expression is case insensitive on Windows port index is a arbitrary port indexing name e Example vehicle ardupilot serial_port 1 name dev ttyUSB 0 9 com 0 9 e Exa
9. l not accept missions where any waypoint is lower than ground elevation at base location It is not able to fly below starting point 1 3 Command execution specifics Command Support Notes ARM No DISARM No CONTINUE Yes Continue mission execution if previously paused by HOLD HOLD Yes Pause mission execution The drone will loiter at its current position It is possible to disconnect GS PC and connect by a native application for manual control RETURNHOME No TAKEOFF Yes Takeoff and start mission execution LAND Yes EMERGENCYLAND Yes Beware Drone will fall down immediately 1 4 Command visibility UGCS Client shows command buttons in different shades Highlighted buttons suggest recommended command s depending on vehicle current state You can always press all buttons regardless of shade Command visibility State Button highlighted Button shaded Armed LAND EMERGENCYLAND TAKEOFF Camera trigger HOLD CONTINUE Disarmed TAKEOFF Camera trigger LAND EMERGENCYLAND CONTINUE HOLD Armed state inconsistency Note Sometimes ArDrone will report itself as Armed even though it sits on the ground with motors off It can happen after LAND command issued from the client This is a flaw in ArDrone firmware and can be ignored The state returns to Disarmed after a power cycle Copyright O 2015 Smart Projects Holdings Ltd 1 5 Telemetry informati
10. le VSMs try to open the same port simultaneously Default yes e Example vehicle ardupilot serial_port use_serial_arbiter no 1 8 4 Network connection configuration Optional VSM which communicates with vehicles via network should define at least one network connection otherwise VSM will not try to connect to vehicles prefix is unique for each VSM 1 8 4 1 Local IP address for UDP Optional Name prefix detector con index udp_local_address IP address Description Local IP address to listen for incoming UDP packets on Specify 0 0 0 0 if you want to listen on all local addresses Example vehicle ardrone detector 1 udp_local_address 0 0 0 0 Copyright 2015 Smart Projects Holdings Ltd 2 Disclaimer 9 1 8 4 2 Local UDP port Optional e Name prefix detector con index udp_local_port port number e Description Local UDP port to listen for incoming packets on e Example vehicle ardrone detector 1 udp_local_port 14550 1 8 4 3 Remote IP address for UDP Optional e Name prefix detector con index udp_address IP address Description Remote IP address to send outgoing UDP packets to e Example vehicle ardrone detector 1 udp_address 192 168 1 1 1 8 4 4 Remote UDP port Optional e Name prefix detector con index udp_ port port number Description Remote UDP port to send outgoing packets to Example vehicle ardrone detector 1 udp_port 14551 1
11. mple vehicle ardupilot serial_port 2 name com42 Copyright O 2015 Smart Projects Holdings Ltd 8 CONTENTS 1 8 3 2 Port baud rate Optional e Name prefix port index baud baud index baud Description Baud rate for port opening baud index is an optional arbitrary name used when it is necessary to open the same serial port using multiple baud rates port index is an arbitrary port indexing name e Example vehicle ardupilot serial_port 1 baud 1 9600 e Example vehicle ardupilot serial_port 1 baud 2 57600 e Example vehicle ardupilot serial_port 2 baud 38400 1 8 3 3 Excluded port name Optional Name prefix exclude exclude index regular expression Description Ports which should not be used for vehicle access by this VSM Port names are defined by a regular expression which can be used to define just a single port or create a port filtering regular expression Filter is case insensitive on Windows exclude index is a arbitrary indexing name used when more than one exclude names are defined e Example vehicle ardupilot serial_port exclude 1 dev ttyS e Example vehicle ardupilot serial_port exclude com1 1 8 3 4 Serial port arbiter Optional e Name prefix use_serial_arbiter yes no e Description Enable yes or disable no serial port access arbitration between VSMs running on the same machine It is recommended to have it enabled to avoid situation when multip
12. on specifics 5 1 5 Telemetry information specifics Nothing specific 1 6 Video link The AR Drone has on board HD camera and broadcasts the video stream via Wi Fi To watch the video in U g CS you should add the video stream on the video configuration page Use this URL tcp 192 168 1 1 5555 Currently it is supported only for U g CS client running on the computer which has direct Wi Fi connection to AR Drone 1 7 Configuration file Default configuration file of the AR Drone VSM suits most needs and it is generally not necessary to modify it Configuration file location e On Microsoft Windows C Program Files x86 UgCS bin vsm ardrone conf e On GNU Linux etc opt ugcs vsm ardrone conf On Apple OS X Users user name Library Application Support UGCS configuration vsm ardrone conf 1 7 4 Common parameters All VSMs share a common set of configuration file parameters described in Common configuration file parameters AR Drone VSM configuration file prefix is vehicle ardrone 1 7 2 UDP connection configuration Mandatory At least one parameters set should be configured otherwise VSM will not try to connect to the vehicle See Network connection configuration Usually the AR Drone has IP address 192 168 1 1 assigned for its on board network interface The AR Drone side UDP portis 14551 the VSM side should use 14550 Example vehicle ardrone detector vehicle ardrone detector vehicle ardrone det
13. uration file with the following structure namel name2 nameX value where name1 name2 nameX are arbitrary names separated by dots to divide a variable into logical blocks and a value which can be a number value or a text string depending on the context See below the description about common VSM configuration parameters 1 8 1 UgCS server configuration 1 8 1 1 Listening address Mandatory Name ucs local_listening_address IP address Description Local TCP address to listen for incoming connections from UgCS server Specify 0 0 0 0 to listen from all local addresses Example ucs local_listening_address 0 0 0 0 1 8 1 2 Listening port Mandatory e Name ucs local_listening_port port number e Description Local TCP port to listen for incoming connections from UgCS server Default is 5556 e Example ucs local_listening_port 5556 Copyright O 2015 Smart Projects Holdings Ltd 1 8 Common configuration file parameters 7 1 8 2 Logging configuration 1 8 2 1 Level Optional Name log level error warning info debug Description Logging level Default info Example log level debug 1 8 2 2 File path Optional Name log file_path path to a file e Description Absolute or relative to the current directory path to a logging file Logging is disabled if logging file is not defined File should be writable Backslash should be escaped with a backslash Example lo
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