AR.Drone Parrot VSM User manual

Parrot AR.Drone VSM User Guide
UgCS 2.9.1230
Copyright © 2015, Smart Projects Holdings Ltd

ii CONTENTS
Contents
1 Connecting AR.Drone to UgCS 1
1.1 First time vehicle connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.1.1 Multiple drones connection .................................. 2
1.2 Mission execution specifics ...................................... 3
1.3 Command execution specifics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.4 Command visibility .......................................... 4
1.5 Telemetry information specifics .................................... 5
1.6 Video link ............................................... 5
1.7 Configuration file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.7.1 Common parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.7.2 UDP connection configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.7.3 Model name and serial number override . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.8 Common configuration file parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.8.1 UgCS server configuration .................................. 6
1.8.2 Logging configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.8.3 Mission dump path ...................................... 8
1.8.4 Automatic service discovery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.9 Communication with vehicle ...................................... 8
1.9.1 Serial port configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.9.2 TCP connection configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.9.3 UDP connection configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.9.4 Proxy configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2 Disclaimer 11
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1 Connecting AR.Drone to UgCS 1
1 Connecting AR.Drone to UgCS
1.1 First time vehicle connection
See Disclaimer.
Only AR.Drone version 2.0 is supported.
Please follow these steps to connect an AR.Drone vehicle to the U[g]CS:
1. AR.Drone should have Flight Recorder installed. See manufacturer manual for details as well as official
web-site: http://ardrone2.parrot.com/
2. The connection to the drone is based on Wi-Fi network. The drone creates Wi-Fi access point (typically
named "ardrone2_XXXXXX") to which your PC should connect (the one where VSM is running).
Attention
Notes on ArDrone WiFi connectivity:
• Always ensure you have connected to the ArDrone Wi-Fi access point.
• Reconnect to ArDrone manually.
It is recommended to manually reconnect to ArDrone WiFi network after power-cycling the Ar-
Drone. E.g. after battery change. This is because it can take significant time until OS reconnects
to the WiFi automatically.
• ArDrone does not support multiple controllers connected to single drone.
Please make sure your iPad or iPhone device is disconnected from ArDrone WiFi and you do not
have ArDrone applications running on your iPad or iPhone before connecting to UgCS.
Please disconnect the computer running UgCS from ArDrone WiFi network before you try to con-
nect your iPad or iPhone to ArDrone WiFi.
3. As soon as uplink and downlink connection is established, the vehicle should appear in the active vehicles list
in main (map) view. Open Vehicles window from main menu and choose the corresponding vehicle for editing
by clicking on the menu item and selecting Edit button. Now you can select the vehicle profile and change the
default vehicle name to be convenient for you:
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Figure 1: New AR.Drone vehicle
Vehicle profile needs to be assigned to allow mission planning with this vehicle. Vehicle avatar should be
assigned in vehicle profile to properly see the vehicle location on map.
1.1.1 Multiple drones connection
All AR.Drone vehicles in default configuration use the same IP address, so it is not possible to connect multiple
AR.Drone vehicles to the same computer without doing non-standard vehicle reconfiguration. Community written
instructions about how to do it exist, but they are not officially supported by AR.Drone manufacturer Parrot. The
easiest way how to connect multiple AR.Drone vehicles to U[g]CS is to connect each vehicle to its own computer
with AR.Drone VSM running on it:
Figure 2: Multiple AR.Drone vehicles connection
In this case Automatic VSM Discovery protocol should discover all vehicles that are connected to PCs within cur-
rent local area network. Some times it is necessary trough to add addresses of all computers to U[g]CS VSM
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1.2 Mission execution specifics 3
configuration:
Figure 3: Adding AR.Drone VSM
AR.Drone vehicles in U[g]CS are identified by a MavLink ID which is also the same for all AR.Drone vehicles, thus
does not allow to distinguish one vehicle from another. To overcome this problem, it is necessary to assign custom
serial number for connected vehicle on each computer. That is, for example, AR.Drone on PC1 will have serial
number 1, but AR.Drone on PC2 will have serial number 2:
Add these lines to the first VSM:
vehicle.ardrone.custom.my_drone.system_id = 1
vehicle.ardrone.custom.my_drone.model_name = AR.drone 2.0
vehicle.ardrone.custom.my_drone.serial_number = 1
And these lines to the second one:
vehicle.ardrone.custom.my_drone.system_id = 1
vehicle.ardrone.custom.my_drone.model_name = AR.drone 2.0
vehicle.ardrone.custom.my_drone.serial_number = 2
Of course, you need to make sure that network connection between UCS and computers with VSMs exist.
