从Ar Drone 2.0获取GPS数据 [英] Get GPS data from Ar Drone 2.0
问题描述
我需要具有飞行记录器的AR Drone 2.0的实时GPS坐标。并且我找不到任何方法直接从GPS获取值。有没有什么办法可以从AR Drone获得GPS数据?
这里有什么对我有用: var arDrone = require('ar-drone');
var droneClient = arDrone.createClient();
droneClient.config('general:navdata_demo','FALSE'); //取回直升机可以发送的所有数据
droneClient.config('general:navdata_options',777060865); //打开GPS
droneClient.on('navdata',function(navdata){
console.log(navdata.gps.latitude +','+ navdata.gps.longitude) ;
//完成GPS信息....
});
droneClient.takeoff(); .....
这个代码本身并没有给我带来GPS信息。我还必须注释掉部分parseNavdata.js(在ar-drone / lib / navdata中)代码。寻找:''gps':function(reader){〜我的文件中的第546行。
注释掉该函数的下半部分:
$ $ $ $ $ $ $ $''gps':function(reader){
返回{
latitude:reader.double64(),
longitude:reader.double64(),
elevation:reader.double64(),
hdop:reader.double64(),
data_available:reader.int32(),
unk_0:timesMap(8,reader.uint8,reader),
lat0:reader.double64(),
lon0:reader.double64 (),
lat_fuse:reader.double64(),
lon_fuse:reader.double64(),
gps_state:reader.uint32(),
unk_1:timesMap(40,reader .uint8,reader),
vdop:reader.double64(),
pdop:reader.double64(),
速度:reader.float32(),
last_frame_timestamp:droneTimeToMilliSeconds( reader.uin t32()),
degree:reader.float32(),
degree_mag:reader.float32()
// unk_2:timesMap(16,reader.uint8,reader),
// channels:timesMap(12,reader.satChannel,reader),
// gps_plugged:reader.int32(),
// unk_3:timesMap(108,reader.uint8,reader),
// gps_time:reader.double64(),
// week:reader.uint16(),
// gps_fix:reader.uint8(),
// num_satellites:reader .uint8(),
// unk_4:timesMap(24,reader.uint8,reader),
// ned_vel_c0:reader.double64(),
// ned_vel_c1:reader.double64( ),
// ned_vel_c2:reader.double64(),
// pos_accur_c0:reader.double64(),
// pos_accur_c1:reader.double64(),
// pos_accur_c2:reader.double64(),
//速度_accur:reader.float32(),
// time_accur:reader.float32(),
// unk_5:timesMap(72,reader.uint8,reader),
// temperature:reader .float32(),
//压力:reader.float32()
};
其他帖子( https://github.com/felixge/node-ar-drone/issues/75 )暗示这已经被修复和合并,但是不能是这样。
I need the real time GPS coordinates from the AR Drone 2.0 which has the flight recorder in it.And i couldn't find any method to get the values from GPS directly. Is there any way i could get the GPS data from the AR Drone
Here is what's working for me:
var arDrone = require('ar-drone');
var droneClient = arDrone.createClient();
droneClient.config('general:navdata_demo', 'FALSE'); // get back all data the copter can send
droneClient.config('general:navdata_options', 777060865); // turn on GPS
droneClient.on('navdata', function(navdata) {
console.log(navdata.gps.latitude + ', ' + navdata.gps.longitude);
// do stuff with the GPS information....
});
droneClient.takeoff(); .....
This code alone did not get me the GPS information. I also had to comment out part of the parseNavdata.js (in ar-drone/lib/navdata) code. Look for: "'gps': function(reader) {" ~line 546 in my file. Comment out the bottom half of that function:
'gps': function(reader) {
return {
latitude: reader.double64(),
longitude: reader.double64(),
elevation: reader.double64(),
hdop: reader.double64(),
data_available: reader.int32(),
unk_0: timesMap(8, reader.uint8, reader),
lat0: reader.double64(),
lon0: reader.double64(),
lat_fuse: reader.double64(),
lon_fuse: reader.double64(),
gps_state: reader.uint32(),
unk_1: timesMap(40, reader.uint8, reader),
vdop: reader.double64(),
pdop: reader.double64(),
speed: reader.float32(),
last_frame_timestamp: droneTimeToMilliSeconds(reader.uint32()),
degree: reader.float32(),
degree_mag: reader.float32()
// unk_2: timesMap(16, reader.uint8, reader),
// channels: timesMap(12, reader.satChannel, reader),
// gps_plugged: reader.int32(),
// unk_3: timesMap(108, reader.uint8, reader),
// gps_time: reader.double64(),
// week: reader.uint16(),
// gps_fix: reader.uint8(),
// num_satellites: reader.uint8(),
// unk_4: timesMap(24, reader.uint8, reader),
// ned_vel_c0: reader.double64(),
// ned_vel_c1: reader.double64(),
// ned_vel_c2: reader.double64(),
// pos_accur_c0: reader.double64(),
// pos_accur_c1: reader.double64(),
// pos_accur_c2: reader.double64(),
// speed_accur: reader.float32(),
// time_accur: reader.float32(),
// unk_5: timesMap(72, reader.uint8, reader),
// temperature: reader.float32(),
// pressure: reader.float32()
};
Other posts (https://github.com/felixge/node-ar-drone/issues/75) imply that this has been fixed and merged, but that must not be the case.
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