List of ARDrone3 States and Corresponding ROS Parameters and Topics¶

Ardrone3MediaRecordStatePictureStateChanged: @deprecated State of picture recording
Ardrone3MediaRecordStateVideoStateChanged: @deprecated State of video recording
Ardrone3MediaRecordStatePictureStateChangedV2: State of device picture recording changed
Ardrone3MediaRecordStateVideoStateChangedV2: State of device video recording changed
Ardrone3PilotingStateFlatTrimChanged: Drone acknowledges that flat trim was correctly processed
Ardrone3PilotingStateFlyingStateChanged: Drone flying state changed
Ardrone3PilotingStateAlertStateChanged: Drone alert state changed
Ardrone3PilotingStateNavigateHomeStateChanged: Navigating home state
Ardrone3PilotingStatePositionChanged: Drone position changed
Ardrone3PilotingStateSpeedChanged: Drone speed changed
Ardrone3PilotingStateAttitudeChanged: Drone attitude changed
Ardrone3PilotingStateAutoTakeOffModeChanged: @deprecated Status of the drone3 automatic take off mode
Ardrone3PilotingStateAltitudeChanged: Drone altitude changed
Ardrone3NetworkStateWifiScanListChanged: One scanning result found
Ardrone3NetworkStateAllWifiScanChanged: State sent when all scanning result sent
Ardrone3NetworkStateWifiAuthChannelListChanged: Notify of an Authorized Channel.
Ardrone3NetworkStateAllWifiAuthChannelChanged: Notify the end of the list of Authorized wifi Channel.
Ardrone3MediaStreamingStateVideoEnableChanged: Return video streaming status.
Ardrone3CameraStateOrientation: Camera orientation
Ardrone3CameraStatedefaultCameraOrientation: Orientation of the camera center. This is the value to send when we want to center the camera.
Ardrone3AntiflickeringStateelectricFrequencyChanged: Electric frequency of the country determined by the position of the controller
Ardrone3AntiflickeringStatemodeChanged: Anti flickering mode
Ardrone3GPSStateNumberOfSatelliteChanged: The number of satellite used to compute the gps position
Ardrone3GPSStateHomeTypeAvailabilityChanged: Availability of the return home types in a map : for each type other args will be sent by the drone
Ardrone3GPSStateHomeTypeChosenChanged: The return home type chosen
Ardrone3PROStateFeatures: Features enabled

Ardrone3MediaRecordStatePictureStateChanged¶

@deprecated State of picture recording

Parameter: ~states/enable_mediarecordstate_picturestatechanged
Topic: states/ARDrone3/MediaRecordState/PictureStateChanged
Message type: bebop_msgs::Ardrone3MediaRecordStatePictureStateChanged

Ardrone3MediaRecordStatePictureStateChanged.msg¶

Header header

# 1 if picture has been taken, 0 otherwise
uint8 state
# Mass storage id where the picture was recorded
uint8 mass_storage_id

Ardrone3MediaRecordStateVideoStateChanged¶

@deprecated State of video recording

Parameter: ~states/enable_mediarecordstate_videostatechanged
Topic: states/ARDrone3/MediaRecordState/VideoStateChanged
Message type: bebop_msgs::Ardrone3MediaRecordStateVideoStateChanged

Ardrone3MediaRecordStateVideoStateChanged.msg¶

Header header

# State of video
uint8 state_stopped=0  # Video was stopped
uint8 state_started=1  # Video was started
uint8 state_failed=2  # Video was failed
uint8 state_autostopped=3  # Video was auto stopped
uint8 state
# Mass storage id where the video was recorded
uint8 mass_storage_id

Ardrone3MediaRecordStatePictureStateChangedV2¶

State of device picture recording changed

Parameter: ~states/enable_mediarecordstate_picturestatechangedv2
Topic: states/ARDrone3/MediaRecordState/PictureStateChangedV2
Message type: bebop_msgs::Ardrone3MediaRecordStatePictureStateChangedV2

