Changing parameters will now affect the drone, rather than doing nothing!

.gitignore

@@ -3,6 +3,10 @@
 *.lo
 *.o
 
+# Project Files
+*.sublime-workspace
+*.sublime-project
+
 # Compiled Dynamic libraries
 *.so
 
@@ -12,4 +16,16 @@
 *.a
 /nbproject/private/
 Makefile
-/build/CMakeFiles/
+/build/CMakeFiles/
+
+# Build results
+/ARDroneLib/FFMPEG/Includes
+/ARDroneLib/FFMPEG/FFMPEG
+/ARDroneLib/Soft/Build/
+/ARDroneLib/Soft/Common/generated_custom.h
+/bin
+/build/
+/msg_gen
+/srv_gen
+/src/ardrone_autonomy
+scripts/cache/DEBS_avail

README.md

@@ -6,6 +6,7 @@
 
 ### Updates
 
+- *November 9 2012*: Critical Bug in sending configurations to drone fixed ([More info](https://github.com/AutonomyLab/ardrone_autonomy/issues/24)). Seperate topic for magnetometer data added ([More info](https://github.com/AutonomyLab/ardrone_autonomy/pull/25)).
 - *September 5 2012*: Experimental automatic IMU bias removal.
 - *August 27 2012*: Thread-safe SDK data access. Synchronized `navdata` and `camera` topics.
 - *August 20 2012*: The driver is now provides ROS standard camera interface.
@@ -33,6 +34,8 @@ The installation follows the same steps needed usually to compile a ROS driver.
         $ roscd ardrone_autonomy
         ```
 
+**NOTE (For advanced users):** Instead of the `master` branch you can use the `dev-unstable` branch for the latest _unstable_ code which may contain bug fixes or new features. This is the branch that all developments happen on. Please use this branch to submit pull requests.
+
 * Compile the AR-Drone SDK: The driver contains a slightly patched version of AR-Drone 2.0 SDK which is located in `ARDroneLib` directory. To compile it, execute the `./build_sdk.sh`. Any system-wide dependency will be managed by the SDK's build script. You may be asked to install some packages during the installation procedure (e.g `daemontools`). You can verify the success of the SDK's build by checking the `lib` folder.
 
         ```bash
@@ -85,12 +88,16 @@ Information received from the drone will be published to the `ardrone/navdata` t
 * `altd`: Estimated altitude (mm)
 * `vx`, `vy`, `vz`: Linear velocity (mm/s) [TBA: Convention]
 * `ax`, `ay`, `az`: Linear acceleration (g) [TBA: Convention]
-* `tm`: Timestamp of the data returned by the Drone
+* `tm`: Timestamp of the data returned by the Drone returned as a packed uint32 (sec:11; usec:21)
 
 ### IMU data
 
 The linear acceleration, angular velocity and orientation from the `Navdata` is also published to a standard ROS [`sensor_msgs/Imu`](http://www.ros.org/doc/api/sensor_msgs/html/msg/Imu.html) message. The units are all metric and the reference frame is in `Base` frame. This topic is experimental. The covariance values are specified by specific parameters.
 
+### Megnetometer Data
+
+The normalized magnetometer readings are also published to `ardrone/mag` topic as a standard ROS [`geometry_msgs/Vector3Stamped`](http://www.ros.org/doc/api/geometry_msgs/html/msg/Vector3Stamped.html) message.
+
 ### Cameras
 
 Both AR-Drone 1.0 and 2.0 are equipped with two cameras. One frontal camera pointing forward and one vertical camera pointing downward. This driver will create three topics for each drone: `ardrone/image_raw`, `ardrone/front/image_raw` and `ardrone/bottom/image_raw`. Each of these three are standard [ROS camera interface](http://ros.org/wiki/camera_drivers) and publish messages of type [image transport](http://www.ros.org/wiki/image_transport). The driver is also a standard [ROS camera driver](http://www.ros.org/wiki/camera_drivers), therefor if camera calibration information is provided either as a set of ROS parameters or appropriate `ardrone_front.yaml` and/or `ardrone_bottom.yaml`, the information will be published in appropriate `camera_info` topics. Please check the FAQ section for more information.
@@ -208,16 +215,20 @@ The Parrot's license, copyright and disclaimer for `ARDroneLib` are included wit
 
