Last update 2017.09.22
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Reference
- Node-bebop project: https://github.com/hybridgroup/node-bebop
- Parrot Developer official site: http://developer.parrot.com/ you can get official SDK and documents (now SDK3 is latest version): http://developer.parrot.com/docs/SDK3/
- Video Streaming since Bebop firmware 3.3 : http://cvdrone.de/stream-bebop-video-with-python-opencv.html
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Done
- minimum message handling (same level as node-bebop project) e.g.) TX: Ping, Flight mode control (take-off, land), pcmd (roll, pitch, yawrate, gaz) RX: Pong, FlyingStateChanged, GPS, velocity, attitude, altitude (not verified)
- message-control thread : RX and TX periodic commands - TX socket : shared now by message control and main user thread, so mutex protected - RX socket : only used in message control thread
- video thread : rtp and video decoding using opencv
- main thread : send flight mode commands and user input
- Log module : logging all status infos into a signle file (with date extension), mutex used for mti-thread control
- Log analyzer : matlab script
- video decoding: using OpenCV and directly FFMPEG decrease resolution (1/2 in hor and ver direction) save video into file
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TODO & Plan
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ITEM 1: velocity control: feedback control of vx, vy, vz Almost done.
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ITEM 2: add vision module and thread the interface between video decoding thread to be defined. e.g. call-back, pipe-queue, etc.
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ITEM3 : vision control
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KnownIssues
- WIFI distance : we purchased long-distance anttena dongle but need install linux drivers for them.
- Many unhanlded messages (doesnot seems so critical but have to clean up.)