Added donate button

.gitignore

@@ -1,4 +1,6 @@
-node_modules
 *.swp
+_site/
+examples/
+lib/
 mission*
-pano*
+node_modules/

Changes.md

@@ -1,15 +0,0 @@
-# Changes
-
-This file is a manually maintained list of changes for each release. Feel free
-to send corrections if you spot any mistakes.
-
-## v0.1.1 (2013-09-01)
-
-* Fixed issue with cw/ccw yaw rotation
-* Fixed issue with improper yaw reset on some moves
-* Added ctrl-c logic to example for emegency landing
-
-## v0.1.0 (2013-08-23)
-
-* Initial release to npm
-

LICENSE

@@ -1,19 +0,0 @@
-Copyright (c) 2013 by Laurent Eschenauer <laurent@eschenauer.be>
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.

README.md

@@ -1,176 +0,0 @@
-# ardrone-autonomy
-
-An autonomous flight library for the ARDrone, built on top of 
-the [node-ar-drone](https://github.com/felixge/node-ar-drone) library. 
-Instead of directly controlling the drone speed, you can use Autonomy 
-to plan and execute missions by describing the path, altitude and 
-orientation the drone must follow.
-
-If you are a #nodecopter enthusiast, then this library will enable you
-to focus on higher level use cases and experiments. You focus on where
-you want to go, the library takes your drone there.
-
-This work is based on the [Visual Navigation for Flying Robots](http://vision.in.tum.de/teaching/ss2013/visnav2013) course.
-
-**WARNING:**  This is early work. _Autonomous_ means that this library will move your drone
-automaticaly to reach a given target. There isn't much security in place yet, so if you 
-do something wrong, you may have your drone fly away :-)
-
-**!! Experiment with this library in a closed/controlled environment before going in the wild !!**
-
-## Features
-
-* **Extended Kalman Filter** leveraging the onboard tag detection as the observation source
-for an Extended Kalman Filter. This provides much more stable and usable state estimate.
-
-* **Camera projection and back-projection** to estimate the position of an object detected by the camera.
-Currently used to estimate a tag position in the drone coordinate system based on its detection
-by the bottom camera.
-
-* **PID Controler** to autonomously control the drone position.
-
-* **Mission planner** to prepare a flight/task plan and then execute it.
-
-### Planned features
-
-* **VSLAM** to improve the drone localization estimates.
-
-* **Object tracking** to detect and track objects in the video stream.
-
-## Mission
-
-This module exposes a high level API to plan and execute missions, by focusing on where
-the drone should go instead of its low-level movements. Here is a simple example, 
-with the drone taking off, travelling alongs a 2 x 2 meters square ane then landing.
-
-```js
-var autonomy = require('ardrone-autonomy');
-var mission  = autonomy.createMission();
-
-mission.takeoff()
-       .zero()       // Sets the current state as the reference
-       .altitude(1)  // Climb to altitude = 1 meter
-       .forward(2)   
-       .right(2)     
-       .backward(2) 
-       .left(2)
-       .hover(1000)  // Hover in place for 1 second
-       .land();
-
-mission.run(function (err, result) {
-    if (err) {
-        console.trace("Oops, something bad happened: %s", err.message);
-        mission.client().stop();
-        mission.client().land();
-    } else {
-        console.log("Mission success!");
-        process.exit(0);
-    }
-});
-```
-
-### Mission API
-
-#### mission.log(path)
-
-Log the mission data, csv formatted, in the given file. Makes it really usefull to
-debug/plot the state and controller behavior.
-
-#### mission.run(callback)
-
-Execute the mission. The callback has the form `function(err,result)` and will be triggered in
-case of error or at the end of the mission.
-
-#### mission.takeoff()
-
-Add a takeoff step to the mission.
-
-#### mission.forward/backward/left/right/up/down(distance)
-
-Add a movement step to the mission. The drone will move in the given direction by the distance (in meters) before
-proceeding to next step. The drone will also attempt to maintain all other degrees of freedom.
-
-#### mission.altitude(height)
-
-Add a altitude step to the mission. Will climb to the given height before proceeding to next step.
-
-#### mission.cw/ccw(angle)
-
-Add a rotation step to the mission. Will turn by the given angle (in Deg) before proceeding to the next step.
-
-#### mission.hover(delay)
-
-Add a hover step to the mission. Will hover in place for the given delay (in ms) before proceeding to next step.
-
-#### mission.wait(delay)
-
-Add a wait step to the mission. Will wait for the given delay (in ms) before proceeding to next step.
-
-#### mission.go(position)
-
-Add a movement step to the mission. Will go the given position before proceeding to next step. The position is a Controller goal such as {x: 0, y: 0, z: 1, yaw: 90}.
-
-#### mission.task(function(callback){..})
-
-Add a task step to the mission. Will execute the provided function before proceeding to the next step. A callback argument is passed to the function, it should be called when the 
-task is done.
-
-#### mission.taskSync(function)
-
-Add a task step to the mission. Will execute the provided function before proceeding to the next step.
-
-#### mission.zero()
-
-Add a zeroing step to the mission. This will set the current position/orientation as 
-the base state of the kalman filter (i.e. {x: 0, y:0, yaw:0}). If you are not using
-a tag as your base position, it is a good idea to zero() after takeoff.
-
-## Controller API
-
-This module exposes a high level API to control the position. It is built using an
-Extended Kalman Filter to estimate the position and a PID controller to move the drone
-to a given target.
-
-The easiest way to try the Controller is to play with the repl provided in the examples:
-
-```js
-$ node examples/repl.js
-// Make the drone takeoff
-drone> takeoff()
-// Move the drone to position (1,1)
-drone> ctrl.go({x: 1, y:1});
-// Climb to altitude 2 meters
-drone> ctrl.altitude(2);
-// Spin 90 deg to the right
-drone> ctrl.cw(90);
-// Go back to (0,0)
-drone> ctrl.go({x:0, y:0});
-// Hover in place
-drone> ctrl.hover();
-// Land
-drone> land();
-```
-
-## License
-
-The MIT License
-
-Copyright (c) 2013 by Laurent Eschenauer <laurent@eschenauer.be>
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.

examples/hover.js

@@ -1,43 +0,0 @@
-var df = require('dateformat')
-  , autonomy = require('../')
-  , mission  = autonomy.createMission()
-  , arDrone = require('ar-drone')
-  , arDroneConstants = require('ar-drone/lib/constants')
-  ;
-
-function navdata_option_mask(c) {
-  return 1 << c;
-}
-
-// From the SDK.
-var navdata_options = (
-    navdata_option_mask(arDroneConstants.options.DEMO)
-  | navdata_option_mask(arDroneConstants.options.VISION_DETECT)
-  | navdata_option_mask(arDroneConstants.options.MAGNETO)
-  | navdata_option_mask(arDroneConstants.options.WIFI)
-);
-
-// Connect and configure the drone
-mission.client().config('general:navdata_demo', true);
-mission.client().config('general:navdata_options', navdata_options);
-mission.client().config('video:video_channel', 1);
-mission.client().config('detect:detect_type', 12);
-
-mission.log("mission-" + df(new Date(), "yyyy-mm-dd_hh-MM-ss") + ".txt");
-
-mission.takeoff()
-       .go({x:0, y:0, z:1.5})
-       .hover(30000)
-       .land();
-
-mission.run(function (err, result) {
-    if (err) {
-        console.trace("Oops, something bad happened: %s", err.message);
-        mission.client().stop();
-        mission.client().land();
-    } else {
-        console.log("We are done!");
-        process.exit(0);
-    }
-});
-

examples/pano.js

@@ -1,48 +0,0 @@
-var df = require('dateformat')
-  , autonomy = require('../')
-  , mission  = autonomy.createMission()
-  ;
-
-// Land on ctrl-c
-var exiting = false;
-process.on('SIGINT', function() {
-    if (exiting) {
-        process.exit(0);
-    } else {
-        console.log('Got SIGINT. Landing, press Control-C again to force exit.');
-        exiting = true;
-        mission.control().disable();
-        mission.client().land(function() {
-            process.exit(0);
-        });
-    }
-});
-
-// Log mission data for debugging
-mission.log("mission-" + df(new Date(), "yyyy-mm-dd_hh-MM-ss") + ".txt");
-
-// Plan pano mission
-mission.takeoff()
-       .zero()
-       .hover(1000)
-       .go({x:0, y:0})
-       .altitude(1.5)
-       .cw(90)
-       .cw(90)
-       .cw(90)
-       .cw(90)
-       .altitude(0.5)
-       .land();
-
-// Execute mission
-mission.run(function (err, result) {
-    if (err) {
-        console.trace("Oops, something bad happened: %s", err.message);
-        mission.client().stop();
-        mission.client().land();
-    } else {
-        console.log("We are done!");
-        process.exit(0);
-    }
-});
-

