List of ardrone3 States and Corresponding ROS Parameters and Topics¶
- Ardrone3MediaRecordStatePictureStateChanged
- Picture state.
- Ardrone3MediaRecordStateVideoStateChanged
- Picture record state.
- Ardrone3MediaRecordStatePictureStateChangedV2
- Picture state.
- Ardrone3MediaRecordStateVideoStateChangedV2
- Video record state.
- Ardrone3MediaRecordStateVideoResolutionState
- Video resolution.n Informs about streaming and recording video resolutions.n Note that this is only an indication about what the resolution should be. To know the real resolution, you should get it from the frame.
- Ardrone3PilotingStateFlatTrimChanged
- Drone acknowledges that flat trim was correctly processed.
- Ardrone3PilotingStateFlyingStateChanged
- Flying state.
- Ardrone3PilotingStateAlertStateChanged
- Alert state.
- Ardrone3PilotingStateNavigateHomeStateChanged
- Return home state.n Availability is related to gps fix, magnetometer calibration.
- Ardrone3PilotingStatePositionChanged
- Drones position changed.
- Ardrone3PilotingStateSpeedChanged
- Drones speed changed.n Expressed in the drones referential.
- Ardrone3PilotingStateAttitudeChanged
- Drones attitude changed.
- Ardrone3PilotingStateAutoTakeOffModeChanged
- Auto takeoff mode
- Ardrone3PilotingStateAltitudeChanged
- Drones altitude changed.n The altitude reported is the altitude above the take off point.n To get the altitude above sea level, see [PositionChanged](#1-4-4).
- Ardrone3PilotingStateGpsLocationChanged
- Drones location changed.n This event is meant to replace [PositionChanged](#1-4-4).
- Ardrone3PilotingStateLandingStateChanged
- Landing state.n Only available for fixed wings (which have two landing modes).
- Ardrone3NetworkStateWifiScanListChanged
- Wifi scan results.n Please note that the list is not complete until you receive the event [WifiScanEnded](#1-14-1).
- Ardrone3NetworkStateAllWifiScanChanged
- Wifi scan ended.n When receiving this event, the list of [WifiScanResults](#1-14-0) is complete.
- Ardrone3NetworkStateWifiAuthChannelListChanged
- Available wifi channels.n Please note that the list is not complete until you receive the event [AvailableWifiChannelsCompleted](#1-14-3).
- Ardrone3NetworkStateAllWifiAuthChannelChanged
- Available wifi channels completed.n When receiving this event, the list of [AvailableWifiChannels](#1-14-2) is complete.
- Ardrone3MediaStreamingStateVideoEnableChanged
- Video stream state.
Ardrone3MediaStreamingStateVideoStreamModeChanged
- Ardrone3CameraStateOrientation
- Camera orientation.
- Ardrone3CameraStatedefaultCameraOrientation
- Orientation of the center of the camera.n This is the value to send when you want to center the camera.
- Ardrone3AntiflickeringStateelectricFrequencyChanged
- Electric frequency.n This piece of information is used for the antiflickering when the [AntiflickeringMode](#1-30-1) is set to auto.
- Ardrone3AntiflickeringStatemodeChanged
- Antiflickering mode.
- Ardrone3GPSStateNumberOfSatelliteChanged
- Number of GPS satellites.
- Ardrone3GPSStateHomeTypeAvailabilityChanged
- Home type availability.
- Ardrone3GPSStateHomeTypeChosenChanged
- Home type.n This choice is made by the drone, according to the [PreferredHomeType](#1-24-4) and the [HomeTypeAvailability](#1-31-1). The drone will choose the type matching with the user preference only if this type is available.
- Ardrone3PROStateFeatures
- Pro features.
Ardrone3MediaRecordStatePictureStateChanged¶
Picture state.
- Parameter:
~states/enable_mediarecordstate_picturestatechanged
- Topic:
states/ardrone3/MediaRecordState/PictureStateChanged
- Message type:
bebop_msgs::Ardrone3MediaRecordStatePictureStateChanged
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¶
Picture record state.
