Real-time gyroscope data


#1

Hi

I want to develop my own application. The app runs on the desktop or a smartphone. It needs to read the real-time gyroscope data from the drone (raw data is preferred). Does Parrot AR Drone 2.0 provide APIs for such data?

Thank you


#2

The AR Drone can return plenty of publicly accessible raw data, including gyroscope data. The problem is, it’s all un-documented - so you don’t really know what you’re dealing with!

If you look at navdata_common.h in the AR Drone SDK (in ARDroneLib/Soft/Common) then you can see this structure:

typedef struct _navdata_raw_measures_t {
  ...
  uint16_t  raw_accs[NB_ACCS];    // filtered accelerometers
  int16_t   raw_gyros[NB_GYROS];  // filtered gyrometers
  int16_t   raw_gyros_110[2];     // gyrometers  x/y 110 deg/s
  ...
}

There are 3 (presumably X, Y, & Z) numbers in raw_gyros and 2 (X, Y?) in raw_gyros_110.

Then there are also these:

typedef struct _navdata_phys_measures_t {
  float32_t   accs_temp;
  uint16_t    gyro_temp;
  float32_t   phys_accs[NB_ACCS];
  float32_t   phys_gyros[NB_GYROS];
   ....
}

typedef struct _navdata_gyros_offsets_t {
  uint16_t   tag;
  uint16_t   size;
  float32_t offset_g[NB_GYROS];
}

But what the number actually represent, their min / max, etc… I can’t tell you.


#3

Thanks a lot!

I guess I still need to figure out the meaning of these data. But it’s really good news to know these data is accessible.