Task1.md

Commands

Initialisation

Initialising drone object with Drone IP and Port as arguements. If nothing is given as arguement, the default values defined in pluto.py are used.

client = Drone("192.168.4.1","23")

Connecting and disconnecting the drone

For connecting the drone, initialise an object of class pluto and call

client.connect()

To disconnect the drone

client.disconnect()

Arming and Disarming the drone

For arming and disarming the drone, use the following functions

client.arm() # arm the drone

client.disarm() # disarm the drone

Takeoff and Landing

client.takeoff() # take off
client.land() # land

Flips

To perform a backflip.

client.flip()

Steering the drone in a particular direction

The drone can be steered in a particular direction by setting the values of throttle, pitch, roll and yaw. ( range of values is from : -600 to 600)

client.roll_speed(100,duration=2)     #A roll of 100 for 2 seconds
client.pitch_speed(100,duration=2)    #A pitch of 100 for 2 seconds
client.throttle_speed(100,duration=2) #A throttle of 100 for 2 seconds
client.yaw_speed(100,duration=2)      #A yaw of 100 for 2 seconds

To send all values at once

# roll,pitch,throttle,yaw of value 100 each for 2 seconds
client.set_all_speed(100,100,100,100,duration=2)

To reset the drone commands to the intial values, call

client.reset_speed()

Setting Trim

To balance the drift in drone at central values of Roll, Pitch,Throttle, Yaw, the trim function

client.trim(5,-5,0,0)

The argument format is

(roll, pitch, throttle, yaw)

The sign of values should be opposite to which the drift is observed.
For Roll: right hand side -> positive
For Pitch: forward -> positive
For Throttle: upwards -> positive
For Yaw: Clockwise -> positive

For receiving data from the drone

To receive data from the drone, the following functions can be called:

client.get_height()     #Returns height of the drone
client.get_vario()      #Returns the rate of change of height
client.get_roll()       #Returns the value of roll of the drone
client.get_pitch()      #Returns the value of pitch of the drone
client.get_yaw()        #Returns the value of yaw of the drone
client.acc_x()          #Returns the value of accelerometer(x-axis) of the drone
client.acc_y()          #Returns the value of accelerometer(y-axis) of the drone
client.acc_z()          #Returns the value of accelerometer(z-axis) of the drone
client.get_gyro_x()     #Returns the value of gyrometer(x-axis) of the drone
client.get_gyro_y()     #Returns the value of gyrometer(y-axis) of the drone
client.get_gyro_z()     #Returns the value of gyrometer(z-axis) of the drone
client.get_mag_x()      #Returns the value of magnetometer(x-axis) of the drone
client.get_mag_y()      #Returns the value of magnetometer(y-axis) of the drone
client.get_mag_z()      #Returns the value of magnetometer(z-axis) of the drone
client.get_battery()    #Returns the value of battery of the drone in volts