GoDrone Documentation Release 0.1.0 Felix
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1. flat trim calibration on startup These values will need to be saved in the future and the yaw will have to be reset before takeoff to allow moving the drone around while on the ground ControlTimeout to shut off the motors if the the network connection gets interrupted Prevents the drone from flying into outer space 1 6 Changelog 7 GoDrone Documentation Release 0 1 0 8 Chapter 1 User Manual CHAPTER 2 Contributor Manual 2 1 Install from source 2 1 1 OSX amp Linux Before getting started e Installed the latest version of Go 1 2 as of writing this e Configure a SGOPATH e g via adding export GOPATH S HOME go to your profile e Add GOPATH bin to your PATH e g via adding export PATH GOPATH bin PATH to your profile Run the commands below to make sure you re in good shape go version go version gol 2 darwin amd64 go env GOPATH Users felix code go echo S PATH grep q S go env GOPATH bin amp amp echo good echo bad good Next you will need to setup Go for cross compiling to Linux ARM Luckily this only takes a minute The fastest way is this cd go env GOROOT src GOOS linux GOARCH arm make bash no clean If this doesn t work for you for some reason you may try to follow Dave Cheney s guide for cross compiling Go instead With Go installed and ready download GoDrone dst go env GOPATH src git2. GoDrone Documentation Release 0 1 0 Felix Geisendorfer November 04 2015 Contents 1 User Manual 3 Va il AA EIN 3 1 2 Firstflieht cos AR E E A Oe a E A AR 4 1 3 COMMS 28 ees A AAA AAA E ERS 4 1 4 Frequently Asked Questions lt a a e A a A SRS Ss 4 1 3 lt Community amp SUPPO e s edea o a a eee eae Pea a 6 1 6 Changelog uc ar A di da ds Re a pe 7 2 Contributor Manual 9 2 1 Install fromsource e s aa La koe Pe RE REE A eee eR ee eee BS 9 2 2 Reveise Engineening lt 2 4 4 0de40 Gd beta ee eh 6b awe ee ewe dd a S 10 GoDrone Documentation Release 0 1 0 GoDrone is a free software alternative firmware for the Parrot AR Drone 2 0 It is developed by Felix Geisend rfer and Contributors using the Go programming language There is no affiliation with Parrot and running this firmware may void your warranty The current release is 0 1 0 and is aimed at adventurous software developers If you re curious what to expect check out this teaser video GoDrone is licensed under the AGPLv3 license Contents 1 GoDrone Documentation Release 0 1 0 2 Contents CHAPTER 1 User Manual 1 1 Install 1 1 1 Disclaimer Please be careful Ideally you should experiment with this firmware inside a large indoor space If you go outside please try to avoid proximity to streets and people The worst case scenario is your drone causing a traffic accident and you ll have nobody to blame but your
3. hub com felixge mkdir p S dst cd S dst git clone git github com felixge godrone git cd godrone MMM WM Ww Now you should be ready to build godrone and upload it to your drone make GoDrone Documentation Release 0 1 0 2 1 2 Windows Building on windows is probably also doable but has not been attempted yet Please contribute to the docs 1f you get 1t working 2 2 Reverse Engineering To be written Guide to the techniques used for reverse engineering the Parrot AR Drone 2 0 10 Chapter 2 Contributor Manual
4. is a very light weight toy that has an extremely low chance of causing direct harm the GoDrone project will continue to use the current approach for now However if problems are observed or the project becomes more popular than expected the plan is to rewrite the stabilization loop in C run it on a separate thread with strong scheduling guarantees and use some form of IPC to communicate with it 1 4 9 Why aren t you building on existing projects This project is about exploring what it would be like to build a drone firmware using a high level language and embracing web technologies for providing a portable user interface Other projects are certainly more mature at this point and e g Paparazzi already has support for the AR Drone 2 However they are significantly more difficult to run and work with written in C C and use rather archaic UI technology 1 4 10 Where can I get the source code The source code is available on GitHub https github com felixge godrone 1 4 11 What license is GoDrone released under GoDrone is licensed under the AGPLV3 license This basically means that any derived software products will have to be licensed under the same license and that their source code needs to be made available The license was chosen to ensure that the GoDrone will always remain free software Contributors are not asked to sign a CLA so there will be no dual licensing model in the future 1 5 Community amp Support Thi
5. rface But don t expect too much it s not pretty yet Connect a gamepad to your computer Right now the only tested model is this PS3 style controller please share your results of using other controllers Press the BO button X to turn on the engines Move the right joystick up down to control thrust Use the left joystick to control the roll and pitch angle of your drone allowing you to fly in any desired direction Press the BO button X again to turn off the engines 1 2 1 Next steps First of all congratulations you ve earned the dubious badge of honor for having tried out version 0 1 0 of a drone software made by amateur robotics enthusiasts that you just found on the interwebs You re a truly adventurous person Take all the time you need to recover from this experience but if you feel hungry for more please start to get involved with the community Report your experience share your problems or demand your money back After that feel free to poke around the source and maybe even send a patch for that thing that annoyed you the most 1 3 Config Various settings of the drone can be changed by editing the godrone conf file that came with the download You have to run the deploy command for your changes to take effect This page will contain more information about the various options in the future 1 4 Frequently Asked Questions 1 4 1 need help where can I get support The best way to ge
