Mani Monajjemi
73 linhas
1.3 KiB
Plaintext
73 linhas
1.3 KiB
Plaintext
Header header
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# Navdata including the ARDrone 2 specifica sensors
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# (magnetometer, barometer)
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# 0 means no battery, 100 means full battery
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float32 batteryPercent
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# 0: Unknown, 1: Init, 2: Landed, 3: Flying, 4: Hovering, 5: Test
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# 6: Taking off, 7: Goto Fix Point, 8: Landing, 9: Looping
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# Note: 3,7 seems to discriminate type of flying (isFly = 3 | 7)
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uint32 state
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int32 magX
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int32 magY
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int32 magZ
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# pressure sensor
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int32 pressure
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# apparently, there was a temperature sensor added as well.
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int32 temp
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# wind sensing...
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float32 wind_speed
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float32 wind_angle
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float32 wind_comp_angle
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# left/right tilt in degrees (rotation about the X axis)
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float32 rotX
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# forward/backward tilt in degrees (rotation about the Y axis)
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float32 rotY
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# orientation in degrees (rotation about the Z axis)
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float32 rotZ
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# estimated altitude (cm)
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int32 altd
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# linear velocity (mm/sec)
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float32 vx
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# linear velocity (mm/sec)
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float32 vy
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# linear velocity (mm/sec)
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float32 vz
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#linear accelerations (unit: g)
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float32 ax
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float32 ay
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float32 az
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#motor commands (unit 0 to 255)
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uint8 motor1
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uint8 motor2
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uint8 motor3
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uint8 motor4
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#Tags in Vision Detectoion
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uint32 tags_count
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uint32[] tags_type
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uint32[] tags_xc
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uint32[] tags_yc
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uint32[] tags_width
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uint32[] tags_height
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float32[] tags_orientation
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float32[] tags_distance
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#time stamp
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float32 tm
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