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