added return home and roll commands #6
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added both return hoem and roll command methods to the drone. roll command has basic error checking but due to the commands being non-ack make it hard to confirm if it happens.
| if((roll_value >100) or (roll_value < -100)): | ||
| print("Drone Roll value must be between -100 and 100") | ||
| return | ||
| self.send_data('ardrone3.Piloting.PCMD',(0,roll_value,0,0,0,0)) |
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As stated in the documentation, you'll have to se the flag (1st argument) to 1 when setting a non-zero roll (or pitch) value.
Another problem is that the drone expects the PCMD to be periodic, and will revert to a "zero" (hovering) command if no PCMD is recieved in the last 500ms (in current firmwares). That's why we have an internal send loop in libARController for this command (and other periodic commands)
All in all, developing a proper drone.set_pcmd(...) command would require more work.
| self.send_data('ardrone3.Piloting.PCMD',(0,roll_value,0,0,0,0)) | ||
| def retHome(self): | ||
| """ | ||
| Send a return hoome command to the drone |
| print("Drone Roll value must be between -100 and 100") | ||
| return | ||
| self.send_data('ardrone3.Piloting.PCMD',(0,roll_value,0,0,0,0)) | ||
| def retHome(self): |
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To be consistant with the rest of the project, the function should be named return_home
| https://github.com/Parrot-Developers/arsdk-xml/blob/e73425074471c58561d04c85da4a6400b638779d/xml/ardrone3.xml#L143 | ||
| Sending 1 will send it home | ||
| """ | ||
| self.send_data('ardrone3.Piloting.NavigateHome',1) |
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You should propagate the return value of send_data to the caller (as it is done in the JumpingSumo.change_posture() function. I will add the same returns to other functions in the BebopDrone class
added both return hoem and roll command methods to the drone. roll command has basic error checking but due to the commands being non-ack make it hard to confirm if it happens.