Ardrone3MediaRecordStatePictureStateChangedV2.msg¶

Header header

# State of device picture recording
uint8 state_ready=0  # The picture recording is ready
uint8 state_busy=1  # The picture recording is busy
uint8 state_notAvailable=2  # The picture recording is not available
uint8 state
# Error to explain the state
uint8 error_ok=0  # No Error
uint8 error_unknown=1  # Unknown generic error
uint8 error_camera_ko=2  # Picture camera is out of order
uint8 error_memoryFull=3  # Memory full ; cannot save one additional picture
uint8 error_lowBattery=4  # Battery is too low to start/keep recording.
uint8 error

Ardrone3MediaRecordStateVideoStateChangedV2¶

State of device video recording changed

Parameter: ~states/enable_mediarecordstate_videostatechangedv2
Topic: states/ARDrone3/MediaRecordState/VideoStateChangedV2
Message type: bebop_msgs::Ardrone3MediaRecordStateVideoStateChangedV2

Ardrone3MediaRecordStateVideoStateChangedV2.msg¶

Header header

# State of device video recording
uint8 state_stopped=0  # Video is stopped
uint8 state_started=1  # Video is started
uint8 state_notAvailable=2  # The video recording is not available
uint8 state
# Error to explain the state
uint8 error_ok=0  # No Error
uint8 error_unknown=1  # Unknown generic error
uint8 error_camera_ko=2  # Video camera is out of order
uint8 error_memoryFull=3  # Memory full ; cannot save one additional video
uint8 error_lowBattery=4  # Battery is too low to start/keep recording.
uint8 error

Ardrone3PilotingStateFlatTrimChanged¶

Drone acknowledges that flat trim was correctly processed

Parameter: ~states/enable_pilotingstate_flattrimchanged
Topic: states/ARDrone3/PilotingState/FlatTrimChanged
Message type: bebop_msgs::Ardrone3PilotingStateFlatTrimChanged

Ardrone3PilotingStateFlatTrimChanged.msg¶


Header header

Ardrone3PilotingStateFlyingStateChanged¶

Drone flying state changed

Parameter: ~states/enable_pilotingstate_flyingstatechanged
Topic: states/ARDrone3/PilotingState/FlyingStateChanged
Message type: bebop_msgs::Ardrone3PilotingStateFlyingStateChanged

Ardrone3PilotingStateFlyingStateChanged.msg¶

Header header

# Drone flying state
uint8 state_landed=0  # Landed state
uint8 state_takingoff=1  # Taking off state
uint8 state_hovering=2  # Hovering state
uint8 state_flying=3  # Flying state
uint8 state_landing=4  # Landing state
uint8 state_emergency=5  # Emergency state
uint8 state

Ardrone3PilotingStateAlertStateChanged¶

Drone alert state changed

Parameter: ~states/enable_pilotingstate_alertstatechanged
Topic: states/ARDrone3/PilotingState/AlertStateChanged
Message type: bebop_msgs::Ardrone3PilotingStateAlertStateChanged

Ardrone3PilotingStateAlertStateChanged.msg¶

Header header

# Drone alert state
uint8 state_none=0  # No alert
uint8 state_user=1  # User emergency alert
uint8 state_cut_out=2  # Cut out alert
uint8 state_critical_battery=3  # Critical battery alert
uint8 state_low_battery=4  # Low battery alert
uint8 state_too_much_angle=5  # The angle of the drone is too high
uint8 state

Ardrone3PilotingStateNavigateHomeStateChanged¶

Navigating home state

Parameter: ~states/enable_pilotingstate_navigatehomestatechanged
Topic: states/ARDrone3/PilotingState/NavigateHomeStateChanged
Message type: bebop_msgs::Ardrone3PilotingStateNavigateHomeStateChanged

