ardrone_autonomy¶

Message types¶

• ardrone_autonomy/navdata_watchdog
• ardrone_autonomy/matrix33
• ardrone_autonomy/Navdata
• ardrone_autonomy/navdata_hdvideo_stream
• ardrone_autonomy/navdata_raw_measures
• ardrone_autonomy/navdata_time
• ardrone_autonomy/navdata_gyros_offsets
• ardrone_autonomy/navdata_kalman_pressure
• ardrone_autonomy/navdata_demo
• ardrone_autonomy/navdata_zimmu_3000
• ardrone_autonomy/navdata_vision_of
• ardrone_autonomy/navdata_altitude
• ardrone_autonomy/navdata_references
• ardrone_autonomy/navdata_games
• ardrone_autonomy/navdata_pwm
• ardrone_autonomy/navdata_video_stream
• ardrone_autonomy/navdata_trims
• ardrone_autonomy/navdata_magneto
• ardrone_autonomy/navdata_wind_speed
• ardrone_autonomy/navdata_vision_detect
• ardrone_autonomy/navdata_rc_references
• ardrone_autonomy/navdata_adc_data_frame
• ardrone_autonomy/navdata_trackers_send
• ardrone_autonomy/navdata_vision_perf
• ardrone_autonomy/navdata_pressure_raw
• ardrone_autonomy/navdata_wifi
• ardrone_autonomy/navdata_vision_raw
• ardrone_autonomy/navdata_euler_angles
• ardrone_autonomy/vector31
• ardrone_autonomy/navdata_vision
• ardrone_autonomy/navdata_phys_measures
• ardrone_autonomy/vector21

ardrone_autonomy/navdata_watchdog¶

Field:	header (std_msgs/Header) – drone_time (float64) – tag (uint16) – size (uint16) –

Header header
float64 drone_time
uint16 tag
uint16 size

ardrone_autonomy/matrix33¶

Field:	m11 (float32) – m12 (float32) – m13 (float32) – m21 (float32) – m22 (float32) – m23 (float32) – m31 (float32) – m32 (float32) – m33 (float32) –

float32 m11
float32 m12
float32 m13
float32 m21
float32 m22
float32 m23
float32 m31
float32 m32
float32 m33

ardrone_autonomy/Navdata¶

Field:

header (std_msgs/Header) – batteryPercent (float32) – state (uint32) – magX (int32) – magY (int32) – magZ (int32) – pressure (int32) – temp (int32) – wind_speed (float32) – wind_angle (float32) – wind_comp_angle (float32) – rotX (float32) – rotY (float32) – rotZ (float32) – altd (int32) – vx (float32) – vy (float32) – vz (float32) – ax (float32) – ay (float32) – az (float32) – motor1 (uint8) – motor2 (uint8) – motor3 (uint8) – motor4 (uint8) – tags_count (uint32) – tags_type[] (uint32) – tags_xc[] (uint32) – tags_yc[] (uint32) – tags_width[] (uint32) – tags_height[] (uint32) – tags_orientation[] (float32) – tags_distance[] (float32) – tm (float32) –

Header header

# Navdata including the ARDrone 2 specifica sensors
# (magnetometer, barometer)

# 0 means no battery, 100 means full battery
float32 batteryPercent

# 0: Unknown, 1: Init, 2: Landed, 3: Flying, 4: Hovering, 5: Test
# 6: Taking off, 7: Goto Fix Point, 8: Landing, 9: Looping
# Note: 3,7 seems to discriminate type of flying (isFly = 3 | 7)
uint32 state

int32 magX
int32 magY
int32 magZ

# pressure sensor
int32 pressure

# apparently, there was a temperature sensor added as well.
int32 temp

# wind sensing...
float32 wind_speed
float32 wind_angle
float32 wind_comp_angle

# left/right tilt in degrees (rotation about the X axis)
float32 rotX

# forward/backward tilt in degrees (rotation about the Y axis)
float32 rotY

# orientation in degrees (rotation about the Z axis)
float32 rotZ

# estimated altitude (cm)
int32 altd

# linear velocity (mm/sec)
float32 vx

# linear velocity (mm/sec)
float32 vy

# linear velocity (mm/sec)
float32 vz

#linear accelerations (unit: g)
float32 ax
float32 ay
float32 az

#motor commands (unit 0 to 255)
uint8 motor1
uint8 motor2
uint8 motor3
uint8 motor4