examples/repl.js

@@ -1,65 +0,0 @@
-var fs = require('fs');
-var path = require('path');
-var df = require('dateformat')
-  , arDrone = require('ar-drone')
-  , arDroneConstants = require('ar-drone/lib/constants')
-  , autonomy = require('..');
-
-var client  = arDrone.createClient();
-var ctrl    = new autonomy.Controller(client, {debug: false});
-var repl    = client.createRepl();
-
-function navdata_option_mask(c) {
-  return 1 << c;
-}
-
-// From the SDK.
-var navdata_options = (
-    navdata_option_mask(arDroneConstants.options.DEMO)
-  | navdata_option_mask(arDroneConstants.options.VISION_DETECT)
-  | navdata_option_mask(arDroneConstants.options.MAGNETO)
-  | navdata_option_mask(arDroneConstants.options.WIFI)
-);
-
-// Connect and configure the drone
-client.config('general:navdata_demo', true);
-client.config('general:navdata_options', navdata_options);
-client.config('video:video_channel', 1);
-client.config('detect:detect_type', 12);
-
-// Add a ctrl object to the repl. You can use the controller
-// from there. E.g.
-// ctrl.go({x:1, y:1});
-//
-repl._repl.context['ctrl'] = ctrl;
-
-// Log control data for debugging
-var folder = df(new Date(), "yyyy-mm-dd_hh-MM-ss");
-fs.mkdir(path.join('/tmp', folder), function() {
-  dataStream = fs.createWriteStream(path.join('/tmp', folder, 'data.txt'));
-});
-
-ctrl.on('controlData', function(d) {
-   dataStream.write(d.state.x + "," +
-                    d.state.y + "," +
-                    d.state.z + "," +
-                    d.state.yaw + "," +
-                    d.state.vx + "," +
-                    d.state.vy + "," +
-                    d.goal.x + "," +
-                    d.goal.y + "," +
-                    d.goal.z + "," +
-                    d.goal.yaw + "," +
-                    d.error.ex + "," +
-                    d.error.ey + "," +
-                    d.error.ez + "," +
-                    d.error.eyaw + "," +
-                    d.control.ux + "," +
-                    d.control.uy + "," +
-                    d.control.uz + "," +
-                    d.control.uyaw + "," +
-                    d.last_ok + "," +
-                    d.tag + "\n");
-});
-
-

examples/square-2.js

@@ -1,71 +0,0 @@
-var df = require('dateformat')
-  , autonomy = require('../')
-  , arDrone = require('ar-drone')
-  , arDroneConstants = require('ar-drone/lib/constants')
-  , mission  = autonomy.createMission()
-  ;
-
-function navdata_option_mask(c) {
-  return 1 << c;
-}
-
-// From the SDK.
-var navdata_options = (
-    navdata_option_mask(arDroneConstants.options.DEMO)
-  | navdata_option_mask(arDroneConstants.options.VISION_DETECT)
-  | navdata_option_mask(arDroneConstants.options.MAGNETO)
-  | navdata_option_mask(arDroneConstants.options.WIFI)
-);
-
-// Land on ctrl-c
-var exiting = false;
-process.on('SIGINT', function() {
-    if (exiting) {
-        process.exit(0);
-    } else {
-        console.log('Got SIGINT. Landing, press Control-C again to force exit.');
-        exiting = true;
-        mission.control().disable();
-        mission.client().land(function() {
-            process.exit(0);
-        });
-    }
-});
-
-// Connect and configure the drone
-mission.client().config('general:navdata_demo', true);
-mission.client().config('general:navdata_options', navdata_options);
-mission.client().config('video:video_channel', 1);
-mission.client().config('detect:detect_type', 12);
-
-// Log mission for debugging purposes
-mission.log("mission-" + df(new Date(), "yyyy-mm-dd_hh-MM-ss") + ".txt");
-
-// Plan mission
-mission.takeoff()
-       .zero()
-       .hover(500)
-       .altitude(2)
-       .forward(2)
-       .cw(90)
-       .forward(2)
-       .cw(90)
-       .forward(2)
-       .cw(90)
-       .forward(2)
-       .go({x:0, y:0})
-       .hover(500)
-       .land();
-
-// Execute mission
-mission.run(function (err, result) {
-    if (err) {
-        console.trace("Oops, something bad happened: %s", err.message);
-        mission.client().stop();
-        mission.client().land();
-    } else {
-        console.log("We are done!");
-        process.exit(0);
-    }
-});
-

examples/square.js

@@ -1,67 +0,0 @@
-var df = require('dateformat')
-  , autonomy = require('../')
-  , arDrone = require('ar-drone')
-  , arDroneConstants = require('ar-drone/lib/constants')
-  , mission  = autonomy.createMission()
-  ;
-
-function navdata_option_mask(c) {
-  return 1 << c;
-}
-
-// From the SDK.
-var navdata_options = (
-    navdata_option_mask(arDroneConstants.options.DEMO)
-  | navdata_option_mask(arDroneConstants.options.VISION_DETECT)
-  | navdata_option_mask(arDroneConstants.options.MAGNETO)
-  | navdata_option_mask(arDroneConstants.options.WIFI)
-);
-
-// Land on ctrl-c
-var exiting = false;
-process.on('SIGINT', function() {
-    if (exiting) {
-        process.exit(0);
-    } else {
-        console.log('Got SIGINT. Landing, press Control-C again to force exit.');
-        exiting = true;
-        mission.control().disable();
-        mission.client().land(function() {
-            process.exit(0);
-        });
-    }
-});
-
-// Connect and configure the drone
-mission.client().config('general:navdata_demo', true);
-mission.client().config('general:navdata_options', navdata_options);
-mission.client().config('video:video_channel', 1);
-mission.client().config('detect:detect_type', 12);
-
-// Log mission for debugging purposes
-mission.log("mission-" + df(new Date(), "yyyy-mm-dd_hh-MM-ss") + ".txt");
-
-// Plan mission
-mission.takeoff()
-       .zero()
-       .hover(500)
-       .altitude(2)
-       .forward(2)
-       .right(2)
-       .backward(2)
-       .go({x:0, y:0})
-       .hover(500)
-       .land();
-
-// Execute mission
-mission.run(function (err, result) {
-    if (err) {
-        console.trace("Oops, something bad happened: %s", err.message);
-        mission.client().stop();
-        mission.client().land();
-    } else {
-        console.log("We are done!");
-        process.exit(0);
-    }
-});
-