 ## Contributors
 
-- [Rachel Brindle](https://github.com/younata) - [Enhanced Navdata for AR-Drone 2.0](https://github.com/AutonomyLab/ardrone_autonomy/pull/2)
+- [Mike Hamer](https://github.com/mikehamer) - Added support for proper SDK2 way of configuring the Drone via parameter (critical bug fix). [More Info](https://github.com/AutonomyLab/ardrone_autonomy/pull/26)
+- [Sameer Parekh](https://github.com/sameerparekh) - [Seperate Magnetometer Topic](https://github.com/AutonomyLab/ardrone_autonomy/pull/25)
 - [Devmax](https://github.com/devmax) - [Flat Trim](https://github.com/AutonomyLab/ardrone_autonomy/issues/18) + Various
 comments for enhancements
+- [Rachel Brindle](https://github.com/younata) - [Enhanced Navdata for AR-Drone 2.0](https://github.com/AutonomyLab/ardrone_autonomy/pull/2)
 
 ## FAQ
 
 ### How can I report a bug, submit patches or ask for a feature?
 
 `github` offers a nice and convenient issue tracking and social coding platform, it can be used for bug reports and pull/feature request. This is the preferred method. You can also contact the author directly.
 
+If you want to submit a pull request, please submit to `dev-unstable` branch.
+
 ### Why the `ARDroneLib` has been patched?
 
 The ARDrone 2.0 SDK has been patched to 1) Enable the lib only build 2) Make its command parsing compatible with ROS and 3) To fix its weird `main()` function issue
@@ -279,20 +290,7 @@ After successful calibration, press the `commit` button in the UI. The driver wi
 
 ### Can I see a sample ardrone node in a launch file to learn how to set parameters?
 
-
-```xml
-
-<node name="ardrone_driver" pkg="ardrone_autonomy" type="ardrone_driver" output="screen">
-    <param name="max_bitrate" value="2000" />
-    <param name="bitrate" value="2000" />
-    <param name="do_imu_caliberation" value="true" />
-    <param name="tf_prefix" value="mydrone" />
-    <!-- Covariance Values (3x3 matrices reshaped to 1x9)-->
-    <rosparam param="cov/imu_la">[0.1, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.1]</rosparam>
-    <rosparam param="cov/imu_av">[1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]</rosparam>
-    <rosparam param="cov/imu_or">[1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 100000.0]</rosparam>
-</node>
-```
+Yes, you can check the `launch` folder for sample lanuch file.
 
