dagger

A Python implementation for controlling Pluto Drone.

Installation

Installing the package from source

1. Get the latest source by cloning this repo:

   git clone https://github.com/rohithvarma3000/dagger.git
   

2. Change to dagger folder:

   cd dagger
   

3. Install the dependencies:

   pip install -r requirements.txt
   

4. Install dagger:

   pip install .
   

Examples

Connecting to Pluto

import dagger
Pluto_IP = "192.168.4.1"
Pluto_PORT = 23
pluto = dagger.PlutoConnection()
pluto.connect((Pluto_IP, Pluto_PORT))

Intiating the SetRawRc Object for Controlling the pluto Drone using the RC params

rc = dagger.SetRawRC(pluto)

Arming the drone

rc.arm_drone()

Disarming the drone:

rc.disarm_drone()

General Information

• Website and Documentation
• Tutorial

How to Use?

Refer to our tutorial to get started with dagger

Working Principles

Sockets

We connected to Pluto first by connecting our device to the drone's hotspot, then we used TCP sockets to connect to the drone using IPV4 scheme and socket library in python to do the same. The server iss hosted at 192.168.4.1:23 We sent the MSP Packet data encoded as bytes to pluto using sockets, the details about the packet is explained below.

MSP Packets

We used MSP Packet scheme to communicate with Pluto, ie send commands, request data and calibrate the drone. The data of the packet was first encoded into bytes and then sent as a byte stream (array of bytes) to the drone. The basic structure of the packet has been explained below.

Structure of the Packet

Header	Direction	Message Length	Type of Payload	Message Data	Checksum
2 Bytes	1 Byte	1 Byte	1 Byte	N Bytes	1 Byte

Details of the Packet

Type of Byte	ASCII	Hexadecimal
Header	$M	0x24 0x4d
Direction	'<' or '>'	0x3c (to the drone) or 0x3e (from the drone)
Message Length		0x00 - 0xff
Type of Payload		0x01 - 0xff
Payload		Message Body encoded into N bytes
Checksum		XOR of Bytes of “Msg length”, “Command” and all bytes of “Payload”

MSP COMMANDS
MSP_RAW_IMU	MSP_ALTITUDE
MSP_SET_RAW_RC	MSP_ANALOG
MSP_SET_COMMAND	MSP_ACC_CALIBRATION
MSP_ATTITUDE	MSP_MAG_CALIBRATION

MODULE	DESCRIPTION
AccCalibration	Calibrates the accelerometer
Altitude	Get the Altitude data from Pluto
Attitude	Get the Attitude data from Pluto
Analog	Get the Analog data from Pluto
MagCalibration	Calibrates the magnetometer
PlutoConnection	Defines API Connection
PlutoControl	Controls for the Pluto Drone
RawIMU	Get the RawIMU data from Pluto
SetCommand	Sets the command in Pluto
SetRawRC	Controls the pluto using RC params