index.html

@@ -0,0 +1,189 @@
+<!DOCTYPE html>
+<html>
+  <head>
+    <meta charset='utf-8'>
+    <meta http-equiv="X-UA-Compatible" content="chrome=1">
+
+    <link href='http://fonts.googleapis.com/css?family=Audiowide' rel='stylesheet' type='text/css'>
+    <link rel="stylesheet" type="text/css" href="stylesheets/stylesheet.css" media="screen" />
+    <link rel="stylesheet" type="text/css" href="stylesheets/pygment_trac.css" media="screen" />
+    <link rel="stylesheet" type="text/css" href="stylesheets/print.css" media="print" />
+
+    <script type="text/javascript" src="https://ajax.googleapis.com/ajax/libs/jquery/1.8.0/jquery.min.js"></script>
+    <script type="text/javascript" src="https://blockchain.info//Resources/wallet/pay-now-button.js"></script>
+
+    <title>AR.Drone Autonomy</title>
+  </head>
+
+  <body>
+
+    <header>
+      <div class="container">
+          <h1>AR.Drone Autonomy</h1>
+          <h2>Autonomously flying an ARDrone in Javascript!</h2>
+          <a href="https://github.com/eschnou/ardrone-autonomy"><img style="position: absolute; top: 0; right: 0; border: 0;" src="https://s3.amazonaws.com/github/ribbons/forkme_right_red_aa0000.png" alt="Fork me on GitHub"></a>
+      </div>
+    </header>
+
+    <div class="container">
+      <section id="main_content">
+
+<p>An autonomous flight library for the <a href="http://ardrone2.parrot.com/">AR.Drone 2.0</a>, built on top of 
+the <a href="https://github.com/felixge/node-ar-drone">node-ar-drone</a> library. </p>
+
+<p>Instead of directly controlling the drone speed, you can use Autonomy 
+to plan and execute missions by describing the path, altitude and 
+orientation the drone must follow.</p>
+
+<p><strong>Autonomous means that this library will move your drone automaticaly to reach a given target. Experiment with this library in a closed/controlled environment before going in the wild !!</strong></p>
+
+<div class="screenshot">
+  <iframe width="560" height="315" src="//www.youtube.com/embed/wPXsG_fjncM" frameborder="0" allowfullscreen></iframe> 
+</div>
+
+<h2>Features</h2>
+
+<ul>
+<li><p><strong>Extended Kalman Filter</strong> leveraging the onboard tag detection as the observation source
+for an Extended Kalman Filter. This provides much more stable and usable state estimate.</p></li>
+<li><p><strong>Camera projection and back-projection</strong> to estimate the position of an object detected by the camera.
+Currently used to estimate a tag position in the drone coordinate system based on its detection
+by the bottom camera.</p></li>
+<li><p><strong>PID Controler</strong> to autonomously control the drone position.</p></li>
+<li><p><strong>Mission planner</strong> to prepare a flight/task plan and then execute it.</p></li>
+</ul><h3>
+<a name="planned-features" class="anchor" href="#planned-features"><span class="octicon octicon-link"></span></a>Planned features</h3>
+
+<ul>
+<li><p><strong>VSLAM</strong> to improve the drone localization estimates.</p></li>
+<li><p><strong>Object tracking</strong> to detect and track objects in the video stream.</p></li>
+</ul>
+
+<h2>Documentation</h2>
+
+<ul>
+    <li>API Documented in the <a href="https://github.com/eschnou/ardrone-autonomy">README</a></li>
+    <li><a href="http://www.slideshare.net/eschnou/20130807-advanced-programming-with-nodecopter">Advanced Programming with Nodecopter</a> on Slideshare</li>
+    <li><a href="https://eschnou.com/entry/advanced-programming-with-nodecopter-62-25019.html">Blog post</a> with additional example videos</li>
+</ul>
+
+<h2>Example</h2>
+
+<p>This module exposes a high level API to plan and execute missions, by focusing on where
+the drone should go instead of its low-level movements. Here is a simple example, 
+with the drone taking off, travelling alongs a 2 x 2 meters square ane then landing.</p>
+
+<div class="highlight highlight-js"><pre><span class="kd">var</span> <span class="nx">autonomy</span> <span class="o">=</span> <span class="nx">require</span><span class="p">(</span><span class="s1">'ardrone-autonomy'</span><span class="p">);</span>
+<span class="kd">var</span> <span class="nx">mission</span>  <span class="o">=</span> <span class="nx">autonomy</span><span class="p">.</span><span class="nx">createMission</span><span class="p">();</span>
+
+<span class="nx">mission</span><span class="p">.</span><span class="nx">takeoff</span><span class="p">()</span>
+       <span class="p">.</span><span class="nx">zero</span><span class="p">()</span>       <span class="c1">// Sets the current state as the reference</span>
+       <span class="p">.</span><span class="nx">altitude</span><span class="p">(</span><span class="mi">1</span><span class="p">)</span>  <span class="c1">// Climb to altitude = 1 meter</span>
+       <span class="p">.</span><span class="nx">forward</span><span class="p">(</span><span class="mi">2</span><span class="p">)</span>   
+       <span class="p">.</span><span class="nx">right</span><span class="p">(</span><span class="mi">2</span><span class="p">)</span>     
+       <span class="p">.</span><span class="nx">backward</span><span class="p">(</span><span class="mi">2</span><span class="p">)</span> 
+       <span class="p">.</span><span class="nx">left</span><span class="p">(</span><span class="mi">2</span><span class="p">)</span>
+       <span class="p">.</span><span class="nx">hover</span><span class="p">(</span><span class="mi">1000</span><span class="p">)</span>  <span class="c1">// Hover in place for 1 second</span>
+       <span class="p">.</span><span class="nx">land</span><span class="p">();</span>
+
+<span class="nx">mission</span><span class="p">.</span><span class="nx">run</span><span class="p">(</span><span class="kd">function</span> <span class="p">(</span><span class="nx">err</span><span class="p">,</span> <span class="nx">result</span><span class="p">)</span>
+    <span class="k">if</span> <span class="p">(</span><span class="nx">err</span><span class="p">)</span> <span class="p">{</span>
+        <span class="nx">console</span><span class="p">.</span><span class="nx">trace</span><span class="p">(</span><span class="s2">"Oops, something bad happened: %s"</span><span class="p">,</span> <span class="nx">err</span><span class="p">.</span><span class="nx">message</span><span class="p">);</span>
+        <span class="nx">mission</span><span class="p">.</span><span class="nx">client</span><span class="p">().</span><span class="nx">stop</span><span class="p">();</span>
+        <span class="nx">mission</span><span class="p">.</span><span class="nx">client</span><span class="p">().</span><span class="nx">land</span><span class="p">();</span>
+    <span class="p">}</span> <span class="k">else</span> <span class="p">{</span>
+        <span class="nx">console</span><span class="p">.</span><span class="nx">log</span><span class="p">(</span><span class="s2">"Mission success!"</span><span class="p">);</span>
+        <span class="nx">process</span><span class="p">.</span><span class="nx">exit</span><span class="p">(</span><span class="mi">0</span><span class="p">);</span>
+    <span class="p">}</span>
+<span class="p">});</span>
+</pre></div>
+
+<h2>Applications</h2>
+
+Here is a list of know apps built using autonomy. Please let me know if you build something and I'll be happy to add you in the list.
+
+<ul>
+    <li><p><strong><a href="https://github.com/eschnou/ardrone-panorama/">panorama</a></strong> autonomously fly to a given altitude and take pictures to form a 360 photo panorama.</li>
+</ul>
+
+<h2>Support</h2>
+
+<p>If you encounter issues, please add them to the <a href="https://github.com/eschnou/ardrone-autonomy/issues">issue tracker</a>. You can find
+me on twitter (<a href="http://twitter.com/eschnou">@eschnou</a>) or on the #nodecopter IRC channel 
+on #freenode.
+
+<h2>Thanks</h2>
+
+<p>This work is based on the <a href="http://vision.in.tum.de/teaching/ss2013/visnav2013">Visual Navigation for Flying Robots</a> course. My eternal gratitude for their team to post lectures and slides on the web. I learned a lot from them.</p>
+
+<p>Also a big thank you to <a href="https://github.com/felixge">@felixge</a> who came up with this crazy idea of flying a drone with Javascript and building the fantastic <a href="https://github.com/felixge/node-ar-drone">node-ar-drone</a> library.
+
+<h2>Donate</h2>
+
+<p>If you like this project, please consider donating. The less time I need to work, the more I can spend on open source projects :-)</p>
+<div style="font-size:16px;margin:0 auto;width:300px" class="blockchain-btn"
+     data-address="13q2eVG8KkmsFqGHqDWbjHeq3qicxi4rjh"
+     data-shared="false">
+    <div class="blockchain stage-begin">
+        <img src="https://blockchain.info//Resources/buttons/donate_64.png"/>
+    </div>
+    <div class="blockchain stage-loading" style="text-align:center">
+        <img src="https://blockchain.info//Resources/loading-large.gif"/>
+    </div>
+    <div class="blockchain stage-ready">
+         <p align="center">Please Donate To Bitcoin Address: <b>[[address]]</b></p>
+         <p align="center" class="qr-code"></p>
+    </div>
+    <div class="blockchain stage-paid">
+         Donation of <b>[[value]] BTC</b> Received. Thank You.
+    </div>
+    <div class="blockchain stage-error">
+        <font color="red">[[error]]</font>
+    </div>
+</div>
+
+<h2>License</h2>
+
+<p>The MIT License</p>
+
+<p>Copyright (c) 2013 by Laurent Eschenauer <a href="mailto:laurent@eschenauer.be">laurent@eschenauer.be</a></p>
+
+<p>Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:</p>
+
+<p>The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.</p>
+
+<p>THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.</p>
+      </section>
+    </div>
+
+    <!-- Piwik -->
+    <script type="text/javascript">
+      var _paq = _paq || [];
+      _paq.push(["trackPageView"]);
+      _paq.push(["enableLinkTracking"]);
+
+      (function() {
+        var u=(("https:" == document.location.protocol) ? "https" : "http") + "://analytics.eschnou.com/";
+        _paq.push(["setTrackerUrl", u+"piwik.php"]);
+        _paq.push(["setSiteId", "4"]);
+        var d=document, g=d.createElement("script"), s=d.getElementsByTagName("script")[0]; g.type="text/javascript";
+        g.defer=true; g.async=true; g.src=u+"piwik.js"; s.parentNode.insertBefore(g,s);
+      })();
+    </script>
+    <!-- End Piwik Code -->
+
+    
+  </body>
+</html>

index.js

@@ -1,20 +0,0 @@
-var autonomy = exports;
-var ardrone = require('ar-drone');
-
-exports.EKF = require('./lib/EKF');
-exports.Camera = require('./lib/Camera');
-exports.Controller = require('./lib/Controller');
-exports.Mission = require('./lib/Mission');
-
-exports.control = function(client, options) {
-    return new autonomy.Controller(client, options);
-}
-
-exports.createMission = function(options) {
-    var client  = ardrone.createClient(options);
-    var control = new autonomy.Controller(client, options);
-    var mission = new autonomy.Mission(client, control, options);
-
-    return mission;
-}
-

javascripts/main.js

@@ -0,0 +1 @@
+console.log('This would be the main JS file.');

lib/Camera.js

@@ -1,55 +0,0 @@
-var sylvester    = require('sylvester');
-var util         = require('util');
-
-
-// TODO: Extend to support roll/pitch in back projection
-// TODO: Add support for front-facing camera
-// TODO: Make image aspect ratio configurable
-
-// AR Drone 2.0 Bottom Camera Intrinsic Matrix
-// https://github.com/tum-vision/ardrone_autonomy/blob/master/calibrations/ardrone2_bottom/cal.ymli
-var K_BOTTOM = $M([[686.994766, 0, 329.323208],
-                   [0, 688.195055, 159.323007],
-                   [0, 0, 1]]);
-
-module.exports = Camera;
-function Camera(options) {
-    this._options = options || {};
-    this._k = this._options.k || K_BOTTOM;
-
-    // We need to compute the inverse of K to back-project 2D to 3D
-    this._invK = this._k.inverse();
-}
-
-/*
- * Given (x,y) pixel coordinates (e.g. obtained from tag detection)
- * Returns a (X,Y) coordinate in drone space.
- */
-Camera.prototype.p2m = function(x, y, altitude) {
-    // From the SDK Documentation:
-    // X and Y coordinates of detected tag or oriented roundel #i inside the picture,
-    // with (0; 0) being the top-left corner, and (1000; 1000) the right-bottom corner regardless
-    // the picture resolution or the source camera.
-    //
-    // But our camera intrinsic is built for 640 x 360 pixel grid, so we must do some mapping.
-    var xratio = 640 / 1000;
-    var yratio = 360 / 1000;
-
-    // Perform a simple back projection, we assume the drone is flat (no roll/pitch)
-    // for the moment. We ignore the drone translation and yaw since we want X,Y in the
-    // drone coordinate system.
-    var p = $V([x * xratio, y * yratio, 1]);
-    var P = this._invK.multiply(p).multiply(altitude);
-
-    // X,Y are expressed in meters, in the drone coordinate system.
-    // Which is:
-    //          <--- front-facing camera
-    //        |
-    //       / \------- X
-    //       \_/
-    //        |
-    //        |
-    //        Y
-    return {x: P.e(1), y: P.e(2)};
-}
-