 ## TODO
 

launch/ardrone.launch

@@ -0,0 +1,64 @@
+<!-- This is a sample lanuch file, please change it based on your needs -->
+<launch>
+	<node name="ardrone_driver" pkg="ardrone_autonomy" type="ardrone_driver" output="screen" clear_params="true">
+	    <param name="outdoor" value="1" />
+	    <param name="flight_without_shell" value="1" />
+	    <param name="navdata_demo" value="0" />
+
+	    <param name="max_bitrate" value="2000" />
+	    <param name="bitrate" value="2000" />
+	    <param name="video_codec" value="129" />
+
+	    <param name="altitude_max" value="5000" />
+	    <param name="altitude_min" value="300" />
+
+	    <param name="control_vz_max" value="2000" />
+	    <param name="control_yaw" value="6.11" />
+	    <param name="euler_angle_max" value="0.35" />
+
+	    <param name="detect_type" value="10" />
+	    <param name="detections_select_h" value="128" />
+	    <param name="detections_select_v_hsync" value="32" />
+	    <param name="enemy_colors" value="3" />
+	    <param name="enemy_without_shell" value="0" />
+	    <param name="do_imu_caliberation" value="false" />
+	    <param name="tf_prefix" value="mydrone" />
+
+	    <param name="command_disable_hover" value="true" />
+	    <param name="command_always_send" value="true" />
+
+	    <param name="enable_navdata_demo" value="true" />
+		<param name="enable_navdata_time" value="true" />
+		<param name="enable_navdata_raw_measures" value="true" />
+		<param name="enable_navdata_phys_measures" value="true" />
+		<param name="enable_navdata_gyros_offsets" value="true" />
+		<param name="enable_navdata_euler_angles" value="true" />
+		<param name="enable_navdata_references" value="true" />
+		<param name="enable_navdata_trims" value="true" />
+		<param name="enable_navdata_rc_references" value="true" />
+		<param name="enable_navdata_pwm" value="true" />
+		<param name="enable_navdata_altitude" value="true" />
+		<param name="enable_navdata_vision_raw" value="true" />
+		<param name="enable_navdata_vision_of" value="true" />
+		<param name="enable_navdata_vision" value="true" />
+		<param name="enable_navdata_vision_perf" value="true" />
+		<param name="enable_navdata_trackers_send" value="true" />
+		<param name="enable_navdata_vision_detect" value="true" />
+		<param name="enable_navdata_watchdog" value="true" />
+		<param name="enable_navdata_adc_data_frame" value="true" />
+		<param name="enable_navdata_video_stream" value="true" />
+		<param name="enable_navdata_games" value="true" />
+		<param name="enable_navdata_pressure_raw" value="true" />
+		<param name="enable_navdata_magneto" value="true" />
+		<param name="enable_navdata_wind_speed" value="true" />
+		<param name="enable_navdata_kalman_pressure" value="true" />
+		<param name="enable_navdata_hdvideo_stream" value="true" />
+		<param name="enable_navdata_wifi" value="true" />
+		<param name="enable_navdata_zimmu_3000" value="true" />
+
+        <!-- Covariance Values (3x3 matrices reshaped to 1x9)-->
+        <rosparam param="cov/imu_la">[0.1, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.1]</rosparam>
+        <rosparam param="cov/imu_av">[1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]</rosparam>
+        <rosparam param="cov/imu_or">[1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 100000.0]</rosparam>
+	</node>
+</launch>

msg/matrix33.msg

@@ -0,0 +1,9 @@
+float32 m11
+float32 m12
+float32 m13
+float32 m21
+float32 m22
+float32 m23
+float32 m31
+float32 m32
+float32 m33

msg/navdata_adc_data_frame.msg

@@ -0,0 +1,6 @@
+Header header
+float64 drone_time
+uint16 tag
+uint16 size
+uint32 version
+uint8[] data_frame

msg/navdata_altitude.msg

@@ -0,0 +1,14 @@
+Header header
+float64 drone_time
+uint16 tag
+uint16 size
+int32 altitude_vision
+float32 altitude_vz
+int32 altitude_ref
+int32 altitude_raw
+float32 obs_accZ
+float32 obs_alt
+vector31 obs_x
+uint32 obs_state
+vector21 est_vb
+uint32 est_state

msg/navdata_demo.msg

@@ -0,0 +1,15 @@
+Header header
+float64 drone_time
+uint16 tag
+uint16 size
+uint32 ctrl_state
+uint32 vbat_flying_percentage
+float32 theta
+float32 phi
+float32 psi
+int32 altitude
+float32 vx
+float32 vy
+float32 vz
+uint32 num_frames
+uint32 detection_camera_type

msg/navdata_euler_angles.msg

@@ -0,0 +1,6 @@
+Header header
+float64 drone_time
+uint16 tag
+uint16 size
+float32 theta_a
+float32 phi_a

msg/navdata_games.msg

@@ -0,0 +1,6 @@
+Header header
+float64 drone_time
+uint16 tag
+uint16 size
+uint32 double_tap_counter
+uint32 finish_line_counter

msg/navdata_gyros_offsets.msg

@@ -0,0 +1,5 @@
+Header header
+float64 drone_time
+uint16 tag
+uint16 size
+float32[] offset_g