1.2 Mission execution specifics
• Fail-safe settings in mission properties are ignored.
ArDrone has the following harcoded fail-safe settings:
Condition Behavior Notes
On GPS signal loss Unknown Has not been tested. Should be
Wait or Land.
On WiFi signal loss Continue mission
On low battery Land
Mission waypoint actions supported by ArDrone:
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Flight plan element / action Support Notes
Camera control No
Camera trigger No
Yaw Yes
Land Yes
Panorama No
Takeoff Yes
Wait Yes
Camera by time No
Camera by distance No
Please carefully check your flight plan for maximum distance from ground station. It is worth not to fly far (maximum
30-50 meters) from a GS because the AR.Drone is equipped with a short-range Wi-Fi.
In each route for AR.Drone you should always have landing points. In any flight plan a landing point should be near
you or starting point. If you do not specify a landing point, the AR.Drone will loiter in air until empty battery. Landing
point ensures that AR.Drone will automatically return and land at this point even if connection is lost between the
drone and a GS.
It might be necessary to wait several minutes after the AR.Drone is powered on in order to have strong GPS signal.
It was noticed that the AR.Drone positioning quality is very poor if the flight is started instantly after powering on the
drone.
ArDrone will not accept missions where any waypoint is lower than ground elevation at base location. It is not able
to fly below starting point.
1.3 Command execution specifics
Command Support Notes
ARM No
DISARM No
AUTOMODE Yes Takeoff and start mission
execution. If there is no mission on
the drone it stays on the ground.
MANUALMODE No
CLICK & GO No
JOYSTICK No
HOLD Yes Pause mission execution. The
drone will loiter at its current
position. It is possible to
disconnect GS PC and connect by
a native application for manual
control.
CONTINUE Yes Continue mission execution if
previously paused by HOLD.
RETURNHOME No
TAKEOFF No
LAND Yes
EMERGENCYLAND Yes Beware! Drone will fall down
immediately.
CAMERA_TRIGGER No Trigger camera shutter
1.4 Command visibility
UGCS Client shows command buttons in different shades. Highlighted buttons suggest recommended commands,
depending on vehicle current state. You can always press all buttons regardless of shade.
Command visibility:
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1.5 Telemetry information specifics 5
State Button highlighted Button shaded
Armed LAND, EMERGENCYLAND,
HOLD, CONTINUE
AUTO
Disarmed AUTO, CONTINUE, HOLD LAND, EMERGENCYLAND
Armed state inconsistency:
Note
Sometimes ArDrone will report itself as "Armed" even though it sits on the ground with motors off. It can
happen after "LAND" command issued from the client. This is a flaw in ArDrone firmware and can be ignored.
The state returns to "Disarmed" after a power cycle.
1.5 Telemetry information specifics
Nothing specific.
1.6 Video link
The AR.Drone has on-board HD camera and broadcasts the video stream via Wi-Fi. To watch the video in U[g]CS
you should add the video stream on the video configuration page. Use this URL:
tcp://192.168.1.1:5555/
Currently it is supported only for U[g]CS client running on the computer which has direct Wi-Fi connection to AR.-
Drone.
1.7 Configuration file
Default configuration file of the AR.Drone VSM suits most needs and it is generally not necessary to modify it.