lib/Controller.js

@@ -1,387 +0,0 @@
-var EventEmitter = require('events').EventEmitter;
-var Timers  = require('timers');
-var util    = require('util');
-var PID     = require('./PID');
-var EKF     = require('./EKF');
-var Camera  = require('./Camera');
-
-EPS_LIN      = 0.1; // We are ok with 10 cm horizontal precision
-EPS_ALT      = 0.1; // We are ok with 10 cm altitude precision
-EPS_ANG      = 0.1; // We are ok with 0.1 rad precision (5 deg)
-STABLE_DELAY = 200; // Time in ms to wait before declaring the drone on target
-
-module.exports = Controller;
-util.inherits(Controller, EventEmitter);
-function Controller(client, options) {
-    EventEmitter.call(this);
-
-    options = options || {};
-
-    // A ardrone client to pilot the drone
-    this._client  = client;
-
-    // The position of a roundel tag to detect
-    this._tag     = options.tag || {x: 0, y: 0, yaw: 0};
-
-    // Configure the four PID required to control the drone
-    this._pid_x   = new PID(0.5, 0, 0.35);
-    this._pid_y   = new PID(0.5, 0, 0.35);
-    this._pid_z   = new PID(0.8, 0, 0.35);
-    this._pid_yaw = new PID(1.0, 0, 0.30);
-
-    // kalman filter is used for the drone state estimation
-    this._ekf     = new EKF(options);
-
-    // Used to process images and backproject them
-    this._camera  = new Camera();
-
-    // Control will only work if enabled
-    this._enabled = false;
-
-    // Ensure that we don't enter the processing loop twice
-    this._busy = false;
-
-    // The curretn target goal and an optional callback to trigger
-    // when goal is reached
-    this._goal     = null;
-    this._callback = null;
-
-    // The last known state
-    this._state   = null,
-
-    // The last time we have reached the goal (all control commands = 0)
-    this._last_ok = 0;
-
-    // Register the listener on navdata for our control loop
-    var self = this;
-    client.on('navdata', function(d) {
-        if (!this._busy && d.demo) {
-            this._busy = true;
-            self._processNavdata(d);
-            self._control(d);
-            this._busy = false;
-        }
-    });
-}
-
-/*
- * Enable auto-pilot. The controller will attempt to bring
- * the drone (and maintain it) to the goal.
- */
-Controller.prototype.enable = function() {
-    this._pid_x.reset();
-    this._pid_y.reset();
-    this._pid_z.reset();
-    this._pid_yaw.reset();
-    this._enabled = true;
-};
-
-/*
- * Disable auto-pilot. The controller will stop all actions
- * and send a stop command to the drone.
- */
-Controller.prototype.disable = function() {
-    this._enabled = false;
-    this._client.stop();
-}
-
-/*
- * Return the drone state (x,y,z,yaw) as estimated
- * by the Kalman Filter.
- */
-Controller.prototype.state = function() {
-    return this._state;
-}
-
-/*
- * Sets the goal to the current state and attempt to hover on top.
- */
-Controller.prototype.hover = function() {
-    this._go({x: this._state.x, y: this._state.y, z: this._state.z, yaw: this._state.yaw});
-}
-
-/*
- * Reset the kalman filter to its base state (default is x:0, y:0, yaw:0).
- *
- * This is especially usefull to set mark the drone position as the starting position
- * after takeoff. We must disable, to ensure that the zeroing does not trigger a sudden move
- * of the drone.
- */
-Controller.prototype.zero = function() {
-    this.disable();
-    this._ekf.reset();
-}
-
-/*
- * Move forward (direction faced by the front camera) by the given
- * distance (in meters).
- */
-Controller.prototype.forward = function(distance, callback) {
-   // Our starting position
-   var state = this.state();
-
-   // Remap our target position in the world coordinates
-   var gx = state.x + Math.cos(state.yaw) * distance;
-   var gy = state.y + Math.sin(state.yaw) * distance;
-
-   // Assign the new goal
-   this._go({x: gx, y: gy, z: state.z, yaw: state.yaw}, callback);
-}
-
-/*
- * Move backward by the given distance (in meters).
- */
-Controller.prototype.backward = function(distance, callback) {
-    return this.forward(-distance, callback);
-}
-
-/*
- * Move right (front being the direction faced by the front camera) by the given
- * distance (in meters).
- */
-Controller.prototype.right = function(distance, callback) {
-   // Our starting position
-   var state = this.state();
-
-   // Remap our target position in the world coordinates
-   var gx = state.x - Math.sin(state.yaw) * distance;
-   var gy = state.y + Math.cos(state.yaw) * distance;
-
-   // Assign the new goal
-   this._go({x: gx, y: gy, z: state.z, yaw: state.yaw}, callback);
-}
-
-/*
- * Move left by the given distance (in meters).
- */
-Controller.prototype.left = function(distance, callback) {
-    return this.right(-distance, callback);
-}
-
-/*
- * Turn clockwise of the given angle. Note that this does not
- * force a clockwise motion, if the angle is > 180 then the drone
- * will turn in the other direction, taking the shortest path.
- */
-Controller.prototype.cw = function(angle, callback) {
-    var state = this.state();
-    var yaw   = state.yaw.toDeg() + angle;
-
-    return this._go({x: state.x, y: state.y, z: state.z, yaw: yaw.toRad()}, callback);
-}
-
-/*
- * Turn counter clockwise of the given angle (in degrees)
- */
-Controller.prototype.ccw = function(angle, callback) {
-    return this.cw(-angle, callback);
-}
-
-/*
- * Climb ups by the given distance (in meters).
- */
-Controller.prototype.up = function(distance, callback) {
-    var state = this.state();
-    return this._go({x: state.x, y: state.y, z: state.z + distance, yaw: state.yaw}, callback);
-}
-
-/*
- * Lower itself by the given distance (in meters).
- */
-Controller.prototype.down = function(distance, callback) {
-    return this.up(-distance, callback);
-}
-
-/*
- * Go to the target altitude
- */
-Controller.prototype.altitude = function(altitude, callback) {
-    var state = this.state();
-    return this._go({x: state.x, y: state.y, z: altitude, yaw: state.yaw}, callback);
-}
-
-/*
- * Go to the target yaw (argument in degree)
- */
-Controller.prototype.yaw = function(yaw, callback) {
-    var state = this.state();
-    return this._go({x: state.x, y: state.y, z: state.z, yaw: yaw.toRad()}, callback);
-}
-
-/*
- * Sets a new goal and enable the controller. When the goal
- * is reached, the callback is called with the current state.
- *
- * x,y,z in meters
- * yaw in degrees
- */
-Controller.prototype.go = function(goal, callback) {
-    if (goal.yaw != undefined) {
-        goal.yaw = goal.yaw.toRad();
-    }
-
-    return this._go(goal, callback);
-}
-
-Controller.prototype._go = function(goal, callback) {
-    // Since we are going to modify goal settings, we
-    // disable the controller, just in case.
-    this.disable();
-
-    // If no goal given, assume an empty goal
-    goal = goal || {};
-
-    // Normalize the yaw, to make sure we don't spin 360deg for
-    // nothing :-)
-    if (goal.yaw != undefined) {
-        var yaw = goal.yaw;
-        goal.yaw = Math.atan2(Math.sin(yaw),Math.cos(yaw));
-    }
-
-    // Make sure we don't attempt to go too low
-    if (goal.z != undefined) {
-        goal.z = Math.max(goal.z, 0.5);
-    }
-
-    // Update our goal
-    this._goal = goal;
-    this._goal.reached = false;
-
-    // Keep track of the callback to trigger when we reach the goal
-    this._callback = callback;
-
-    // (Re)-Enable the controller
-    this.enable();
-}
-
-Controller.prototype._processNavdata = function(d) {
-    // EKF prediction step
-    this._ekf.predict(d);
-
-    // If a tag is detected by the bottom camera, we attempt a correction step
-    // This require prior configuration of the client to detect the oriented
-    // roundel and to enable the vision detect in navdata.
-    // TODO: Add documentation about this
-    if (d.visionDetect && d.visionDetect.nbDetected > 0) {
-        // Fetch detected tag position, size and orientation
-        var xc = d.visionDetect.xc[0]
-          , yc = d.visionDetect.yc[0]
-          , wc = d.visionDetect.width[0]
-          , hc = d.visionDetect.height[0]
-          , yaw = d.visionDetect.orientationAngle[0]
-          , dist = d.visionDetect.dist[0] / 100 // Need meters
-          ;
-
-        // Compute measure tag position (relative to drone) by
-        // back-projecting the pixel position p(x,y) to the drone
-        // coordinate system P(X,Y).
-        // TODO: Should we use dist or the measure altitude ?
-        var camera = this._camera.p2m(xc + wc/2, yc + hc/2, dist);
-
-        // We convert this to the controller coordinate system
-        var measured = {x: -1 * camera.y, y: camera.x};
-
-        // Rotation is provided by the drone, we convert to radians
-        measured.yaw = yaw.toRad();
-
-        // Execute the EKS correction step
-        this._ekf.correct(measured, this._tag);
-    }
-
-    // Keep a local copy of the state
-    this._state = this._ekf.state();
-    this._state.z = d.demo.altitude;
-    this._state.vx = d.demo.velocity.x / 1000 //We want m/s instead of mm/s
-    this._state.vy = d.demo.velocity.y / 1000
-}
-
-Controller.prototype._control = function(d) {
-    // Do not control if not enabled
-    if (!this._enabled) return;
-
-    // Do not control if no known state or no goal defines
-    if (this._goal == null || this._state ==  null) return;
-
-    // Compute error between current state and goal
-    var ex   = (this._goal.x != undefined)   ? this._goal.x   - this._state.x   : 0
-      , ey   = (this._goal.y != undefined)   ? this._goal.y   - this._state.y   : 0
-      , ez   = (this._goal.z != undefined)   ? this._goal.z   - this._state.z   : 0
-      , eyaw = (this._goal.yaw != undefined) ? this._goal.yaw - this._state.yaw : 0
-      ;
-
-    // Normalize eyaw within [-180, 180]
-    while(eyaw < -Math.PI) eyaw += (2 * Math.PI);
-    while(eyaw >  Math.PI) eyaw -= (2 * Math.PI);
-
-    // Check if we are within the target area
-    if ((Math.abs(ex) < EPS_LIN) && (Math.abs(ey) < EPS_LIN) && (Math.abs(ez) < EPS_ALT) && (Math.abs(eyaw) < EPS_ANG)) {
-        // Have we been here before ?
-        if (!this._goal.reached && this._last_ok != 0) {
-            // And for long enough ?
-            if ((Date.now() - this._last_ok) > STABLE_DELAY) {
-                // Mark the goal has reached
-                this._goal.reached = true;
-
-                // We schedule the callback in the near future. This is to make
-                // sure we finish all our work before the callback is called.
-                if (this._callback != null) {
-                    setTimeout(this._callback, 10);
-                    this._callback = null;
-                }
-
-                // Emit a state reached
-                this.emit('goalReached', this._state);
-            }
-        } else {
-            this._last_ok = Date.now();
-        }
-    } else {
-        // If we just left the goal, we notify
-        if (this._last_ok != 0) {
-            // Reset last ok since we are in motion
-            this._last_ok = 0;
-            this._goal.reached = false;
-            this.emit('goalLeft', this._state);
-        }
-    }
-
-    // Get Raw command from PID
-    var ux = this._pid_x.getCommand(ex);
-    var uy = this._pid_y.getCommand(ey);
-    var uz = this._pid_z.getCommand(ez);
-    var uyaw = this._pid_yaw.getCommand(eyaw);
-
-    // Ceil commands and map them to drone orientation
-    var yaw  = this._state.yaw;
-    var cx   = within(Math.cos(yaw) * ux + Math.sin(yaw) * uy, -1, 1);
-    var cy   = within(-Math.sin(yaw) * ux + Math.cos(yaw) * uy, -1, 1);
-    var cz   = within(uz, -1, 1);
-    var cyaw = within(uyaw, -1, 1);
-
-    // Emit the control data for auditing
-    this.emit('controlData', {
-        state:   this._state,
-        goal:    this._goal,
-        error:   {ex: ex, ey: ey, ez: ez, eyaw: eyaw},
-        control: {ux: ux, uy: uy, uz: uz, uyaw: uyaw},
-        last_ok: this._last_ok,
-        tag:     (d.visionDetect && d.visionDetect.nbDetected > 0) ? 1 : 0
-    });
-
-    // Send commands to drone
-    if (Math.abs(cx) > 0.01) this._client.front(cx);
-    if (Math.abs(cy) > 0.01) this._client.right(cy);
-    if (Math.abs(cz) > 0.01) this._client.up(cz);
-    if (Math.abs(cyaw) > 0.01) this._client.clockwise(cyaw);
-
-}
-
-function within(x, min, max) {
-    if (x < min) {
-        return min;
-    } else if (x > max) {
-        return max;
-    } else {
-        return x;
-    }
-}

