1.2
Mission execution specifics
3
Figure 3: Adding AR.Drone VSM
AR.Drone vehicles in U[g]CS are identified by a MavLink ID which is also the same for all AR.Drone vehicles, thus
does not allow to distinguish one vehicle from another. To overcome this problem, it is necessary to assign custom
serial number for connected vehicle on each computer. That is, for example, AR.Drone on PC1 will have serial
number 1, but AR.Drone on PC2 will have serial number 2:
Add these lines to the first VSM:
vehicle.ardrone.custom.my_drone.system_id = 1
vehicle.ardrone.custom.my_drone.model_name = AR.drone 2.0
vehicle.ardrone.custom.my_drone.serial_number = 1
And these lines to the second one:
vehicle.ardrone.custom.my_drone.system_id = 1
vehicle.ardrone.custom.my_drone.model_name = AR.drone 2.0
vehicle.ardrone.custom.my_drone.serial_number = 2
Of course, you need to make sure that network connection between UCS and computers with VSMs exist.
1.2
Mission execution specifics
• Fail-safe settings in mission properties are ignored.
ArDrone has the following harcoded fail-safe settings:
Condition
Behavior
Notes
On GPS signal loss
Unknown
Has not been tested. Should be
Wait or Land.
On WiFi signal loss
Continue mission
On low battery
Land
Mission waypoint actions supported by ArDrone:
Flight plan element / action
Support
Notes
Camera control
No
Camera trigger
No
Yaw
Yes
Land
Yes
Panorama
No
Copyright © 2015, Smart Projects Holdings Ltd