Ardrone3PilotingStateNavigateHomeStateChanged.msg¶

Header header

# State of navigate home
uint8 state_available=0  # Navigate home is available
uint8 state_inProgress=1  # Navigate home is in progress
uint8 state_unavailable=2  # Navigate home is not available
uint8 state_pending=3  # Navigate home has been received, but its process is pending
uint8 state
# Reason of the state
uint8 reason_userRequest=0  # User requested a navigate home (available-&gt;inProgress)
uint8 reason_connectionLost=1  # Connection between controller and product lost (available-&gt;inProgress)
uint8 reason_lowBattery=2  # Low battery occurred (available-&gt;inProgress)
uint8 reason_finished=3  # Navigate home is finished (inProgress-&gt;available)
uint8 reason_stopped=4  # Navigate home has been stopped (inProgress-&gt;available)
uint8 reason_disabled=5  # Navigate home disabled by product (inProgress-&gt;unavailable or available-&gt;unavailable)
uint8 reason_enabled=6  # Navigate home enabled by product (unavailable-&gt;available)
uint8 reason

Ardrone3PilotingStatePositionChanged¶

Drone position changed

Parameter: ~states/enable_pilotingstate_positionchanged
Topic: states/ARDrone3/PilotingState/PositionChanged
Message type: bebop_msgs::Ardrone3PilotingStatePositionChanged

Ardrone3PilotingStatePositionChanged.msg¶

Header header

# Latitude position in decimal degrees (500.0 if not available)
float64 latitude
# Longitude position in decimal degrees (500.0 if not available)
float64 longitude
# Altitude in meters (from GPS)
float64 altitude

Ardrone3PilotingStateSpeedChanged¶

Drone speed changed

Parameter: ~states/enable_pilotingstate_speedchanged
Topic: states/ARDrone3/PilotingState/SpeedChanged
Message type: bebop_msgs::Ardrone3PilotingStateSpeedChanged

Ardrone3PilotingStateSpeedChanged.msg¶

Header header

# Speed on the x axis (when drone moves forward, speed is &gt; 0) (in m/s)
float32 speedX
# Speed on the y axis (when drone moves to right, speed is &gt; 0) (in m/s)
float32 speedY
# Speed on the z axis (when drone moves down, speed is &gt; 0) (in m/s)
float32 speedZ

Ardrone3PilotingStateAttitudeChanged¶

Drone attitude changed

Parameter: ~states/enable_pilotingstate_attitudechanged
Topic: states/ARDrone3/PilotingState/AttitudeChanged
Message type: bebop_msgs::Ardrone3PilotingStateAttitudeChanged

Ardrone3PilotingStateAttitudeChanged.msg¶

Header header

# roll value (in radian)
float32 roll
# Pitch value (in radian)
float32 pitch
# Yaw value (in radian)
float32 yaw

Ardrone3PilotingStateAutoTakeOffModeChanged¶

@deprecated Status of the drone3 automatic take off mode

Parameter: ~states/enable_pilotingstate_autotakeoffmodechanged
Topic: states/ARDrone3/PilotingState/AutoTakeOffModeChanged
Message type: bebop_msgs::Ardrone3PilotingStateAutoTakeOffModeChanged

Ardrone3PilotingStateAutoTakeOffModeChanged.msg¶

Header header

# State of automatic take off mode (1 if enabled)
uint8 state

Ardrone3PilotingStateAltitudeChanged¶

Drone altitude changed

Parameter: ~states/enable_pilotingstate_altitudechanged
Topic: states/ARDrone3/PilotingState/AltitudeChanged
Message type: bebop_msgs::Ardrone3PilotingStateAltitudeChanged

Ardrone3PilotingStateAltitudeChanged.msg¶

Header header

# Altitude in meters
float64 altitude

Ardrone3NetworkStateWifiScanListChanged¶

One scanning result found

Parameter: ~states/enable_networkstate_wifiscanlistchanged
Topic: states/ARDrone3/NetworkState/WifiScanListChanged
Message type: bebop_msgs::Ardrone3NetworkStateWifiScanListChanged