lib/EKF.js

@@ -1,145 +0,0 @@
-var sylvester    = require('sylvester');
-var util         = require('util');
-
-var Matrix       = sylvester.Matrix;
-var Vector       = sylvester.Vector;
-
-EKF.DELTA_T = 1 / 15; // In demo mode, 15 navdata per second
-
-module.exports = EKF;
-function EKF(options) {
-
-  options = options || {};
-
-  this._options     = options;
-  this._delta_t     = options.delta_t || EKF.DELTA_T;
-
-  this.reset();
-}
-
-EKF.prototype.state = function() {
-    return this._state;
-}
-
-EKF.prototype.confidence = function() {
-    return this._sigma;
-}
-
-EKF.prototype.reset = function() {
-  this._state       = this._options.state   || {x: 0, y: 0, yaw: 0};
-  this._sigma       = Matrix.I(3);
-  this._q           = Matrix.Diagonal([0.0003, 0.0003, 0.0001]);
-  this._r           = Matrix.Diagonal([0.3, 0.3, 0.3]);
-  this._last_yaw    = null;
-}
-
-EKF.prototype.predict = function(data) {
-    var pitch = data.demo.rotation.pitch.toRad()
-      , roll  = data.demo.rotation.roll.toRad()
-      , yaw   = normAngle(data.demo.rotation.yaw.toRad())
-      , vx    = data.demo.velocity.x / 1000 //We want m/s instead of mm/s
-      , vy    = data.demo.velocity.y / 1000
-      , dt    = this._delta_t
-    ;
-
-    // We are not interested by the absolute yaw, but the yaw motion,
-    // so we need at least a prior value to get started.
-    if (this._last_yaw == null) {
-        this._last_yaw = yaw;
-        return;
-    }
-
-    // Compute the odometry by integrating the motion over delta_t
-    var o = {dx: vx * dt, dy: vy * dt, dyaw: yaw - this._last_yaw};
-    this._last_yaw  = yaw;
-
-    // Update the state estimate
-    var state = this._state;
-    state.x   = state.x + o.dx * Math.cos(state.yaw) - o.dy * Math.sin(state.yaw);
-    state.y   = state.y + o.dx * Math.sin(state.yaw) + o.dy * Math.cos(state.yaw);
-    state.yaw = state.yaw + o.dyaw;
-
-    // Normalize the yaw value
-    state.yaw = Math.atan2(Math.sin(state.yaw),Math.cos(state.yaw));
-
-    // Compute the G term (due to the Taylor approximation to linearize the function).
-    var G = $M(
-           [[1, 0, -1 * Math.sin(state.yaw) * o.dx - Math.cos(state.yaw) * o.dy],
-            [0, 1,  Math.cos(state.yaw) * o.dx - Math.sin(state.yaw) * o.dy],
-            [0, 0, 1]]
-            );
-
-    // Compute the new sigma
-    this._sigma = G.multiply(this._sigma).multiply(G.transpose()).add(this._q);
-}
- /*
-  * measure.x:   x-position of marker in drone's xy-coordinate system (independant of roll, pitch)
-  * measure.y:   y-position of marker in drone's xy-coordinate system (independant of roll, pitch)
-  * measure.yaw: yaw rotation of marker, in drone's xy-coordinate system (independant of roll, pitch)
-  *
-  * pose.x:   x-position of marker in world-coordinate system
-  * pose.y:   y-position of marker in world-coordinate system
-  * pose.yaw: yaw-rotation of marker in world-coordinate system
-  */
-EKF.prototype.correct = function(measure, pose) {
-    // Compute expected measurement given our current state and the marker pose
-    var state  = this._state;
-    var psi    = state.yaw;
-    this._s    = {x: state.x, y: state.y, yaw: state.yaw};
-
-    // Normalized the measure yaw
-    measure.yaw = normAngle(measure.yaw);
-    this._m = {x: measure.x, y: measure.y, yaw: measure.yaw};
-
-    var z1 = Math.cos(psi) * (pose.x - state.x) + Math.sin(psi) * (pose.y - state.y);
-    var z2 = -1 * Math.sin(psi) * (pose.x - state.x) + Math.cos(psi) * (pose.y - state.y);
-    var z3 = pose.yaw - psi;
-    this._z = {x: z1, y: z2, yaw: z3};
-
-    // Compute the error
-    var e1 = measure.x - z1;
-    var e2 = measure.y - z2;
-    var e3 = measure.yaw - z3;
-    this._e = {x: e1, y: e2, yaw: e3};
-
-    // Compute the H term
-    var H = $M([[ -Math.cos(psi), -Math.sin(psi), Math.sin(psi) * (state.x - pose.x) - Math.cos(psi) * (state.y - pose.y)],
-                [  Math.sin(psi), -Math.cos(psi), Math.cos(psi) * (state.x - pose.x) + Math.sin(psi) * (state.y - pose.y)],
-                [  0, 0, -1]]);
-
-    // Compute the Kalman Gain
-    var Ht = H.transpose();
-    var K = this._sigma.multiply(Ht).multiply(H.multiply(this._sigma).multiply(Ht).add(this._r).inverse())
-
-    // Correct the pose estimate
-    var err = $V([e1, e2, e3]);
-    var c = K . multiply(err);
-    state.x = state.x + c.e(1);
-    state.y = state.y + c.e(2);
-
-//  TODO - This does not work, need more investigation.
-//  In the meanwhile, we don't correct yaw based on observation.
-//  state.yaw = state.yaw + c.e(3);
-
-    this._sigma = Matrix.I(3).subtract(K.multiply(H)).multiply(this._sigma);
-};
-
-function normAngle(rad) {
-    while (rad >  Math.PI) { rad -= 2 * Math.PI;}
-    while (rad < -Math.PI) { rad += 2 * Math.PI;}
-    return rad;
-}
-
-/** Converts numeric degrees to radians */
-if (typeof(Number.prototype.toRad) === "undefined") {
-  Number.prototype.toRad = function() {
-    return this * Math.PI / 180;
-  }
-}
-
-/** Converts radians to numeric dregrees */
-if (typeof(Number.prototype.toDeg) === "undefined") {
-  Number.prototype.toDeg = function() {
-    return this * 180 / Math.PI;
-  }
-}