msg/navdata_hdvideo_stream.msg

@@ -0,0 +1,11 @@
+Header header
+float64 drone_time
+uint16 tag
+uint16 size
+uint32 hdvideo_state
+uint32 storage_fifo_nb_packets
+uint32 storage_fifo_size
+uint32 usbkey_size
+uint32 usbkey_freespace
+uint32 frame_number
+uint32 usbkey_remaining_time

msg/navdata_kalman_pressure.msg

@@ -0,0 +1,21 @@
+Header header
+float64 drone_time
+uint16 tag
+uint16 size
+float32 offset_pressure
+float32 est_z
+float32 est_zdot
+float32 est_bias_PWM
+float32 est_biais_pression
+float32 offset_US
+float32 prediction_US
+float32 cov_alt
+float32 cov_PWM
+float32 cov_vitesse
+int32 bool_effet_sol
+float32 somme_inno
+int32 flag_rejet_US
+float32 u_multisinus
+float32 gaz_altitude
+int32 Flag_multisinus
+int32 Flag_multisinus_debut

msg/navdata_magneto.msg

@@ -0,0 +1,18 @@
+Header header
+float64 drone_time
+uint16 tag
+uint16 size
+int16 mx
+int16 my
+int16 mz
+vector31 magneto_raw
+vector31 magneto_rectified
+vector31 magneto_offset
+float32 heading_unwrapped
+float32 heading_gyro_unwrapped
+float32 heading_fusion_unwrapped
+uint8 magneto_calibration_ok
+uint32 magneto_state
+float32 magneto_radius
+float32 error_mean
+float32 error_var

msg/navdata_phys_measures.msg

@@ -0,0 +1,11 @@
+Header header
+float64 drone_time
+uint16 tag
+uint16 size
+float32 accs_temp
+uint16 gyro_temp
+float32[] phys_accs
+float32[] phys_gyros
+uint32 alim3V3
+uint32 vrefEpson
+uint32 vrefIDG

msg/navdata_pressure_raw.msg

@@ -0,0 +1,8 @@
+Header header
+float64 drone_time
+uint16 tag
+uint16 size
+int32 up
+int16 ut
+int32 Temperature_meas
+int32 Pression_meas

msg/navdata_pwm.msg

@@ -0,0 +1,29 @@
+Header header
+float64 drone_time
+uint16 tag
+uint16 size
+uint8 motor1
+uint8 motor2
+uint8 motor3
+uint8 motor4
+uint8 sat_motor1
+uint8 sat_motor2
+uint8 sat_motor3
+uint8 sat_motor4
+float32 gaz_feed_forward
+float32 gaz_altitude
+float32 altitude_integral
+float32 vz_ref
+int32 u_pitch
+int32 u_roll
+int32 u_yaw
+float32 yaw_u_I
+int32 u_pitch_planif
+int32 u_roll_planif
+int32 u_yaw_planif
+float32 u_gaz_planif
+uint16 current_motor1
+uint16 current_motor2
+uint16 current_motor3
+uint16 current_motor4
+float32 altitude_der

msg/navdata_raw_measures.msg

@@ -0,0 +1,19 @@
+Header header
+float64 drone_time
+uint16 tag
+uint16 size
+int16[] raw_gyros
+int16[] raw_gyros_110
+uint32 vbat_raw
+uint16 us_debut_echo
+uint16 us_fin_echo
+uint16 us_association_echo
+uint16 us_distance_echo
+uint16 us_courbe_temps
+uint16 us_courbe_valeur
+uint16 us_courbe_ref
+uint16 flag_echo_ini
+uint16 nb_echo
+uint32 sum_echo
+int32 alt_temp_raw
+int16 gradient

msg/navdata_rc_references.msg

@@ -0,0 +1,9 @@
+Header header
+float64 drone_time
+uint16 tag
+uint16 size
+int32 rc_ref_pitch
+int32 rc_ref_roll
+int32 rc_ref_yaw
+int32 rc_ref_gaz
+int32 rc_ref_ag