- Parameter:
~states/enable_mediarecordstate_videostatechanged
- Topic:
states/ardrone3/MediaRecordState/VideoStateChanged
- Message type:
bebop_msgs::Ardrone3MediaRecordStateVideoStateChanged
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¶
Picture state.
- Parameter:
~states/enable_mediarecordstate_picturestatechangedv2
- Topic:
states/ardrone3/MediaRecordState/PictureStateChangedV2
- Message type:
bebop_msgs::Ardrone3MediaRecordStatePictureStateChangedV2
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¶
Video record state.
- Parameter:
~states/enable_mediarecordstate_videostatechangedv2
- Topic:
states/ardrone3/MediaRecordState/VideoStateChangedV2
- Message type:
bebop_msgs::Ardrone3MediaRecordStateVideoStateChangedV2
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
Ardrone3MediaRecordStateVideoResolutionState¶
Video resolution.n Informs about streaming and recording video resolutions.n Note that this is only an indication about what the resolution should be. To know the real resolution, you should get it from the frame.
- Parameter:
~states/enable_mediarecordstate_videoresolutionstate
- Topic:
states/ardrone3/MediaRecordState/VideoResolutionState
- Message type:
bebop_msgs::Ardrone3MediaRecordStateVideoResolutionState
Header header
# Streaming resolution
uint8 streaming_res360p=0 # 360p resolution.
uint8 streaming_res480p=1 # 480p resolution.
uint8 streaming_res720p=2 # 720p resolution.
uint8 streaming_res1080p=3 # 1080p resolution.
uint8 streaming
# Recording resolution
uint8 recording_res360p=0 # 360p resolution.
uint8 recording_res480p=1 # 480p resolution.
uint8 recording_res720p=2 # 720p resolution.
uint8 recording_res1080p=3 # 1080p resolution.
uint8 recording
Ardrone3PilotingStateFlatTrimChanged¶
Drone acknowledges that flat trim was correctly processed.
- Parameter:
~states/enable_pilotingstate_flattrimchanged
- Topic:
states/ardrone3/PilotingState/FlatTrimChanged
- Message type:
bebop_msgs::Ardrone3PilotingStateFlatTrimChanged
Header header
Ardrone3PilotingStateFlyingStateChanged¶
Flying state.
- Parameter:
~states/enable_pilotingstate_flyingstatechanged
- Topic:
states/ardrone3/PilotingState/FlyingStateChanged
- Message type:
bebop_msgs::Ardrone3PilotingStateFlyingStateChanged
Header header
# Drone flying state
uint8 state_landed=0 # Landed state
uint8 state_takingoff=1 # Taking off state
uint8 state_hovering=2 # Hovering / Circling (for fixed wings) state
uint8 state_flying=3 # Flying state
uint8 state_landing=4 # Landing state
uint8 state_emergency=5 # Emergency state
uint8 state_usertakeoff=6 # User take off state. Waiting for user action to take off.
uint8 state_motor_ramping=7 # Motor ramping state (for fixed wings).
uint8 state
Ardrone3PilotingStateAlertStateChanged¶
Alert state.
- Parameter:
~states/enable_pilotingstate_alertstatechanged
- Topic:
states/ardrone3/PilotingState/AlertStateChanged
- Message type:
bebop_msgs::Ardrone3PilotingStateAlertStateChanged
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
Ardrone3PilotingStatePositionChanged¶
Drones position changed.
- Parameter:
~states/enable_pilotingstate_positionchanged
- Topic:
states/ardrone3/PilotingState/PositionChanged
- Message type:
bebop_msgs::Ardrone3PilotingStatePositionChanged
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¶
Drones speed changed.n Expressed in the drones referential.
- Parameter:
~states/enable_pilotingstate_speedchanged
- Topic:
states/ardrone3/PilotingState/SpeedChanged
- Message type:
bebop_msgs::Ardrone3PilotingStateSpeedChanged
Header header
# Speed on the x axis (when drone moves forward, speed is > 0) (in m/s)
float32 speedX
# Speed on the y axis (when drone moves to right, speed is > 0) (in m/s)
float32 speedY
# Speed on the z axis (when drone moves down, speed is > 0) (in m/s)
float32 speedZ
Ardrone3PilotingStateAttitudeChanged¶
Drones attitude changed.