lib/Mission.js

@@ -1,243 +0,0 @@
-var async = require('async')
-  , fs    = require('fs')
-  ;
-
-module.exports = Mission;
-function Mission(client, controller, options) {
-
-    options = options || {};
-
-    this._options   = options;
-    this._client    = client;
-    this._control   = controller;
-
-    this._steps     = [];
-}
-
-Mission.prototype.client = function() {
-    return this._client;
-}
-
-Mission.prototype.control = function() {
-    return this._control;
-}
-
-Mission.prototype.run = function(callback) {
-    async.waterfall(this._steps, callback);
-}
-
-Mission.prototype.log = function(path) {
-    var dataStream = fs.createWriteStream(path);
-    var ekf = this._control._ekf;
-
-    this._control.on('controlData', function(d) {
-        var log = (d.state.x + "," +
-                   d.state.y + "," +
-                   d.state.z + "," +
-                   d.state.yaw + "," +
-                   d.state.vx + "," +
-                   d.state.vy + "," +
-                   d.goal.x + "," +
-                   d.goal.y + "," +
-                   d.goal.z + "," +
-                   d.goal.yaw + "," +
-                   d.error.ex + "," +
-                   d.error.ey + "," +
-                   d.error.ez + "," +
-                   d.error.eyaw + "," +
-                   d.control.ux + "," +
-                   d.control.uy + "," +
-                   d.control.uz + "," +
-                   d.control.uyaw + "," +
-                   d.last_ok + "," +
-                   d.tag);
-
-        if (d.tag > 0) {
-            log = log + "," +
-                  ekf._s.x + "," +
-                  ekf._s.y + "," +
-                  ekf._s.yaw.toDeg() + "," +
-                  ekf._m.x + "," +
-                  ekf._m.y + "," +
-                  ekf._m.yaw.toDeg() + "," +
-                  ekf._z.x + "," +
-                  ekf._z.y + "," +
-                  ekf._z.yaw.toDeg() + "," +
-                  ekf._e.x + "," +
-                  ekf._e.y + "," +
-                  ekf._e.yaw.toDeg()
-        } else {
-            log = log + ",0,0,0,0,0,0"
-        }
-
-        log = log + "\n";
-
-        dataStream.write(log);
-    });
-}
-
-Mission.prototype.takeoff = function() {
-    var self = this;
-    this._steps.push(function(cb) {
-        self._client.takeoff(cb);
-    });
-
-    return this;
-}
-
-Mission.prototype.land = function() {
-    var self = this;
-    this._steps.push(function(cb) {
-        self._client.land(cb);
-    });
-
-    return this;
-}
-
-Mission.prototype.hover = function(delay) {
-    var self = this;
-    this._steps.push(function(cb) {
-        self._control.hover();
-        setTimeout(cb, delay);
-    });
-
-    return this;
-}
-
-Mission.prototype.wait = function(delay) {
-    this._steps.push(function(cb) {
-        setTimeout(cb, delay);
-    });
-
-    return this;
-}
-
-Mission.prototype.task = function(task) {
-    this._steps.push(function(cb) {
-        task(cb);
-    });
-
-    return this;
-}
-
-Mission.prototype.taskSync = function(task) {
-    this._steps.push(function(cb) {
-        task();
-        cb();
-    });
-
-    return this;
-}
-
-Mission.prototype.zero = function() {
-    var self = this;
-    this._steps.push(function(cb) {
-        self._control.zero();
-        cb();
-    });
-
-    return this;
-}
-
-Mission.prototype.go = function(goal) {
-    var self = this;
-    this._steps.push(function(cb) {
-        self._control.go(goal, cb);
-    });
-
-    return this;
-}
-
-Mission.prototype.forward = function(distance) {
-    var self = this;
-    this._steps.push(function(cb) {
-        self._control.forward(distance, cb);
-    });
-
-    return this;
-}
-
-Mission.prototype.backward = function(distance) {
-    var self = this;
-    this._steps.push(function(cb) {
-        self._control.backward(distance, cb);
-    });
-
-    return this;
-}
-
-Mission.prototype.left = function(distance) {
-    var self = this;
-    this._steps.push(function(cb) {
-        self._control.left(distance, cb);
-    });
-
-    return this;
-}
-
-Mission.prototype.right = function(distance) {
-    var self = this;
-    this._steps.push(function(cb) {
-        self._control.right(distance, cb);
-    });
-
-    return this;
-}
-
-Mission.prototype.up = function(distance) {
-    var self = this;
-    this._steps.push(function(cb) {
-        self._control.up(distance, cb);
-    });
-
-    return this;
-}
-
-Mission.prototype.down = function(distance) {
-    var self = this;
-    this._steps.push(function(cb) {
-        self._control.down(distance, cb);
-    });
-
-    return this;
-}
-
-Mission.prototype.cw = function(angle) {
-    var self = this;
-    this._steps.push(function(cb) {
-        self._control.cw(angle, cb);
-    });
-
-    return this;
-}
-
-Mission.prototype.ccw = function(angle) {
-    var self = this;
-    this._steps.push(function(cb) {
-        self._control.ccw(angle, cb);
-    });
-
-    return this;
-}
-
-Mission.prototype.altitude = function(altitude) {
-    var self = this;
-    this._steps.push(function(cb) {
-        self._control.altitude(altitude, cb);
-    });
-
-    return this;
-}
-
-Mission.prototype.yaw = function(angle) {
-    var self = this;
-    this._steps.push(function(cb) {
-        self._control.yaw(angle,cb);
-    });
-
-    return this;
-}
-
-
-
-

lib/PID.js

@@ -1,45 +0,0 @@
-module.exports = PID;
-function PID(kp, ki, kd) {
-    this.configure(kp, ki, kd);
-    this.reset();
-}
-
-PID.prototype.configure = function(kp,ki,kd) {
-    this._kp = kp;
-    this._ki = ki;
-    this._kd = kd;
-}
-
-PID.prototype.reset = function() {
-    this._last_time = 0;
-    this._last_error = Infinity;
-    this._error_sum = 0;
-}
-
-PID.prototype.getCommand = function(e) {
-    // Compute dt in seconds
-    var time = Date.now();
-    var dt = (time - this._last_time) / 1000
-
-    var de = 0;
-    if (this._last_time != 0) {
-        // Compute de (error derivation)
-        if (this._last_error < Infinity) {
-            de = (e - this._last_error) / dt;
-        }
-
-        // Integrate error
-        this._error_sum += e * dt;
-    }
-
-    // Update our trackers
-    this._last_time = time;
-    this._last_error = e;
-
-    // Compute commands
-    var command = this._kp * e
-                + this._ki * this._error_sum
-                + this._kd * de;
-
-    return command;
-}

lib/StateEstimator.js

@@ -1,66 +0,0 @@
-var EventEmitter = require('events').EventEmitter;
-var util         = require('util');
-
-module.exports = StateEstimator;
-util.inherits(StateEstimator, EventEmitter);
-function StateEstimator(client, options) {
-  EventEmitter.call(this);
-
-  options = options || {};
-
-  this._options           = options;
-  this._client            = client;
-  this._delta_t           = options.delta_t || StateEstimator.DELTA_T;
-  this._state             = {roll: 0, pitch: 0, yaw: 0, x: 0, y: 0, z: 0};
-  this._mode              = options.mode || "yaw";
-
-  if (this._client == null) throw new Error("This won't work if you don't pass a proper ardrone client.");
-
-  console.log('State estimator initialized in %s mode.', this._mode);
-
-  this._bind();
-}
-
-StateEstimator.DELTA_T = 1 / 15; // In demo mode, 15 navdata per second
-
-StateEstimator.prototype.state = function() {
-    return this._state;
-}
-
-StateEstimator.prototype._bind = function() {
-    var self = this;
-    this._client.on('navdata', function(data) {
-        self._processNavData(data);
-    });
-}
-
-StateEstimator.prototype._processNavData = function(data) {
-    var pitch = data.demo.rotation.pitch.toRad()
-      , roll  = data.demo.rotation.roll.toRad()
-      , yaw   = data.demo.rotation.yaw.toRad()
-      , mag   = data.magneto.heading.fusionUnwrapped.toRad()
-      , vx    = data.demo.velocity.x / 1000 //We want m/s instead of mm/s
-      , vy    = data.demo.velocity.y / 1000
-      , vz    = data.demo.velocity.z / 1000
-      , alt   = data.demo.altitude
-      , dt    = this._delta_t;
-      ;
-
-    var phi = (this._mode == "magneto" && mag != null) ? mag : yaw;
-    
-    this._state.x = this._state.x + dt * (vx * Math.cos(phi) - vy * Math.sin(phi));
-    this._state.y = this._state.y + dt * (vx * Math.sin(phi) + vy * Math.cos(phi));
-    this._state.z = alt;
-    this._state.roll = roll;
-    this._state.pitch = pitch;
-    this._state.yaw = yaw;
-
-    this.emit('state', this._state);
-};
-
-/** Converts numeric degrees to radians */
-if (typeof(Number.prototype.toRad) === "undefined") {
-  Number.prototype.toRad = function() {
-    return this * Math.PI / 180;
-  }
-}

package.json

@@ -1,32 +0,0 @@
-{
-  "name": "ardrone-autonomy",
-  "version": "0.1.2",
-  "description": "Building blocks for autonomous flying an AR.Drone.",
-  "repository": {
-    "type": "git",
-    "url": "git@github.com:eschnou/ardrone-autonomy.git"
-  },
-  "keywords": [
-    "drone",
-    "ardrone",
-    "nodecopter",
-    "parrot",
-    "autonomous",
-    "kalman",
-    "pid"
-  ],
-  "scripts": {
-    "test": "node tests/run.js"
-  },
-  "dependencies": {
-    "sylvester": "0.0.21",
-    "async": "0.2.9"
-  },
-  "devDependencies": {
-    "utest": "0.0.6",
-    "urun": "0.0.6",
-    "sinon": "1.4.2"
-  },
-  "author": "Laurent Eschenauer <laurent@eschenauer.be>",
-  "license": "MIT"
-}