#Tags in Vision Detectoion
uint32 tags_count
uint32[] tags_type
uint32[] tags_xc
uint32[] tags_yc
uint32[] tags_width
uint32[] tags_height
float32[] tags_orientation
float32[] tags_distance

#time stamp
float32 tm

ardrone_autonomy/navdata_hdvideo_stream¶

Field:	header (std_msgs/Header) – drone_time (float64) – tag (uint16) – size (uint16) – hdvideo_state (uint32) – storage_fifo_nb_packets (uint32) – storage_fifo_size (uint32) – usbkey_size (uint32) – usbkey_freespace (uint32) – frame_number (uint32) – usbkey_remaining_time (uint32) –

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

ardrone_autonomy/navdata_raw_measures¶

Field:

header (std_msgs/Header) – drone_time (float64) – tag (uint16) – size (uint16) – raw_gyros[] (int16) – raw_gyros_110[] (int16) – vbat_raw (uint32) – 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 (uint16) – sum_echo (uint32) – alt_temp_raw (int32) – gradient (int16) –

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

ardrone_autonomy/navdata_time¶

Field:	header (std_msgs/Header) – drone_time (float64) – tag (uint16) – size (uint16) – time (uint32) –

Header header
float64 drone_time
uint16 tag
uint16 size
uint32 time

ardrone_autonomy/navdata_gyros_offsets¶

Field:	header (std_msgs/Header) – drone_time (float64) – tag (uint16) – size (uint16) – offset_g[] (float32) –

Header header
float64 drone_time
uint16 tag
uint16 size
float32[] offset_g

ardrone_autonomy/navdata_kalman_pressure¶

Field:

header (std_msgs/Header) – drone_time (float64) – tag (uint16) – size (uint16) – 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 (float32) – bool_effet_sol (int32) – somme_inno (float32) – flag_rejet_US (int32) – u_multisinus (float32) – gaz_altitude (float32) – Flag_multisinus (int32) – Flag_multisinus_debut (int32) –

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

ardrone_autonomy/navdata_demo¶

Field:	header (std_msgs/Header) – drone_time (float64) – tag (uint16) – size (uint16) – ctrl_state (uint32) – vbat_flying_percentage (uint32) – theta (float32) – phi (float32) – psi (float32) – altitude (int32) – vx (float32) – vy (float32) – vz (float32) – num_frames (uint32) – detection_camera_type (uint32) –

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

ardrone_autonomy/navdata_zimmu_3000¶

Field:	header (std_msgs/Header) – drone_time (float64) – tag (uint16) – size (uint16) – vzimmuLSB (int32) – vzfind (float32) –

Header header
float64 drone_time
uint16 tag
uint16 size
int32 vzimmuLSB
float32 vzfind

ardrone_autonomy/navdata_vision_of¶

Field:	header (std_msgs/Header) – drone_time (float64) – tag (uint16) – size (uint16) – of_dx[] (float32) – of_dy[] (float32) –

Header header
float64 drone_time
uint16 tag
uint16 size
float32[] of_dx
float32[] of_dy

ardrone_autonomy/navdata_altitude¶

Field:	header (std_msgs/Header) – drone_time (float64) – tag (uint16) – size (uint16) – altitude_vision (int32) – altitude_vz (float32) – altitude_ref (int32) – altitude_raw (int32) – obs_accZ (float32) – obs_alt (float32) – obs_x (ardrone_autonomy/vector31) – obs_state (uint32) – est_vb (ardrone_autonomy/vector21) – est_state (uint32) –

