Drone States

The ARDrone SDK 2.0.1 defines the following drone states in ARDroneLib/Soft/Common/config.h

These states are presented as DroneState attributes in the library.

class pyardrone.navdata.states.DroneState(data)

fly_mask

bit 0. FLY MASK : (0) ardrone is landed, (1) ardrone is flying

video_mask

bit 1. VIDEO MASK : (0) video disable, (1) video enable

vision_mask

bit 2. VISION MASK : (0) vision disable, (1) vision enable

control_mask

bit 3. CONTROL ALGO : (0) euler angles control, (1) angular speed control

altitude_mask

bit 4. ALTITUDE CONTROL ALGO : (0) altitude control inactive (1) altitude control active

user_feedback_start

bit 5. USER feedback : Start button state

command_mask

bit 6. Control command ACK : (0) None, (1) one received

camera_mask

bit 7. CAMERA MASK : (0) camera not ready, (1) Camera ready

travelling_mask

bit 8. Travelling mask : (0) disable, (1) enable

usb_mask

bit 9. USB key : (0) usb key not ready, (1) usb key ready

navdata_demo_mask

bit 10. Navdata demo : (0) All navdata, (1) only navdata demo

navdata_bootstrap

bit 11. Navdata bootstrap : (0) options sent in all or demo mode, (1) no navdata options sent

motors_mask

bit 12. Motors status : (0) Ok, (1) Motors problem

com_lost_mask

bit 13. Communication Lost : (1) com problem, (0) Com is ok

software_fault

bit 14. Software fault detected - user should land as quick as possible (1)

vbat_low

bit 15. VBat low : (1) too low, (0) Ok

user_el

bit 16. User Emergency Landing : (1) User EL is ON, (0) User EL is OFF

timer_elapsed

bit 17. Timer elapsed : (1) elapsed, (0) not elapsed

magneto_needs_calib

bit 18. Magnetometer calibration state : (0) Ok, no calibration needed, (1) not ok, calibration needed

angles_out_of_range

bit 19. Angles : (0) Ok, (1) out of range

wind_mask

bit 20. WIND MASK: (0) ok, (1) Too much wind

ultrasound_mask

bit 21. Ultrasonic sensor : (0) Ok, (1) deaf

cutout_mask

bit 22. Cutout system detection : (0) Not detected, (1) detected

pic_version_mask

bit 23. PIC Version number OK : (0) a bad version number, (1) version number is OK

atcodec_thread_on

bit 24. ATCodec thread ON : (0) thread OFF (1) thread ON

navdata_thread_on

bit 25. Navdata thread ON : (0) thread OFF (1) thread ON

video_thread_on

bit 26. Video thread ON : (0) thread OFF (1) thread ON

acq_thread_on

bit 27. Acquisition thread ON : (0) thread OFF (1) thread ON

ctrl_watchdog_mask

bit 28. CTRL watchdog : (1) delay in control execution (> 5ms), (0) control is well scheduled

adc_watchdog_mask

bit 29. ADC Watchdog : (1) delay in uart2 dsr (> 5ms), (0) uart2 is good

com_watchdog_mask

bit 30. Communication Watchdog : (1) com problem, (0) Com is ok

emergency_mask

bit 31. Emergency landing : (0) no emergency, (1) emergency