stylesheets/pygment_trac.css

@@ -0,0 +1,68 @@
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+.highlight .err { color: #a61717; background-color: #e3d2d2 } /* Error */
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+.highlight .o { font-weight: bold } /* Operator */
+.highlight .cm { color: #999988; font-style: italic } /* Comment.Multiline */
+.highlight .cp { color: #999999; font-weight: bold } /* Comment.Preproc */
+.highlight .c1 { color: #999988; font-style: italic } /* Comment.Single */
+.highlight .cs { color: #999999; font-weight: bold; font-style: italic } /* Comment.Special */
+.highlight .gd { color: #000000; background-color: #ffdddd } /* Generic.Deleted */
+.highlight .gd .x { color: #000000; background-color: #ffaaaa } /* Generic.Deleted.Specific */
+.highlight .ge { font-style: italic } /* Generic.Emph */
+.highlight .gr { color: #aa0000 } /* Generic.Error */
+.highlight .gh { color: #999999 } /* Generic.Heading */
+.highlight .gi { color: #000000; background-color: #ddffdd } /* Generic.Inserted */
+.highlight .gi .x { color: #000000; background-color: #aaffaa } /* Generic.Inserted.Specific */
+.highlight .go { color: #888888 } /* Generic.Output */
+.highlight .gp { color: #555555 } /* Generic.Prompt */
+.highlight .gs { font-weight: bold } /* Generic.Strong */
+.highlight .gu { color: #800080; font-weight: bold; } /* Generic.Subheading */
+.highlight .gt { color: #aa0000 } /* Generic.Traceback */
+.highlight .kc { font-weight: bold } /* Keyword.Constant */
+.highlight .kd { font-weight: bold } /* Keyword.Declaration */
+.highlight .kn { font-weight: bold } /* Keyword.Namespace */
+.highlight .kp { font-weight: bold } /* Keyword.Pseudo */
+.highlight .kr { font-weight: bold } /* Keyword.Reserved */
+.highlight .kt { color: #445588; font-weight: bold } /* Keyword.Type */
+.highlight .m { color: #009999 } /* Literal.Number */
+.highlight .s { color: #d14 } /* Literal.String */
+.highlight .na { color: #008080 } /* Name.Attribute */
+.highlight .nb { color: #0086B3 } /* Name.Builtin */
+.highlight .nc { color: #445588; font-weight: bold } /* Name.Class */
+.highlight .no { color: #008080 } /* Name.Constant */
+.highlight .ni { color: #800080 } /* Name.Entity */
+.highlight .ne { color: #990000; font-weight: bold } /* Name.Exception */
+.highlight .nf { color: #990000; font-weight: bold } /* Name.Function */
+.highlight .nn { color: #555555 } /* Name.Namespace */
+.highlight .nt { color: #CBDFFF } /* Name.Tag */
+.highlight .nv { color: #008080 } /* Name.Variable */
+.highlight .ow { font-weight: bold } /* Operator.Word */
+.highlight .w { color: #bbbbbb } /* Text.Whitespace */
+.highlight .mf { color: #009999 } /* Literal.Number.Float */
+.highlight .mh { color: #009999 } /* Literal.Number.Hex */
+.highlight .mi { color: #009999 } /* Literal.Number.Integer */
+.highlight .mo { color: #009999 } /* Literal.Number.Oct */
+.highlight .sb { color: #d14 } /* Literal.String.Backtick */
+.highlight .sc { color: #d14 } /* Literal.String.Char */
+.highlight .sd { color: #d14 } /* Literal.String.Doc */
+.highlight .s2 { color: #d14 } /* Literal.String.Double */
+.highlight .se { color: #d14 } /* Literal.String.Escape */
+.highlight .sh { color: #d14 } /* Literal.String.Heredoc */
+.highlight .si { color: #d14 } /* Literal.String.Interpol */
+.highlight .sx { color: #d14 } /* Literal.String.Other */
+.highlight .sr { color: #009926 } /* Literal.String.Regex */
+.highlight .s1 { color: #d14 } /* Literal.String.Single */
+.highlight .ss { color: #990073 } /* Literal.String.Symbol */
+.highlight .bp { color: #999999 } /* Name.Builtin.Pseudo */
+.highlight .vc { color: #008080 } /* Name.Variable.Class */
+.highlight .vg { color: #008080 } /* Name.Variable.Global */
+.highlight .vi { color: #008080 } /* Name.Variable.Instance */
+.highlight .il { color: #009999 } /* Literal.Number.Integer.Long */
+
+.type-csharp .highlight .k { color: #0000FF }
+.type-csharp .highlight .kt { color: #0000FF }
+.type-csharp .highlight .nf { color: #000000; font-weight: normal }
+.type-csharp .highlight .nc { color: #2B91AF }
+.type-csharp .highlight .nn { color: #000000 }
+.type-csharp .highlight .s { color: #A31515 }
+.type-csharp .highlight .sc { color: #A31515 }

stylesheets/stylesheet.css

@@ -0,0 +1,246 @@
+body {
+  margin: 0;
+  padding: 0;
+  background: #151515 url("../images/bkg.png") 0 0;
+  color: #eaeaea;
+  font: 16px;
+  line-height: 1.5;
+  font-family: Monaco, "Bitstream Vera Sans Mono", "Lucida Console", Terminal, monospace;
+}
+
+/* General & 'Reset' Stuff */
+
+.container {
+  width: 90%;
+  max-width: 600px;
+  margin: 0 auto;
+}
+
+section {
+  display: block;
+  margin: 0 0 20px 0;
+}
+
+h1, h2, h3, h4, h5, h6 {
+  margin: 0 0 20px;
+}
+
+li {
+  line-height: 1.4 ;
+}
+
+/* Header, <header>
+   header   - container
+   h1       - project name
+   h2       - project description
+*/
+
+header {
+  background: rgba(0, 0, 0, 0.1);
+  width: 100%;
+  border-bottom: 1px dashed #b5e853;
+  padding: 20px 0;
+  margin: 0 0 40px 0;
+}
+
+header h1 {
+  font-size: 30px;
+  line-height: 1.5;
+  margin: 0 0 0 -30px;
+  font-family: Audiowide,Monaco, "Bitstream Vera Sans Mono", "Lucida Console", Terminal, monospace;
+  color: #b5e853;
+  text-shadow: 0 1px 1px rgba(0, 0, 0, 0.1),
+               0 0 5px rgba(181, 232, 83, 0.1),
+               0 0 10px rgba(181, 232, 83, 0.1);
+  letter-spacing: -1px;
+  -webkit-font-smoothing: antialiased;
+}
+
+header h1:before {
+  content: "./ ";
+  font-size: 24px;
+}
+
+header h2 {
+  font-size: 18px;
+  font-weight: 300;
+  color: #666;
+}
+
+#downloads .btn {
+  display: inline-block;
+  text-align: center;
+  margin: 0;
+}
+
+/* Main Content
+*/
+
+#main_content {
+  width: 100%;
+  -webkit-font-smoothing: antialiased;
+}
+section img {
+  max-width: 100%
+}
+
+h1, h2, h3, h4, h5, h6 {
+  font-weight: normal;
+  font-family: Monaco, "Bitstream Vera Sans Mono", "Lucida Console", Terminal, monospace;
+  color: #b5e853;
+  letter-spacing: -0.03em;
+  text-shadow: 0 1px 1px rgba(0, 0, 0, 0.1),
+               0 0 5px rgba(181, 232, 83, 0.1),
+               0 0 10px rgba(181, 232, 83, 0.1);
+}
+
+#main_content h1 {
+  font-size: 30px;
+}
+
+#main_content h2 {
+  font-size: 24px;
+}
+
+#main_content h3 {
+  font-size: 18px;
+}
+
+#main_content h4 {
+  font-size: 14px;
+}
+
+#main_content h5 {
+  font-size: 12px;
+  text-transform: uppercase;
+  margin: 0 0 5px 0;
+}
+
+#main_content h6 {
+  font-size: 12px;
+  text-transform: uppercase;
+  color: #999;
+  margin: 0 0 5px 0;
+}
+
+dt {
+  font-style: italic;
+  font-weight: bold;
+}
+
+ul li {
+  list-style: none;
+}
+
+ul li:before {
+  content: ">>";
+  font-family: Monaco, "Bitstream Vera Sans Mono", "Lucida Console", Terminal, monospace;
+  font-size: 13px;
+  color: #b5e853;
+  margin-left: -37px;
+  margin-right: 21px;
+  line-height: 16px;
+}
+
+blockquote {
+  color: #aaa;
+  padding-left: 10px;
+  border-left: 1px dotted #666;
+}
+
+pre {
+  background: rgba(0, 0, 0, 0.9);
+  border: 1px solid rgba(255, 255, 255, 0.15);
+  padding: 10px;
+  font-size: 14px;
+  color: #b5e853;
+  border-radius: 2px;
+  -moz-border-radius: 2px;
+  -webkit-border-radius: 2px;
+  text-wrap: normal;
+  overflow: auto;
+  overflow-y: hidden;
+}
+
+table {
+  width: 100%;
+  margin: 0 0 20px 0;
+}
+
+th {
+  text-align: left;
+  border-bottom: 1px dashed #b5e853;
+  padding: 5px 10px;
+}
+
+td {
+  padding: 5px 10px;
+}
+
+hr {
+  height: 0;
+  border: 0;
+  border-bottom: 1px dashed #b5e853;
+  color: #b5e853;
+}
+
+/* Buttons
+*/
+
+.btn {
+  display: inline-block;
+  background: -webkit-linear-gradient(top, rgba(40, 40, 40, 0.3), rgba(35, 35, 35, 0.3) 50%, rgba(10, 10, 10, 0.3) 50%, rgba(0, 0, 0, 0.3));
+  padding: 8px 18px;
+  border-radius: 50px;
+  border: 2px solid rgba(0, 0, 0, 0.7);
+  border-bottom: 2px solid rgba(0, 0, 0, 0.7);
+  border-top: 2px solid rgba(0, 0, 0, 1);
+  color: rgba(255, 255, 255, 0.8);
+  font-family: Helvetica, Arial, sans-serif;
+  font-weight: bold;
+  font-size: 13px;
+  text-decoration: none;
+  text-shadow: 0 -1px 0 rgba(0, 0, 0, 0.75);
+  box-shadow: inset 0 1px 0 rgba(255, 255, 255, 0.05);
+}
+
+.btn:hover {
+  background: -webkit-linear-gradient(top, rgba(40, 40, 40, 0.6), rgba(35, 35, 35, 0.6) 50%, rgba(10, 10, 10, 0.8) 50%, rgba(0, 0, 0, 0.8));
+}
+
+.btn .icon {
+  display: inline-block;
+  width: 16px;
+  height: 16px;
+  margin: 1px 8px 0 0;
+  float: left;
+}
+
+.btn-github .icon {
+  opacity: 0.6;
+  background: url("../images/blacktocat.png") 0 0 no-repeat;
+}
+
+/* Links
+   a, a:hover, a:visited
+*/
+
+a {
+  color: #63c0f5;
+  text-shadow: 0 0 5px rgba(104, 182, 255, 0.5);
+}
+
+/* Clearfix */
+
+.cf:before, .cf:after {
+  content:"";
+  display:table;
+}
+
+.cf:after {
+  clear:both;
+}
+
+.cf {
+  zoom:1;
+}

tests/common.js

@@ -1,5 +0,0 @@
-var common = exports;
-var path   = require('path');
-
-common.root     = path.join(__dirname, '..');
-common.lib      = path.join(common.root, 'lib');