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

ardrone_autonomy/navdata_references¶

Field:

header (std_msgs/Header) – drone_time (float64) – tag (uint16) – size (uint16) – ref_theta (int32) – ref_phi (int32) – ref_theta_I (int32) – ref_phi_I (int32) – ref_pitch (int32) – ref_roll (int32) – ref_yaw (int32) – ref_psi (int32) – vx_ref (float32) – vy_ref (float32) – theta_mod (float32) – phi_mod (float32) – k_v_x (float32) – k_v_y (float32) – k_mode (uint32) – ui_time (float32) – ui_theta (float32) – ui_phi (float32) – ui_psi (float32) – ui_psi_accuracy (float32) – ui_seq (int32) –

Header header
float64 drone_time
uint16 tag
uint16 size
int32 ref_theta
int32 ref_phi
int32 ref_theta_I
int32 ref_phi_I
int32 ref_pitch
int32 ref_roll
int32 ref_yaw
int32 ref_psi
float32 vx_ref
float32 vy_ref
float32 theta_mod
float32 phi_mod
float32 k_v_x
float32 k_v_y
uint32 k_mode
float32 ui_time
float32 ui_theta
float32 ui_phi
float32 ui_psi
float32 ui_psi_accuracy
int32 ui_seq

ardrone_autonomy/navdata_games¶

Field:	header (std_msgs/Header) – drone_time (float64) – tag (uint16) – size (uint16) – double_tap_counter (uint32) – finish_line_counter (uint32) –

Header header
float64 drone_time
uint16 tag
uint16 size
uint32 double_tap_counter
uint32 finish_line_counter

ardrone_autonomy/navdata_pwm¶

Field:

header (std_msgs/Header) – drone_time (float64) – tag (uint16) – size (uint16) – motor1 (uint8) – motor2 (uint8) – motor3 (uint8) – motor4 (uint8) – sat_motor1 (uint8) – sat_motor2 (uint8) – sat_motor3 (uint8) – sat_motor4 (uint8) – gaz_feed_forward (float32) – gaz_altitude (float32) – altitude_integral (float32) – vz_ref (float32) – u_pitch (int32) – u_roll (int32) – u_yaw (int32) – yaw_u_I (float32) – u_pitch_planif (int32) – u_roll_planif (int32) – u_yaw_planif (int32) – u_gaz_planif (float32) – current_motor1 (uint16) – current_motor2 (uint16) – current_motor3 (uint16) – current_motor4 (uint16) – altitude_der (float32) –

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

ardrone_autonomy/navdata_video_stream¶

Field:	header (std_msgs/Header) – drone_time (float64) – tag (uint16) – size (uint16) – quant (uint8) – frame_size (uint32) – frame_number (uint32) – atcmd_ref_seq (uint32) – atcmd_mean_ref_gap (uint32) – atcmd_var_ref_gap (float32) – atcmd_ref_quality (uint32) – desired_bitrate (uint32) – data2 (int32) – data3 (int32) – data4 (int32) – data5 (int32) – fifo_queue_level (uint32) –

Header header
float64 drone_time
uint16 tag
uint16 size
uint8 quant
uint32 frame_size
uint32 frame_number
uint32 atcmd_ref_seq
uint32 atcmd_mean_ref_gap
float32 atcmd_var_ref_gap
uint32 atcmd_ref_quality
uint32 desired_bitrate
int32 data2
int32 data3
int32 data4
int32 data5
uint32 fifo_queue_level

ardrone_autonomy/navdata_trims¶

Field:	header (std_msgs/Header) – drone_time (float64) – tag (uint16) – size (uint16) – angular_rates_trim_r (float32) – euler_angles_trim_theta (float32) – euler_angles_trim_phi (float32) –

