Commands the drone to perform a flight animation.

name is a symbol specifying a valid flight animation. duration is the duration of the animation in milliseconds.

Example:

(animate my-drone :yaw-shake (default-animation-duration :yaw-shake)

These are the valid flight animations: :phi-m-30-deg, :phi-30-deg, :theta-m-30-deg, :theta-30-deg, :theta-20-deg-yaw-200-deg, :theta-20-deg-yaw-m-200-deg, :turnaround, :turnaround-godown, :yaw-shake, :yaw-dance, :phi-dance, :theta-dance, :vz-dance, :wave, :phi-theta-mixed, :double-phi-theta-mixed, :flip-ahead, :flip-behind, :flip-left, :flip-right.

You can get the default duration for each flight animation from the map at/default-animation-duration.

The YouTube video “Drone Ace Flight Animation Controls for the AR.Drone” shows most of the animations.

Animates the drone’s LED lights.

name, if supplied, must be a symbol specifying a valid LED animation. hz, if supplied, is the frequency in Hz at which the animation will run. duration, if supplied, is how long the animation should run for, in seconds.

These are the valid LED animations: :blink-green-red, :blink-green, :blink-red. :blink-orange, :snake-green-red, :fire, :standard, :red, :green, :red-snake, :blank, :right-missile, :left-missile, :double-missile, :front-left-green-others-red, :front-right-green-others-red, :rear-right-green-others-red, :rear-left-green-others-red, :left-green-right-red, :left-red-right-green, :blink-standard.

Commands the drone to begin moving (translating) backward. speed should be a number in the range [0.0, 1.0].

Tells the drone to calibrate its magnetometer.

This command MUST be sent when the AR.Drone is flying.

On receipt of this command, the drone will automatically calibrate its magnetometer by rotating itself and then stopping.

device-id is the ID of the device to calibrate. The magnetometer is device ID 0.

Commands the drone to begin rotating counter-clockwise. speed should be a number in the range [0.0, 1.0].

Configures drone options.

You shouldn’t need to use this command because there are higher level functions already defined for most behaviors. See navdata-demo, navdata-options, animate, animate-leds, switch-camera, and set-camera-framerate.

Connects to a drone’s command channel and telemetry channel.

You must connect to a drone before you can send it any commands or receive telemetry.

Commands the drone to begin rotating counter-clockwise. speed should be a number in the range [0.0, 1.0].

This is a command that is not well documented in the AR.Drone SDK, and that you probably won’t ever need to use.

It can be used to clear the CONFIG ACK flag for “muticonfig” settings—see https://gist.github.com/bkw/4416785 for more information.

The default network port to use for sending AT control commands to a drone.

The default drone hostname.

The default network port for streaming video from a drone.

Resets the drone’s emergency stop state.

Disconnects from a drone.

Commands the drone to begin descending. speed should be a number in the range [0.0, 1.0].

Sets a reference of the horizontal plane for the drone internal control system.

It must be called after each drone start up, while making sure the drone actually sits on a horizontal ground. Not doing so before taking-off will result in the drone not being able to stabilize itself when flying, as it would not be able to know its actual tilt. This command MUST NOT be sent when the AR.Drone is flying.

Commands the drone to begin moving (translating) backward. speed should be a number in the range [0.0, 1.0].

Commands the drone to land.

Commands the drone to begin moving (translating) to its right. speed should be a number in the range [0.0, 1.0].

Creates a drone object.

This function can optionally take the following keyword arguments:

:hostname

The drone’s hostname/IP address.

:event-handler

A drone event handler function. See below for more information.

:name

A readable name for the drone.

:at-port

The network port to use for the AT command channel.

:navdata-port

The network port to use for navdata telemetry.

An event handler function must be a function of two arguments: event-type and event-data. There are currently three event types defined:

• :navdata events occur whenever the drone sends navdata telemetry (typically many times per second) and the data sent with the event is the navdata object.

• :state-change events occur when the drone’s state changes, according to the :state map of the :demo member of navdata. The data sent with the event is a map containing just the keys and values of the changed state, e.g. {:cutout :detected, :flying :landed, :emergency :detected}. For more information see the value of com.lemondronor.turboshrimp.navdata/state-masks.

• :error events occur when an exception is thrown on the background thread that communicates with the drone. The data sent with the error event is the exception that occurred.

Examples:

(def my-drone (make-drone :event-handler #(println %1 %2)))

Enables or disables extended “demo” telemetry data.

When using navdata-demo to enable demo telemetry, this function selects which navdata packets to include.

flags is a sequence of option keywords. navdata-flags contains all valid options. The most common set of options is predefined as at/default-navdata-options.

Examples:

(navdata-options my-drone default-navdata-options)
(navdata-options my-drone [:demo :gps])

Here’s a list of allowed flags and their meanings:

Makes the drone move (translate and rotate). You shouldn’e ever need to use this, because there are higher level functions already defined for those behaviors. See up, down, left, right, front, back, clockwise, counter-clockwise.

Controls the basic behaviour of the drone (take-off/landing, emergency stop/reset). You shouldn’t ever need to use this, because there are higher level functions already defined for those behaviors. See takeoff, land, and disable-emergency.

Commands the drone to begin moving (translating) to its right. speed should be a number in the range [0.0, 1.0].

Sets the video stream frame rate.

Commands the drone to stop all motion.

Switches the video stream between the forward-facing and downward-facing cameras.

direction must be :forward or :down.

Commands the drone to take off.

Commands the drone to begin descending. speed should be a number in the range [0.0, 1.0].

Creates an InputStream connected to a drone’s video stream.

See com.lemondronor.turboshrimp.pave for more information about how to use a drone’s video stream.