uga_tum_ardrone¶

Message types¶

• uga_tum_ardrone/filter_state

uga_tum_ardrone/filter_state¶

Constant:	PTAM_IDLE (uint32):0 – PTAM_INITIALIZING (uint32):1 – PTAM_LOST (uint32):2 – PTAM_GOOD (uint32):3 – PTAM_BEST (uint32):4 – PTAM_TOOKKF (uint32):5 – PTAM_FALSEPOSITIVE (uint32):6 –
Field:	header (std_msgs/Header) – x (float32) – y (float32) – z (float32) – dx (float32) – dy (float32) – dz (float32) – roll (float32) – pitch (float32) – yaw (float32) – dyaw (float32) – scale (float32) – ptamState (uint32) – scaleAccuracy (float32) – droneState (uint32) – batteryPercent (float32) –

constants

# constants
uint32 PTAM_IDLE = 0           # PTAM not running.
uint32 PTAM_INITIALIZING = 1   # initialization (trails)
uint32 PTAM_LOST = 2           # ptam is running, but lost
uint32 PTAM_GOOD = 3           # tracking quality OK
uint32 PTAM_BEST = 4           # tracking quality best
uint32 PTAM_TOOKKF = 5         # just took a new KF (equivalent to PTAM_BEST)
uint32 PTAM_FALSEPOSITIVE = 6  # ptam thinks it is good, but its estimate is rejected.

# header
Header      header

# ----------------- raw 10d filter state ----------------------------
float32     x
float32     y
float32     z
float32     dx
float32     dy
float32     dz
float32     roll
float32     pitch
float32     yaw
float32     dyaw



# --------------------- other values ---------------------------
float32     scale         # ptam scale factor (PTAMpos * scale = WORLDpos).
uint32      ptamState
float32     scaleAccuracy # if scale is very inaccurate, this is about 0.5, and grows up to 1 (=very accurate).


# ----------------- propagated from drone messages: -----------------
# 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       droneState
float32      batteryPercent    # 0 means no battery, 100 means full battery

Service types¶

• uga_tum_ardrone/SetStayTime
• uga_tum_ardrone/SetInitialReachDistance
• uga_tum_ardrone/SetReference
• uga_tum_ardrone/SetMaxControl
• uga_tum_ardrone/SetStayWithinDistance

uga_tum_ardrone/SetStayTime¶

Field (Request):
	duration (float32) –
Field (Response):
	status (bool) –

Request: time to stay to validate reach

# Request: time to stay to validate reach
float32 duration
---
# Responce: ok | ko
bool status

uga_tum_ardrone/SetInitialReachDistance¶

Field (Request):
	distance (float32) –
Field (Response):
	status (bool) –

Request: initial reach speed

# Request: initial reach speed
float32 distance
---
# Responce: ok | ko
bool status

uga_tum_ardrone/SetReference¶

Field (Request):
	x (float32) – y (float32) – z (float32) – heading (float32) –
Field (Response):
	status (bool) –

Request: reference pose

# Request: reference pose
float32 x
float32 y
float32 z
float32 heading
---
# Responce: ok | ko
bool status

uga_tum_ardrone/SetMaxControl¶

Field (Request):
	speed (float32) –
Field (Response):
	status (bool) –

Request: max control speed

# Request: max control speed
float32 speed
---
# Responce: ok | ko
bool status

uga_tum_ardrone/SetStayWithinDistance¶

Field (Request):
	distance (float32) –
Field (Response):
	status (bool) –

Request: distance to stay to validate reach

# Request: distance to stay to validate reach
float32 distance
---
# Responce: ok | ko
bool status