- Parameter:
~states/enable_pilotingstate_attitudechanged
- Topic:
states/ardrone3/PilotingState/AttitudeChanged
- Message type:
bebop_msgs::Ardrone3PilotingStateAttitudeChanged
Header header
# roll value (in radian)
float32 roll
# Pitch value (in radian)
float32 pitch
# Yaw value (in radian)
float32 yaw
Ardrone3PilotingStateAutoTakeOffModeChanged¶
Auto takeoff mode
- Parameter:
~states/enable_pilotingstate_autotakeoffmodechanged
- Topic:
states/ardrone3/PilotingState/AutoTakeOffModeChanged
- Message type:
bebop_msgs::Ardrone3PilotingStateAutoTakeOffModeChanged
Header header
# State of automatic take off mode (1 if enabled)
uint8 state
Ardrone3PilotingStateAltitudeChanged¶
Drones altitude changed.n The altitude reported is the altitude above the take off point.n To get the altitude above sea level, see [PositionChanged](#1-4-4).
- Parameter:
~states/enable_pilotingstate_altitudechanged
- Topic:
states/ardrone3/PilotingState/AltitudeChanged
- Message type:
bebop_msgs::Ardrone3PilotingStateAltitudeChanged
Header header
# Altitude in meters
float64 altitude
Ardrone3PilotingStateGpsLocationChanged¶
Drones location changed.n This event is meant to replace [PositionChanged](#1-4-4).
- Parameter:
~states/enable_pilotingstate_gpslocationchanged
- Topic:
states/ardrone3/PilotingState/GpsLocationChanged
- Message type:
bebop_msgs::Ardrone3PilotingStateGpsLocationChanged
Header header
# Latitude location in decimal degrees (500.0 if not available)
float64 latitude
# Longitude location in decimal degrees (500.0 if not available)
float64 longitude
# Altitude location in meters.
float64 altitude
# Latitude location error in meters (1 sigma/standard deviation) -1 if not available.
int8 latitude_accuracy
# Longitude location error in meters (1 sigma/standard deviation) -1 if not available.
int8 longitude_accuracy
# Altitude location error in meters (1 sigma/standard deviation) -1 if not available.
int8 altitude_accuracy
Ardrone3PilotingStateLandingStateChanged¶
Landing state.n Only available for fixed wings (which have two landing modes).
- Parameter:
~states/enable_pilotingstate_landingstatechanged
- Topic:
states/ardrone3/PilotingState/LandingStateChanged
- Message type:
bebop_msgs::Ardrone3PilotingStateLandingStateChanged
Header header
# Drone landing state
uint8 state_linear=0 # Linear landing
uint8 state_spiral=1 # Spiral landing
uint8 state
Ardrone3NetworkStateWifiScanListChanged¶
Wifi scan results.n Please note that the list is not complete until you receive the event [WifiScanEnded](#1-14-1).
- Parameter:
~states/enable_networkstate_wifiscanlistchanged
- Topic:
states/ardrone3/NetworkState/WifiScanListChanged
- Message type:
bebop_msgs::Ardrone3NetworkStateWifiScanListChanged
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¶
Wifi scan ended.n When receiving this event, the list of [WifiScanResults](#1-14-0) is complete.
- Parameter:
~states/enable_networkstate_allwifiscanchanged
- Topic:
states/ardrone3/NetworkState/AllWifiScanChanged
- Message type:
bebop_msgs::Ardrone3NetworkStateAllWifiScanChanged
Header header
Ardrone3NetworkStateWifiAuthChannelListChanged¶
Available wifi channels.n Please note that the list is not complete until you receive the event [AvailableWifiChannelsCompleted](#1-14-3).
- Parameter:
~states/enable_networkstate_wifiauthchannellistchanged
- Topic:
states/ardrone3/NetworkState/WifiAuthChannelListChanged
- Message type:
bebop_msgs::Ardrone3NetworkStateWifiAuthChannelListChanged
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¶
Available wifi channels completed.n When receiving this event, the list of [AvailableWifiChannels](#1-14-2) is complete.