Ardrone3NetworkStateWifiScanListChanged.msg¶

Header header

# SSID of the AP
string ssid
# RSSI of the AP in dbm (negative value)
int16 rssi
# The band : 2.4 GHz or 5 GHz
uint8 band_2_4ghz=0  # 2.4 GHz band
uint8 band_5ghz=1  # 5 GHz band
uint8 band
# Channel of the AP
uint8 channel

Ardrone3NetworkStateAllWifiScanChanged¶

State sent when all scanning result sent

Parameter: ~states/enable_networkstate_allwifiscanchanged
Topic: states/ARDrone3/NetworkState/AllWifiScanChanged
Message type: bebop_msgs::Ardrone3NetworkStateAllWifiScanChanged

Ardrone3NetworkStateAllWifiScanChanged.msg¶


Header header

Ardrone3NetworkStateWifiAuthChannelListChanged¶

Notify of an Authorized Channel.

Parameter: ~states/enable_networkstate_wifiauthchannellistchanged
Topic: states/ARDrone3/NetworkState/WifiAuthChannelListChanged
Message type: bebop_msgs::Ardrone3NetworkStateWifiAuthChannelListChanged

Ardrone3NetworkStateWifiAuthChannelListChanged.msg¶

Header header

# The band of this channel : 2.4 GHz or 5 GHz
uint8 band_2_4ghz=0  # 2.4 GHz band
uint8 band_5ghz=1  # 5 GHz band
uint8 band
# The authorized channel.
uint8 channel
# Bit 0 is 1 if channel is authorized outside (0 otherwise) ; Bit 1 is 1 if channel is authorized inside (0 otherwise)
uint8 in_or_out

Ardrone3NetworkStateAllWifiAuthChannelChanged¶

Notify the end of the list of Authorized wifi Channel.

Parameter: ~states/enable_networkstate_allwifiauthchannelchanged
Topic: states/ARDrone3/NetworkState/AllWifiAuthChannelChanged
Message type: bebop_msgs::Ardrone3NetworkStateAllWifiAuthChannelChanged

Ardrone3NetworkStateAllWifiAuthChannelChanged.msg¶


Header header

Ardrone3MediaStreamingStateVideoEnableChanged¶

Return video streaming status.

Parameter: ~states/enable_mediastreamingstate_videoenablechanged
Topic: states/ARDrone3/MediaStreamingState/VideoEnableChanged
Message type: bebop_msgs::Ardrone3MediaStreamingStateVideoEnableChanged

Ardrone3MediaStreamingStateVideoEnableChanged.msg¶

Header header

# Current video streaming status.
uint8 enabled_enabled=0  # Video streaming is enabled.
uint8 enabled_disabled=1  # Video streaming is disabled.
uint8 enabled_error=2  # Video streaming failed to start.
uint8 enabled

Ardrone3CameraStateOrientation¶

Camera orientation

Parameter: ~states/enable_camerastate_orientation
Topic: states/ARDrone3/CameraState/Orientation
Message type: bebop_msgs::Ardrone3CameraStateOrientation

Ardrone3CameraStateOrientation.msg¶

Header header

# Tilt camera consign for the drone [-100;100]
int8 tilt
# Pan camera consign for the drone [-100;100]
int8 pan

Ardrone3CameraStatedefaultCameraOrientation¶

Orientation of the camera center. This is the value to send when we want to center the camera.