6. s page lists the best ways for interacting with the GoDrone community 1 5 1 godrone mailing list If you d like to ask a question report a bug or discuss ideas please post to the godrone mailing list 1 What kind of Garbage Collection does Go use 6 Chapter 1 User Manual GoDrone Documentation Release 0 1 0 1 5 2 godrone IRC channel The fastest way to discuss GoDrone related topics is joining the godrone IRC channel on freenode net 1 5 3 Bug Feature Tracker Bugs and features are tracked with GitHub issues https github com felixge godrone issues state open 1 6 Changelog 1 6 1 0 1 0 2013 12 25 This is the first release It is aimed at adventurous software developers and contains the following features HTML client for controlling the drone via Gamepad Uses WebSockets jQuery and React Data is simply rendered into tables There is no design yet Basic navboard and motorboard drivers Basic binary installer for OSX Windows and Linux Initial documentation Complementary attitude filter A kalman filter will likely provide better results in the future Basic PID algorithm for control This will require more tuning Configuration via simple toml config file Contributed by gwoo Logging to stdout and log file on the drone Manual altitude control The ultra sound sensor is already working but the initial results with it were not good enough yet This will require some filtering Automatic
7. self Installing this software may also void your warranty and cause damage to your drone But don t worry you get back the original firmware by reconnecting the battery and it s very easy to fix your drone if you crash it 1 1 2 Download The latest version is 0 1 0 You can download it here OSX Universal 32 and 64 bit e Windows Universal 32 and 64 bit e Linux 32 bit 64 bit 1 1 3 Install 1 Download one of the archives from above 2 Extract the archive you downloaded 3 Place your drone on a level surface ready for takeoff and connect the battery 4 Connect your computer to your drone s WiFi network 5 Double click the deploy binary inside the folder extracted from the archive That s it The deploy binary will upload GoDrone via FTP and then telnet into your drone to start it 1 1 4 Uninstall If you want the original firmware back simply reconnect the battery The install is currently not permanent This may change if the firmware becomes more mature in the future GoDrone Documentation Release 0 1 0 1 2 First flight ND ln Make sure that the drone was on a level surface when you executed the deploy program and that you have not rotated it since If not please run the deploy program again Otherwise the drone will try to correct for the rotation on takeoff which may lead to a crash right away Open http 192 168 1 1 in your web browser you should see the GoDrone web user inte
8. t at this point but being able to control the drone with a gamepad using your web browser is nice It also seems that the official firmware puts some limits on speed especially vertically so you may find that GoDrone will help you with crashing your drone in more spectacular ways 1 4 6 What are the goals of the project The project was started as a personal challenge to write a firmware for the Parrot AR Drone in Go Now that this is achieved there are many possibilities and it will really depend on whatever users and contributors are most interested in Here are a few ideas Improved stabilization and control algorithms kalman filter optical flow etc Video drivers and support for streaming video to the HTML client Compatibility with the various mobile apps and NodeCopter Improved HTML client e g usability design graphs WebGL support for mobile devices More aggresive flight faster vertical speed and additional tricks GPS support including the ability to plan missions in the HTML client on a map 3G support to allow controlling the drone over cellular networks Education e g a specialized HTML client to demonstrate quadcopter physics Research GoDrone could make it incredible easy and cheap to reproduce quadcopter research anywhere in the world Support for uploading JavaScript scripts that run on the drone and allow users to create simple applications Mounting the AR Drone electronics on custom frames at
9. t help is by posting to the godrone mailing list or joining our IRC Channel Please keep in mind that this is a volunteer effort so try to be nice 1 4 2 want to help how can I get involved If you re a designer or a software developer who knows HTML CSS JavaScript or Go the best way to help is by sending pull requests on GitHub There are many open issues and ideas but any proposed changes will be considered That being said it s always a good idea to post to the godrone mailing to discuss things before getting started Additionally help with the documentation and answering questions on the mailing list would be really appreciated Chapter 1 User Manual GoDrone Documentation Release 0 1 0 1 4 3 Where can I report bugs or propose features If you re not sure that what you found is a bug and you d like to discuss the problem first please post to the godrone mailing list Otherwise feel free to directly post on our issue tracker Features are usually best discussed on the mailing list and added to the tracker once there is consensus 1 4 4 What happens if the drone goes out of WiFi range To prevent the drone from flying into outer space it will shut off the motors if the network connection gets interrupted for longer than the configured Cont rolTimeout A more graceful approach to landing will be implemented in the future 1 4 5 Does GoDrone provide any features not provided by the official firmware Not a lo
10. taching custom sensors and maybe even using different motors Encourage vendors such as Parrot to embrace a full open source strategy 1 4 7 Why is the firmware written in Go Originally to see if a firmware like this could be written in a high level garbage collected language Go seemed like a good choice because it has great support for cross compiling concurrency systems programming and is just a very pleasant language to work with 1 4 Frequently Asked Questions 5 GoDrone Documentation Release 0 1 0 1 4 8 Isn t Go unsuitable for real time applications like this This question is one of the reasons this project exists Go uses a stop the world garbage collector that does not provide any real time guarantees so it s certainly not a perfect fit for a flying robot However for all practical purposes the GC just needs to keep up with the stabilization loop which runs at 200 Hz This means that GC pauses below 5ms have no impact on performance Longer pauses will degrade stabilization performance but the tolerance threshold may be up to a second depending on altitude and the situation Considering that stabilization cannot be guaranteed due to environmental factors to begin with it will be interesting to see if drone vendors will make similar compromises for reducing the costs of software development or if governments will provide detailed software architecture regulations for commercial drones Given that the AR Drone
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