Header header
float64 drone_time
uint16 tag
uint16 size
float32 angular_rates_trim_r
float32 euler_angles_trim_theta
float32 euler_angles_trim_phi

ardrone_autonomy/navdata_magneto¶

Field:

header (std_msgs/Header) – drone_time (float64) – tag (uint16) – size (uint16) – mx (int16) – my (int16) – mz (int16) – magneto_raw (ardrone_autonomy/vector31) – magneto_rectified (ardrone_autonomy/vector31) – magneto_offset (ardrone_autonomy/vector31) – heading_unwrapped (float32) – heading_gyro_unwrapped (float32) – heading_fusion_unwrapped (float32) – magneto_calibration_ok (uint8) – magneto_state (uint32) – magneto_radius (float32) – error_mean (float32) – error_var (float32) –

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

ardrone_autonomy/navdata_wind_speed¶

Field:

header (std_msgs/Header) – drone_time (float64) – tag (uint16) – size (uint16) – wind_speed (float32) – wind_angle (float32) – wind_compensation_theta (float32) – wind_compensation_phi (float32) – state_x1 (float32) – state_x2 (float32) – state_x3 (float32) – state_x4 (float32) – state_x5 (float32) – state_x6 (float32) – magneto_debug1 (float32) – magneto_debug2 (float32) – magneto_debug3 (float32) –

Header header
float64 drone_time
uint16 tag
uint16 size
float32 wind_speed
float32 wind_angle
float32 wind_compensation_theta
float32 wind_compensation_phi
float32 state_x1
float32 state_x2
float32 state_x3
float32 state_x4
float32 state_x5
float32 state_x6
float32 magneto_debug1
float32 magneto_debug2
float32 magneto_debug3

ardrone_autonomy/navdata_vision_detect¶

Field:	header (std_msgs/Header) – drone_time (float64) – tag (uint16) – size (uint16) – nb_detected (uint32) – type[] (uint32) – xc[] (uint32) – yc[] (uint32) – width[] (uint32) – height[] (uint32) – dist[] (uint32) – orientation_angle[] (float32) – rotation[] (ardrone_autonomy/matrix33) – translation[] (ardrone_autonomy/vector31) – camera_source[] (uint32) –

Header header
float64 drone_time
uint16 tag
uint16 size
uint32 nb_detected
uint32[] type
uint32[] xc
uint32[] yc
uint32[] width
uint32[] height
uint32[] dist
float32[] orientation_angle
matrix33[] rotation
vector31[] translation
uint32[] camera_source

ardrone_autonomy/navdata_rc_references¶

Field:	header (std_msgs/Header) – drone_time (float64) – tag (uint16) – size (uint16) – rc_ref_pitch (int32) – rc_ref_roll (int32) – rc_ref_yaw (int32) – rc_ref_gaz (int32) – rc_ref_ag (int32) –

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

ardrone_autonomy/navdata_adc_data_frame¶

Field:	header (std_msgs/Header) – drone_time (float64) – tag (uint16) – size (uint16) – version (uint32) – data_frame[] (uint8) –

Header header
float64 drone_time
uint16 tag
uint16 size
uint32 version
uint8[] data_frame

ardrone_autonomy/navdata_trackers_send¶

Field:	header (std_msgs/Header) – drone_time (float64) – tag (uint16) – size (uint16) – locked[] (int32) – point[] (ardrone_autonomy/vector21) –

Header header
float64 drone_time
uint16 tag
uint16 size
int32[] locked
vector21[] point

ardrone_autonomy/navdata_vision_perf¶

Field:	header (std_msgs/Header) – drone_time (float64) – tag (uint16) – size (uint16) – time_corners (float32) – time_compute (float32) – time_tracking (float32) – time_trans (float32) – time_update (float32) – time_custom[] (float32) –

Header header
float64 drone_time
uint16 tag
uint16 size
float32 time_corners
float32 time_compute
float32 time_tracking
float32 time_trans
float32 time_update
float32[] time_custom

ardrone_autonomy/navdata_pressure_raw¶

Field:	header (std_msgs/Header) – drone_time (float64) – tag (uint16) – size (uint16) – up (int32) – ut (int16) – Temperature_meas (int32) – Pression_meas (int32) –