- Parameter:
~states/enable_networkstate_allwifiauthchannelchanged
- Topic:
states/ardrone3/NetworkState/AllWifiAuthChannelChanged
- Message type:
bebop_msgs::Ardrone3NetworkStateAllWifiAuthChannelChanged
Header header
Ardrone3MediaStreamingStateVideoEnableChanged¶
Video stream state.
- Parameter:
~states/enable_mediastreamingstate_videoenablechanged
- Topic:
states/ardrone3/MediaStreamingState/VideoEnableChanged
- Message type:
bebop_msgs::Ardrone3MediaStreamingStateVideoEnableChanged
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
Ardrone3MediaStreamingStateVideoStreamModeChanged¶
- Parameter:
~states/enable_mediastreamingstate_videostreammodechanged
- Topic:
states/ardrone3/MediaStreamingState/VideoStreamModeChanged
- Message type:
bebop_msgs::Ardrone3MediaStreamingStateVideoStreamModeChanged
Header header
# stream mode
uint8 mode_low_latency=0 # Minimize latency with average reliability (best for piloting).
uint8 mode_high_reliability=1 # Maximize the reliability with an average latency (best when streaming quality is important but not the latency).
uint8 mode_high_reliability_low_framerate=2 # Maximize the reliability using a framerate decimation with an average latency (best when streaming quality is important but not the latency).
uint8 mode
Ardrone3CameraStateOrientation¶
Camera orientation.
- Parameter:
~states/enable_camerastate_orientation
- Topic:
states/ardrone3/CameraState/Orientation
- Message type:
bebop_msgs::Ardrone3CameraStateOrientation
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 center of the camera.n This is the value to send when you want to center the camera.
- Parameter:
~states/enable_camerastate_defaultcameraorientation
- Topic:
states/ardrone3/CameraState/defaultCameraOrientation
- Message type:
bebop_msgs::Ardrone3CameraStatedefaultCameraOrientation
Header header
# Tilt value (in degree)
int8 tilt
# Pan value (in degree)
int8 pan
Ardrone3AntiflickeringStateelectricFrequencyChanged¶
Electric frequency.n This piece of information is used for the antiflickering when the [AntiflickeringMode](#1-30-1) is set to auto.
- Parameter:
~states/enable_antiflickeringstate_electricfrequencychanged
- Topic:
states/ardrone3/AntiflickeringState/electricFrequencyChanged
- Message type:
bebop_msgs::Ardrone3AntiflickeringStateelectricFrequencyChanged
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¶
Antiflickering mode.
- Parameter:
~states/enable_antiflickeringstate_modechanged
- Topic:
states/ardrone3/AntiflickeringState/modeChanged
- Message type:
bebop_msgs::Ardrone3AntiflickeringStatemodeChanged
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¶
Number of GPS satellites.
- Parameter:
~states/enable_gpsstate_numberofsatellitechanged
- Topic:
states/ardrone3/GPSState/NumberOfSatelliteChanged
- Message type:
bebop_msgs::Ardrone3GPSStateNumberOfSatelliteChanged
Header header
# The number of satellite
uint8 numberOfSatellite
Ardrone3GPSStateHomeTypeAvailabilityChanged¶
Home type availability.
- Parameter:
~states/enable_gpsstate_hometypeavailabilitychanged
- Topic:
states/ardrone3/GPSState/HomeTypeAvailabilityChanged
- Message type:
bebop_msgs::Ardrone3GPSStateHomeTypeAvailabilityChanged
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¶
Home type.n This choice is made by the drone, according to the [PreferredHomeType](#1-24-4) and the [HomeTypeAvailability](#1-31-1). The drone will choose the type matching with the user preference only if this type is available.
- Parameter:
~states/enable_gpsstate_hometypechosenchanged
- Topic:
states/ardrone3/GPSState/HomeTypeChosenChanged
- Message type:
bebop_msgs::Ardrone3GPSStateHomeTypeChosenChanged
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¶
Pro features.
- Parameter:
~states/enable_prostate_features
- Topic:
states/ardrone3/PROState/Features
- Message type:
bebop_msgs::Ardrone3PROStateFeatures
Header header
# Bitfield representing enabled features.
uint64 features