Configuration file location:
•On Microsoft Windows:
C:\Program Files (x86)\UgCS\bin\vsm-ardrone.conf
•On GNU/Linux:
/etc/opt/ugcs/vsm-ardrone.conf
•On Apple OS X:
/Users/[user name]/Library/Application Support/UGCS/configuration/vsm-ardrone.conf
1.7.1 Common parameters
All VSMs share a common set of configuration file parameters described in Common configuration file parameters.
AR.Drone VSM configuration file prefix is:
vehicle.ardrone
1.7.2 UDP connection configuration
Mandatory. At least one parameters set should be configured, otherwise VSM will not try to connect to the vehicle.
See UDP connection configuration
Usually the AR.Drone has IP-address 192.168.1.1 assigned for its on-board network interface. The AR.Drone side
UDP port is 14551, the VSM side should use 14550.
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•Example:
vehicle.ardrone.detector.1.udp_local_address = 0.0.0.0
vehicle.ardrone.detector.1.udp_local_port = 14550
vehicle.ardrone.detector.1.udp_address = 192.168.1.1
vehicle.ardrone.detector.1.udp_port = 14551
1.7.3 Model name and serial number override
Optional.
•Name: vehicle.ardrone.custom.[name].system_id = [system id]
•Name: vehicle.ardrone.custom.[name].model_name = [model name]
•Name: vehicle.ardrone.custom.[name].serial_number = [serial number]
•Description: In U[g]CS each vehicle is identified by a unique combination of model name and serial number
represented as text strings. By default, Ar.Drone vehicles are identified with a model name Ar.Drone and serial
number equal with the Mavlink system id read from the vehicle. It can be overridden by these parameters,
where [name] is an arbitrary vehicle name, [system id] is the original Mavlink system id which should be
overridden, [model name] is a new model name to be visible to the U[g]CS, [serial number] is a new serial
number to be visible to the U[g]CS.
•Example:
vehicle.ardrone.custom.my_drone.system_id = 2
vehicle.ardrone.custom.my_drone.model_name = AR.drone 2.0
vehicle.ardrone.custom.my_drone.serial_number = 123456
1.8 Common configuration file parameters
VSM configuration file is a text file specified via command line argument - -config of the VSM application. Example:
--config /etc/opt/ugcs/vsm-ardupilot.conf
Each configuration parameter is defined as a line in the configuration file with the following structure:
name1.name2....nameX = value
where name1, name2 ... nameX are arbitrary names separated by dots to divide a variable into logical blocks and
a value which can be a number value or a text string depending on the context. See below the description about
common VSM configuration parameters.
1.8.1 UgCS server configuration
1.8.1.1 Listening address
Mandatory.
•Name: ucs.local_listening_address = [IP address]
•Description: Local TCP address to listen for incoming connections from UgCS server. Specify 0.0.0.0 to
listen from all local addresses.
•Example: ucs.local_listening_address = 0.0.0.0
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1.8 Common configuration file parameters 7
1.8.1.2 Listening port
Mandatory.
•Name: ucs.local_listening_port = [port number]
•Description: Local TCP port to listen for incoming connections from UgCS server. Default is 5556.
•Example: ucs.local_listening_port = 5556
1.8.2 Logging configuration
1.8.2.1 Level
Optional.
•Name: log.level = [error|warning|info|debug]
•Description: Logging level.
•Default: info
•Example: log.level = debug
1.8.2.2 File path
Optional.
•Name: log.file_path = [path to a file]
•Description: Absolute or relative (to the current directory) path to a logging file. Logging is disabled if logging
file is not defined. File should be writable. Backslash should be escaped with a backslash.
•Example: log.file = /var/opt/ugcs/log/vsm-ardupilot/vsm-ardupilot.log
•Example: log.file = C:\\Users\\John\\AppData\\Local\\UGCS\\logs\\vsm-ardupilot\\vsm-ardupilot.log
1.8.2.3 Maximum single file size
Optional.