Parameter: ~states/enable_camerastate_defaultcameraorientation
Topic: states/ARDrone3/CameraState/defaultCameraOrientation
Message type: bebop_msgs::Ardrone3CameraStatedefaultCameraOrientation

Ardrone3CameraStatedefaultCameraOrientation.msg¶

Header header

# Tilt value (in degree)
int8 tilt
# Pan value (in degree)
int8 pan

Ardrone3AntiflickeringStateelectricFrequencyChanged¶

Electric frequency of the country determined by the position of the controller

Parameter: ~states/enable_antiflickeringstate_electricfrequencychanged
Topic: states/ARDrone3/AntiflickeringState/electricFrequencyChanged
Message type: bebop_msgs::Ardrone3AntiflickeringStateelectricFrequencyChanged

Ardrone3AntiflickeringStateelectricFrequencyChanged.msg¶

Header header

# Type of the electric frequency
uint8 frequency_fiftyHertz=0  # Electric frequency of the country is 50hz
uint8 frequency_sixtyHertz=1  # Electric frequency of the country is 60hz
uint8 frequency

Ardrone3AntiflickeringStatemodeChanged¶

Anti flickering mode

Parameter: ~states/enable_antiflickeringstate_modechanged
Topic: states/ARDrone3/AntiflickeringState/modeChanged
Message type: bebop_msgs::Ardrone3AntiflickeringStatemodeChanged

Ardrone3AntiflickeringStatemodeChanged.msg¶

Header header

# Mode of the anti flickering functionnality
uint8 mode_auto=0  # Anti flickering based on the electric frequency previously sent
uint8 mode_FixedFiftyHertz=1  # Anti flickering based on a fixed frequency of 50Hz
uint8 mode_FixedSixtyHertz=2  # Anti flickering based on a fixed frequency of 60Hz
uint8 mode

Ardrone3GPSStateNumberOfSatelliteChanged¶

The number of satellite used to compute the gps position

Parameter: ~states/enable_gpsstate_numberofsatellitechanged
Topic: states/ARDrone3/GPSState/NumberOfSatelliteChanged
Message type: bebop_msgs::Ardrone3GPSStateNumberOfSatelliteChanged

Ardrone3GPSStateNumberOfSatelliteChanged.msg¶

Header header

# The number of satellite
uint8 numberOfSatellite

Ardrone3GPSStateHomeTypeAvailabilityChanged¶

Availability of the return home types in a map : for each type other args will be sent by the drone

Parameter: ~states/enable_gpsstate_hometypeavailabilitychanged
Topic: states/ARDrone3/GPSState/HomeTypeAvailabilityChanged
Message type: bebop_msgs::Ardrone3GPSStateHomeTypeAvailabilityChanged

Ardrone3GPSStateHomeTypeAvailabilityChanged.msg¶

Header header

# The type of the return home
uint8 type_TAKEOFF=0  # The drone will try to return to the take off position
uint8 type_PILOT=1  # The drone will try to return to the pilot position
uint8 type_FIRST_FIX=2  # The drone has not enough information, it will try to return to the first GPS fix
uint8 type
# 1 if this type is available, 0 otherwise
uint8 available

Ardrone3GPSStateHomeTypeChosenChanged¶

The return home type chosen

Parameter: ~states/enable_gpsstate_hometypechosenchanged
Topic: states/ARDrone3/GPSState/HomeTypeChosenChanged
Message type: bebop_msgs::Ardrone3GPSStateHomeTypeChosenChanged

Ardrone3GPSStateHomeTypeChosenChanged.msg¶

Header header

# The type of the return home chosen
uint8 type_TAKEOFF=0  # The drone will try to return to the take off position
uint8 type_PILOT=1  # The drone will try to return to the pilot position
uint8 type_FIRST_FIX=2  # The drone has not enough information, it will try to return to the first GPS fix
uint8 type

Ardrone3PROStateFeatures¶

Features enabled

Parameter: ~states/enable_prostate_features
Topic: states/ARDrone3/PROState/Features
Message type: bebop_msgs::Ardrone3PROStateFeatures

Ardrone3PROStateFeatures.msg¶

Header header

# Bitfield representing enabled features.
uint64 features