Updated micro revision

Fix syntax error in README

Changes.md

@@ -0,0 +1,15 @@
+# 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
+

README.md

@@ -57,7 +57,7 @@ mission.takeoff()
        .hover(1000)  // Hover in place for 1 second
        .land();
 
-mission.run(function (err, result)
+mission.run(function (err, result) {
     if (err) {
         console.trace("Oops, something bad happened: %s", err.message);
         mission.client().stop();
@@ -110,11 +110,15 @@ Add a wait step to the mission. Will wait for the given delay (in ms) before pro
 
 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)
+#### 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 

examples/pano.js

@@ -3,8 +3,25 @@ var df = require('dateformat')
   , 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)
@@ -17,6 +34,7 @@ mission.takeoff()
        .altitude(0.5)
        .land();
 
+// Execute mission
 mission.run(function (err, result) {
     if (err) {
         console.trace("Oops, something bad happened: %s", err.message);

examples/square-2.js

@@ -0,0 +1,71 @@
+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

@@ -17,14 +17,31 @@ var navdata_options = (
   | 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)
@@ -36,6 +53,7 @@ mission.takeoff()
        .hover(500)
        .land();
 
+// Execute mission
 mission.run(function (err, result) {
     if (err) {
         console.trace("Oops, something bad happened: %s", err.message);

lib/Controller.js

@@ -55,7 +55,7 @@ function Controller(client, options) {
     // Register the listener on navdata for our control loop
     var self = this;
     client.on('navdata', function(d) {
-        if (!this._busy) {
+        if (!this._busy && d.demo) {
             this._busy = true;
             self._processNavdata(d);
             self._control(d);
@@ -97,7 +97,7 @@ Controller.prototype.state = function() {
  * 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});
+    this._go({x: this._state.x, y: this._state.y, z: this._state.z, yaw: this._state.yaw});
 }
 
 /*
@@ -125,7 +125,7 @@ Controller.prototype.forward = function(distance, callback) {
    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);
+   this._go({x: gx, y: gy, z: state.z, yaw: state.yaw}, callback);
 }
 
 /*
@@ -148,7 +148,7 @@ Controller.prototype.right = function(distance, callback) {
    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);
+   this._go({x: gx, y: gy, z: state.z, yaw: state.yaw}, callback);
 }
 
 /*
@@ -165,13 +165,13 @@ Controller.prototype.left = function(distance, callback) {
  */
 Controller.prototype.cw = function(angle, callback) {
     var state = this.state();
-    var yaw   = state.yaw.toDeg();
+    var yaw   = state.yaw.toDeg() + angle;
 
-    return this.go({x: state.x, y: state.y, z: state.z, yaw: yaw + angle}, callback);
+    return this._go({x: state.x, y: state.y, z: state.z, yaw: yaw.toRad()}, callback);
 }
 
 /*
- * Turn counter clockwise of the given angle
+ * Turn counter clockwise of the given angle (in degrees)
  */
 Controller.prototype.ccw = function(angle, callback) {
     return this.cw(-angle, callback);
@@ -182,7 +182,7 @@ Controller.prototype.ccw = function(angle, callback) {
  */
 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);
+    return this._go({x: state.x, y: state.y, z: state.z + distance, yaw: state.yaw}, callback);
 }
 
 /*
@@ -197,22 +197,33 @@ Controller.prototype.down = function(distance, callback) {
  */
 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);
+    return this._go({x: state.x, y: state.y, z: altitude, yaw: state.yaw}, callback);
 }
 
 /*
- * Go to the target yaw
+ * 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}, callback);
+    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();
@@ -223,7 +234,7 @@ Controller.prototype.go = function(goal, callback) {
     // Normalize the yaw, to make sure we don't spin 360deg for
     // nothing :-)
     if (goal.yaw != undefined) {
-        var yaw = goal.yaw.toRad();
+        var yaw = goal.yaw;
         goal.yaw = Math.atan2(Math.sin(yaw),Math.cos(yaw));
     }
 
@@ -298,6 +309,10 @@ Controller.prototype._control = function(d) {
       , 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 ?
@@ -330,10 +345,6 @@ Controller.prototype._control = function(d) {
         }
     }
 
-    // Normalize eyaw within [-180, 180]
-    while(eyaw <  Math.PI/2) eyaw += Math.PI;
-    while(eyaw >= Math.PI/2) eyaw -= Math.PI;
-
     // Get Raw command from PID
     var ux = this._pid_x.getCommand(ex);
     var uy = this._pid_y.getCommand(ey);

package.json

@@ -1,6 +1,6 @@
 {
   "name": "ardrone-autonomy",
-  "version": "0.1.0",
+  "version": "0.1.2",
   "description": "Building blocks for autonomous flying an AR.Drone.",
   "repository": {
     "type": "git",
@@ -20,7 +20,7 @@
   },
   "dependencies": {
     "sylvester": "0.0.21",
-    "async": "~0.2.9"
+    "async": "0.2.9"
   },
   "devDependencies": {
     "utest": "0.0.6",