An interface to Parrot Bebop 2 drones. More...

#include <bebop.h>

Inheritance diagram for BoBRobotics::Robots::UAV::Bebop:

Classes
class	VideoStream
	Interface to the drone's built-in camera. More...

Public Types
enum class	State { Stopped = ARCONTROLLER_DEVICE_STATE_STOPPED , Starting = ARCONTROLLER_DEVICE_STATE_STARTING , Running = ARCONTROLLER_DEVICE_STATE_RUNNING , Paused = ARCONTROLLER_DEVICE_STATE_PAUSED , Stopping = ARCONTROLLER_DEVICE_STATE_STOPPING }
	The drone's current state.

enum class	RelativeMoveState { Initial = -2 , Moving = -1 , Success = ARCOMMANDS_ARDRONE3_PILOTINGEVENT_MOVEBYEND_ERROR_OK , ErrorUnknown = ARCOMMANDS_ARDRONE3_PILOTINGEVENT_MOVEBYEND_ERROR_UNKNOWN , ErrorBusy = ARCOMMANDS_ARDRONE3_PILOTINGEVENT_MOVEBYEND_ERROR_BUSY , ErrorNotAvailable = ARCOMMANDS_ARDRONE3_PILOTINGEVENT_MOVEBYEND_ERROR_NOTAVAILABLE , ErrorInterrupted = ARCOMMANDS_ARDRONE3_PILOTINGEVENT_MOVEBYEND_ERROR_INTERRUPTED }

Public Member Functions
	Bebop (degrees_per_second_t maxYawSpeed=DefaultMaximumYawSpeed, meters_per_second_t maxVerticalSpeed=DefaultMaximumVerticalSpeed, degree_t maxTilt=DefaultMaximumTilt)
	Search for the drone on the network and connect to it.

	~Bebop ()
	Land the drone and disconnect properly when the object is destroyed.

degree_t	getMaximumTilt () const
	Return the current maximum tilt setting. More...

std::pair< degree_t, degree_t > &	getTiltLimits ()
	Return the minimum and maximum permitted values for the maximum tilt setting.

meters_per_second_t	getMaximumVerticalSpeed () const
	Return the current maximum vertical speed setting.

std::pair< meters_per_second_t, meters_per_second_t > &	getVerticalSpeedLimits ()
	Return the minimum and maximum permitted values for the maximum vertical speed setting.

degrees_per_second_t	getMaximumYawSpeed () const
	Return the current maximum yaw speed setting.

std::pair< degrees_per_second_t, degrees_per_second_t > &	getYawSpeedLimits ()
	Return the minimum and maximum permitted values for the maximum yaw speed setting.

void	takeOff ()
	Send take-off command.

void	land ()
	Send land command.

void	setPitch (float pitch)
	Set drone's pitch, for moving forwards and backwards.

void	setRoll (float right)
	Set drone's roll, for banking left and right.

void	setVerticalSpeed (float up)
	Set drone's vertical speed for ascending/descending.

void	setYawSpeed (float right)
	Set drone's yaw speed.

void	relativeMove (meter_t x, meter_t y, meter_t z, radian_t yaw=0_rad)
	Move to a new pose relative to the current one.

RelativeMoveState	getRelativeMoveState () const
	Get the status of a relative move operation.

std::pair< Vector3< meter_t >, radian_t >	getRelativeMovePoseDifference () const
	Get the distance moved in the last relative move operation.

void	resetRelativeMoveState ()
	Reset the relative move state, e.g. after reading.

void	doFlatTrimCalibration ()
	Carry out flat trim calibration.

float	getBatteryLevel ()
	Get the drone's battery level from 0.0f to 1.0f.

State	getState ()

VideoStream &	getVideoStream ()
	Return the an object allowing access to the drone's onboard camera.

void	takePhoto ()
	Tell the drone to take a photo and store it.

void	setFlightEventHandler (const FlightEventHandler &)
	Add an event handler for when the drone is taking off or landing.

Public Member Functions inherited from BoBRobotics::Robots::UAV::UAVBase< Bebop >
void	moveForward (float speed)

void	turnOnTheSpot (float clockwiseSpeed)

void	stopMoving ()

Static Public Attributes
static constexpr auto	DefaultMaximumTilt = 8_deg
	Default maximum tilt for pitch and roll. More...

static constexpr auto	DefaultMaximumYawSpeed = 100_deg_per_s
	Default maximum yaw speed.

static constexpr auto	DefaultMaximumVerticalSpeed = 1_mps
	Default maximum vertical speed.

Detailed Description

An interface to Parrot Bebop 2 drones.

This class handles connection/disconnection and sending steering commands. It also provides an interface to access the drone's video stream.

Member Function Documentation

◆ getMaximumTilt()

degree_t BoBRobotics::Robots::UAV::Bebop::getMaximumTilt ( ) const

Return the current maximum tilt setting.

This affects pitch and roll.

Member Data Documentation

◆ DefaultMaximumTilt

constexpr degree_t BoBRobotics::Robots::UAV::Bebop::DefaultMaximumTilt = 8_deg

staticconstexpr

Default maximum tilt for pitch and roll.

BEGIN PUBLIC MEMBERS

The documentation for this class was generated from the following files:

include/robots/uav/bebop/bebop.h
src/robots/uav/bebop/bebop.cc

Classes

Public Types

Public Member Functions

Static Public Attributes

Detailed Description

Member Function Documentation

◆ getMaximumTilt()

Member Data Documentation

◆ DefaultMaximumTilt