•Name: log.single_max_size = [size]
•Description: Maximum size of a single log file. When maximum size is exceeded, existing file is renamed
by adding a time stamp and logging is continued into the empty file. [size] should be defined as a number
postfixed by a case insensitive multiplier:
–Gb, G, Gbyte, Gbytes: for Giga-bytes
–Mb, M, Mbyte, Mbytes: for Mega-bytes
–Kb, K, Kbyte, Kbytes: for Kilo-bytes
–no postfix: for bytes
•Default: 100 Mb
•Example: log.single_max_size = 500 Mb
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1.8.2.4 Maximum number of old log files
Optional.
•Name: log.max_file_count = [number]
•Description: Log rotation feature. Maximum number of old log files to keep. After reaching single_max_size
of current log file VSM will rename it with current time in extension and start new one. VSM will delete older
logs so the number of old logs does not exceed the max_file_count.
•Default: 1
•Example: log.max_file_count = 5
1.8.3 Mission dump path
Optional.
•Name: [prefix].mission_dump_path = [path to a file]
•Description: File to dump all generated missions to. Timestamp is appended to the name. Delete the entry
to disable mission dumping. All directories in the path to a file should be already created.
•Example: vehicle.ardupilot.mission_dump_path = C:\\tmp\\ardupilot_dump
1.8.4 Automatic service discovery
VSM can respond to automatic service discovery requests form UgCS server.
When this parameter is not configured, service discovery is disabled.
Optional.
•Name: service_discovery.vsm_name = [Service name]
•Description: Human readable service name.
•Example: service_discovery.vsm_name = Ardupilot VSM
1.9 Communication with vehicle
VSM can communicate with Vehicle over different communication channels
Currently supported channels:
• Serial port, see Serial port configuration for details.
• TCP link, see TCP connection configuration for details.
• UDP link, see UDP connection configuration for details.
• vsm-proxy (XBee), see Proxy configuration for details.
1.9.1 Serial port configuration
Optional. VSM which communicates with vehicles via serial ports should define at least one serial port, otherwise
VSM will not try to connect to the vehicles. Port name and baud rate should be both defined. [prefix] is unique for
each VSM.
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1.9 Communication with vehicle 9
1.9.1.1 Port name
Optional.
•Name: [prefix].[port index].name = [regular expression]
•Description: Ports which should be used to connect to the vehicles by given VSM. Port names are defined
by a [regular expression] which can be used to define just a single port or create a port filtering regular
expression. Expression is case insensitive on Windows. [port index] is a arbitrary port indexing name.
•Example: vehicle.ardupilot.serial_port.1.name = /dev/ttyUSB[0-9]+|com[0-9]+
•Example: vehicle.ardupilot.serial_port.2.name = com42
1.9.1.2 Port baud rate
Optional.
•Name: [prefix].[port index].baud.[baud index] = [baud]
•Description: Baud rate for port opening. [baud index] is an optional arbitrary name used when it is necessary
to open the same serial port using multiple baud rates. [port index] is an arbitrary port indexing name.
•Example: vehicle.ardupilot.serial_port.1.baud.1 = 9600
•Example: vehicle.ardupilot.serial_port.1.baud.2 = 57600
•Example: vehicle.ardupilot.serial_port.2.baud = 38400
1.9.1.3 Excluded port name
Optional.
•Name: [prefix].exclude.[exclude index] = [regular expression]
•Description: Ports which should not be used for vehicle access by this VSM. Port names are defined by a
[regular expression] which can be used to define just a single port or create a port filtering regular expression.
Filter is case insensitive on Windows. [exclude index] is a arbitrary indexing name used when more than one
exclude names are defined.
•Example: vehicle.ardupilot.serial_port.exclude.1 = /dev/ttyS.∗
•Example: vehicle.ardupilot.serial_port.exclude = com1
1.9.1.4 Serial port arbiter
Optional.
•Name: [prefix].use_serial_arbiter = [yes|no]
•Description: Enable (yes) or disable (no) serial port access arbitration between VSMs running on the same
machine. It is recommended to have it enabled to avoid situation when multiple VSMs try to open the same
port simultaneously.