tests/integration/mission.js

@@ -1,32 +0,0 @@
-var df = require('dateformat')
-  , common = require('../common')
-  , autonomy = require(common.root)
-  , mockClient = require('./mock/client')
-  ;
-
-var client     = new mockClient();
-var controller = new autonomy.Controller(client);
-var mission    = new autonomy.Mission(client, controller);
-
-mission.log("mission-" + df(new Date(), "yyyy-mm-dd_hh-MM-ss") + ".txt");
-
-mission.takeoff()
-       .hover(1000)
-       .forward(1)
-       .right(1)
-       .backward(1)
-       .left(1)
-       .hover(1000)
-       .land();
-
-mission.run(function (err, result) {
-    if (err) {
-        console.trace("Oops, something bad happened: %s", err.message);
-        mission.client().stop();
-        mission.client().land();
-    } else {
-        console.log("We are done!");
-        process.exit(0);
-    }
-});
-

tests/integration/mock/client.js

@@ -1,92 +0,0 @@
-var EventEmitter = require('events').EventEmitter;
-var Timers       = require('timers');
-var util         = require('util');
-
-DT = 30;
-
-module.exports = Client;
-util.inherits(Client, EventEmitter);
-function Client(options) {
-    EventEmitter.call(this);
-
-    options = options || {};
-
-    this._state = options.state || {x: 0, y: 0, z: 1, yaw: 0};
-    this._speed = {vx: 0, vy: 0, vz: 0, vyaw: 0};
-
-    var self = this;
-    Timers.setInterval(function() {
-        self._sendNavdata();
-    }, DT);
-}
-
-Client.prototype.takeoff = function(callback) {
-    setTimeout(callback, 1000);
-}
-
-Client.prototype.land = function(callback) {
-    setTimeout(callback, 1000);
-}
-
-Client.prototype.front = function(speed) {
-    this._speed.vx = speed;
-}
-
-Client.prototype.back = function(speed) {
-    this._speed.vx = -speed;
-}
-
-Client.prototype.right = function(speed) {
-    this._speed.vy = speed;
-}
-
-Client.prototype.left = function(speed) {
-    this._speed.vy = -speed;
-}
-
-Client.prototype.up = function(speed) {
-    this._speed.vz = speed;
-}
-
-Client.prototype.down = function(speed) {
-    this._speed.vz = -speed;
-}
-
-Client.prototype.clockwise = function(speed) {
-    this._speed.vyaw = speed;
-}
-
-Client.prototype.counterClockwise = function(speed) {
-    this._speed.vyaw = -speed;
-}
-
-Client.prototype.stop = function() {
-    this._speed = {vx: 0, vy: 0, vz: 0, vyaw: 0};
-}
-
-Client.prototype._sendNavdata = function() {
-    // First we update the state based on speed
-    this._state.z = Math.max(0, this._state.z + this._speed.vz);
-    this._state.yaw = this._state.yaw + this._speed.vyaw;
-
-    var navdata = {
-        demo: {
-            rotation: {
-                pitch: 0,
-                roll: 0,
-                yaw: this._state.yaw
-            },
-            velocity: {
-                x: this._speed.vx * 1000,
-                y: this._speed.vy * 1000,
-                z: this._speed.vz * 1000
-            },
-            altitude: this._state.z
-        },
-        visionDetect: {
-            nbDetected: 0
-        }
-    };
-
-    this.emit('navdata', navdata);
-}

tests/run.js

@@ -1,2 +0,0 @@
-var urun = require('urun');
-urun(__dirname);

tests/unit/test-Controller.js

@@ -1,171 +0,0 @@
-var common   = require('../common');
-var assert   = require('assert');
-var test     = require('utest');
-var sinon    = require('sinon');
-var autonomy = require(common.root);
-
-test('Controller', {
-    before: function() {
-        this.mockClient      = {};
-        this.mockClient.on   = sinon.stub();
-        this.mockClient.stop = sinon.stub();
-    },
-
-    'controller binds on navdata': function() {
-        var ctrl = new autonomy.Controller(this.mockClient);
-        assert.equal(this.mockClient.on.callCount, 1);
-    },
-
-    'disabling the controller stops the drone': function() {
-        var ctrl = new autonomy.Controller(this.mockClient);
-        ctrl.disable();
-        assert.equal(this.mockClient.stop.callCount, 1);
-        assert.equal(ctrl._enabled, false);
-    },
-
-    'hover assigns current state as goal': function() {
-        var ctrl  = new autonomy.Controller(this.mockClient);
-        var state = {x: 1, y: 2, z: 3, yaw: 0};
-
-        ctrl._state = state;
-        ctrl.hover();
-        var goal = ctrl._goal;
-
-        assert.equal(goal.x, state.x);
-        assert.equal(goal.y, state.y);
-        assert.equal(goal.z, state.z);
-        assert.equal(goal.yaw, state.yaw);
-    },
-
-    'forward mapping works with different yaw': function() {
-        var ctrl  = new autonomy.Controller(this.mockClient);
-        ctrl._state = {x: 0, y: 0, z: 1, yaw: 0};
-
-        // Test forward with yaw 0
-        ctrl.forward(1);
-        assert.equal(ctrl._goal.x, 1);
-        assert.equal(ctrl._goal.y, 0);
-
-        // Test forward with yaw 90
-        var yaw = 90;
-        ctrl._state.yaw = yaw.toRad();
-        ctrl.forward(1);
-        assert.equal(Math.round(ctrl._goal.x * 1000) / 1000, 0);
-        assert.equal(ctrl._goal.y, 1);
-
-        // Test forward with yaw 45
-        var yaw = 45;
-        ctrl._state.yaw = yaw.toRad();
-        ctrl.forward(1);
-        assert.equal(Math.round(ctrl._goal.x * 1000) / 1000, Math.round(ctrl._goal.y * 1000) /1000);
-
-        // Test forward with yaw -45
-        var yaw = -45;
-        ctrl._state.yaw = yaw.toRad();
-        ctrl.forward(1);
-        assert.equal(Math.round(ctrl._goal.x * 1000) / 1000, -Math.round(ctrl._goal.y * 1000) /1000);
-    },
-
-    'right mapping works with different yaw': function() {
-        var ctrl  = new autonomy.Controller(this.mockClient);
-        ctrl._state = {x: 0, y: 0, z: 1, yaw: 0};
-
-        // Test right with yaw 0
-        ctrl.right(1);
-        assert.equal(ctrl._goal.x, 0);
-        assert.equal(ctrl._goal.y, 1);
-
-        // Test right with yaw 90
-        var yaw = 90;
-        ctrl._state.yaw = yaw.toRad();
-        ctrl.right(1);
-        assert.equal(Math.round(ctrl._goal.x * 1000) / 1000, -1);
-        assert.equal(Math.round(ctrl._goal.y * 1000) / 1000, 0);
-
-        // Test right with yaw 45
-        var yaw = 45;
-        ctrl._state.yaw = yaw.toRad();
-        ctrl.right(1);
-        assert.equal(Math.round(ctrl._goal.x * 1000) / 1000, -Math.round(ctrl._goal.y * 1000) /1000);
-    },
-
-    'backward is the inverse of forward': function() {
-        var ctrl    = new autonomy.Controller(this.mockClient);
-        var cb      = function() {};
-        ctrl._state = {x: 0, y: 0, z: 1, yaw: 0};
-        sinon.spy(ctrl, 'forward');
-
-        ctrl.backward(1, cb);
-        assert(ctrl.forward.calledWith(-1, cb));
-    },
-
-    'left is the inverse of right': function() {
-        var ctrl    = new autonomy.Controller(this.mockClient);
-        var cb      = function() {};
-        ctrl._state = {x: 0, y: 0, z: 1, yaw: 0};
-        sinon.spy(ctrl, 'right');
-
-        ctrl.left(1, cb);
-        assert(ctrl.right.calledWith(-1, cb));
-    },
-
-    'zero reset the kalman filter': function() {
-        var ctrl    = new autonomy.Controller(this.mockClient);
-        sinon.spy(ctrl._ekf, 'reset');
-
-        ctrl.zero();
-        assert(ctrl._ekf.reset.calledOnce);
-    },
-
-    'up': function() {
-        var ctrl  = new autonomy.Controller(this.mockClient);
-        var state = {x: 1, y: 2, z: 3, yaw: 0};
-
-        ctrl._state = state;
-        ctrl.up(1);
-        var goal = ctrl._goal;
-
-        assert.equal(goal.x, state.x);
-        assert.equal(goal.y, state.y);
-        assert.equal(goal.z, state.z + 1);
-        assert.equal(goal.yaw, state.yaw);
-    },
-
-    'down is invserse of up': function() {
-        var ctrl    = new autonomy.Controller(this.mockClient);
-        var cb      = function() {};
-        ctrl._state = {x: 0, y: 0, z: 1, yaw: 0};
-        sinon.spy(ctrl, 'up');
-
-        ctrl.down(1, cb);
-        assert(ctrl.up.calledWith(-1, cb));
-    },
-
-    'cannot go too low': function() {
-        var ctrl  = new autonomy.Controller(this.mockClient);
-        var state = {x: 0, y: 0, z: 1, yaw: 0};
-
-        ctrl._state = state;
-        ctrl.down(1);
-        var goal = ctrl._goal;
-
-        assert.equal(goal.x, state.x);
-        assert.equal(goal.y, state.y);
-        assert.equal(goal.z, 0.5);
-        assert.equal(goal.yaw, state.yaw);
-    },
-
-    'altitude': function() {
-        var ctrl  = new autonomy.Controller(this.mockClient);
-        var state = {x: 0, y: 0, z: 1, yaw: 0};
-
-        ctrl._state = state;
-        ctrl.altitude(3);
-        var goal = ctrl._goal;
-
-        assert.equal(goal.x, state.x);
-        assert.equal(goal.y, state.y);
-        assert.equal(goal.z, 3);
-        assert.equal(goal.yaw, state.yaw);
-    }
-});