Header header
float64 drone_time
uint16 tag
uint16 size
int32 up
int16 ut
int32 Temperature_meas
int32 Pression_meas

ardrone_autonomy/navdata_wifi¶

Field:	header (std_msgs/Header) – drone_time (float64) – tag (uint16) – size (uint16) – link_quality (uint32) –

Header header
float64 drone_time
uint16 tag
uint16 size
uint32 link_quality

ardrone_autonomy/navdata_vision_raw¶

Field:	header (std_msgs/Header) – drone_time (float64) – tag (uint16) – size (uint16) – vision_tx_raw (float32) – vision_ty_raw (float32) – vision_tz_raw (float32) –

Header header
float64 drone_time
uint16 tag
uint16 size
float32 vision_tx_raw
float32 vision_ty_raw
float32 vision_tz_raw

ardrone_autonomy/navdata_euler_angles¶

Field:	header (std_msgs/Header) – drone_time (float64) – tag (uint16) – size (uint16) – theta_a (float32) – phi_a (float32) –

Header header
float64 drone_time
uint16 tag
uint16 size
float32 theta_a
float32 phi_a

ardrone_autonomy/vector31¶

Field:	x (float32) – y (float32) – z (float32) –

float32 x
float32 y
float32 z

ardrone_autonomy/navdata_vision¶

Field:

header (std_msgs/Header) – drone_time (float64) – tag (uint16) – size (uint16) – vision_state (uint32) – vision_misc (int32) – vision_phi_trim (float32) – vision_phi_ref_prop (float32) – vision_theta_trim (float32) – vision_theta_ref_prop (float32) – new_raw_picture (int32) – theta_capture (float32) – phi_capture (float32) – psi_capture (float32) – altitude_capture (int32) – time_capture (uint32) – body_v (ardrone_autonomy/vector31) – delta_phi (float32) – delta_theta (float32) – delta_psi (float32) – gold_defined (uint32) – gold_reset (uint32) – gold_x (float32) – gold_y (float32) –

Header header
float64 drone_time
uint16 tag
uint16 size
uint32 vision_state
int32 vision_misc
float32 vision_phi_trim
float32 vision_phi_ref_prop
float32 vision_theta_trim
float32 vision_theta_ref_prop
int32 new_raw_picture
float32 theta_capture
float32 phi_capture
float32 psi_capture
int32 altitude_capture
uint32 time_capture
vector31 body_v
float32 delta_phi
float32 delta_theta
float32 delta_psi
uint32 gold_defined
uint32 gold_reset
float32 gold_x
float32 gold_y

ardrone_autonomy/navdata_phys_measures¶

Field:	header (std_msgs/Header) – drone_time (float64) – tag (uint16) – size (uint16) – accs_temp (float32) – gyro_temp (uint16) – phys_accs[] (float32) – phys_gyros[] (float32) – alim3V3 (uint32) – vrefEpson (uint32) – vrefIDG (uint32) –

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

ardrone_autonomy/vector21¶

Field:	x (float32) – y (float32) –

float32 x
float32 y

Service types¶

• ardrone_autonomy/RecordEnable
• ardrone_autonomy/FlightAnim
• ardrone_autonomy/CamSelect
• ardrone_autonomy/LedAnim

ardrone_autonomy/RecordEnable¶

Field (Request):
	enable (bool) –
Field (Response):
	result (bool) –

bool enable
---
bool result

ardrone_autonomy/FlightAnim¶

Field (Request):
	type (uint8) – duration (uint32) –
Field (Response):
	result (bool) –