•Default: yes
•Example: vehicle.ardupilot.serial_port.use_serial_arbiter = no
1.9.2 TCP connection configuration
Optional. VSM which communicates with vehicles over TCP should define at least one network connection, other-
wise VSM will not try to connect to vehicles. [prefix] is unique for each VSM.
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10 CONTENTS
1.9.2.1 IP-address for outgoing TCP connection
Optional.
•Name: [prefix].detector.[con index].address = [IP-address]
•Description: IP-address of vehicle to connect to. Typically used for vehicle simulators.
•Example: vehicle.ardupilot.detector.1.address = 10.0.0.111
1.9.2.2 remote TCP port
Optional.
•Name: [prefix].detector.[con index].tcp_port = [port number]
•Description: Remote port to connect to.
•Example: vehicle.ardupilot.detector.1.tcp_port = 5762
1.9.3 UDP connection configuration
Optional. VSM which communicates with vehicles via network should define at least one network connection,
otherwise VSM will not try to connect to vehicles. [prefix] is unique for each VSM.
1.9.3.1 Local IP-address for UDP
Optional.
•Name: [prefix].detector.[con index].udp_local_address = [IP-address]
•Description: Local IP-address to listen for incoming UDP packets on. Specify 0.0.0.0 if you want to listen on
all local addresses.
•Example: vehicle.ardrone.detector.1.udp_local_address = 0.0.0.0
1.9.3.2 Local UDP port
Optional.
•Name: [prefix].detector.[con index].udp_local_port = [port number]
•Description: Local UDP port to listen for incoming packets on.
•Example: vehicle.ardrone.detector.1.udp_local_port = 14550
1.9.3.3 Remote IP-address for UDP
Optional.
•Name: [prefix].detector.[con index].udp_address = [IP-address]
•Description: Remote IP-address to send outgoing UDP packets to.
•Example: vehicle.ardrone.detector.1.udp_address = 192.168.1.1
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2 Disclaimer 11
1.9.3.4 Remote UDP port
Optional.
•Name: [prefix].detector.[con index].udp_port = [port number]
•Description: Remote UDP port to send outgoing packets to.
•Example: vehicle.ardrone.detector.1.udp_port = 14551
1.9.4 Proxy configuration
Optional. VSM is able to communicate with vehicle via proxy service which redirects dataflow received from vehicle
through TCP connection to VSM and vice versa using specific protocol. In other words proxy service appears as
a router between vehicle and VSM. At the moment there is one implementation of proxy in UgCS called XBee
Connector which retranslates data from ZigBee network to respective VSM.
1.9.4.1 IP-address for proxy
Optional.
•Name: [prefix].tcp.[con index].proxy = [IP-address]
•Description: IP-address to connect proxy to. Specify local or remote address.
•Example: vehicle.ardupilot.tcp.1.proxy = 127.0.0.1
1.9.4.2 TCP port for proxy
Optional.
•Name: [prefix].tcp.[con index].port = [port number]
•Description: TCP port to be connected with proxy through. Should be the same as in congiguration on proxy
side.
•Example: vehicle.ardupilot.tcp.1.port = 5566
2 Disclaimer
DISCLAIMER OF WARRANTIES AND LIMITATIONS ON LIABILITY.
(a) SMART PROJECTS HOLDINGS LTD MAKE NO REPRESENTATIONS OR WARRANTIES REGARDING T-
HE ACCURACY OR COMPLETENESS OF ANY CONTENT OR FUNCTIONALITY OF THE PRODUCT AND ITS
DOCUMENTATION.
(b) SMART PROJECTS HOLDINGS LTD DISCLAIM ALL WARRANTIES IN CONNECTION WITH THE PRODUCT,
AND WILL NOT BE LIABLE FOR ANY DAMAGE OR LOSS RESULTING FROM YOUR USE OF THE PRODUCT.
INCLUDING BUT NOT LIMITED TO INJURY OR DEATH OF USER OR ANY THIRD PERSONS OR DAMAGE TO
PROPERTY.
(c) THE SOFTWARE IS SUPPLIED AS IS WITH NO WARRANTIES AND CAN BE USED ONLY AT USERS OWN
RISK.
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