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added return home and roll commands #6

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added return home and roll commands #6

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17 changes: 17 additions & 0 deletions src/Bybop_Device.py
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Original file line number Diff line number Diff line change
Expand Up @@ -430,6 +430,23 @@ def emergency(self):
An emergency request shuts down the motors.
"""
self.send_data('ardrone3.Piloting.Emergency')
def roll(self,roll_value):
"""
Have the drone move left or right depending on the roll_value.
Refer to here for more information: https://github.com/Parrot-Developers/arsdk-xml/blob/e73425074471c58561d04c85da4a6400b638779d/xml/ardrone3.xml#L66
NOTE: No acknowledgement is returned.
"""
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.

def retHome(self):
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To be consistant with the rest of the project, the function should be named return_home

"""
Send a return hoome command to the drone
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Typo

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


class JumpingSumo(Device):
def __init__(self, ip, c2d_port, d2c_port):
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