0 : ARDRONE_ANIM_PHI_M30_DEG 1 : ARDRONE_ANIM_PHI_30_DEG 2 : ARDRONE_ANIM_THETA_M30_DEG 3 : ARDRONE_ANIM_THETA_30_DEG 4 : ARDRONE_ANIM_THETA_20DEG_YAW_200DEG 5 : ARDRONE_ANIM_THETA_20DEG_YAW_M200DEG 6 : ARDRONE_ANIM_TURNAROUND 7 : ARDRONE_ANIM_TURNAROUND_GODOWN 8 : ARDRONE_ANIM_YAW_SHAKE 9 : ARDRONE_ANIM_YAW_DANCE 10: ARDRONE_ANIM_PHI_DANCE 11: ARDRONE_ANIM_THETA_DANCE 12: ARDRONE_ANIM_VZ_DANCE 13: ARDRONE_ANIM_WAVE 14: ARDRONE_ANIM_PHI_THETA_MIXED 15: ARDRONE_ANIM_DOUBLE_PHI_THETA_MIXED 16: ARDRONE_ANIM_FLIP_AHEAD 17: ARDRONE_ANIM_FLIP_BEHIND 18: ARDRONE_ANIM_FLIP_LEFT 19: ARDRONE_ANIM_FLIP_RIGHT

# 0 : ARDRONE_ANIM_PHI_M30_DEG
# 1 : ARDRONE_ANIM_PHI_30_DEG
# 2 : ARDRONE_ANIM_THETA_M30_DEG
# 3 : ARDRONE_ANIM_THETA_30_DEG
# 4 : ARDRONE_ANIM_THETA_20DEG_YAW_200DEG
# 5 : ARDRONE_ANIM_THETA_20DEG_YAW_M200DEG
# 6 : ARDRONE_ANIM_TURNAROUND
# 7 : ARDRONE_ANIM_TURNAROUND_GODOWN
# 8 : ARDRONE_ANIM_YAW_SHAKE
# 9 : ARDRONE_ANIM_YAW_DANCE
# 10: ARDRONE_ANIM_PHI_DANCE
# 11: ARDRONE_ANIM_THETA_DANCE
# 12: ARDRONE_ANIM_VZ_DANCE
# 13: ARDRONE_ANIM_WAVE
# 14: ARDRONE_ANIM_PHI_THETA_MIXED
# 15: ARDRONE_ANIM_DOUBLE_PHI_THETA_MIXED
# 16: ARDRONE_ANIM_FLIP_AHEAD
# 17: ARDRONE_ANIM_FLIP_BEHIND
# 18: ARDRONE_ANIM_FLIP_LEFT
# 19: ARDRONE_ANIM_FLIP_RIGHT

uint8 type

# In Milliseconds
# 0 For Default Duration (Recommended)
uint32 duration

---
bool result

ardrone_autonomy/CamSelect¶

Field (Request):
	channel (uint8) –
Field (Response):
	result (bool) –

uint8 channel
---
bool result

ardrone_autonomy/LedAnim¶

Field (Request):
	type (uint8) – freq (float32) – duration (uint8) –
Field (Response):
	result (bool) –

0 : BLINK_GREEN_RED 1 : BLINK_GREEN 2 : BLINK_RED 3 : BLINK_ORANGE 4 : SNAKE_GREEN_RED 5 : FIRE 6 : STANDARD 7 : RED 8 : GREEN 9 : RED_SNAKE 10: BLANK 11: LEFT_GREEN_RIGHT_RED 12: LEFT_RED_RIGHT_GREEN 13: BLINK_STANDARD

# 0 : BLINK_GREEN_RED
# 1 : BLINK_GREEN
# 2 : BLINK_RED
# 3 : BLINK_ORANGE
# 4 : SNAKE_GREEN_RED
# 5 : FIRE
# 6 : STANDARD
# 7 : RED
# 8 : GREEN
# 9 : RED_SNAKE
# 10: BLANK
# 11: LEFT_GREEN_RIGHT_RED
# 12: LEFT_RED_RIGHT_GREEN
# 13: BLINK_STANDARD
uint8 type

# In Hz
float32 freq

# In Seconds
uint8 duration 

---
bool result